WebSVN - Projects - Blame - Rev 2432 - /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
2432	-	744	#region doubletap/click //http://stackoverflow.com/questions/9001023/capturing-double-tap-touch-on-multi-touch-screen
2431	-	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	}
2432	-	784	private bool IsDoubleClick(MouseButtonEventArgs e)
		785	{
		786	Point currentTapPosition = e.GetPosition(this);
		787	bool tapsAreCloseInDistance = false;
		788	if (_lastTapLocation != null)
		789	{
		790	tapsAreCloseInDistance = GetDistanceBetweenPoints(currentTapPosition, (Point)_lastTapLocation) < 70;
		791	}
		792	_lastTapLocation = currentTapPosition;
2431	-	793
2432	-	794	TimeSpan elapsed = _doubleTapStopwatch.Elapsed;
		795	_doubleTapStopwatch.Restart();
		796	bool tapsAreCloseInTime = (elapsed != TimeSpan.Zero && elapsed < TimeSpan.FromSeconds(0.4));
		797
		798	if (tapsAreCloseInTime && tapsAreCloseInDistance)
		799	{
		800	_lastTapLocation = null;
		801	}
		802	return tapsAreCloseInDistance && tapsAreCloseInTime;
		803	}
		804	Point pWPAdd;
		805	private void GridGMapControl_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
		806	{
		807	if (IsDoubleClick(e))
		808	{
		809	pWPAdd = new Point(e.GetPosition(this).X, e.GetPosition(this).Y);
		810	canvasAddPoint.Margin = new Thickness(e.GetPosition(this).X, e.GetPosition(this).Y, canvasAddPoint.Margin.Left, canvasAddPoint.Margin.Bottom);
		811	canvasAddPoint.Visibility = Visibility.Visible;
		812	}
		813
		814	}
		815	private void canvasAddPoint_LostFocus(object sender, RoutedEventArgs e)
		816	{
		817	canvasAddPoint.Visibility = Visibility.Collapsed;
		818	}
		819	private void canvasAddPoint_MouseLeave(object sender, MouseEventArgs e)
		820	{
		821	canvasAddPoint.Visibility = Visibility.Collapsed;
		822	}
		823	private void btnCmAddWP_Click(object sender, RoutedEventArgs e)
		824	{
		825	if (pWPAdd != null)
		826	{
		827	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		828	_addWP(p,0);
		829	}
		830	}
		831	private void btnCmAddPOI_Click(object sender, RoutedEventArgs e)
		832	{
		833	if (pWPAdd != null)
		834	{
		835	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		836	_addWP(p,1);
		837	}
		838	}
		839	private void btnCmAddFailsave_Click(object sender, RoutedEventArgs e)
		840	{
		841	if (pWPAdd != null)
		842	{
		843	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		844	_addWP(p,2);
		845	}
		846	}
		847	private void btnCmAddLanding_Click(object sender, RoutedEventArgs e)
		848	{
		849	if (pWPAdd != null)
		850	{
		851	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		852	_addWP(p,3);
		853	}
		854	}
		855
		856	#endregion doubletap/click
2287	-	857	#endregion events
		858
		859	#region GMap
		860
		861	void _setupMap()
		862	{
		863	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		864	MainMap.MapProvider = GMapProviders.BingHybridMap;
		865	MainMap.SetPositionByKeywords("Landshut");
		866	MainMap.MinZoom = 0;
		867	MainMap.MaxZoom = 24;
		868	MainMap.Zoom = 16;
		869	MainMap.ShowCenter = true;
		870	MainMap.ShowTileGridLines = false;
		871	sliderMapZoom.Value = 16;
		872	comboBoxMapType.ItemsSource = providerList;
		873	comboBoxMapType.DisplayMemberPath = "Name";
		874	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		875
		876	// acccess mode
		877	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		878	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		879
		880	}
2424	-	881
2287	-	882	/// <summary>
		883	/// selection of relevant map providers --> if You need more, You can change the line:
		884	/// comboBoxMapType.ItemsSource = providerList;
		885	/// to:
		886	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		887	/// in _setupMap()
		888	/// or add items here:
		889	/// </summary>
		890	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		891	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		892	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		893	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		894	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		895
		896	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		897	{
		898	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		899	copter = new GMapMarker(MainMap.Position);
2318	-	900
2424	-	901	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"), "red");
2318	-	902	if (comboBoxCopterColor.SelectionBoxItem != null)
		903	{
		904	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	905	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	906	}
2385	-	907	Dispatcher.Invoke(() => {
		908	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		909	{
		910	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		911	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		912	}
		913	});
2405	-	914	copter.Offset = new System.Windows.Point(-26, -26);
2287	-	915	copter.ZIndex = int.MaxValue;
		916	MainMap.Markers.Add(copter);
		917	copter.Position = MainMap.Position;
		918	}
2347	-	919	void _setHomePos()
2287	-	920	{
		921	pHome = MainMap.Position;
		922	if (!MainMap.Markers.Contains(home))
		923	{
		924	home = new GMapMarker(MainMap.Position);
		925	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	926	home.Offset = new System.Windows.Point(-16.5, -16.5);
2287	-	927	// home.ZIndex = int.MaxValue;
		928	MainMap.Markers.Add(home);
		929	}
		930	home.Position = MainMap.Position;
		931	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	932
		933	if (checkBoxShowWPMaxRange.IsChecked == true)
		934	{
		935	if (cWPBound != null && cWPBound.Tag != null)
		936	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		937
		938	createCircle(home.Position, dWPMaxRange);
2408	-	939	Dispatcher.Invoke(() =>
		940	{
		941	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		942	{
		943	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		944	cWPBound.setColor(s);
		945	}
		946	});
2405	-	947	}
		948
2287	-	949	}
2347	-	950	void _setActiveWP(int iIndex)
2287	-	951	{
2429	-	952	if (iIndex < wpList.Count)
2347	-	953	{
2429	-	954	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
2347	-	955	{
2429	-	956	Dispatcher.Invoke(() =>
		957	{
		958	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		959	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		960	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		961	MainMap.Markers.Add(wpActiveMarker);
		962	});
		963	}
		964	else
		965	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
2347	-	966	}
		967
2401	-	968	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
2347	-	969	}
		970	void _clearHomePos()
		971	{
2287	-	972	MainMap.Markers.Remove(home);
2405	-	973	if (cWPBound != null && cWPBound.Tag != null)
		974	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2287	-	975	}
2335	-	976	void _clearMapMarkers(Type markerType)
		977	{
		978	for (int k = 0; k < MainMap.Markers.Count;)
		979	{
		980	GMapMarker p = MainMap.Markers[k];
2340	-	981	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	982	MainMap.Markers.Remove(p);
		983	else
		984	k++;
		985	}
2419	-	986	_WPisMouseCaptured = false;
2335	-	987	}
2369	-	988
		989	GMapMarker _findWPMarker(string name)
2368	-	990	{
		991	for (int k = 0; k < MainMap.Markers.Count;)
		992	{
		993	GMapMarker p = MainMap.Markers[k];
		994	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	995	if (((CustomMarkerWP)p.Shape).WPText == name)
		996	return p;
2368	-	997	else
		998	k++;
		999	else
		1000	k++;
		1001	}
2369	-	1002	return null;
2368	-	1003	}
2369	-	1004	void _clearWPMarker(string name)
		1005	{
		1006	GMapMarker p = _findWPMarker(name);
2424	-	1007	if (p != null)
2369	-	1008	MainMap.Markers.Remove(p);
		1009	}
2368	-	1010	void _renameWPMarker(string s1, string s2)
		1011	{
2369	-	1012	GMapMarker p = _findWPMarker(s1);
		1013	if (p != null)
		1014	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	1015	}
2372	-	1016	void _WPMarkerSetType(string text, int type)
		1017	{
		1018	GMapMarker p = _findWPMarker(text);
		1019	if (p != null)
		1020	((CustomMarkerWP)p.Shape).WPType = type;
		1021	}
2369	-	1022	void _repositionWPMarker(PointLatLng point, string name)
		1023	{
		1024	GMapMarker p = _findWPMarker(name);
		1025	if (p != null)
		1026	p.Position = point;
		1027	}
		1028
2405	-	1029	void createCircle(PointLatLng center, double distance)
		1030	{
		1031
		1032	GMapMarker it = new GMapMarker(center);
		1033	it.ZIndex = -1;
2424	-	1034
2405	-	1035	cWPBound.Center = center;
		1036	cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance);
		1037	cWPBound.Tag = it;
		1038	cWPBound.IsHitTestVisible = false;
		1039	UpdateCircle(cWPBound);
		1040	it.Shape = cWPBound;
		1041	MainMap.Markers.Add(it);
		1042	}
		1043	// calculates circle radius
		1044	void UpdateCircle(Circle c)
		1045	{
		1046	var pxCenter = MainMap.FromLatLngToLocal(c.Center);
		1047	var pxBounds = MainMap.FromLatLngToLocal(c.Bound);
		1048
		1049	double a = (double)(pxBounds.X - pxCenter.X);
		1050	double b = (double)(pxBounds.Y - pxCenter.Y);
		1051	var pxCircleRadius = Math.Sqrt(a * a + b * b);
		1052
		1053	c.Width = c.Height = pxCircleRadius * 2;
		1054	//c.Width = 55 + pxCircleRadius * 2;
		1055	//c.Height = 55 + pxCircleRadius * 2;
		1056	(c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2);
		1057	}
		1058
2287	-	1059	// access mode
		1060	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		1061	{
		1062	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		1063	MainMap.ReloadMap();
		1064	}
		1065	// zoom up
		1066	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		1067	{
		1068	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		1069	}
		1070
		1071	// zoom down
		1072	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		1073	{
		1074	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		1075	}
		1076
		1077	// prefetch
		1078	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		1079	{
		1080	RectLatLng area = MainMap.SelectedArea;
		1081	if (!area.IsEmpty)
		1082	{
		1083	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		1084	{
		1085	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		1086
		1087	if (res == MessageBoxResult.Yes)
		1088	{
		1089	TilePrefetcher obj = new TilePrefetcher();
		1090	obj.Owner = this;
		1091	obj.ShowCompleteMessage = true;
		1092	obj.Start(area, i, MainMap.MapProvider, 100);
		1093	}
		1094	else if (res == MessageBoxResult.No)
		1095	{
		1096	continue;
		1097	}
		1098	else if (res == MessageBoxResult.Cancel)
		1099	{
		1100	break;
		1101	}
		1102	}
		1103	}
		1104	else
		1105	{
		1106	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1107	}
		1108	}
		1109
		1110	// goto by geocoder
		1111	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		1112	{
		1113	_goto_byGeoCoder();
		1114	}
		1115	// goto by geocoder
		1116	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		1117	{
		1118	if (e.Key == System.Windows.Input.Key.Enter)
		1119	_goto_byGeoCoder();
		1120	}
		1121	void _goto_byGeoCoder()
		1122	{
		1123	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		1124	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		1125	{
		1126	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1127	}
		1128	}
		1129	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		1130	{
		1131	try
		1132	{
		1133	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		1134	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		1135
		1136	MainMap.Position = new PointLatLng(lat, lng);
		1137	}
		1138	catch (Exception ex)
		1139	{
		1140	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		1141	}
		1142
		1143	}
		1144
		1145	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		1146	{
		1147	MainMap.ReloadMap();
		1148	}
		1149
		1150	private void MainMap_OnPositionChanged(PointLatLng point)
		1151	{
		1152	if (_bFollowCopter)
		1153	_setCopterData(MainMap.Position);
		1154	}
		1155
		1156	private void MainMap_OnMapZoomChanged()
		1157	{
		1158	if (_bFollowCopter)
		1159	_setCopterData(MainMap.Position);
2424	-	1160	if ((int)sliderMapZoom.Value != MainMap.Zoom)
2287	-	1161	sliderMapZoom.Value = MainMap.Zoom;
2424	-	1162	if (cWPBound != null && cWPBound.Tag != null)
2405	-	1163	UpdateCircle(cWPBound);
2287	-	1164	}
		1165
		1166	void _setCopterData(PointLatLng p)
		1167	{
		1168	Dispatcher.Invoke(() =>
		1169	{
		1170	copter.Position = p;
		1171	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		1172	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		1173	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		1174	});
		1175	if (home != null && MainMap.Markers.Contains(home))
		1176	{
		1177	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		1178	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		1179	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	1180
2424	-	1181	if (d * 1000 < _dThresholdDistanceWarn)
2291	-	1182	{
		1183	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		1184	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		1185	{
		1186	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		1187	_bAnimDistanceActive = false;
		1188	}
		1189	}
		1190	else
		1191	{
		1192	if (_iDistanceJitter < 20)
		1193	{ _iDistanceJitter++; }
		1194	if (_iDistanceJitter == 20)
		1195	{
		1196	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		1197	{
		1198	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		1199	_bAnimDistanceActive = true;
		1200	}
		1201	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		1202	{
2398	-	1203	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		1204	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		1205	//t.Start();
2291	-	1206	_bVoiceDistanceActive = true;
		1207	}
		1208	_iDistanceJitter++;
		1209	}
		1210	}
2287	-	1211	}
		1212	}
		1213
		1214	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		1215	{
		1216	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		1217	}
		1218
		1219	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1220	{
		1221	if (MainMap.Zoom != sliderMapZoom.Value)
		1222	MainMap.Zoom = (int)sliderMapZoom.Value;
		1223	}
		1224	#region Touch zooming hackattack ;)
		1225	/// <summary>
		1226	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1227	/// </summary>
		1228	bool bFirstAccess = true;
		1229	double dDistance = 0;
		1230	int iZoom;
		1231	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1232	{
2419	-	1233	if (!_WPisMouseCaptured)
2287	-	1234	{
2419	-	1235	var id = e.StylusDevice.Id;
		1236	e.StylusDevice.Capture(MainMap);
		1237	if (iFirstStylusID == -1)
		1238	{
		1239	iFirstStylusID = id;
		1240	}
		1241	else
		1242	{
2287	-	1243
2419	-	1244	MainMap.CanDragMap = false;
		1245	}
2287	-	1246	}
		1247	}
		1248	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1249	{
		1250	MainMap.ReleaseStylusCapture();
		1251	iFirstStylusID = -1;
		1252	bFirstAccess = true;
		1253	MainMap.CanDragMap = true;
		1254	iZoom = 0;
		1255	}
		1256	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1257	{
		1258	var id = e.StylusDevice.Id;
		1259	var tp = e.GetPosition(MainMap);
		1260
		1261	// This is the first Stylus point; just record its position.
