WebSVN - Projects - Blame - Rev 2434 - /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	Point pWPAdd;
		745	private void GridGMapControl_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
		746	{
2434	-	747	if(e.ClickCount == 2)
2432	-	748	{
		749	pWPAdd = new Point(e.GetPosition(this).X, e.GetPosition(this).Y);
		750	canvasAddPoint.Margin = new Thickness(e.GetPosition(this).X, e.GetPosition(this).Y, canvasAddPoint.Margin.Left, canvasAddPoint.Margin.Bottom);
		751	canvasAddPoint.Visibility = Visibility.Visible;
		752	}
		753
		754	}
		755	private void canvasAddPoint_LostFocus(object sender, RoutedEventArgs e)
		756	{
		757	canvasAddPoint.Visibility = Visibility.Collapsed;
		758	}
		759	private void canvasAddPoint_MouseLeave(object sender, MouseEventArgs e)
		760	{
		761	canvasAddPoint.Visibility = Visibility.Collapsed;
		762	}
		763	private void btnCmAddWP_Click(object sender, RoutedEventArgs e)
		764	{
		765	if (pWPAdd != null)
		766	{
		767	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		768	_addWP(p,0);
		769	}
		770	}
		771	private void btnCmAddPOI_Click(object sender, RoutedEventArgs e)
		772	{
		773	if (pWPAdd != null)
		774	{
		775	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		776	_addWP(p,1);
		777	}
		778	}
		779	private void btnCmAddFailsave_Click(object sender, RoutedEventArgs e)
		780	{
		781	if (pWPAdd != null)
		782	{
		783	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		784	_addWP(p,2);
		785	}
		786	}
		787	private void btnCmAddLanding_Click(object sender, RoutedEventArgs e)
		788	{
		789	if (pWPAdd != null)
		790	{
		791	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		792	_addWP(p,3);
		793	}
		794	}
		795
2287	-	796	#endregion events
		797
		798	#region GMap
		799
		800	void _setupMap()
		801	{
		802	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		803	MainMap.MapProvider = GMapProviders.BingHybridMap;
		804	MainMap.SetPositionByKeywords("Landshut");
		805	MainMap.MinZoom = 0;
		806	MainMap.MaxZoom = 24;
		807	MainMap.Zoom = 16;
		808	MainMap.ShowCenter = true;
		809	MainMap.ShowTileGridLines = false;
		810	sliderMapZoom.Value = 16;
		811	comboBoxMapType.ItemsSource = providerList;
		812	comboBoxMapType.DisplayMemberPath = "Name";
		813	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		814
		815	// acccess mode
		816	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		817	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		818
		819	}
2424	-	820
2287	-	821	/// <summary>
		822	/// selection of relevant map providers --> if You need more, You can change the line:
		823	/// comboBoxMapType.ItemsSource = providerList;
		824	/// to:
		825	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		826	/// in _setupMap()
		827	/// or add items here:
		828	/// </summary>
		829	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		830	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		831	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		832	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		833	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		834
		835	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		836	{
		837	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		838	copter = new GMapMarker(MainMap.Position);
2318	-	839
2424	-	840	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"), "red");
2318	-	841	if (comboBoxCopterColor.SelectionBoxItem != null)
		842	{
		843	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	844	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	845	}
2385	-	846	Dispatcher.Invoke(() => {
		847	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		848	{
		849	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		850	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		851	}
		852	});
2405	-	853	copter.Offset = new System.Windows.Point(-26, -26);
2287	-	854	copter.ZIndex = int.MaxValue;
		855	MainMap.Markers.Add(copter);
		856	copter.Position = MainMap.Position;
		857	}
2347	-	858	void _setHomePos()
2287	-	859	{
		860	pHome = MainMap.Position;
		861	if (!MainMap.Markers.Contains(home))
		862	{
		863	home = new GMapMarker(MainMap.Position);
		864	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	865	home.Offset = new System.Windows.Point(-16.5, -16.5);
2287	-	866	// home.ZIndex = int.MaxValue;
		867	MainMap.Markers.Add(home);
		868	}
		869	home.Position = MainMap.Position;
		870	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	871
		872	if (checkBoxShowWPMaxRange.IsChecked == true)
		873	{
		874	if (cWPBound != null && cWPBound.Tag != null)
		875	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		876
		877	createCircle(home.Position, dWPMaxRange);