		1262	if (id == iFirstStylusID)
		1263	{
		1264	pTouch1.X = tp.X;
		1265	pTouch1.Y = tp.Y;
		1266	}
		1267	else
		1268	if (iFirstStylusID > -1)
		1269	{
		1270	pTouch2.X = tp.X;
		1271	pTouch2.Y = tp.Y;
		1272	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1273	if (!bFirstAccess)
		1274	{
		1275	if (distance > dDistance)
		1276	iZoom++;
		1277	else
		1278	if (distance < dDistance)
		1279	iZoom--;
		1280	}
		1281	if (iZoom > 30)
		1282	{
		1283	iZoom = 0;
		1284	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1285	}
		1286	if (iZoom < -30)
		1287	{
		1288	iZoom = 0;
		1289	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1290	}
		1291	dDistance = distance;
		1292	bFirstAccess = false;
		1293	}
		1294	}
		1295	#endregion Touch zooming hackattack ;)
		1296
		1297	#endregion GMap
		1298
		1299	#region settings
		1300	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1301	{
2424	-	1302	if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
2287	-	1303	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1304	}
		1305	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1306	{
2424	-	1307	if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1)
2287	-	1308	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1309	}
		1310	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1311	{
		1312	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1313	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1314	}
		1315	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1316	{
		1317	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1318	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1319	}
		1320	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1321	{
		1322	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1323	}
		1324	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1325	{
		1326	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1327	}
		1328	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1329	{
		1330	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1331	}
		1332	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1333	{
		1334	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1335	}
		1336
		1337	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1338	{
		1339	if (cBoxLiPoCells.SelectedIndex > -1)
		1340	{
		1341	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1342	_LipoMinMax();
		1343	}
		1344	}
		1345	void _LipoMinMax()
		1346	{
		1347	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1348	_dLipoVMin = (double)_LipoCells * 3;
		1349	pbTopVoltage.Maximum = _dLipoVMax;
		1350	pbTopVoltage.Minimum = _dLipoVMin;
		1351	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1352	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1353	}
		1354	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1355	{
		1356	if (cBoxMotors.SelectedIndex > -1)
		1357	{
		1358	_iMotors = cBoxMotors.SelectedIndex + 3;
		1359	Dispatcher.Invoke(() =>
		1360	{
		1361	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1362	GridMotors.Height = dgvMotors1.Height + 10;
		1363	});
		1364	}
		1365	}
		1366	void _setMotorGridSize()
		1367	{
		1368	if (dgvMotors1.Columns.Count > 2)
		1369	{
		1370	dgvMotors1.Columns[0].Width = 24;
		1371	dgvMotors1.Columns[1].Width = 50;
		1372	dgvMotors1.Columns[2].Width = 50;
		1373	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1374	GridMotors.Height = dgvMotors1.Height + 10;
		1375	}
		1376
		1377	}
		1378	#endregion settings
		1379
		1380	#region functions
		1381
		1382	#region logging
		1383	/// <summary> Log data to the terminal window. </summary>
		1384	/// <param name="msgtype"> The type of message to be written. </param>
		1385	/// <param name="msg"> The string containing the message to be shown. </param>
		1386	private void Log(LogMsgType msgtype, string msg)
		1387	{
		1388	Dispatcher.Invoke(() =>
		1389	{
2424	-	1390	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1391	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1392	// rtfTerminal.AppendText(msg + "\r");
		1393	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd);
2287	-	1394	tr.Text = msg;
		1395	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1396	rtfTerminal.AppendText("\r");
		1397	rtfTerminal.ScrollToEnd();
		1398	});
		1399	}
2424	-	1400	private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName)
2287	-	1401	{
2381	-	1402
2287	-	1403	Dispatcher.Invoke(() =>
		1404	{
2381	-	1405	Paragraph para = new Paragraph();
		1406	para.Margin = new Thickness(0); // remove indent between paragraphs
		1407
		1408	Hyperlink link = new Hyperlink();
		1409	if (linkURL != "" && linkName != "")
		1410	{
		1411	link.IsEnabled = true;
		1412	link.Inlines.Add(linkName);
		1413	link.NavigateUri = new Uri(linkURL);
		1414	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1415	}
		1416	//msg = DateTime.Now.ToLongTimeString() + msg;
		1417	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1418	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1419	r.Foreground = new SolidColorBrush(Colors.Black);
		1420	para.Inlines.Add(r);
		1421	para.Inlines.Add(msg);
		1422	para.Inlines.Add(link);
		1423	rtfError.Document.Blocks.Add(para);
		1424	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1425	//tr.Text = msg + link;
		1426	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1427	//rtfError.AppendText("\r");
2287	-	1428	rtfError.ScrollToEnd();
		1429
2381	-	1430	//_bErrorLog = true;
2287	-	1431	});
		1432	}
		1433	/// <summary>
		1434	/// Clear the line in the errorlog window
		1435	/// containing the error string when error has ceased
		1436	/// </summary>
		1437	/// <param name="s">substring of errrormessage</param>
		1438	void _clearErrorLog(string s)
		1439	{
		1440	Dispatcher.Invoke((Action)(() =>
		1441	{
		1442	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1443	TextRange foundRange = FindTextInRange(searchRange, s);
		1444
		1445	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1446
		1447
		1448	if (iStart > -1)
		1449	{
		1450	int iLength = 0;
		1451	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1452	if (iEnd > 0)
		1453	{
		1454	iLength = iEnd + 1;
2424	-	1455	int iHttp = searchRange.Text.IndexOf("http", iEnd);
2287	-	1456	if (iHttp == iLength)
		1457	{
		1458	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1459	if (iEnd2 > iLength)
		1460	{
		1461	iLength = iEnd2 + 1;
2424	-	1462	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
2287	-	1463
		1464	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1465	rtfError.Selection.Text = string.Empty;
		1466	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1467	}
		1468
		1469	}
		1470	else
		1471	{
		1472	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1473	rtfError.Selection.Text = string.Empty;
		1474	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1475	}
		1476	}
		1477	}
		1478	}));
		1479
		1480	}
		1481	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1482	{
		1483	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1484	if (offset < 0)
		1485	return null; // Not found
		1486
		1487	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1488	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1489
		1490	return result;
		1491	}
		1492	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1493	{
		1494	while (position != null)
		1495	{
		1496	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1497	{
		1498	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1499	if (characterCount <= count)
		1500	{
		1501	return position.GetPositionAtOffset(characterCount);
		1502	}
		1503
		1504	characterCount -= count;
		1505	}
		1506
		1507	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1508	if (nextContextPosition == null)
		1509	return position;
		1510
		1511	position = nextContextPosition;
		1512	}
		1513
		1514	return position;
		1515	}
		1516	#endregion logging
		1517
		1518	#region processing received data
		1519
		1520	private void processMessage(byte[] message)
		1521	{
		1522	if (message.Length > 0)
		1523	{
		1524	_iLifeCounter++;
		1525	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1526	//Log(LogMsgType.Incoming, message.Length.ToString());
		1527	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1528	char cmdID;
		1529	byte adr;
		1530	byte[] data;
		1531	byte[] tmp = null;
		1532	if (message[0] != '#')
		1533	{
		1534	int iFound = -1;
		1535	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1536	{ //so this is a workaround to not spam the log box
		1537	if (message[i] == 35)
		1538	{
		1539	iFound = i;
		1540	break;
		1541	}
		1542	}
		1543	if (iFound > 0)
		1544	{
		1545	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1546	tmp = new byte[message.Length - iFound];
		1547	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1548	}
		1549	s = s.Trim('\0', '\n', '\r');
		1550	if (s.Length > 0)
		1551	Log(LogMsgType.Normal, s);
		1552	if (tmp != null)
		1553	{
		1554	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1555	processMessage(tmp);
		1556	}
		1557	}
		1558	//Debug.Print(s);
		1559	else
		1560	{
		1561	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1562
		1563	if (adr == 255) { crcError++; }
		1564	else crcError = 0;
		1565	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1566	//display the active controller (FC / NC)
		1567	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...???
		1568	{
		1569	_iCtrlAct = adr;
		1570	switch (adr)
		1571	{
		1572	case 1:
		1573	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2429	-	1574	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1575	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
2424	-	1576	// _setFieldsNA(); //display fields NA for FC
2287	-	1577	break;
		1578	case 2:
		1579	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
2429	-	1580	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1581	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
2287	-	1582	break;
		1583	//case 3:
		1584	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1585	// break;
		1586	//case 4:
		1587	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1588	// break;
		1589	default:
		1590	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1591	break;
		1592	}
2424	-	1593	// _loadLabelNames();
2287	-	1594	}
		1595	// else
		1596	// Debug.Print("Address == 0?");
		1597
		1598	if (data != null && data.Length > 0)
		1599	{
		1600	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1601	s = s.Trim('\0', '\n');
		1602
		1603	switch (cmdID)
		1604	{
		1605	//case 'A': //Label names
		1606	// _processLabelNames(s);
		1607	// break;
		1608
		1609	case 'D': //Debug data
		1610	_processDebugVals(adr, data);
		1611	break;
		1612
		1613	case 'V': //Version
		1614	_processVersion(adr, data);
		1615	break;
		1616
		1617	case 'K'://BL-CTRL data
		1618	_processBLCtrl(data);
		1619	break;
		1620
2424	-	1621	case 'M'://License info
		1622	_processLicense(data);
		1623	break;
		1624
2287	-	1625	case 'O': //NC Data
2428	-	1626	if (data[0] < 10)
		1627	_processNCData(data);
		1628	else
		1629	_processNCDataV2(data);
2287	-	1630	break;
		1631
2381	-	1632	//case 'E': //NC error-string
		1633	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1634	// break;
2287	-	1635
		1636	case 'L': //OSD Menue (called by pagenumber)
		1637	_processOSDSingle(data);
		1638	break;
		1639
		1640	case 'H': //OSD Menue (with autoupdate - called by Key)
		1641	_processOSDAuto(data);
		1642	break;
		1643
		1644	case 'X': //Waypoint data
		1645	_processWPData(data);
		1646	break;
		1647
2313	-	1648	case 'W': //return new Waypoint items count after sending waypoint to copter
		1649	_iWPCount = data[0];
		1650	break;
2287	-	1651	//default:
		1652	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1653	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1654	// break;
		1655	}
		1656	}
		1657	//else
		1658	//{
		1659	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1660	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1661	//}
		1662	}
		1663	}
		1664	}
		1665	/// <summary>
		1666	/// Analog label names 'A'
		1667	/// each label name is returned as a single string
		1668	/// and added to string array sAnalogLabel[]
		1669	/// and the datatable dtAnalog
		1670	/// </summary>
		1671	/// <param name="s">the label name</param>
		1672	void _processLabelNames(string s)
		1673	{
		1674	//if (iLableIndex < 32)
		1675	//{
		1676	// sAnalogLabel[iLableIndex] = s;
		1677	// if (dtAnalog.Rows.Count < 32)
		1678	// dtAnalog.Rows.Add(s, "");
		1679	// else
		1680	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1681
		1682	// // _getAnalogLabels(iLableIndex + 1);
		1683	//}
		1684	//Debug.Print(s);
		1685	}
		1686	/// <summary>
		1687	/// Debug values 'D'
		1688	/// </summary>
		1689	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1690	/// <param name="data">the received byte array to process</param>
		1691	void _processDebugVals(byte adr, byte[] data)
		1692	{
		1693	if (data.Length == 66)
		1694	{
2424	-	1695
2287	-	1696	double v;
		1697	int index = 0;
		1698	Int16 i16 = 0;
		1699	double dTemp = 0;
		1700	for (int i = 2; i < 66; i += 2)
		1701	{
		1702	i16 = data[i + 1];
		1703	i16 = (Int16)(i16 << 8);
		1704	iAnalogData[index] = data[i] + i16;
		1705	sAnalogData[index] = (data[i] + i16).ToString();
2424	-	1706	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
2287	-	1707
		1708	if (adr == 2) //NC
		1709	{
		1710	switch (index)
		1711	{
		1712	case 0: //pitch (German: nick)
		1713	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1714	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1715	break;
		1716	case 1: //roll
		1717	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1718	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1719	break;
		1720	case 4: //altitude
		1721	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1722	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2424	-	1723	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1724	break;
		1725	case 7: //Voltage
		1726	v = (double)iAnalogData[index] / (double)10;
		1727	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1728	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1729	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1730	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1731	{
		1732	if (v == _dVoltLast)
2424	-	1733	if (_iVoltJitter < 20) _iVoltJitter++;
		1734	else
		1735	{
		1736	_iVoltJitter = 0;
		1737	_dVoltLast = v;
		1738	}
2287	-	1739	if (_iVoltJitter == 20)
		1740	{
		1741	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1742
		1743	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1744	{
		1745	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1746	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1747	{
		1748	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1749	_bCritAnimVoltActive = true;
		1750	}
		1751	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1752	{
2398	-	1753	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1754	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1755	//t.Start();
2287	-	1756	_bCritVoiceVoltActive = true;
		1757	}
		1758	}
		1759	else
		1760	{
		1761	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1762	{
		1763	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1764	_bCritAnimVoltActive = false;
		1765	}
		1766	_bCritVoiceVoltActive = false;
		1767
2291	-	1768	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1769	{
2398	-	1770	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1771	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1772	//t.Start();
2291	-	1773	_bWarnVoiceVoltActive = true;
2287	-	1774	}
		1775	}
		1776	}
		1777	}
		1778	else
		1779	{
		1780	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1781	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1782	{
		1783	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1784	_bCritAnimVoltActive = false;
		1785	}
		1786	_bCritVoiceVoltActive = false;
2291	-	1787	_bWarnVoiceVoltActive = false;
2287	-	1788	_iVoltJitter = 0;
		1789	}
		1790	break;
		1791	case 8: // Current
		1792	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1793	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1794	break;
		1795	case 10: //heading
2291	-	1796	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2399	-	1797	if (!_Simulate) //use NavData for simulation
		1798	{
		1799	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1800	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1801	}
2287	-	1802	break;
		1803	case 12: // SPI error
2291	-	1804	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1805	break;
		1806	case 14: //i2c error
2291	-	1807	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1808	break;
		1809	case 20: //Earthmagnet field
2291	-	1810	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1811	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
2424	-	1812
2291	-	1813	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1814	{
		1815	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1816	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1817	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1818	{
		1819	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1820	_bAnimMagneticFieldActive = false;
		1821	}
		1822	}
		1823	else
		1824	{
		1825	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
2424	-	1826	if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
2291	-	1827	{
		1828	if (_iMagneticFieldJitter < 20)
		1829	_iMagneticFieldJitter++;
		1830	}
		1831	else
		1832	{
		1833	_iMagneticFieldJitter = 0;
		1834	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1835	}
2424	-	1836	if (_iMagneticFieldJitter == 20)
2291	-	1837	{
		1838	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1839	{
		1840	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1841	_bAnimMagneticFieldActive = true;
		1842	}
		1843	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1844	{
2398	-	1845	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1846	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1847	//t.Start();
2291	-	1848	_bVoiceMagneticFieldActive = true;
		1849	}
		1850	}
		1851	}
2287	-	1852	break;
		1853	case 21: //GroundSpeed
2424	-	1854	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1855	if (!_Simulate)
		1856	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2287	-	1857	break;
2291	-	1858
		1859	///******** needs testing --> not sure what position this is *************
2287	-	1860	case 28: //Distance East from saved home position -> calculate distance with distance N + height
2424	-	1861	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1862	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1863	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1864	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1865	dTemp = Math.Sqrt(dTemp) / (double)10;
		1866	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1867	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
2287	-	1868	break;
2291	-	1869
2287	-	1870	case 31: //Sats used
2424	-	1871	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1872	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
2287	-	1873	break;
		1874	}
		1875	}
		1876	index++;
		1877	}
		1878	}
		1879	else
		1880	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1881	}
		1882	/// <summary>
		1883	/// Version string 'V'
		1884	/// </summary>
		1885	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1886	/// <param name="data">the received byte array to process</param>
		1887	void _processVersion(byte adr, byte[] data)
		1888	{
		1889	if (data.Length == 12)
		1890	{
		1891	if (!check_HWError)
		1892	{
		1893	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1894	string sVersion = "";
		1895	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1896	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1897	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1898	Log(LogMsgType.Incoming, sVersion);
		1899	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1900	Log(LogMsgType.Incoming, sVersion);
		1901	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1902	}
		1903	if (data[5] > 0) //error0
		1904	{
		1905	if (adr == 1)
2424	-	1906	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", "");
2287	-	1907	if (adr == 2)
2424	-	1908	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", "");
2287	-	1909	}
		1910	if (data[6] > 0) //error1
		1911	{
		1912	if (adr == 1)
2424	-	1913	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", "");
2287	-	1914	if (adr == 2)
2424	-	1915	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field
2287	-	1916	}
2381	-	1917	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1918	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1919
		1920	}
		1921	check_HWError = false;
		1922	}
2424	-	1923
		1924	void _processLicense(byte[] data)
		1925	{
		1926	if (data.Length > 480)
		1927	{
		1928	Dispatcher.Invoke(() => {
		1929	tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127));
		1930	tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127));
		1931	tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127));
		1932	tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11));
		1933	tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16));
		1934	});
		1935	}
		1936	}
2287	-	1937	/// <summary>
		1938	/// BL-Ctrl data 'K'
		1939	/// for FC you have to use a customized firmware
		1940	/// </summary>
		1941	/// <param name="data">the received byte array to process</param>
		1942	void _processBLCtrl(byte[] data)
		1943	{
		1944	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1945	{
		1946	bool bAvailable = false;
		1947	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1948	{
		1949
		1950	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1951	bAvailable = true;
		1952	else
		1953	bAvailable = false;
		1954
		1955	if (data[i] < _iMotors)
		1956	{
		1957	if (bAvailable)
		1958	{
2315	-	1959	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1960	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1961	}
		1962	else
		1963	{
2315	-	1964	dtMotors.Rows[data[i]].SetField(1, "NA");
		1965	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1966	}
		1967	}
		1968	//if (data[i] > 3 && data[i] < 8)
		1969	//{
		1970	// if (bAvailable)
		1971	// {
		1972	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1973	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1974	// }
		1975	// else
		1976	// {
		1977	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1978	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1979	// }
		1980	//}
		1981	}
		1982	}
		1983	}
		1984	/// <summary>
		1985	/// Navi-Ctrl data 'O'
		1986	/// GPS-Position, capacatiy, flying time...
		1987	/// </summary>
		1988	/// <param name="data">the received byte array to process</param>
2428	-	1989
		1990
		1991	byte OSDSTATUSFLAGS1 = 0;
		1992	byte OSDSTATUSFLAGS2 = 0;
		1993	void _processNCDataV2(byte[] data)
		1994	{
2429	-	1995	if ((int)data[0] < 17)
2428	-	1996	{
2429	-	1997	int i_32, i_16, iVal;
		1998	double d;
		1999	OSD_Base_Data_t osd = new OSD_Base_Data_t(data);
		2000	OSDSTATUSFLAGS1 = osd.OSDSTATUSFLAGS1();
		2001	Dispatcher.Invoke(() => { drGPX[2] = osd.Pos().Lng; });
		2002	Dispatcher.Invoke(() => { drGPX[1] = osd.Pos().Lat; });
		2003	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		2004	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		2005	if (_Simulate)
		2006	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = osd.Speed().ToString("0.0 m/s")));
2428	-	2007
2429	-	2008	switch ((int)data[0])
		2009	{
		2010	case 10:
2431	-	2011	char[] c = Encoding.ASCII.GetChars(new byte[] { data[13] });
		2012	Dispatcher.Invoke((Action)(() => tbCamCtrl.Text = c[0].ToString()));
2429	-	2013	break;
		2014	case 11:
		2015	OSDSTATUSFLAGS2 = osd.OSDSTATUSFLAGS2();
		2016	//---------------NC-Flags--------------------------
		2017	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[14] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2018	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[14] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2019	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[14] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2020	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[14] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2021	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[14] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2022	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[14] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2023	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[14] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2428	-	2024
2429	-	2025	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[14] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		2026	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
		2027	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
		2028	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	-	2029
2429	-	2030	//--------------- NC Error ------------------------
		2031	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[16].ToString())); //NC Errornumber
		2032	if (data[16] > 0)
		2033	_readNCError();
		2034	if (data[16] > 0 & data[16] < 44)
		2035	ErrorLog(LogMsgType.Error, " NC Error [" + data[16].ToString() + "]: ", NC_Error_Link[data[16]], NC_Error[data[16]]);
2428	-	2036
2429	-	2037	break;
		2038	case 12:
		2039	//--------------- RC quality ------------------------
		2040	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[23].ToString()));
		2041	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[23].ToString()));
		2042
		2043	if (data[23] > _iThresholdRC)
2428	-	2044	{
2429	-	2045	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2046	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2047	{
		2048	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2049	_bAnimRCLevelActive = false;
		2050	}
2428	-	2051	}
2429	-	2052	else
2428	-	2053	{
2429	-	2054	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2055	if (_iRCLevelJitter == 20)
2428	-	2056	{
2429	-	2057	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2058	{
		2059	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2060	_bAnimRCLevelActive = true;
		2061	}
		2062	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2063	{
		2064	_bVoiceRCLevelActive = true;
		2065	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2066	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2067	//th.Start();
		2068	}
		2069	_iRCLevelJitter++;
2428	-	2070	}
		2071	}
2429	-	2072	break;
		2073	case 13:
		2074	//-------------------------Waypoint max range (by license)------------------------------
		2075	i_32 = data[24];
		2076	iVal = i_32 << 8;
		2077	iVal += data[23];
2428	-	2078
2429	-	2079	if (dWPMaxRange != iVal)
2428	-	2080	{
2429	-	2081	dWPMaxRange = iVal;
		2082	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2083	{
		2084	if (cWPBound != null && cWPBound.Tag != null)
		2085	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2428	-	2086
2429	-	2087	createCircle(home.Position, dWPMaxRange);
		2088	Dispatcher.Invoke(() =>
2428	-	2089	{
2429	-	2090	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2091	{
		2092	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2093	cWPBound.setColor(s);
		2094	}
		2095	});
		2096	}
		2097	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = iVal.ToString() + " m"));
2428	-	2098	}
2431	-	2099	//--------------- LiPoCell count ------------------------
		2100	Dispatcher.Invoke((Action)(() => tbLiPoCells.Text = data[25].ToString()));
2428	-	2101
2429	-	2102	break;
2428	-	2103
2429	-	2104	case 14:
		2105	//--------------- Flying time ------------------------
		2106	i_16 = data[14];
		2107	i_16 = (Int16)(i_16 << 8);
		2108	iVal = data[13] + i_16;
		2109	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2110	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2111	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2112	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
2428	-	2113
2429	-	2114	//--------------------------------Distance HP------------------------------------
		2115	i_16 = data[16];
		2116	i_16 = (Int16)(i_16 << 8);
		2117	iVal = data[15] + i_16;
		2118	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2428	-	2119
2429	-	2120	//--------------------------Distance to next WP--------------------------------
		2121	i_16 = data[19];
		2122	i_16 = (Int16)(i_16 << 8);
		2123	iVal = data[18] + i_16;
		2124	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2125	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		2126	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2428	-	2127
2429	-	2128	//-------------------Satellites----------------------------------
		2129	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[23].ToString()));
2428	-	2130
2429	-	2131	if (data[23] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
2428	-	2132	{
2429	-	2133	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		2134	if (_bAutoHome && !_bFirstSatFix)
2428	-	2135	{
2429	-	2136	if (_iFirstSatFix < 3)
		2137	_iFirstSatFix++;
		2138	else
		2139	{
		2140	_bFirstSatFix = true;
		2141	Dispatcher.Invoke(() => _setHomePos());
		2142	}
2428	-	2143	}
2429	-	2144	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2145	{
		2146	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2147	_bAnimSatFixActive = false;
		2148	}
		2149	if (!_bFollowCopter)
		2150	{
		2151	_setCopterData(osd.Pos());
		2152	if (!MainMap.ViewArea.Contains(osd.Pos()))
		2153	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2154
		2155	}
		2156	else
2428	-	2157	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2158	}
		2159	else
		2160	{
2429	-	2161	if (_bSatFix)
2428	-	2162	{
2429	-	2163	if (data[23] == _iSatsLast)
2428	-	2164	{
2429	-	2165	if (_iSatsJitter < 20) _iSatsJitter++;
2428	-	2166	}
2429	-	2167	else
2428	-	2168	{
2429	-	2169	_iSatsJitter = 0;
		2170	_iSatsLast = data[23];
2428	-	2171	}
		2172
2429	-	2173	if (_iSatsJitter == 20)
		2174	{
		2175	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2176	{
		2177	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2178	_bAnimSatFixActive = true;
		2179	}
		2180	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2181	{
		2182	_bVoiceSatFixActive = true;
		2183	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2184	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2185	//th.Start();
		2186	}
		2187
		2188	_bSatFix = false;
		2189	}
2428	-	2190	}
		2191	}
		2192
2429	-	2193	break;
2428	-	2194
2429	-	2195	case 15:
		2196	//--------------------------------Waypoint index------------------------------------
		2197	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[13].ToString()));
		2198	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[13].ToString()));
		2199	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[13].ToString()));
		2200	if (data[13] > 0 && _wpIndex != data[13] - 1 && wpList.Count > data[13] - 1)
		2201	{
		2202	_setActiveWP(data[13] - 1);
		2203	if ((OSDSTATUSFLAGS2 & 2) == 2)
		2204	Dispatcher.Invoke(() =>
2428	-	2205	{
2429	-	2206	DataGridRow row;
		2207	if (_wpIndex > -1)
		2208	{
		2209	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2210	row.Background = new SolidColorBrush(Colors.Transparent);
		2211	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2212	row.BorderThickness = new Thickness(0);
		2213	}
		2214
		2215	_wpIndex = data[13] - 1;
2428	-	2216	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2429	-	2217	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2218	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2219	row.BorderThickness = new Thickness(2);
		2220	dgvWP.UpdateLayout();
		2221	});
		2222	_wpIndex = data[13] - 1;
		2223	}
		2224	else
2428	-	2225	{
2429	-	2226	if ((data[13] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2428	-	2227	{
2429	-	2228	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2229	Dispatcher.Invoke(() =>
2428	-	2230	{
2429	-	2231	DataGridRow row;
		2232	if (_wpIndex > -1 && data[13] == 0 && wpList.Count > _wpIndex)
		2233	{
		2234	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2235	row.Background = new SolidColorBrush(Colors.Transparent);
		2236	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2237	row.BorderThickness = new Thickness(0);
		2238	_wpIndex = -1;
		2239	}
		2240	});
2428	-	2241
2429	-	2242	}
2428	-	2243	}
2429	-	2244	//----------------Waypoints count----------------------
		2245	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[14].ToString())); //Waypoints count
		2246	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[14].ToString())); //Waypoints count
		2247	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[14].ToString())); //Waypoints count
		2248	_wpCount = data[14];
		2249	if(_wpCount > dtWaypoints.Rows.Count)
		2250	{
		2251	Log(LogMsgType.Warning, "The copter reports more waypoints than there are in the local list!");
		2252	}
2428	-	2253
2429	-	2254	//---------------------------------Target hold time------------------------------
		2255	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[15].ToString() + " s"));
		2256	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[15].ToString() + " s"));
2428	-	2257
2429	-	2258	break;
2428	-	2259
2429	-	2260	case 16:
		2261	//--------------- Capacity used ------------------------
		2262	i_16 = data[18];
		2263	i_16 = (Int16)(i_16 << 8);
		2264	iVal = data[17] + i_16;
		2265	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2266	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
2428	-	2267
2429	-	2268	//--------------- Heading compass ------------------------
		2269	i_16 = data[21];
		2270	iVal = 2 * i_16;
		2271	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2272	if (_Simulate)
		2273	{
		2274	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2275	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2276	}
2428	-	2277
2429	-	2278	break;
		2279	case 17:
2428	-	2280
2429	-	2281	break;
		2282	case 18:
2428	-	2283
2429	-	2284	break;
		2285	default:
		2286	break;
		2287	}
		2288	//--------------------------------------------------------------------------------
		2289	//-----------------------------FC Status Flags-------------------------------
		2290	//--------------------------------------------------------------------------------
		2291	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2292	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((OSDSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2293	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((OSDSTATUSFLAGS1 & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2294	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((OSDSTATUSFLAGS2 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2295	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2296	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((OSDSTATUSFLAGS1 & 32) == 32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
2428	-	2297
2429	-	2298	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2299	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2300	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((OSDSTATUSFLAGS2 & 4) == 4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2301	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((OSDSTATUSFLAGS1 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2302	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((OSDSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2303	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
		2304	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((OSDSTATUSFLAGS2 & 64) == 64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2305	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((OSDSTATUSFLAGS2 & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
2428	-	2306
2429	-	2307	//Sidebar StatusSymbols
		2308	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2309	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
		2310	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	-	2311
2429	-	2312	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2313	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2314	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	-	2315
2429	-	2316	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2317	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
		2318	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	-	2319
2429	-	2320	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2321	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
		2322	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	-	2323
2429	-	2324	_bAirborne = (OSDSTATUSFLAGS2 & 2) == 2 ? true : false;
		2325	}
2428	-	2326	}
		2327	public class OSD_Base_Data_t
		2328	{
		2329	byte[] data;
		2330
		2331	public OSD_Base_Data_t(byte [] _data)
		2332	{
		2333	data = _data;
		2334	}
		2335
		2336	public PointLatLng Pos()
		2337	{
		2338	PointLatLng p = new PointLatLng();
		2339	int i_32, iVal;
		2340	double d;
		2341
		2342	i_32 = data[4];
		2343	iVal = i_32 << 24;
		2344	i_32 = data[3];
		2345	iVal += i_32 << 16;
		2346	i_32 = data[2];
		2347	iVal += i_32 << 8;
		2348	iVal += data[1];
		2349	d = (double)iVal / Math.Pow(10, 7);
		2350	p.Lng = d;
		2351
		2352	i_32 = data[8];
		2353	iVal = i_32 << 24;
		2354	i_32 = data[7];
		2355	iVal += i_32 << 16;
		2356	i_32 = data[6];
		2357	iVal += i_32 << 8;
		2358	iVal += data[5];
		2359	d = (double)iVal / Math.Pow(10, 7);
		2360	p.Lat = d;
		2361
		2362	return p;
		2363
		2364	}
		2365
		2366	public int Height()
		2367	{
		2368	int i_32, iVal;
		2369	i_32 = data[10];
		2370	iVal = i_32 << 8;
		2371	iVal += data[9];
		2372
		2373	return iVal;
		2374	}
		2375
		2376	public double Speed()
		2377	{
2429	-	2378	if (data.Length > 11)
		2379	return (double)data[11]/10;
		2380	else return 0;
2428	-	2381	}
		2382
		2383	public byte OSDSTATUSFLAGS1()
		2384	{
2429	-	2385	if (data.Length > 12)
		2386	return data[12];
		2387	else return 0;
2428	-	2388	}
		2389	public byte OSDSTATUSFLAGS2()
		2390	{
2429	-	2391	if (data.Length > 13)
		2392	return data[13];
		2393	else return 0;
2428	-	2394	}
		2395	}
2287	-	2396	void _processNCData(byte[] data)
		2397	{
		2398	int i_32, i_16, iVal;
		2399	double d;
2428	-	2400
		2401	//----------------------------POSITION------------------------------------
2287	-	2402	i_32 = data[4];
		2403	iVal = i_32 << 24;
		2404	i_32 = data[3];
		2405	iVal += i_32 << 16;
		2406	i_32 = data[2];
		2407	iVal += i_32 << 8;
		2408	iVal += data[1];
		2409	d = (double)iVal / Math.Pow(10, 7);
2324	-	2410	Dispatcher.Invoke(() => { drGPX[2] = d; });
		2411
2287	-	2412	PointLatLng p = new PointLatLng();
		2413
		2414	p.Lng = d;
		2415	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		2416	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		2417
		2418	i_32 = data[8];
		2419	iVal = i_32 << 24;
		2420	i_32 = data[7];
		2421	iVal += i_32 << 16;
		2422	i_32 = data[6];
		2423	iVal += i_32 << 8;
		2424	iVal += data[5];
		2425	d = (double)iVal / Math.Pow(10, 7);
2324	-	2426	Dispatcher.Invoke(() => { drGPX[1] = d; });
		2427	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	2428	p.Lat = d;
2399	-	2429
2428	-	2430	//---------------------------SATS-------------------------------------------------
2291	-	2431	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2432	{
		2433	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	2434	if(_bAutoHome && !_bFirstSatFix)
		2435	{
		2436	if (_iFirstSatFix < 3)
		2437	_iFirstSatFix++;
		2438	else
		2439	{
		2440	_bFirstSatFix = true;
2347	-	2441	Dispatcher.Invoke(() => _setHomePos());
2295	-	2442	}
		2443	}
2291	-	2444	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2445	{
		2446	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2447	_bAnimSatFixActive = false;
		2448	}
		2449	if (!_bFollowCopter)
		2450	{
		2451	_setCopterData(p);
		2452	if (!MainMap.ViewArea.Contains(p))
		2453	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	2454
2291	-	2455	}
		2456	else
2287	-	2457	Dispatcher.Invoke(() => MainMap.Position = p);
		2458	}
		2459	else
2291	-	2460	{
		2461	if(_bSatFix)
		2462	{
		2463	if (data[50] == _iSatsLast)
		2464	{
		2465	if (_iSatsJitter < 20) _iSatsJitter++;
		2466	}
		2467	else
		2468	{
		2469	_iSatsJitter = 0;
		2470	_iSatsLast = data[50];
		2471	}
2287	-	2472
2291	-	2473	if (_iSatsJitter == 20)
		2474	{
		2475	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2476	{
		2477	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2478	_bAnimSatFixActive = true;
		2479	}
		2480	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2481	{
2405	-	2482	_bVoiceSatFixActive = true;
2398	-	2483	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2484	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2485	//th.Start();
2291	-	2486	}
		2487
		2488	_bSatFix = false;
		2489	}
		2490	}
		2491	}
		2492
2428	-	2493	//--------------------------Distance to next WP--------------------------------
2287	-	2494	i_16 = data[28];
		2495	i_16 = (Int16)(i_16 << 8);
		2496	iVal = data[27] + i_16;
2399	-	2497	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2498	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
2401	-	2499	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	2500
2428	-	2501	//-------------------------Distance to HP set by GPS on----------------------------------
2287	-	2502	i_16 = data[45];
		2503	i_16 = (Int16)(i_16 << 8);
		2504	iVal = data[44] + i_16;
2428	-	2505	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	2506
2428	-	2507	//--------------------------------Waypoint index------------------------------------
		2508	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString()));
2355	-	2509	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2401	-	2510	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
2399	-	2511	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
2342	-	2512	{
2425	-	2513	_setActiveWP(data[48]- 1);
2355	-	2514	if((data[67] & 2) == 2)
		2515	Dispatcher.Invoke(() => {
		2516	DataGridRow row;
		2517	if (_wpIndex > -1)
		2518	{
2425	-	2519	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	2520	row.Background = new SolidColorBrush(Colors.Transparent);
		2521	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2522	row.BorderThickness = new Thickness(0);
		2523	}
2425	-	2524
2355	-	2525	_wpIndex = data[48] - 1;
2425	-	2526	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2366	-	2527	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2528	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	2529	row.BorderThickness = new Thickness(2);
		2530	dgvWP.UpdateLayout();
		2531	});
2425	-	2532	_wpIndex = data[48]- 1;
2342	-	2533	}
2347	-	2534	else
		2535	{
		2536	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	2537	{
2347	-	2538	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	2539	Dispatcher.Invoke(() =>
		2540	{
		2541	DataGridRow row;
2368	-	2542	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	2543	{
2425	-	2544	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	2545	row.Background = new SolidColorBrush(Colors.Transparent);
		2546	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2547	row.BorderThickness = new Thickness(0);
		2548	_wpIndex = -1;
		2549	}
		2550	});
		2551
		2552	}
2347	-	2553	}
2428	-	2554	//----------------Waypoints count----------------------