2408	-	878	Dispatcher.Invoke(() =>
		879	{
		880	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		881	{
		882	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		883	cWPBound.setColor(s);
		884	}
		885	});
2405	-	886	}
		887
2287	-	888	}
2347	-	889	void _setActiveWP(int iIndex)
2287	-	890	{
2429	-	891	if (iIndex < wpList.Count)
2347	-	892	{
2429	-	893	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
2347	-	894	{
2429	-	895	Dispatcher.Invoke(() =>
		896	{
		897	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		898	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		899	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		900	MainMap.Markers.Add(wpActiveMarker);
		901	});
		902	}
		903	else
		904	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
2347	-	905	}
		906
2401	-	907	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
2347	-	908	}
		909	void _clearHomePos()
		910	{
2287	-	911	MainMap.Markers.Remove(home);
2405	-	912	if (cWPBound != null && cWPBound.Tag != null)
		913	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2287	-	914	}
2335	-	915	void _clearMapMarkers(Type markerType)
		916	{
		917	for (int k = 0; k < MainMap.Markers.Count;)
		918	{
		919	GMapMarker p = MainMap.Markers[k];
2340	-	920	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	921	MainMap.Markers.Remove(p);
		922	else
		923	k++;
		924	}
2419	-	925	_WPisMouseCaptured = false;
2335	-	926	}
2369	-	927
		928	GMapMarker _findWPMarker(string name)
2368	-	929	{
		930	for (int k = 0; k < MainMap.Markers.Count;)
		931	{
		932	GMapMarker p = MainMap.Markers[k];
		933	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	934	if (((CustomMarkerWP)p.Shape).WPText == name)
		935	return p;
2368	-	936	else
		937	k++;
		938	else
		939	k++;
		940	}
2369	-	941	return null;
2368	-	942	}
2369	-	943	void _clearWPMarker(string name)
		944	{
		945	GMapMarker p = _findWPMarker(name);
2424	-	946	if (p != null)
2369	-	947	MainMap.Markers.Remove(p);
		948	}
2368	-	949	void _renameWPMarker(string s1, string s2)
		950	{
2369	-	951	GMapMarker p = _findWPMarker(s1);
		952	if (p != null)
		953	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	954	}
2372	-	955	void _WPMarkerSetType(string text, int type)
		956	{
		957	GMapMarker p = _findWPMarker(text);
		958	if (p != null)
		959	((CustomMarkerWP)p.Shape).WPType = type;
		960	}
2369	-	961	void _repositionWPMarker(PointLatLng point, string name)
		962	{
		963	GMapMarker p = _findWPMarker(name);
		964	if (p != null)
		965	p.Position = point;
		966	}
		967
2405	-	968	void createCircle(PointLatLng center, double distance)
		969	{
		970
		971	GMapMarker it = new GMapMarker(center);
		972	it.ZIndex = -1;
2424	-	973
2405	-	974	cWPBound.Center = center;
		975	cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance);
		976	cWPBound.Tag = it;
		977	cWPBound.IsHitTestVisible = false;
		978	UpdateCircle(cWPBound);
		979	it.Shape = cWPBound;
		980	MainMap.Markers.Add(it);
		981	}
		982	// calculates circle radius
		983	void UpdateCircle(Circle c)
		984	{
		985	var pxCenter = MainMap.FromLatLngToLocal(c.Center);
		986	var pxBounds = MainMap.FromLatLngToLocal(c.Bound);
		987
		988	double a = (double)(pxBounds.X - pxCenter.X);
		989	double b = (double)(pxBounds.Y - pxCenter.Y);
		990	var pxCircleRadius = Math.Sqrt(a * a + b * b);
		991
		992	c.Width = c.Height = pxCircleRadius * 2;
		993	//c.Width = 55 + pxCircleRadius * 2;
		994	//c.Height = 55 + pxCircleRadius * 2;
		995	(c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2);
		996	}
		997
2287	-	998	// access mode
		999	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		1000	{
		1001	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		1002	MainMap.ReloadMap();
		1003	}
		1004	// zoom up
		1005	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		1006	{
		1007	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		1008	}
		1009
		1010	// zoom down
		1011	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		1012	{
		1013	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		1014	}
		1015
		1016	// prefetch
		1017	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		1018	{
		1019	RectLatLng area = MainMap.SelectedArea;
		1020	if (!area.IsEmpty)
		1021	{
		1022	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		1023	{
		1024	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		1025
		1026	if (res == MessageBoxResult.Yes)
		1027	{
		1028	TilePrefetcher obj = new TilePrefetcher();
		1029	obj.Owner = this;
		1030	obj.ShowCompleteMessage = true;
		1031	obj.Start(area, i, MainMap.MapProvider, 100);
		1032	}
		1033	else if (res == MessageBoxResult.No)
		1034	{
		1035	continue;
		1036	}
		1037	else if (res == MessageBoxResult.Cancel)