2287	-	2555	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	2556	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2401	-	2557	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	2558	_wpCount = data[49];
2428	-	2559	//-------------------Satellites----------------------------------
		2560	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString()));
2287	-	2561
		2562	//--------------- Capacity used ------------------------
		2563	i_16 = data[81];
		2564	i_16 = (Int16)(i_16 << 8);
		2565	iVal = data[80] + i_16;
		2566	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2567	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2568
2398	-	2569	//--------------- Ground speed ------------------------
		2570	i_16 = data[59];
		2571	i_16 = (Int16)(i_16 << 8);
		2572	iVal = data[58] + i_16;
2399	-	2573	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2574	if(_Simulate)
		2575	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
2398	-	2576
		2577	//--------------- Heading north ------------------------
2431	-	2578	//i_16 = data[61];
		2579	//i_16 = (Int16)(i_16 << 8);
		2580	//iVal = data[60] + i_16;
		2581	//Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
2398	-	2582
		2583	//--------------- Heading compass ------------------------
		2584	i_16 = data[63];
		2585	i_16 = (Int16)(i_16 << 8);
		2586	iVal = data[62] + i_16;
		2587	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
2399	-	2588	if (_Simulate)
		2589	{
		2590	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2591	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2592	}
2287	-	2593	//--------------- Flying time ------------------------
		2594	i_16 = data[56];
		2595	i_16 = (Int16)(i_16 << 8);
		2596	iVal = data[55] + i_16;
		2597	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2598	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2599	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2600	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2601
		2602	//--------------- RC quality ------------------------
		2603	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		2604	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		2605
2291	-	2606	if(data[66] > _iThresholdRC)
		2607	{
		2608	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2609	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2610	{
		2611	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2612	_bAnimRCLevelActive = false;
		2613	}
		2614	}
		2615	else
		2616	{
		2617	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2618	if (_iRCLevelJitter == 20)
		2619	{
		2620	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2621	{
		2622	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2623	_bAnimRCLevelActive = true;
		2624	}
		2625	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2626	{
2405	-	2627	_bVoiceRCLevelActive = true;
2398	-	2628	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2629	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2630	//th.Start();
2291	-	2631	}
		2632	_iRCLevelJitter++;
		2633	}
		2634	}
		2635
2428	-	2636	//-------------------------Waypoint max range (by license)------------------------------
2405	-	2637	if(dWPMaxRange != (double)data[70])
		2638	{
		2639	dWPMaxRange = (double)data[70];
		2640	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2641	{
		2642	if (cWPBound != null && cWPBound.Tag != null)
		2643	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2644
		2645	createCircle(home.Position, dWPMaxRange);
2408	-	2646	Dispatcher.Invoke(() =>
		2647	{
		2648	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2649	{
		2650	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2651	cWPBound.setColor(s);
		2652	}
		2653	});
2405	-	2654	}
		2655	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		2656	}
2428	-	2657	//---------------------------------Target hold time------------------------------
2399	-	2658	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
2401	-	2659	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
2399	-	2660
2287	-	2661	//--------------- NC Error ------------------------
		2662	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		2663	if (data[69] > 0)
		2664	_readNCError();
		2665	if (data[69] > 0 & data[69] < 44)
2381	-	2666	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		2667	//else
		2668	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	2669
2428	-	2670	//--------------------------------------------------------------------------------
		2671	//-----------------------------FC / NC Status Flags-------------------------------
		2672	//--------------------------------------------------------------------------------
2298	-	2673	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2674	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2675	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2676	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2677	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2678	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2679
		2680	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2681	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2682	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2683	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2684	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2685	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
		2686	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2687	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2688
		2689	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2690	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2691	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2692	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2693	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2694	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2695	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	2696
		2697	//Sidebar StatusSymbols
		2698	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2699	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
		2700	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
		2701
		2702	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2703	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
		2704	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
		2705
		2706	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2707	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
		2708	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	-	2709
		2710	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2711	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
		2712	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
		2713
		2714	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2715	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
		2716	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
		2717	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	-	2718
2324	-	2719	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2720	}
		2721	/// <summary>
		2722	/// Navi-Ctrl WP data struct 'X'
		2723	/// called by index
		2724	/// </summary>
		2725	/// <param name="data">the received byte array to process</param>
		2726	void _processWPData(byte[] data)
		2727	{
2313	-	2728	_iWPCount = data[0];
2287	-	2729	_bGetWPCount = false;
		2730	if (data.Length >= 28)
		2731	{
		2732	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2733	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2734	if (_bGetWP)
		2735	{
		2736	if (data[1] == 1)
2315	-	2737	{
2333	-	2738	Dispatcher.Invoke(() =>
		2739	{
2356	-	2740	wpList.Clear();
		2741	_clearMapMarkers(typeof(CustomMarkerWP));
		2742	if (mRouteWP != null)
		2743	MainMap.Markers.Remove(mRouteWP);
		2744	if (wpActiveMarker != null)
		2745	MainMap.Markers.Remove(wpActiveMarker);
		2746	lblWPRouteDistance.Content = "0 m";
		2747	dtWaypoints.Rows.Clear();
2368	-	2748	_wpEdit = -1;_wpIndex = -1;
2425	-	2749	wpOffset.Clear();
2318	-	2750	});
2315	-	2751	}
2287	-	2752	DataRow dr = dtWaypoints.NewRow();
		2753	dr = Waypoints.toDataRow(data, dr);
2313	-	2754	dtWaypoints.Rows.Add(dr);
2425	-	2755	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1],(int)data[1]-1);
2313	-	2756	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2757	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2758	if (data[1] == data[0])
		2759	{
		2760	_bGetWP = false;
2368	-	2761	_routeUpdate();
2287	-	2762	}
		2763
		2764	}
		2765	}
		2766	else
		2767	{
		2768	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2769	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2770	}
		2771	}
		2772	/// <summary>
		2773	/// OSD Menue 'L'
		2774	/// single page called by pagenumber
		2775	/// no autoupdate
		2776	/// </summary>
		2777	/// <param name="data">the received byte array to process</param>
		2778	void _processOSDSingle(byte[] data)
		2779	{
		2780	if (data.Length == 84)
		2781	{
		2782	string sMessage = "";
		2783	iOSDPage = data[0];
		2784	iOSDMax = data[1];
		2785	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2786	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2787	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2788	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2789	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2790	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2791	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2792	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2793
		2794	}
		2795	//else
		2796	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2797
		2798	}
		2799	/// <summary>
		2800	/// OSD Menue 'H'
		2801	/// called by keys (0x01,0x02,0x03,0x04)
		2802	/// autoupdate
		2803	/// </summary>
		2804	/// <param name="data">the received byte array to process</param>
		2805	void _processOSDAuto(byte[] data)
		2806	{
		2807	if (data.Length == 81)
		2808	{
		2809	string sMessage = "";
		2810	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2811	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2812	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2813	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2814	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2815
		2816	}
		2817	//else
		2818	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2819	}
		2820
		2821	#endregion processing received data
		2822
		2823	#region controller messages
		2824	/// <summary> send message to controller to request data
		2825	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2826	/// </summary>
		2827	/// <param name="CMDID"> the command ID </param>
		2828	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2829	private void _sendControllerMessage(char CMDID, byte address)
		2830	{
		2831	if (serialPortCtrl.Port.IsOpen)
		2832	{
		2833	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2834	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2835	serialStream.Write(bytes, 0, bytes.Length);
		2836
		2837	}
		2838	else
		2839	Log(LogMsgType.Error, "NOT CONNECTED!");
		2840	}
		2841	/// <summary> send message to controller to request data
		2842	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2843	/// </summary>
		2844	/// <param name="CMDID"> the command ID </param>
		2845	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2846	/// <param name="data"> additional data for the request</param>
		2847	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2848	{
		2849	if (serialPortCtrl.Port.IsOpen)
		2850	{
		2851	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2852	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2853	serialStream.Write(bytes, 0, bytes.Length);
		2854
		2855	}
		2856	else
		2857	Log(LogMsgType.Error, "NOT CONNECTED!");
		2858	}
		2859
		2860	/// <summary>
		2861	/// start/stop continous polling of controller values
		2862	/// </summary>
		2863	/// <param name="b">start/stop switch</param>
		2864	void _readCont(bool b)
		2865	{
		2866	bReadContinously = b;
		2867	if (bReadContinously)
		2868	{
		2869	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2870	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2871	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2872	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2873	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2874	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2875	}
		2876	else
		2877	{
		2878	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2879	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2880	_bConnErr = false;
		2881	}
		2882	_iLifeCounter = 0;
		2883	}
		2884
		2885	private void _getVersion()
		2886	{
		2887	_sendControllerMessage('v', 0);
		2888	}
		2889	/// <summary>
		2890	/// get FC version struct via NC
		2891	/// by sending '1' as data (not documented in wiki...)
		2892	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2893	/// </summary>
		2894	/// <param name="ctrl">controller number 1=FC</param>
		2895	private void _getVersion(byte ctrl)
		2896	{
		2897	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2898	}
		2899	/// <summary>
		2900	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2901	/// </summary>
		2902	private void _switchToNC()
		2903	{
		2904	if (serialPortCtrl.Port.IsOpen)
		2905	{
		2906	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2907	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2908	serialStream.Write(bytes, 0, bytes.Length);
		2909
		2910	Thread.Sleep(100);
		2911	_getVersion();
		2912	Thread.Sleep(100);
2424	-	2913	_getLic();
2287	-	2914	// _OSDMenue(0);
		2915	}
		2916	else
		2917	Log(LogMsgType.Error, "NOT CONNECTED!");
		2918	}
		2919	/// <summary>
		2920	/// switch to FC
		2921	/// </summary>
		2922	private void _switchToFC()
		2923	{
		2924	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2925	Thread.Sleep(100);
		2926	_getVersion();
		2927	Thread.Sleep(100);
		2928	// _OSDMenue(0);
		2929	}
		2930	/// <summary>
		2931	/// send RESET signal to FC
		2932	/// </summary>
		2933	private void _resetCtrl()
		2934	{
		2935	_sendControllerMessage('R', 1);
		2936	}
		2937	/// <summary>
		2938	/// poll the debug data (4sec subscription)
		2939	/// </summary>
		2940	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2941	private void _readDebugData(bool auto)
		2942	{
		2943	byte interval = auto ? debugInterval : (byte)0;
		2944	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2945	}
		2946	/// <summary>
		2947	/// poll the BL-CTRL status via NC (4sec subscription)
		2948	/// </summary>
		2949	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2950	private void _readBLCtrl(bool auto)
		2951	{
		2952	byte interval = auto ? blctrlInterval : (byte)0;
		2953	_sendControllerMessage('k', 0, new byte[1] { interval });
		2954	}
		2955	/// <summary>
		2956	/// poll the NC data struct (4sec subscription)
		2957	/// </summary>
		2958	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2959	private void _readNavData(bool auto)
		2960	{
		2961	byte interval = auto ? navctrlInterval : (byte)0;
2429	-	2962	// _sendControllerMessage('o', 2, new byte[1] { interval });
		2963	_sendControllerMessage('o', 2, new byte[3] { interval,4,0 });
2287	-	2964	}
		2965	/// <summary>
2424	-	2966	/// request the license info
		2967	/// </summary>
		2968	void _getLic()
		2969	{
		2970	if (serialPortCtrl.Port.IsOpen)
		2971	{
		2972	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2973	byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 });
		2974	serialStream.Write(bytes, 0, bytes.Length);
		2975	}
		2976	else
		2977	Log(LogMsgType.Error, "NOT CONNECTED!");
		2978
		2979	}
		2980	/// <summary>
2287	-	2981	/// get the errortext for pending NC error
		2982	/// </summary>
		2983	private void _readNCError()
		2984	{
		2985	_sendControllerMessage('e', 2);
		2986	}
		2987	/// <summary>
		2988	/// request the Waypoint at index
		2989	/// </summary>
		2990	/// <param name="index"></param>
		2991	void _getpWP(int index)
		2992	{
		2993	if (serialPortCtrl.Port.IsOpen)
		2994	{
		2995	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2996	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2997	serialStream.Write(bytes, 0, bytes.Length);
		2998	}
		2999	else
		3000	Log(LogMsgType.Error, "NOT CONNECTED!");
		3001
		3002	}
		3003	void _getWP()
		3004	{
2335	-	3005	int iTimeout = 0;
2287	-	3006	_bGetWPCount = true;
2315	-	3007	_getpWP(1); //get the itemscount of wp
2335	-	3008	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		3009	{
		3010	Thread.Sleep(10);
		3011	iTimeout++;
		3012	}
		3013	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	3014	_getWPList();
		3015	}
		3016	void _getWPList()
		3017	{
		3018	_bGetWP = true;
2313	-	3019	int iTimeout=0;
		3020	for (int j = 0; j < _iWPCount; j++)
2287	-	3021	{
		3022	_getpWP(j + 1);
2313	-	3023	iTimeout = 0;
		3024	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		3025	{
		3026	Thread.Sleep(1);
		3027	iTimeout++;
		3028	}
2287	-	3029	}
2419	-	3030	Dispatcher.Invoke(() =>
		3031	{
		3032	// MainMap.ZoomAndCenterMarkers(null);
		3033	MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]);
		3034	MainMap.Zoom = 19;
		3035	});
2287	-	3036	}
2363	-	3037	/// <summary>
		3038	/// Wrapper for _clearCopterWPList()
		3039	/// necessary, cause it is called by threadnew which does not like return values...
		3040	/// </summary>
2340	-	3041	void clearCopterWPList()
2313	-	3042	{
2340	-	3043	_clearCopterWPList();
		3044	}
2363	-	3045	/// <summary>
		3046	/// clear the WP list of the copter
		3047	/// by sending 'invalid' and index '0'
		3048	/// </summary>
		3049	/// <returns></returns>
2340	-	3050	bool _clearCopterWPList()
		3051	{
2335	-	3052	int iTimeout = 0;
2313	-	3053	if (serialPortCtrl.Port.IsOpen)
		3054	{
		3055	byte[] bData = new byte[30];
		3056	for (int i = 0; i < 30; i++)
		3057	bData[i] = 0;
		3058	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3059	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		3060	serialStream.Write(bytes, 0, bytes.Length);
2287	-	3061
2313	-	3062	_iWPCount = -1;
2340	-	3063	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	3064	{
2313	-	3065	Thread.Sleep(10);
2335	-	3066	iTimeout++;
		3067	}
2313	-	3068	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	3069	if (_iWPCount > -1)
2340	-	3070	return true;
		3071	else
		3072	Log(LogMsgType.Error, "Timeout while sending list!");
		3073	}
		3074	else
		3075	Log(LogMsgType.Error, "NOT CONNECTED!");
		3076
		3077	return false;
		3078	}
		3079	void _sendWPList()
		3080	{
2362	-	3081	_sendWPList(0);
		3082	}
		3083	void _sendWPList(int iStart)
		3084	{
2340	-	3085	int iTimeout = 0;
		3086	if (serialPortCtrl.Port.IsOpen)
		3087	{
		3088	if (_clearCopterWPList())
2313	-	3089	{
2362	-	3090	int k = 1;
		3091	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	3092	{
2362	-	3093	k = iStart > 0 ? k : -1;
2376	-	3094	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	3095
2335	-	3096	_iWPCount = -1;
		3097	iTimeout = 0;
		3098	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		3099	{
		3100	Thread.Sleep(10);
		3101	iTimeout++;
		3102	}
		3103	if (_iWPCount == -1)
		3104	{
		3105	Log(LogMsgType.Error, "Timeout while sending list!");
		3106	break;
		3107	}
		3108	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	3109	k++;
2335	-	3110	}
2313	-	3111	}
		3112	}
		3113	else
		3114	Log(LogMsgType.Error, "NOT CONNECTED!");
		3115
		3116	}
2376	-	3117	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	3118	{
2313	-	3119
2340	-	3120	if (serialPortCtrl.Port.IsOpen)
		3121	{
		3122	byte[] bData = new byte[30];
		3123	for (int i = 0; i < 30; i++)
		3124	bData[i] = 0;
		3125	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3126	byte[] bytes;
		3127	int iVal;
		3128	double dVal;
		3129	NumberFormatInfo nfi = new NumberFormatInfo();
		3130	nfi.NumberDecimalSeparator = ",";
		3131
		3132	//longitude
		3133	dVal = Convert.ToDouble(dr[4], nfi);
		3134	iVal = (int)(dVal * Math.Pow(10, 7));
		3135	bData[0] = (byte)(iVal & 0xff);
		3136	bData[1] = (byte)((iVal >> 8) & 0xff);
		3137	bData[2] = (byte)((iVal >> 16) & 0xff);
		3138	bData[3] = (byte)(iVal >> 24);
		3139	//latitude
		3140	dVal = Convert.ToDouble(dr[3], nfi);
		3141	iVal = (int)(dVal * Math.Pow(10, 7));
		3142	bData[4] = (byte)(iVal & 0xff);
		3143	bData[5] = (byte)((iVal >> 8) & 0xff);
		3144	bData[6] = (byte)((iVal >> 16) & 0xff);
		3145	bData[7] = (byte)(iVal >> 24);
		3146	//altitude
		3147	dVal = Convert.ToDouble(dr[5], nfi);
		3148	iVal = (int)(dVal * 10);
		3149	bData[8] = (byte)(iVal & 0xff);
		3150	bData[9] = (byte)((iVal >> 8) & 0xff);
		3151	bData[10] = (byte)((iVal >> 16) & 0xff);
		3152	bData[11] = (byte)(iVal >> 24);
2376	-	3153	if(bSim)
		3154	bData[12] = 3; //Status 'SIMULATE'
2340	-	3155	//Status 'NEWDATA'
2376	-	3156	else
		3157	bData[12] = 1;
2340	-	3158	//heading
		3159	iVal = Convert.ToInt16(dr[6]);
		3160	bData[13] = (byte)(iVal & 0xff);
		3161	bData[14] = (byte)((iVal >> 8) & 0xff);
		3162	//ToleranceRadius
		3163	bData[15] = Convert.ToByte(dr[9]);
		3164	//HoldTime
		3165	bData[16] = Convert.ToByte(dr[10]);
		3166	//Event_Flag
		3167	bData[17] = Convert.ToByte(dr[13]);
		3168	//Index
2379	-	3169	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	3170	//Type
		3171	bData[19] = Convert.ToByte(dr[1]);
		3172	//WP_EventChannelValue
		3173	bData[20] = Convert.ToByte(dr[14]);
		3174	//AltitudeRate
		3175	bData[21] = Convert.ToByte(dr[8]);
		3176	//Speed
		3177	bData[22] = Convert.ToByte(dr[7]);
		3178	//CamAngle
		3179	bData[23] = (byte)Convert.ToInt16(dr[12]);
		3180	//Name
2362	-	3181	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		3182	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	3183	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		3184	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		3185	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		3186	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		3187	//Autotrigger
		3188	bData[28] = Convert.ToByte(dr[11]);
		3189
2356	-	3190	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	3191	serialStream.Write(bytes, 0, bytes.Length);
		3192
		3193	return true;
		3194	}
		3195
		3196	return false;
		3197	}
2287	-	3198	#region OSD-Menue
		3199
		3200	/// <summary>
		3201	/// one time query of the OSD Menue with pagenumber
		3202	/// </summary>
		3203	/// <param name="iMenue">Menue page</param>
		3204	void _OSDMenue(int iMenue)
		3205	{
		3206	if (serialPortCtrl.Port.IsOpen)
		3207	{
		3208	if (iMenue > iOSDMax)
		3209	iMenue = 0;
		3210	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3211	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		3212	serialStream.Write(bytes, 0, bytes.Length);
		3213	}
		3214	else
		3215	Log(LogMsgType.Error, "NOT CONNECTED!");
		3216
		3217	}
		3218	/// <summary>
		3219	/// call the OSDMenue and start autorefresh
		3220	/// usually by sending a menuekey
		3221	/// 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)
		3222	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		3223	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		3224	/// </summary>
		3225	void _OSDMenueAutoRefresh()
		3226	{
		3227	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		3228	}
		3229	void _OSDMenueAutoRefresh(byte key)
		3230	{
		3231	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		3232	}
		3233	/// <summary>
		3234	/// initialize the OSD menue combobox
		3235	/// combox is filled by numbers from 0 to max pagenumber
		3236	/// </summary>
		3237	void _initOSDCB()
		3238	{
		3239	_bCBInit = true;
		3240	if (iOSDMax == 0)
		3241	{
		3242	_OSDMenue(0);
		3243	Thread.Sleep(10);
		3244	}
		3245	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		3246	for (int i = 0; i <= iOSDMax; i++)
		3247	{
		3248	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		3249	}
		3250	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		3251	_bCBInit = false;
		3252	}
		3253	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		3254	{
		3255	iOSDPage++;
		3256	if (iOSDPage > iOSDMax)
		3257	iOSDPage = 0;
		3258
		3259	_OSDMenue(iOSDPage);
		3260	}
		3261	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		3262	{
		3263	iOSDPage--;
		3264	if (iOSDPage < 0)
		3265	iOSDPage = iOSDMax;
		3266
		3267	_OSDMenue(iOSDPage);
		3268	}
		3269	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		3270	{
		3271	_OSDMenueAutoRefresh(8);
		3272	}
		3273	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		3274	{
		3275	_OSDMenueAutoRefresh(4);
		3276	}
		3277	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		3278	{
		3279	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		3280	_OSDMenue(cbOSD.SelectedIndex);
		3281	}
		3282	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		3283	{
		3284	Dispatcher.Invoke(() =>
		3285	{
		3286	TextRange tr;
		3287	if (bNew)
		3288	{
		3289	rtfOSD.SelectAll();
		3290	rtfOSD.Selection.Text = string.Empty;
		3291	}
		3292	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		3293	tr.Text = msg;
		3294	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		3295	// rtfOSD.AppendText("\r");
		3296	rtfOSD.ScrollToEnd();
		3297
		3298	});
		3299	}
		3300
		3301	#endregion OSD-Menue
		3302
		3303	#endregion controller messages
		3304
2398	-	3305	void _mediaPlayer(object file)
2295	-	3306	{
2405	-	3307	Monitor.TryEnter(lockObj);
		3308	try
2295	-	3309	{
2405	-	3310	if (File.Exists((string)file))
		3311	{
		3312
		3313	mediaPlayer.Open((string)file);
		3314	mediaPlayer.Play();
		3315	}
		3316
2295	-	3317	}
2405	-	3318	finally
		3319	{
		3320	Monitor.Exit(lockObj);
		3321	}
2295	-	3322	}
2310	-	3323
2362	-	3324	#region ui
2310	-	3325	/// <summary>
		3326	/// Switch between fullscreen and normal window mode
		3327	/// save & restore scaling settings
		3328	/// </summary>
		3329	/// <param name="sender"></param>
		3330	/// <param name="e"></param>
2287	-	3331	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		3332	{
		3333	if (winState.isMaximized)
		3334	{
		3335	winState.Restore(this);
		3336	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		3337	if(_bSaveWinStateFull)
		3338	_saveScaleSliders(true);
		3339	if(_bSaveWinStateNormal)
		3340	_setScaleSliders(false);
		3341	}
		3342	else
		3343	{
		3344	winState.Maximize(this);
		3345	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		3346	if(_bSaveWinStateNormal)
		3347	_saveScaleSliders(false);
		3348	if(_bSaveWinStateFull)
		3349	_setScaleSliders(true);
		3350	}
		3351	}
		3352
		3353	/// <summary>
		3354	/// reset the scaling of all UI elements to default
		3355	/// </summary>
		3356	/// <param name="sender"></param>
		3357	/// <param name="e"></param>
		3358	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		3359	{
		3360	UIScaleHorizonSlider.Value =
		3361	UIScaleLOGSlider.Value =
		3362	UIScaleMotorsSlider.Value =
		3363	UIScaleOSDSlider.Value =
		3364	UIScaleSlider.Value =
		3365	UIScaleTopSlider.Value = 1;
		3366	}
		3367	/// <summary>
		3368	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		3369	/// </summary>
		3370	/// <param name="sender"></param>
		3371	/// <param name="e"></param>
		3372	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3373	{
		3374	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		3375	if (GridMotors != null)
		3376	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		3377	if (GridSideBar != null)
		3378	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
2401	-	3379	if (WPStatus != null)
		3380	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
2287	-	3381	if (GridOSD != null)
2401	-	3382	{
		3383	if(WPStatus.Visibility == Visibility.Visible)
		3384	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3385	else
		3386	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3387	}
2287	-	3388	if (GridData != null)
		3389	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		3390	if (GridWP != null)
		3391	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		3392	}
2419	-	3393	private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3394	{
		3395	if (!_init)
		3396	{
		3397	if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible))
		3398	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3399	else
		3400	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3401	}
		3402	}
		3403
2310	-	3404	/// <summary>
		3405	/// restore the saved scalings for the fullscreen/normal window mode
		3406	/// </summary>
		3407	/// <param name="bFull">the mode the window is set to</param>
2287	-	3408	void _setScaleSliders(bool bFull)
		3409	{
		3410	if(bFull)
		3411	{
		3412	UIScaleSlider.Value = scaleFullAll;
		3413	UIScaleTopSlider.Value = scaleFullTopBar;
		3414	UIScaleMotorsSlider.Value = scaleFullMotors;
		3415	UIScaleOSDSlider.Value = scaleFullOSD;
		3416	UIScaleLOGSlider.Value = scaleFullLOG;
		3417	UIScaleHorizonSlider.Value = scaleFullHorizon;
		3418	}
		3419	else
		3420	{
		3421	UIScaleSlider.Value = scaleNormalAll;
		3422	UIScaleTopSlider.Value = scaleNormalTopBar;
		3423	UIScaleMotorsSlider.Value = scaleNormalMotors;
		3424	UIScaleOSDSlider.Value = scaleNormalOSD;
		3425	UIScaleLOGSlider.Value = scaleNormalLOG;
		3426	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		3427	}
		3428	}
		3429
2310	-	3430	/// <summary>
		3431	/// save the scalings for the actual window mode
		3432	/// </summary>
		3433	/// <param name="bFull">the actual window mode</param>
2287	-	3434	void _saveScaleSliders(bool bFull)
		3435	{
		3436
		3437	if (bFull)
		3438	{
		3439	scaleFullAll = UIScaleSlider.Value;
		3440	scaleFullTopBar = UIScaleTopSlider.Value;
		3441	scaleFullMotors = UIScaleMotorsSlider.Value;
		3442	scaleFullOSD = UIScaleOSDSlider.Value;
		3443	scaleFullLOG = UIScaleLOGSlider.Value;
		3444	scaleFullHorizon = UIScaleHorizonSlider.Value;
		3445	}
		3446	else
		3447	{
		3448	scaleNormalAll = UIScaleSlider.Value;
		3449	scaleNormalTopBar = UIScaleTopSlider.Value;
		3450	scaleNormalMotors = UIScaleMotorsSlider.Value;
		3451	scaleNormalOSD = UIScaleOSDSlider.Value;
		3452	scaleNormalLOG = UIScaleLOGSlider.Value;
		3453	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		3454	}
		3455	}
2362	-	3456	#endregion ui
2287	-	3457
		3458	/// <summary>
		3459	/// read settings from ini-file
		3460	/// </summary>
		3461	void _readIni()
		3462	{
		3463	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		3464	_writeIni();
		3465	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3466	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	3467	try
		3468	{
2287	-	3469
2312	-	3470	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		3471	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		3472	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		3473	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		3474	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		3475	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		3476	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		3477	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	3478
2312	-	3479	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		3480	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		3481	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		3482	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		3483	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		3484	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		3485	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		3486	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	3487
2312	-	3488	sVal = ini.IniReadValue("topBar", "voltage");
		3489	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		3490	sVal = ini.IniReadValue("topBar", "capacity");
		3491	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		3492	sVal = ini.IniReadValue("topBar", "current");
		3493	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		3494	sVal = ini.IniReadValue("topBar", "flightTime");
		3495	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		3496	sVal = ini.IniReadValue("topBar", "distanceHP");
		3497	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		3498	sVal = ini.IniReadValue("topBar", "height");
		3499	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		3500	sVal = ini.IniReadValue("topBar", "speed");
		3501	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		3502	sVal = ini.IniReadValue("topBar", "magneticField");
		3503	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		3504	sVal = ini.IniReadValue("topBar", "satellites");
		3505	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		3506	sVal = ini.IniReadValue("topBar", "rc");
		3507	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	3508
2312	-	3509	sVal = ini.IniReadValue("style", "saveFullScreen");
		3510	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		3511	sVal = ini.IniReadValue("style", "saveNormalState");
		3512	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	3513
2312	-	3514	sVal = ini.IniReadValue("style", "scaleNormalAll");
		3515	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		3516	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		3517	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		3518	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		3519	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		3520	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		3521	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		3522	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		3523	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		3524	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		3525	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	3526
2312	-	3527	sVal = ini.IniReadValue("style", "scaleFullAll");
		3528	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		3529	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		3530	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		3531	sVal = ini.IniReadValue("style", "scaleFullMotors");
		3532	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		3533	sVal = ini.IniReadValue("style", "scaleFullOSD");
		3534	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		3535	sVal = ini.IniReadValue("style", "scaleFullLOG");
		3536	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		3537	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		3538	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	3539
2312	-	3540	sVal = ini.IniReadValue("general", "LiPoCells");
		3541	_LipoCells = Convert.ToInt16(sVal);
		3542	sVal = ini.IniReadValue("general", "Motors");
		3543	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	3544
2312	-	3545	sVal = ini.IniReadValue("map", "followMe");
		3546	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		3547	sVal = ini.IniReadValue("map", "AutoSetHome");
		3548	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	3549	sVal = ini.IniReadValue("map", "GPXLog");
		3550	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	3551
2312	-	3552	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		3553	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		3554	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		3555	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		3556	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		3557	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		3558	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		3559	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		3560	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		3561	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		3562	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		3563	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		3564	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		3565	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		3566	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		3567	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		3568	sVal = ini.IniReadValue("threshold", "MaxDistance");
		3569	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		3570	sVal = ini.IniReadValue("threshold", "RCThreshold");
		3571	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		3572	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		3573	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	3574
		3575	sVal = ini.IniReadValue("waypoints", "wpcolor");
		3576	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		3577	sVal = ini.IniReadValue("waypoints", "poicolor");
		3578	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		3579	sVal = ini.IniReadValue("waypoints", "fscolor");
		3580	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		3581	sVal = ini.IniReadValue("waypoints", "coptercolor");
		3582	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	3583	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		3584	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	3585	sVal = ini.IniReadValue("waypoints", "landingcolor");
		3586	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	3587	sVal = ini.IniReadValue("waypoints", "routecolor");
		3588	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		3589	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		3590	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2408	-	3591	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		3592	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		3593	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		3594	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
2349	-	3595
		3596	for (int i = 0; i < 12; i++)
		3597	{
		3598	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		3599	if (sVal != "")
		3600	serChan[i] = Convert.ToInt16(sVal);
		3601	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		3602	if (sVal != "")
		3603	serChanTitle[i] = sVal;
		3604	for (int y = 0; i < 4 && y < 3; y++)
		3605	{
		3606	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		3607	if (sVal != "")
		3608	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		3609	}
		3610	}
		3611
2312	-	3612	}
		3613	catch (Exception e)
		3614	{
2287	-	3615
2312	-	3616	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		3617	}
		3618
2287	-	3619	}
		3620
		3621	/// <summary>
		3622	/// save settings to ini-file
		3623	/// </summary>
		3624	void _writeIni()
		3625	{
		3626
		3627	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3628	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3629
2312	-	3630	try
		3631	{
2287	-	3632
2312	-	3633	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		3634	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		3635	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		3636	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	3637
2312	-	3638	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		3639	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		3640	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		3641	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	3642
2312	-	3643	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		3644	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	3645
2312	-	3646	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		3647	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	3648	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	3649
2312	-	3650	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		3651	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		3652	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		3653	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		3654	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		3655	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		3656	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		3657	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		3658	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		3659	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	3660
2312	-	3661	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		3662	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	3663
2312	-	3664	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		3665	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		3666	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		3667	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		3668	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		3669	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	3670
2312	-	3671	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		3672	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		3673	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		3674	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		3675	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		3676	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	3677
2312	-	3678	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		3679
		3680	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		3681	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		3682	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		3683	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		3684	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		3685	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		3686	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		3687	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		3688	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		3689	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		3690	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	3691
		3692	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		3693	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		3694	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		3695	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	3696	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	3697	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	3698	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		3699	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2408	-	3700	ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString());
		3701	ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString());
2349	-	3702
		3703	for (int i = 0; i < 12; i++)
		3704	{
		3705	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		3706	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		3707	for (int y = 0; i < 4 && y < 3; y++)
		3708	{
		3709	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		3710	}
		3711	}
		3712
2312	-	3713	}
		3714	catch (Exception e)
		3715	{
		3716
		3717	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);
		3718	}
2287	-	3719	}
2350	-	3720
2349	-	3721	#region serial channels
		3722	/// <summary>
		3723	/// Sending the serial channel values
		3724	/// </summary>
		3725	void _sendSerialData()
		3726	{
		3727	byte[] serData = new byte[12];
		3728	for (int i = 0; i < 12; i++)
		3729	{
		3730	serData[i] = unchecked((byte)(serChan[i] - 127));
		3731	}
		3732	_sendControllerMessage('y', 1, serData);
		3733	}
		3734	/// <summary>
		3735	/// init the controls for displaying
		3736	/// and setting serial control channels
		3737	/// </summary>
		3738	void _initSerialCtrl()
		3739	{
		3740	SerChan1ScaleSlider.Value = serChan[0];
		3741	textBoxSerial1.Text = serChanTitle[0];
		3742	SerChan2ScaleSlider.Value = serChan[1];
		3743	textBoxSerial2.Text = serChanTitle[1];
2350	-	3744	SerChan3ScaleSlider.Value = serChan[2];
		3745	textBoxSerial3.Text = serChanTitle[2];
2349	-	3746	//SerChan4ScaleSlider.Value = serChan[3];
		3747	//textBoxSerial4.Text = serChanTitle[3];
		3748	//trckbarSerial5.Value = serChan[4];
		3749	//textBoxSerial5.Text = serChanTitle[4];
		3750	//trckbarSerial6.Value = serChan[5];
		3751	//textBoxSerial6.Text = serChanTitle[5];
		3752	//trckbarSerial7.Value = serChan[6];
		3753	//textBoxSerial7.Text = serChanTitle[6];
		3754	//trckbarSerial8.Value = serChan[7];
		3755	//textBoxSerial8.Text = serChanTitle[7];
2312	-	3756
2349	-	3757	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3758	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3759	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3760	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3761	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3762	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3763	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3764	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3765	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3766	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3767	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3768	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3769	}
		3770	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3771	{
		3772	if (!_init)
		3773	{
		3774	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3775	_sendSerialData();
		3776	}
		3777	}
		3778	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3779	{
		3780	if (!_init)
		3781	{
		3782	serChanTitle[0] = textBoxSerial1.Text;
		3783	}
		3784	}
		3785	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3786	{
		3787	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3788	{
		3789	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3790	}
		3791	}
		3792	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3793	{
		3794	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3795	{
		3796	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3797	}
		3798	}
		3799	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3800	{
		3801	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3802	{
		3803	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3804	}
		3805	}
		3806	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3807	{
		3808	if (textBoxSerial1_val1.Text.Length > 0)
		3809	{
		3810	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3811	}
		3812	}
		3813	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3814	{
		3815	SerChan1ScaleSlider.Value = 0;
		3816	}
		3817	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3818	{
		3819	SerChan1ScaleSlider.Value = 127;
		3820	}
		3821	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3822	{
		3823	SerChan1ScaleSlider.Value = 254;
		3824	}
		3825	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3826	{
		3827	if (textBoxSerial1_val2.Text.Length > 0)
		3828	{
		3829	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3830	}
		3831	}
		3832	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3833	{
		3834	if (textBoxSerial1_val3.Text.Length > 0)
		3835	{
		3836	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3837	}
		3838	}
		3839
		3840	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3841	{
		3842	if (!_init)
		3843	{
		3844	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3845	_sendSerialData();
		3846	}
		3847	}
		3848	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3849	{
		3850	if (!_init)
		3851	{
		3852	serChanTitle[1] = textBoxSerial2.Text;
		3853	}
		3854	}
		3855	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3856	{
		3857	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3858	{
		3859	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3860	}
		3861	}
		3862	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3863	{
		3864	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3865	{
		3866	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3867	}
		3868	}
		3869	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3870	{
		3871	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3872	{
		3873	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3874	}
		3875	}
		3876	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3877	{
		3878	SerChan2ScaleSlider.Value = 0;
		3879	}
		3880	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3881	{
		3882	SerChan2ScaleSlider.Value = 127;
		3883	}
		3884	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3885	{
		3886	SerChan2ScaleSlider.Value = 254;
		3887	}
		3888	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3889	{
		3890	if (textBoxSerial2_val1.Text.Length > 0)
		3891	{
		3892	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3893	}
		3894	}
		3895	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3896	{
		3897	if (textBoxSerial2_val2.Text.Length > 0)
		3898	{
		3899	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3900	}
		3901	}
		3902	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3903	{
		3904	if (textBoxSerial2_val3.Text.Length > 0)
		3905	{
		3906	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3907	}
		3908	}
2350	-	3909
		3910	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3911	{
		3912	if (!_init)
		3913	{
		3914	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3915	_sendSerialData();
		3916	}
		3917	}
		3918	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3919	{
		3920	if (!_init)
		3921	{
		3922	serChanTitle[2] = textBoxSerial3.Text;
		3923	}
		3924	}
		3925	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3926	{
		3927	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3928	{
		3929	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3930	}
		3931	}
		3932	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3933	{
		3934	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3935	{
		3936	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3937	}
		3938	}
		3939	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3940	{
		3941	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3942	{
		3943	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3944	}
		3945	}
		3946	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3947	{
		3948	SerChan3ScaleSlider.Value = 0;
		3949	}
		3950	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3951	{
		3952	SerChan3ScaleSlider.Value = 127;
		3953	}
		3954	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3955	{
		3956	SerChan3ScaleSlider.Value = 254;
		3957	}
		3958	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3959	{
		3960	if (textBoxSerial3_val1.Text.Length > 0)
		3961	{
		3962	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3963	}
		3964	}
		3965	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3966	{
		3967	if (textBoxSerial3_val2.Text.Length > 0)
		3968	{
		3969	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3970	}
		3971	}
		3972	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3973	{
		3974	if (textBoxSerial3_val3.Text.Length > 0)
		3975	{
		3976	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3977	}
		3978	}
2349	-	3979	/// <summary>
		3980	/// checks the input of a textbox
		3981	/// for valid data
		3982	/// in this case values 0-254
		3983	/// </summary>
		3984	/// <param name="sender"></param>
		3985	/// <param name="e"></param>
		3986	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3987	{
		3988	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3989	e.Handled = true;
		3990	else
		3991	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3992	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3993	e.Handled = true;
		3994	else
		3995	{
		3996	int i = -1;
		3997	switch (((TextBox)sender).Name)
		3998	{
		3999	case "textBoxSerial1_val1":
		4000	i = 0;
		4001	break;
		4002	case "textBoxSerial1_val2":
		4003	i = 1;
		4004	break;
		4005	case "textBoxSerial1_val3":
		4006	i = 2;
		4007	break;
		4008	case "textBoxSerial2_val1":
		4009	i = 3;
		4010	break;
		4011	case "textBoxSerial2_val2":
		4012	i = 4;
		4013	break;
		4014	case "textBoxSerial2_val3":
		4015	i = 5;
		4016	break;
		4017	case "textBoxSerial3_val1":
		4018	i = 6;
		4019	break;
		4020	case "textBoxSerial3_val2":
		4021	i = 7;
		4022	break;
		4023	case "textBoxSerial3_val3":
		4024	i = 8;
		4025	break;
		4026	case "textBoxSerial4_val1":
		4027	i = 9;
		4028	break;
		4029	case "textBoxSerial4_val2":
		4030	i = 10;
		4031	break;
		4032	case "textBoxSerial4_val3":
		4033	i = 11;
		4034	break;
		4035	}
		4036	if (i > -1)
		4037	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		4038	}
		4039	}
		4040
		4041	#endregion serial channels
2315	-	4042	#region WP
2312	-	4043	void _readWPLFile()
		4044	{
		4045	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4046	fd.Filter = "Waypointlists \| *.wpl";
		4047	fd.Multiselect = false;
		4048	if (fd.ShowDialog().Value)
		4049	{
		4050	string file = fd.SafeFileName;
		4051	IniFile ini = new IniFile(fd.SafeFileName);
		4052	ini.path = fd.FileName;
		4053
		4054	try
		4055	{
		4056	string sVal = ini.IniReadValue("General", "FileVersion");
		4057	if (sVal == "")
		4058	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4059	else
		4060	{
		4061	if (Convert.ToInt16(sVal) < 3)
		4062	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4063	else
		4064	{
		4065	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		4066	if (sVal == "")
		4067	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4068	else
		4069	{
		4070	int wpnum = Convert.ToInt16(sVal);
		4071	string wp;
		4072	int i;
2313	-	4073	NumberFormatInfo nfi = new NumberFormatInfo();
		4074	nfi.NumberDecimalSeparator = ".";
2312	-	4075	dtWaypoints.Rows.Clear();
2368	-	4076	_wpEdit = -1;_wpIndex = -1;
2425	-	4077	wpOffset.Clear();
2327	-	4078	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	4079	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	4080	wpList.Clear();
		4081	if (mRouteWP != null)
		4082	MainMap.Markers.Remove(mRouteWP);
2363	-	4083	//if (wpActiveMarker != null)
		4084	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	4085	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4086
2312	-	4087	for (int k = 1; k <= wpnum; k++)
		4088	{
		4089	DataRow dr = dtWaypoints.NewRow();
		4090	dr.ItemArray = new object[16];
		4091	object[] o = new object[16];
		4092	i = 0;
		4093	wp = "Point" + k.ToString();
		4094	o[i] = k;
		4095	i++;
		4096	sVal = ini.IniReadValue(wp, "Type");
		4097	if (sVal != "")
2315	-	4098	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	4099	i++;
		4100	sVal = ini.IniReadValue(wp, "Prefix");
		4101	if (sVal != "")
2350	-	4102	o[i] = sVal + k.ToString();
		4103	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	4104	i++;
2313	-	4105	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	4106	if (sVal != "")
2313	-	4107	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4108	i++;
2313	-	4109	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	4110	if (sVal != "")
2313	-	4111	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4112	i++;
		4113	sVal = ini.IniReadValue(wp, "Altitude");
		4114	if (sVal != "")
2313	-	4115	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4116	i++;
		4117	sVal = ini.IniReadValue(wp, "Heading");
		4118	if (sVal != "")
		4119	o[i] = Convert.ToInt16(sVal);
		4120	i++;
		4121	sVal = ini.IniReadValue(wp, "Speed");
		4122	if (sVal != "")
2315	-	4123	o[i] = Convert.ToInt16(sVal);
2312	-	4124	i++;
		4125	sVal = ini.IniReadValue(wp, "ClimbRate");
		4126	if (sVal != "")
		4127	o[i] = Convert.ToInt16(sVal);
		4128	i++;
		4129	sVal = ini.IniReadValue(wp, "Radius");
		4130	if (sVal != "")
		4131	o[i] = Convert.ToInt16(sVal);
		4132	i++;
		4133	sVal = ini.IniReadValue(wp, "DelayTime");
		4134	if (sVal != "")
		4135	o[i] = Convert.ToInt16(sVal);
		4136	i++;
		4137	sVal = ini.IniReadValue(wp, "AutoTrigger");
		4138	if (sVal != "")
		4139	o[i] = Convert.ToInt16(sVal); ;
		4140	i++;
		4141	sVal = ini.IniReadValue(wp, "CAM-Nick");
		4142	if (sVal != "")
2313	-	4143	o[i] = Convert.ToInt16(sVal);
2312	-	4144	i++;
		4145	o[i] = 0;
		4146	i++;
		4147	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		4148	if (sVal != "")
		4149	o[i] = Convert.ToInt16(sVal);
		4150	i++;
		4151	o[i] = "New";
		4152
		4153	dr.ItemArray = o;
		4154	dtWaypoints.Rows.Add(dr);
2425	-	4155	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1], (int)o[0]-1);
2315	-	4156
2312	-	4157	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		4158	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		4159	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2419	-	4160	Thread.Sleep(1);
2312	-	4161	}
2419	-	4162	Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]));
		4163	Dispatcher.Invoke(() => MainMap.Zoom = 19);
		4164	// Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null));
		4165	Dispatcher.Invoke(() => _routeUpdate());
2312	-	4166	}
		4167	}
		4168	}
		4169
		4170	}
		4171	catch (Exception e)
		4172	{
		4173
		4174	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		4175	}
		4176
		4177	}
		4178	}
2350	-	4179	void _saveWPLFile()
		4180	{
		4181	if (dtWaypoints.Rows.Count > 0)
		4182	{
		4183	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		4184	fd.Filter = "Waypointlists \| *.wpl";
		4185	fd.AddExtension = true;
		4186	if (fd.ShowDialog().Value)
		4187	{
		4188	string file = fd.SafeFileName;
		4189	IniFile ini = new IniFile(fd.SafeFileName);
		4190	ini.path = fd.FileName;
		4191	NumberFormatInfo nfi = new NumberFormatInfo();
		4192	nfi.NumberDecimalSeparator = ".";
		4193
		4194	try
		4195	{
		4196	ini.IniWriteValue("General", "FileVersion", "3");
		4197	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		4198	ini.IniWriteValue("General", "Mapfile", "");
		4199	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		4200	{
		4201	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		4202	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		4203	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		4204	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		4205	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		4206	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		4207	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		4208	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		4209	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		4210	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		4211	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		4212	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));
		4213	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		4214	}
		4215	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		4216	}
		4217	catch { }
		4218	}
		4219	}
		4220	else
		4221	MessageBox.Show("Nothing to save...");
		4222	}
		4223	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		4224	{
		4225	_saveWPLFile();
		4226	}
		4227	/// <summary>
		4228	/// set the selected color for the route
		4229	/// </summary>
		4230	/// <param name="color"></param>
		4231	/// <returns></returns>
2328	-	4232	Brush _getBrush(string color)
		4233	{
		4234	switch (color)
		4235	{
		4236	case "red":
		4237	return Brushes.Red;
		4238	case "green":
		4239	return Brushes.Lime;
		4240	case "blue":
		4241	return Brushes.Aqua;
		4242	case "pink":
		4243	return Brushes.Magenta;
		4244	case "yellow":
		4245	return Brushes.Yellow;
		4246	default:
		4247	return Brushes.Magenta;
		4248	}
		4249	}
2359	-	4250	void _routeUpdate()
		4251	{
		4252	Dispatcher.Invoke(() =>
		4253	{
		4254	if (comboBoxRouteColor.SelectionBoxItem != null)
		4255	{
		4256	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4257	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4258	}
		4259	else
		4260	mRouteWP = new GMapRoute(wpList, null);
		4261
		4262	if (_bShowWPRoute)
2368	-	4263	MainMap.Markers.Add(mRouteWP);
2359	-	4264	});
		4265
		4266	MapRoute mr = new MapRoute(wpList, "WPList");
		4267	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		4268	}
2425	-	4269	GMapMarker _createWP(PointLatLng p, string name, int type, int index)
2363	-	4270	{
		4271	GMapMarker wpMarker = new GMapMarker(p);
2385	-	4272	Dispatcher.Invoke(()=>
		4273	{
		4274	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
2419	-	4275	wpMarker.Tag = name;
2385	-	4276	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		4277	wpMarker.ZIndex = 100;
		4278	_setMarkerColor(wpMarker, type);
		4279	MainMap.Markers.Add(wpMarker);
		4280	if (type == 0 \|\| type == 3)
2425	-	4281	{
2385	-	4282	wpList.Add(p);
2425	-	4283	wpOffset.Add(index);
		4284	}
2419	-	4285	((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos;
		4286	((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin;
2421	-	4287	((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured;
2385	-	4288	});
2363	-	4289	return wpMarker;
		4290	}
2419	-	4291	bool _WPisMouseCaptured = false;
2421	-	4292	void _WPMouseCaptured(bool isCaptured)
2419	-	4293	{
		4294	_WPisMouseCaptured = isCaptured;
		4295	MainMap.CanDragMap = !isCaptured;
		4296	}
		4297	void _updateDTWPPos(CustomMarkerWP wp)
		4298	{
		4299	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4300	int index = Convert.ToInt16(sIndex) -1;
		4301	GMapMarker p = ((GMapMarker)wp.DataContext);
		4302	if (p != null && index < dtWaypoints.Rows.Count)
		4303	{
		4304	//Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4305	if(wp.WPType == 0 \| wp.WPType == 3)
2424	-	4306	{
		4307	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4308	int wpListIndex = wpList.IndexOf(x);
		4309	if (wpListIndex > -1)
		4310	{
		4311	wpList[wpListIndex] = p.Position;
		4312	MainMap.Markers.Remove(mRouteWP);
		4313	_routeUpdate();
		4314	}
2419	-	4315	}
2424	-	4316	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4317	dtWaypoints.Rows[index][4] = p.Position.Lng;
2419	-	4318	}
		4319	}
		4320	void _updateDTWPPosFin(CustomMarkerWP wp)
		4321	{
		4322	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4323	int index = Convert.ToInt16(sIndex) -1;
		4324	GMapMarker p = ((GMapMarker)wp.DataContext);
		4325	if (p != null && index < dtWaypoints.Rows.Count)
		4326	{
		4327	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4328	dtWaypoints.Rows[index][4] = p.Position.Lng;
2421	-	4329	Dispatcher.Invoke(() =>
		4330	{
		4331	dgvWP.Items.Refresh();
		4332	dgvWP.SelectedIndex = index;
		4333	_dgvWPselectEditRow();
		4334	});
		4335
2419	-	4336	}
		4337
		4338	}
2432	-	4339	void _addWP(PointLatLng p,int type)
		4340	{
		4341	object[] o = new object[16];
2428	-	4342
2432	-	4343	o[0] = dgvWP.ItemContainerGenerator.Items.Count + 1;
		4344	o[1] = type;
		4345	// cbWPEditType.SelectedIndex = 0;
		4346	// tbWPEditPrefix.Text = "P";
		4347	o[2] = "P" + o[0].ToString();
		4348	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4349	o[3] = p.Lat;
		4350	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4351	o[4] = p.Lng;
		4352	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4353	o[5] = iAnalogData[4].ToString();
		4354
		4355	// cbWPEditHeading.SelectedIndex = 2;
		4356	o[6] = iAnalogData[10].ToString();
		4357	//tbWPEditHeading.Text = iAnalogData[10].ToString();
		4358	// tbWPEditHeading.IsReadOnly = false;
		4359
		4360	// cbWPEditSpeed.SelectedIndex = 1;
		4361	// tbWPEditSpeed.Text = "5.0";
		4362	// tbWPEditSpeed.IsReadOnly = false;
		4363	o[7] = "10";
		4364
		4365	// cbWPEditClimbrate.SelectedIndex = 1;
		4366	// tbWPEditClimbrate.Text = "5.0";
		4367	// tbWPEditClimbrate.IsReadOnly = false;
		4368	o[8] = "10";
		4369
		4370	// tbWPEditRadius.Text = "10";
		4371	o[9] = "5";
		4372	// tbWPEditHoldtime.Text = "5";
		4373	o[10] = "5";
		4374	// tbWPEditAutoTrigger.Text = "0";
		4375	o[11] = "0";
		4376	// cbWPEditCamAngle.SelectedIndex = 1;
		4377	// tbWPEditCamAngle.Text = "AUTO";
		4378	// tbWPEditCamAngle.IsReadOnly = true;
		4379	o[12] = "255";
		4380
		4381	o[13] = "0";
		4382	// tbWPEditOut1.Text = "0";
		4383	o[14] = "0";
		4384	o[15] = "0";
		4385
		4386	dtWaypoints.Rows.Add(o);
		4387	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1], (int)o[0] - 1);
		4388	// Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4389	if (mRouteWP != null)
		4390	MainMap.Markers.Remove(mRouteWP);
		4391	_routeUpdate();
		4392	Dispatcher.Invoke(() =>
		4393	{
		4394	dgvWP.Items.Refresh();
		4395	dgvWP.UpdateLayout();
		4396	dgvWP.SelectedIndex = (int)o[0] - 1;
		4397	_dgvWPselectEditRow();
		4398	});
		4399	}
2425	-	4400	/// <summary>
		4401	/// find the index of of a wp from datatable in the waypointlist wpList
		4402	/// </summary>
		4403	/// <param name="dtIndex">the index of wp in datatable (0-based)</param>
		4404	/// <returns></returns>
		4405	int _getWPIndexfromList(int dtIndex)
		4406	{
		4407	if ((int)dtWaypoints.Rows[dtIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dtIndex][1] == 3)
		4408	{
		4409	GMapMarker wp = _findWPMarker((string)dtWaypoints.Rows[dtIndex][2]);
		4410	if (wp != null)
		4411	return wpList.IndexOf(wp.Position);
		4412	}
		4413	return -1;
		4414	}
		4415	/// <summary>
		4416	/// find the index of of a wp from datatable in the waypointlist wpList
		4417	/// </summary>
		4418	/// <param name="name">the name of the wp</param>
		4419	/// <returns></returns>
		4420	int _getWPIndexfromList(string name)
		4421	{
		4422	GMapMarker wp = _findWPMarker(name);
		4423	if ((wp != null && wp.Shape != null) && ((CustomMarkerWP)wp.Shape).WPType == 0 \| ((CustomMarkerWP)wp.Shape).WPType == 3)
		4424	return wpList.IndexOf(wp.Position);
		4425	else
		4426	return -1;
		4427	}
		4428	int _getWPListOffset(int index)
		4429	{
		4430	int k = 0;
		4431	for(int i = 0; i < wpOffset.Count;i++)
		4432	{
		4433	if (wpOffset[i] <= index)
		4434	k++;
		4435	}
2419	-	4436
2425	-	4437	return k;
		4438	}
2315	-	4439	void _setMarkerColor(GMapMarker wpMarker,int iType)
		4440	{
2369	-	4441	if(wpMarker != null)
2315	-	4442	Dispatcher.Invoke(() =>
		4443	{
		4444	switch (iType)
		4445	{
		4446	case 0:
		4447	if (comboBoxWPColor.SelectionBoxItem != null)
		4448	{
		4449	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		4450	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4451	}
		4452	else
2372	-	4453	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	4454	break;
		4455	case 1:
		4456	if (comboBoxPOIColor.SelectionBoxItem != null)
		4457	{
		4458	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		4459	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4460	}
		4461	else
2372	-	4462	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	4463	break;
		4464	case 2:
		4465	if (comboBoxFSColor.SelectionBoxItem != null)
		4466	{
		4467	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		4468	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4469	}
		4470	else
		4471	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4472	break;
2372	-	4473	case 3:
		4474	if (comboBoxLandingColor.SelectionBoxItem != null)
		4475	{
		4476	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		4477	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4478	}
		4479	else
		4480	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		4481	break;
2315	-	4482	default:
		4483	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4484	break;
		4485	}
		4486	});
2312	-	4487
2315	-	4488	}
2372	-	4489	void _MarkerColorSelection(object sender,int type)
		4490	{
2315	-	4491	Dispatcher.Invoke(() =>
		4492	{
2372	-	4493	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	4494	{
		4495	for (int k = 0; k < MainMap.Markers.Count; k++)
		4496	{
		4497	GMapMarker p = MainMap.Markers[k];
2372	-	4498	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	4499	{
2372	-	4500	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	4501	{
2372	-	4502	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	4503	((CustomMarkerWP)(p.Shape)).setColor(s);
		4504	}
		4505	}
		4506	}
		4507	}
		4508	});
2287	-	4509	}
2379	-	4510	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	4511	{
2376	-	4512	_MarkerColorSelection(sender, 0);
		4513	}
		4514	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		4515	{
		4516	_MarkerColorSelection(sender, 1);
		4517	}
		4518	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		4519	{
		4520	_MarkerColorSelection(sender, 2);
		4521	}
		4522	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		4523	{
		4524	_MarkerColorSelection(sender,3);
		4525	}
2385	-	4526	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	4527	{
2318	-	4528	Dispatcher.Invoke(() => {
		4529	if (comboBoxCopterColor.SelectionBoxItem != null)
		4530	{
		4531	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	4532	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	4533	}
		4534	else
2385	-	4535	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	4536	});
		4537	}
2385	-	4538	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		4539	{
		4540	Dispatcher.Invoke(() => {
		4541	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		4542	{
		4543	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		4544	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		4545	}
		4546	else
		4547	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		4548	});
		4549	}
2328	-	4550	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		4551	{
		4552	Dispatcher.Invoke(() =>
		4553	{
		4554	if (comboBoxRouteColor.SelectionBoxItem != null)
		4555	{
		4556	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4557	MainMap.Markers.Remove(mRouteWP);
		4558	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4559	if (_bShowWPRoute)
		4560	MainMap.Markers.Add(mRouteWP);
		4561	}
		4562	});
		4563	}
2408	-	4564	private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e)
		4565	{
		4566	Dispatcher.Invoke(() =>
		4567	{
		4568	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		4569	{
		4570	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		4571	{
		4572	if (cWPBound != null && cWPBound.Tag != null)
		4573	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		4574
		4575	createCircle(home.Position, dWPMaxRange);
		4576	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		4577	cWPBound.setColor(s);
		4578
		4579	}
		4580	}
		4581	});
		4582
		4583	}
2328	-	4584	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		4585	{
		4586	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		4587	if (_bShowWPRoute)
		4588	{
		4589	if (mRouteWP != null)
		4590	MainMap.Markers.Add(mRouteWP);
		4591	}
		4592	else
		4593	{
		4594	if (mRouteWP != null)
		4595	MainMap.Markers.Remove(mRouteWP);
		4596	}
		4597	}
2428	-	4598
2315	-	4599	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	4600	{
2315	-	4601	_readWPLFile();
2287	-	4602	}
2335	-	4603	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		4604	{
		4605	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	4606	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	4607	wpList.Clear();
		4608	if (mRouteWP != null)
		4609	MainMap.Markers.Remove(mRouteWP);
2347	-	4610	//if (wpActiveMarker != null)
		4611	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	4612	dtWaypoints.Rows.Clear();
2356	-	4613	_wpEdit = -1;
2368	-	4614	_wpIndex = -1;
2425	-	4615	wpOffset.Clear();
2335	-	4616	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4617	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		4618	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		4619	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4620	}
2340	-	4621	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		4622	{
		4623	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		4624	t.Start();
		4625	}
2355	-	4626	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	4627	{
		4628	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4629	{
2372	-	4630	if (_wpCount > 0)
2376	-	4631	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	4632	else
2376	-	4633	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	4634
2372	-	4635	//int index = dgvWP.SelectedIndex;
		4636	//Thread t = new Thread(() => _sendWPList(index));
		4637	//t.Start();
2354	-	4638
		4639	Dispatcher.Invoke(() => {
		4640	DataGridRow row;
2368	-	4641	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	4642	{
2368	-	4643	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	4644	row.Background = new SolidColorBrush(Colors.Transparent);
		4645	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4646	row.BorderThickness = new Thickness(0);
2376	-	4647	dgvWP.UpdateLayout();
2354	-	4648	}
2376	-	4649	//_wpEdit = dgvWP.SelectedIndex;
		4650	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4651	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		4652	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		4653	//row.BorderThickness = new Thickness(2);
2354	-	4654	});
2340	-	4655	}
		4656	}
2385	-	4657	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		4658	{
		4659	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4660	{
		4661
		4662	object[] o = new object[16];
		4663	o[0] = dgvWP.SelectedIndex + 1;
		4664	o[1] = cbWPEditType.SelectedIndex;
		4665	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4666	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4667	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		4668	o[5] = tbWPEditAlt.Text;
		4669	switch (cbWPEditHeading.SelectedIndex)
		4670	{
		4671	case 0:
		4672	o[6] = "0";
		4673	break;
		4674	case 1:
		4675	o[6] = "-" + tbWPEditHeading.Text;
		4676	break;
		4677	case 2:
		4678	o[6] = tbWPEditHeading.Text;
		4679	break;
		4680	}
		4681	switch (cbWPEditSpeed.SelectedIndex)
		4682	{
		4683	case 0:
		4684	o[7] = "0";
		4685	break;
		4686	case 1:
		4687	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4688	break;
		4689	case 2:
		4690	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4691	break;
		4692	}
		4693	switch (cbWPEditClimbrate.SelectedIndex)
		4694	{
		4695	case 0:
		4696	o[8] = "255";
		4697	break;
		4698	case 1:
		4699	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		4700	break;
		4701	}
		4702	o[9] = tbWPEditRadius.Text;
		4703	o[10] = tbWPEditHoldtime.Text;
		4704	o[11] = tbWPEditAutoTrigger.Text;
		4705	switch (cbWPEditCamAngle.SelectedIndex)
		4706	{
		4707	case 0:
		4708	o[12] = "0";
		4709	break;
		4710	case 1:
		4711	o[12] = "255";
		4712	break;
		4713	case 2:
		4714	o[12] = tbWPEditCamAngle.Text;
		4715	break;
		4716	}
		4717	o[13] = 0;
		4718	o[14] = tbWPEditOut1.Text;
		4719	DataRow dr = dtWaypoints.NewRow();
		4720	dr.ItemArray = o;
		4721
		4722	if (_wpCount > 0)
		4723	_sendWayPoint(dr, -1, 'w', false);
		4724	else
		4725	_sendWayPoint(dr, 1, 'w', false);
2399	-	4726
2429	-	4727	if (_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		4728	_sendWayPoint(dtWaypoints.Rows[wpOffset[_wpIndex]], _wpIndex+1, 's', false);
2385	-	4729	}
		4730	}
2376	-	4731	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		4732	{
		4733	_Simulate = !_Simulate;
		4734	if (dtWaypoints.Rows.Count > 0)
		4735	{
		4736	DataRow dr = dtWaypoints.Rows[0];
		4737	dr[13] = _Simulate ? 3 : 0;
2379	-	4738	_sendWayPoint(dr, 0, 's', true);
2381	-	4739	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	4740	}
		4741	}
2428	-	4742
2355	-	4743	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		4744	{
2359	-	4745	_dgvWPselectEditRow();
		4746	}
		4747	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		4748	{
		4749	}
		4750	void _dgvWPselectEditRow()
		4751	{
2355	-	4752	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4753	{
2368	-	4754	Dispatcher.Invoke(() => {
2355	-	4755	DataGridRow row;
2432	-	4756	dgvWP.Items.Refresh();
2421	-	4757	dgvWP.UpdateLayout();
2368	-	4758	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	4759	{
		4760	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2432	-	4761	if (row != null)
		4762	{
		4763	row.Background = new SolidColorBrush(Colors.Transparent);
		4764	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4765	row.BorderThickness = new Thickness(0);
		4766	}
2355	-	4767	}
		4768	_wpEdit = dgvWP.SelectedIndex;
		4769	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2432	-	4770	if (row != null)
		4771	{
		4772	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		4773	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		4774	row.BorderThickness = new Thickness(2);
		4775	dgvWP.UpdateLayout();
2340	-	4776
2432	-	4777	_setWPEditFields(_wpEdit);
		4778	}
2355	-	4779	});
		4780	}
		4781	}
		4782	void _setWPEditFields(int index)
		4783	{
		4784	int iVal;
2421	-	4785	lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString();
2355	-	4786	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		4787	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		4788	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		4789	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		4790	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		4791	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		4792	if (iVal == 0)
		4793	{
		4794	cbWPEditHeading.SelectedIndex = 0;
		4795	tbWPEditHeading.Text = " - - -";
		4796	tbWPEditHeading.IsReadOnly = true;
		4797	}
		4798	if (iVal > 0 && iVal < 360)
		4799	{
		4800	cbWPEditHeading.SelectedIndex = 2;
		4801	tbWPEditHeading.Text = iVal.ToString();
		4802	tbWPEditHeading.IsReadOnly = false;
		4803	}
		4804	if (iVal < 0)
		4805	{
		4806	cbWPEditHeading.SelectedIndex = 1;
		4807	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		4808	tbWPEditHeading.IsReadOnly = false;
		4809	}
		4810	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		4811	if (iVal == 0)
		4812	{
		4813	cbWPEditSpeed.SelectedIndex = 0;
		4814	tbWPEditSpeed.Text = "MAX";
		4815	tbWPEditSpeed.IsReadOnly = true;
		4816	}
		4817	if (iVal > 0 && iVal < 248)
		4818	{
		4819	cbWPEditSpeed.SelectedIndex = 1;
		4820	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		4821	tbWPEditSpeed.IsReadOnly = false;
		4822	}
		4823	if (iVal > 247)
		4824	{
		4825	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		4826	tbWPEditSpeed.Text = "";
		4827	tbWPEditSpeed.IsReadOnly = true;
		4828	}
		4829	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		4830	if (iVal == 255)
		4831	{
		4832	cbWPEditClimbrate.SelectedIndex = 0;
		4833	tbWPEditClimbrate.Text = "AUTO";
		4834	tbWPEditClimbrate.IsReadOnly = true;
		4835	}
		4836	else
		4837	{
		4838	cbWPEditClimbrate.SelectedIndex = 1;
		4839	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		4840	tbWPEditClimbrate.IsReadOnly = false;
		4841	}
		4842	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		4843	tbWPEditRadius.Text = iVal.ToString();
		4844	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		4845	tbWPEditHoldtime.Text = iVal.ToString();
		4846	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		4847	tbWPEditAutoTrigger.Text = iVal.ToString();
		4848	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		4849	if (iVal == 0)
		4850	{
		4851	cbWPEditCamAngle.SelectedIndex = 0;
		4852	tbWPEditCamAngle.Text = " - - - ";
		4853	tbWPEditCamAngle.IsReadOnly = true;
		4854	}
		4855	if (iVal < 0 \| iVal == 255)
		4856	{
		4857	cbWPEditCamAngle.SelectedIndex = 1;
		4858	tbWPEditCamAngle.Text = "AUTO";
		4859	tbWPEditCamAngle.IsReadOnly = true;
		4860	}
		4861	if (iVal > 0 & iVal < 255)
		4862	{
		4863	cbWPEditCamAngle.SelectedIndex = 2;
		4864	tbWPEditCamAngle.Text = iVal.ToString();
		4865	tbWPEditCamAngle.IsReadOnly = false;
		4866	}
		4867	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		4868	tbWPEditOut1.Text = iVal.ToString();
		4869
		4870	}
2361	-	4871	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		4872	{
2363	-	4873	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4874	{
2369	-	4875	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	4876	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		4877	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		4878	int i = wpList.IndexOf(pOld);
2363	-	4879	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		4880	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4881	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4882	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	4883	if (i > -1)
		4884	{
2425	-	4885	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
2372	-	4886	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4887	else
2425	-	4888	{
2372	-	4889	wpList.Remove(pOld);
2425	-	4890	wpOffset.Remove(wpOffset[i]);
		4891	}
2372	-	4892	}
		4893	else
		4894	{
		4895	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4896	{
		4897	int found = 0;
		4898	for (int k = 0; k < dgvWP.SelectedIndex; k++)
2425	-	4899	{
		4900	if ((int)dtWaypoints.Rows[k][1] == 0 \|\| (int)dtWaypoints.Rows[k][1] == 3)
		4901	{
2372	-	4902	found++;
2425	-	4903	}
		4904	}
2372	-	4905	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
2425	-	4906	wpOffset.Insert(found, dgvWP.SelectedIndex);
2372	-	4907	}
		4908	}
2363	-	4909	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		4910	switch (cbWPEditHeading.SelectedIndex)
		4911	{
		4912	case 0:
		4913	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		4914	break;
		4915	case 1:
		4916	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		4917	break;
		4918	case 2:
		4919	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		4920	break;
		4921	}
		4922	switch (cbWPEditSpeed.SelectedIndex)
		4923	{
		4924	case 0:
		4925	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		4926	break;
		4927	case 1:
		4928	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4929	break;
		4930	case 2:
		4931	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4932	break;
		4933	}
		4934	switch (cbWPEditClimbrate.SelectedIndex)
		4935	{
		4936	case 0:
		4937	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		4938	break;
		4939	case 1:
		4940	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		4941	break;
		4942	}
		4943	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		4944	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		4945	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		4946	switch (cbWPEditCamAngle.SelectedIndex)
		4947	{
		4948	case 0:
		4949	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		4950	break;
		4951	case 1:
		4952	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		4953	break;
		4954	case 2:
		4955	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		4956	break;
		4957	}
		4958	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	4959
2369	-	4960	// _clearMapMarkers(typeof(CustomMarkerWP));
		4961	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		4962	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	4963	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4964	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4965	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4966	// wpList.Clear();
2363	-	4967	if (mRouteWP != null)
		4968	MainMap.Markers.Remove(mRouteWP);
		4969
2369	-	4970	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		4971	//{
		4972	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		4973	//}
2363	-	4974	_routeUpdate();
		4975	dgvWP.Items.Refresh();
		4976
		4977	}
		4978
2361	-	4979	}
2432	-	4980	private void btnEditWPAdd_Click(object sender, RoutedEventArgs e)
		4981	{
		4982	DataRow dr = dtWaypoints.NewRow();
		4983	dr[0] = dtWaypoints.Rows.Count+1;
		4984	dr[1] = cbWPEditType.SelectedIndex;
		4985	dr[2] = tbWPEditPrefix.Text + dr[0].ToString();
		4986	dr[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')) + 0.00000001;
		4987	dr[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')) + 0.00000001;
		4988	dr[5] = tbWPEditAlt.Text;
		4989	switch (cbWPEditHeading.SelectedIndex)
		4990	{
		4991	case 0:
		4992	dr[6] = "0";
		4993	break;
		4994	case 1:
		4995	dr[6] = "-" + tbWPEditHeading.Text;
		4996	break;
		4997	case 2:
		4998	dr[6] = tbWPEditHeading.Text;
		4999	break;
		5000	}
		5001	switch (cbWPEditSpeed.SelectedIndex)
		5002	{
		5003	case 0:
		5004	dr[7] = "0";
		5005	break;
		5006	case 1:
		5007	dr[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		5008	break;
		5009	case 2:
		5010	dr[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		5011	break;
		5012	}
		5013	switch (cbWPEditClimbrate.SelectedIndex)
		5014	{
		5015	case 0:
		5016	dr[8] = "255";
		5017	break;
		5018	case 1:
		5019	dr[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		5020	break;
		5021	}
		5022	dr[9] = tbWPEditRadius.Text;
		5023	dr[10] = tbWPEditHoldtime.Text;
		5024	dr[11] = tbWPEditAutoTrigger.Text;
		5025	switch (cbWPEditCamAngle.SelectedIndex)
		5026	{
		5027	case 0:
		5028	dr[12] = "0";
		5029	break;
		5030	case 1:
		5031	dr[12] = "255";
		5032	break;
		5033	case 2:
		5034	dr[12] = tbWPEditCamAngle.Text;
		5035	break;
		5036	}
		5037	dr[13] = "";
		5038	dr[14] = tbWPEditOut1.Text;
		5039	dr[15] = "";
		5040	_createWP(new PointLatLng((double)dr[3], (double)dr[4]),(string) dr[2], (int)dr[1], (int)dr[0]);
		5041	if (mRouteWP != null)
		5042	MainMap.Markers.Remove(mRouteWP);
		5043	_routeUpdate();
		5044	dtWaypoints.Rows.Add(dr);
		5045	dgvWP.Items.Refresh();
		5046	}
2361	-	5047	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		5048	{
2368	-	5049	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5050	{
		5051	int index = dgvWP.SelectedIndex;
		5052	Dispatcher.Invoke(() => {
		5053	DataGridRow row;
		5054	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		5055	{
		5056	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		5057	row.Background = new SolidColorBrush(Colors.Transparent);
		5058	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		5059	row.BorderThickness = new Thickness(0);
		5060	}
2372	-	5061	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	5062	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
2425	-	5063	else
		5064	wpOffset.Remove((int)dtWaypoints.Rows[index][0] + 1);
2368	-	5065	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	5066	if (wpActiveMarker != null)
		5067	MainMap.Markers.Remove(wpActiveMarker);
2368	-	5068	dtWaypoints.Rows[index].Delete();
		5069	_wpIndex = -1;
		5070	_wpEdit = -1;
		5071	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		5072	{
		5073	dtWaypoints.Rows[i][0] = i + 1;
		5074	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		5075	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		5076	_renameWPMarker(s1, s2);
		5077	dtWaypoints.Rows[i][2] = s2;
		5078	}
		5079	lblWPCount.Content = dtWaypoints.Rows.Count;
		5080	if (mRouteWP != null)
		5081	MainMap.Markers.Remove(mRouteWP);
		5082	_routeUpdate();
2361	-	5083
2368	-	5084	dgvWP.UpdateLayout();
		5085	});
		5086	}
2361	-	5087	}
2366	-	5088	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		5089	{
		5090	_wpWEdit(sender);
		5091	}
2361	-	5092	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		5093	{
2366	-	5094	_wpWEdit(sender);
		5095	}
2369	-	5096	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		5097	{
		5098	_wpWEdit(sender);
		5099	}
2366	-	5100	void _wpWEdit(object sender)
		5101	{
2369	-	5102	// if (!((TextBox)sender).IsReadOnly)
2361	-	5103	{
		5104	KeyPad.Keypad k = new KeyPad.Keypad(this);
		5105
2363	-	5106	switch (((TextBox)sender).Name)
		5107	{
		5108	case "tbWPEditLat":
		5109	k.Title = "Latitude";
		5110	k.LENGTH = 17;
		5111	k.MAX = 359.9;
		5112	break;
		5113	case "tbWPEditLon":
		5114	k.Title = "Longitude";
		5115	k.LENGTH = 17;
		5116	k.MAX = 359.9;
		5117	break;
		5118	case "tbWPEditAlt":
		5119	k.Title = "Altitude";
		5120	k.LENGTH = 3;
		5121	k.MAX = 254;
		5122	k.disableDecimal();
		5123	break;
		5124	case "tbWPEditHeading":
		5125	k.Title = "Heading";
		5126	k.LENGTH = 3;
		5127	k.MAX = 359;
		5128	k.MIN = 1;
		5129	k.disableDecimal();
		5130	break;
		5131	case "tbWPEditSpeed":
		5132	k.Title = "Speed";
		5133	k.LENGTH = 4;
		5134	k.MAX = 24.7;
		5135	k.MIN = 0.1;
		5136	break;
		5137	case "tbWPEditClimbrate":
		5138	k.Title = "Climbrate";
		5139	k.LENGTH = 4;
		5140	k.MAX = 25.4;
		5141	k.MIN = 0.1;
		5142	break;
		5143	case "tbWPEditRadius":
		5144	k.Title = "Radius";
		5145	k.LENGTH = 3;
		5146	k.MAX = 254;
		5147	k.disableDecimal();
		5148	break;
		5149	case "tbWPEditHoldtime":
		5150	k.Title = "Holdtime";
		5151	k.LENGTH = 3;
		5152	k.MAX = 254;
		5153	break;
		5154	case "tbWPEditAutoTrigger":
		5155	k.Title = "Autotrigger";
		5156	k.LENGTH = 3;
		5157	k.MAX = 254;
		5158	k.disableDecimal();
		5159	break;
		5160	case "tbWPEditCamAngle":
		5161	k.Title = "Camera angle";
		5162	k.LENGTH = 3;
		5163	k.MAX = 254;
		5164	k.MIN = 1;
		5165	k.disableDecimal();
		5166	break;
		5167	case "tbWPEditOut1":
		5168	k.Title = "OUT1 timer interval";
		5169	k.LENGTH = 3;
		5170	k.MAX = 254;
		5171	k.disableDecimal();
		5172	break;
		5173	}
		5174	k.Result = ((TextBox)sender).Text;
2366	-	5175	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	5176	((TextBox)sender).Text = k.Result;
2361	-	5177	}
2366	-	5178
2361	-	5179	}
		5180	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	5181	{
2432	-	5182	_addWP(new PointLatLng(copter.Position.Lat, copter.Position.Lng),0);
2356	-	5183	}
2428	-	5184
		5185	private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e)
		5186	{
		5187	if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5188	{
		5189	int index = dgvWP.SelectedIndex;
		5190	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)
		5191	{
		5192	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5193	int wpListIndex = wpList.IndexOf(x);
		5194	if (wpListIndex > 0)
		5195	{
		5196	wpList.RemoveAt(wpListIndex);
		5197	wpList.Insert(wpListIndex - 1, x);
		5198	MainMap.Markers.Remove(mRouteWP);
		5199	_routeUpdate();
		5200	}
		5201	}
		5202	DataRow dr = dtWaypoints.Rows[index];
		5203	DataRow newRow = dtWaypoints.NewRow();
		5204	newRow.ItemArray = dr.ItemArray;
		5205	dtWaypoints.Rows.Remove(dr);
		5206	dtWaypoints.Rows.InsertAt(newRow, index - 1);
		5207	dtWaypoints.Rows[index][0] = 100;
		5208	dtWaypoints.Rows[index - 1][0] = index;
		5209	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString());
		5210	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5211	dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString();
		5212	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString();
		5213	dtWaypoints.Rows[index][0] = index + 1;
		5214	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5215	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5216	dgvWP.Items.Refresh();
		5217	dgvWP.SelectedIndex = index - 1;
		5218	_dgvWPselectEditRow();
		5219	if (wpOffset.Contains(index)) // calculating offset for wpList (index is 0-based - offset starts with index 1)
		5220	{
		5221	int iOffset = wpOffset.IndexOf(index);
		5222	if (iOffset > 0) // if not first element
		5223	{
		5224	if (wpOffset[iOffset - 1] < index-1) //if previous element is not immediately before actual offset
		5225	wpOffset[iOffset] = index-1; //then decrease offset value by one
		5226	}
		5227	else
		5228	wpOffset[iOffset] = index-1; //if first element, decrease offset by one
		5229	}
		5230	else //selected line is POI
		5231	{
		5232	if (wpOffset.Contains(index - 1)) // if next point is WP
		5233	{
		5234	int iOffset = wpOffset.IndexOf(index - 1);
		5235	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5236	}
		5237	}
		5238
		5239	}
		5240	}
		5241	private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e)
		5242	{
		5243	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1)
		5244	{
		5245	int index = dgvWP.SelectedIndex;
		5246	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)
		5247	{
		5248	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5249	int wpListIndex = wpList.IndexOf(x);
		5250	if (wpListIndex > -1)
		5251	{
		5252	wpList.RemoveAt(wpListIndex);
		5253	if (wpList.Count > wpListIndex)
		5254	wpList.Insert(wpListIndex + 1, x);
		5255	else
		5256	wpList.Add(x);
		5257	MainMap.Markers.Remove(mRouteWP);
		5258	_routeUpdate();
		5259	}
		5260	}
		5261	DataRow dr = dtWaypoints.Rows[index];
		5262	DataRow newRow = dtWaypoints.NewRow();
		5263	newRow.ItemArray = dr.ItemArray;
		5264	dtWaypoints.Rows.Remove(dr);
		5265	dtWaypoints.Rows.InsertAt(newRow, index + 1);
		5266	dtWaypoints.Rows[index][0] = 100;
		5267	dtWaypoints.Rows[index + 1][0] = index + 2;
		5268	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString());
		5269	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5270	dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString();
		5271	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString();
		5272	dtWaypoints.Rows[index][0] = index + 1;
		5273	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5274	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5275	dgvWP.Items.Refresh();
		5276	dgvWP.SelectedIndex = index + 1;
		5277	_dgvWPselectEditRow();
		5278	if(wpOffset.Contains(index)) // If selected line is WP
		5279	{
		5280	int iOffset = wpOffset.IndexOf(index);
		5281	if(iOffset < wpOffset.Count -1) // if not last element
		5282	{
		5283	if (wpOffset[iOffset + 1] > index + 1) //if next element is not immediately after actual offset
		5284	wpOffset[iOffset] = index + 1; //then increase offset value by one
		5285	}
		5286	else
		5287	wpOffset[iOffset] = index + 1; //if last element increase offset by one
		5288	}
		5289	else //selected line is POI
		5290	{
		5291	if (wpOffset.Contains(index + 1)) // if next point is WP
		5292	{
		5293	int iOffset = wpOffset.IndexOf(index + 1);
		5294	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5295	}
		5296	}
		5297	}
		5298
		5299	}
		5300
2405	-	5301	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		5302	{
		5303	if (WPStatus.Visibility == Visibility.Visible)
		5304	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5305	else
		5306	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5307	}
		5308	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		5309	{
		5310	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		5311	{
		5312	if (cWPBound != null && cWPBound.Tag != null)
		5313	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2356	-	5314
2408	-	5315	createCircle(home.Position, dWPMaxRange);
2419	-	5316	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		5317	{
		5318	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		5319	cWPBound.setColor(s);
		5320	}
2405	-	5321	}
2408	-	5322
2405	-	5323	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		5324	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		5325	}
2315	-	5326	#endregion WP
2324	-	5327	#region GPX
		5328	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		5329	{
		5330	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		5331	}
		5332	void _gpxAdd(double lat,double lon, int elevation)
		5333	{
		5334	DataRow dr = dtGPX.NewRow();
		5335	dr[0] = dtGPX.Rows.Count - 1;
		5336	dr[1] = lat;
		5337	dr[2] = lon;
		5338	dr[3] = elevation;
		5339	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		5340	dtGPX.Rows.Add(dr);
		5341	}
		5342	void _saveGPXLog()
		5343	{
		5344	if (!Directory.Exists("GPXLog"))
		5345	Directory.CreateDirectory("GPXLog");
		5346	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		5347	XmlTextWriter myXmlTextWriter = null;
		5348	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		5349	NumberFormatInfo nfi = new NumberFormatInfo();
		5350	nfi.NumberDecimalSeparator = ".";
2315	-	5351
2324	-	5352	try
		5353	{
		5354	myXmlTextWriter.Formatting = Formatting.Indented;
		5355
		5356	myXmlTextWriter.WriteStartDocument();
		5357
		5358	myXmlTextWriter.WriteStartElement("gpx");
		5359
		5360	myXmlTextWriter.WriteAttributeString("version", "1.0");
		5361	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		5362	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		5363	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		5364	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		5365
		5366	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		5367
		5368	myXmlTextWriter.WriteStartElement("trk");
		5369	myXmlTextWriter.WriteStartElement("trkseg");
		5370	for(int i = 0; i< dtGPX.Rows.Count;i++)
		5371	{
		5372	myXmlTextWriter.WriteStartElement("trkpt");
		5373	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		5374	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		5375	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		5376	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		5377	myXmlTextWriter.WriteEndElement();
		5378	}
		5379	myXmlTextWriter.WriteEndElement();
		5380	myXmlTextWriter.WriteEndElement();
		5381	myXmlTextWriter.WriteEndElement();
		5382	}
		5383	catch (Exception e)
		5384	{
		5385	Console.WriteLine("Exception: {0}", e.ToString());
		5386	}
		5387	finally
		5388	{
		5389	if (myXmlTextWriter != null)
		5390	{
		5391	myXmlTextWriter.Close();
		5392	}
		5393	}
		5394	}
2425	-	5395
2324	-	5396	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		5397	{
		5398	_loadGPXLog();
		5399	}
2327	-	5400	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		5401	{
		5402	_clearMapMarkers(typeof(GMapRoute));
		5403	}
2324	-	5404	void _loadGPXLog()
		5405	{
		5406
		5407	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		5408	fd.Filter = "GPX-Logfile \| *.gpx";
		5409	fd.Multiselect = false;
		5410	if (fd.ShowDialog().Value)
		5411	{
		5412	string file = fd.FileName;
		5413	try
		5414	{
		5415	XDocument gpxDoc = XDocument.Load(file);
		5416	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		5417
		5418	NumberFormatInfo nfi = new NumberFormatInfo();
		5419	nfi.NumberDecimalSeparator = ".";
		5420
		5421	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		5422	select new
		5423	{
		5424	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		5425	Segs = (
		5426	from trackpoint in track.Descendants(gpx + "trkpt")
		5427	select new
		5428	{
		5429	Latitude = trackpoint.Attribute("lat").Value,
		5430	Longitude = trackpoint.Attribute("lon").Value,
		5431	Elevation = trackpoint.Element(gpx + "ele") != null ?
		5432	trackpoint.Element(gpx + "ele").Value : null,
		5433	Time = trackpoint.Element(gpx + "time") != null ?
		5434	trackpoint.Element(gpx + "time").Value : null
		5435	}
		5436	)
		5437	};
		5438
		5439	List<PointLatLng> wpl = new List<PointLatLng>();
		5440	foreach(var trk in tracks)
		5441	{
		5442	foreach(var trkseg in trk.Segs)
		5443	{
		5444	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		5445	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		5446	}
		5447
		5448	}
		5449	if(wpl.Count() > 0)
		5450	{
2327	-	5451	_clearMapMarkers(typeof(GMapRoute));
2324	-	5452	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	5453	Dispatcher.Invoke(() =>
		5454	{
		5455	GMapRoute mRoute;
		5456	if (comboBoxRouteColor.SelectionBoxItem != null)
		5457	{
		5458	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	5459	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	5460	}
		5461	else
2366	-	5462	mRoute = new GMapRoute(wpl, null);
2324	-	5463
2328	-	5464	MainMap.Markers.Add(mRoute);
		5465	});
2324	-	5466	}
		5467
		5468	}
		5469	catch (Exception e)
		5470	{
		5471	Console.WriteLine("Exception: {0}", e.ToString());
		5472	}
		5473	}
		5474	}
		5475	#endregion GPX
2315	-	5476	#endregion functions
2287	-	5477	}
2425	-	5478
		5479	/// <summary>
2315	-	5480	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		5481	/// </summary>
2313	-	5482	public class waypointsConverter : IValueConverter
		5483	{
		5484	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		5485	{
		5486	if (value != null)
		5487	{
		5488	switch ((string)parameter)
		5489	{
		5490	case "Latitude":
		5491	return value.ToString() + " °";
		5492	case "Longitude":
		5493	return value.ToString() + " °";
		5494	case "Radius":
		5495	return value.ToString() + " m";
		5496	case "Altitude":
		5497	return value.ToString() + " m";
		5498	case "ClimbRate":
		5499	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		5500	case "DelayTime":
		5501	return value.ToString() + " s";
		5502	case "Heading":
		5503	return Waypoints.Heading(System.Convert.ToInt32(value));
		5504	case "Speed":
		5505	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		5506	case "CamAngle":
		5507	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		5508	case "Type":
		5509	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		5510	case "AutoTrigger":
		5511	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		5512	case "Status":
2355	-	5513	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	5514	}
		5515
		5516	return value.ToString();
		5517	}
		5518	else return value;
		5519	}
		5520
		5521	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		5522	{
		5523	throw new NotImplementedException();
		5524	}
		5525	}
2287	-	5526	public class IniFile
		5527	{
		5528	public string path;
		5529
		5530	[DllImport("kernel32")]
		5531	private static extern long WritePrivateProfileString(string section,
		5532	string key, string val, string filePath);
		5533
		5534	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		5535	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		5536	uint nSize, string lpFileName);
		5537
		5538	[DllImport("kernel32")]
		5539	private static extern int GetPrivateProfileString(string section,
		5540	string key, string def, StringBuilder retVal,
		5541	int size, string filePath);
		5542
		5543	public IniFile(string INIPath)
		5544	{
		5545	path = INIPath;
		5546	}
		5547
		5548	public void IniWriteValue(string Section, string Key, string Value)
		5549	{
		5550	WritePrivateProfileString(Section, Key, Value, this.path);
		5551	}
		5552
		5553	public string IniReadValue(string Section, string Key)
		5554	{
		5555	StringBuilder temp = new StringBuilder(255);
		5556	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		5557	return temp.ToString();
		5558	}
		5559	//Ini_sections auslesen in String-Array
		5560	public string[] IniSectionNames()
		5561	{
		5562
		5563	// uint MAX_BUFFER = 32767;
		5564	uint MAX_BUFFER = 8388608;
		5565	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		5566	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		5567	if (bytesReturned == 0)
		5568	{
		5569	Marshal.FreeCoTaskMem(pReturnedString);
		5570	return null;
		5571	}
		5572	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		5573	Marshal.FreeCoTaskMem(pReturnedString);
		5574	//use of Substring below removes terminating null for split
		5575	return local.Substring(0, local.Length - 1).Split('\0');
		5576
		5577
		5578	}
		5579	}
		5580	/// <summary>
		5581	/// Selected Win AI Function Calls
		5582	/// </summary>
		5583	public class WinApi
		5584	{
		5585	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		5586	public static extern int GetSystemMetrics(int which);
		5587	[DllImport("user32.dll")]
		5588	public static extern void
		5589	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		5590	int X, int Y, int width, int height, uint flags);
		5591
		5592	private const int SM_CXSCREEN = 0;
		5593	private const int SM_CYSCREEN = 1;
		5594	private static IntPtr HWND_TOP = IntPtr.Zero;
		5595	private const int SWP_SHOWWINDOW = 64; // 0x0040
		5596
		5597	public static int ScreenX
		5598	{
		5599	get { return GetSystemMetrics(SM_CXSCREEN); }
		5600	}
		5601
		5602	public static int ScreenY
		5603	{
		5604	get { return GetSystemMetrics(SM_CYSCREEN); }
		5605	}
		5606
		5607	public static void SetWinFullScreen(IntPtr hwnd)
		5608	{
		5609	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		5610	}
		5611	}
		5612	/// <summary>
		5613	/// Class used to preserve / restore state of the window
		5614	/// </summary>
		5615	public class WinState
		5616	{
		5617	private WindowState winState;
		5618	private WindowStyle brdStyle;
		5619	private bool topMost;
		5620	private Rect restore;
		5621	private bool IsMaximized = false;
		5622
		5623	public bool isMaximized
		5624	{
		5625	get { return IsMaximized; }
		5626	}
		5627	public void Maximize(Window targetForm)
		5628	{
		5629	if (!IsMaximized)
		5630	{
		5631	IsMaximized = true;
		5632	Save(targetForm);
		5633	targetForm.WindowState = WindowState.Maximized;
		5634	targetForm.WindowStyle = WindowStyle.None;
		5635	targetForm.Topmost = true;
		5636	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		5637	}
		5638	}
		5639
		5640	public void Save(Window targetForm)
		5641	{
		5642	winState = targetForm.WindowState;
		5643	brdStyle = targetForm.WindowStyle;
		5644	topMost = targetForm.Topmost;
		5645	restore = targetForm.RestoreBounds;
		5646	}
		5647	public void Restore(Window targetForm)
		5648	{
		5649	targetForm.WindowState = winState;
		5650	targetForm.WindowStyle = brdStyle;
		5651	targetForm.Topmost = topMost;
		5652
		5653	targetForm.Left = restore.Left;
		5654	targetForm.Top = restore.Top;
		5655	targetForm.Height = restore.Height;
		5656	targetForm.Width = restore.Width;
		5657	IsMaximized = false;
		5658	}
		5659	}
		5660	}

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