		1038	{
		1039	break;
		1040	}
		1041	}
		1042	}
		1043	else
		1044	{
		1045	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1046	}
		1047	}
		1048
		1049	// goto by geocoder
		1050	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		1051	{
		1052	_goto_byGeoCoder();
		1053	}
		1054	// goto by geocoder
		1055	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		1056	{
		1057	if (e.Key == System.Windows.Input.Key.Enter)
		1058	_goto_byGeoCoder();
		1059	}
		1060	void _goto_byGeoCoder()
		1061	{
		1062	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		1063	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		1064	{
		1065	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1066	}
		1067	}
		1068	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		1069	{
		1070	try
		1071	{
		1072	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		1073	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		1074
		1075	MainMap.Position = new PointLatLng(lat, lng);
		1076	}
		1077	catch (Exception ex)
		1078	{
		1079	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		1080	}
		1081
		1082	}
		1083
		1084	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		1085	{
		1086	MainMap.ReloadMap();
		1087	}
		1088
		1089	private void MainMap_OnPositionChanged(PointLatLng point)
		1090	{
		1091	if (_bFollowCopter)
		1092	_setCopterData(MainMap.Position);
		1093	}
		1094
		1095	private void MainMap_OnMapZoomChanged()
		1096	{
		1097	if (_bFollowCopter)
		1098	_setCopterData(MainMap.Position);
2424	-	1099	if ((int)sliderMapZoom.Value != MainMap.Zoom)
2287	-	1100	sliderMapZoom.Value = MainMap.Zoom;
2424	-	1101	if (cWPBound != null && cWPBound.Tag != null)
2405	-	1102	UpdateCircle(cWPBound);
2287	-	1103	}
		1104
		1105	void _setCopterData(PointLatLng p)
		1106	{
		1107	Dispatcher.Invoke(() =>
		1108	{
		1109	copter.Position = p;
		1110	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		1111	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		1112	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		1113	});
		1114	if (home != null && MainMap.Markers.Contains(home))
		1115	{
		1116	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		1117	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		1118	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	1119
2424	-	1120	if (d * 1000 < _dThresholdDistanceWarn)
2291	-	1121	{
		1122	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		1123	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		1124	{
		1125	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		1126	_bAnimDistanceActive = false;
		1127	}
		1128	}
		1129	else
		1130	{
		1131	if (_iDistanceJitter < 20)
		1132	{ _iDistanceJitter++; }
		1133	if (_iDistanceJitter == 20)
		1134	{
		1135	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		1136	{
		1137	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		1138	_bAnimDistanceActive = true;
		1139	}
		1140	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		1141	{
2398	-	1142	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		1143	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		1144	//t.Start();
2291	-	1145	_bVoiceDistanceActive = true;
		1146	}
		1147	_iDistanceJitter++;
		1148	}
		1149	}
2287	-	1150	}
		1151	}
		1152
		1153	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		1154	{
		1155	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		1156	}
		1157
		1158	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1159	{
		1160	if (MainMap.Zoom != sliderMapZoom.Value)
		1161	MainMap.Zoom = (int)sliderMapZoom.Value;
		1162	}
		1163	#region Touch zooming hackattack ;)
		1164	/// <summary>
		1165	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1166	/// </summary>
		1167	bool bFirstAccess = true;
		1168	double dDistance = 0;
		1169	int iZoom;
		1170	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1171	{
2419	-	1172	if (!_WPisMouseCaptured)
2287	-	1173	{
2419	-	1174	var id = e.StylusDevice.Id;
		1175	e.StylusDevice.Capture(MainMap);
		1176	if (iFirstStylusID == -1)
		1177	{
		1178	iFirstStylusID = id;
		1179	}
		1180	else
		1181	{
2287	-	1182
2419	-	1183	MainMap.CanDragMap = false;
		1184	}
2287	-	1185	}
		1186	}
		1187	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1188	{
		1189	MainMap.ReleaseStylusCapture();
		1190	iFirstStylusID = -1;
		1191	bFirstAccess = true;
		1192	MainMap.CanDragMap = true;
		1193	iZoom = 0;
		1194	}
		1195	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1196	{
		1197	var id = e.StylusDevice.Id;
		1198	var tp = e.GetPosition(MainMap);
		1199
		1200	// This is the first Stylus point; just record its position.
		1201	if (id == iFirstStylusID)
		1202	{
		1203	pTouch1.X = tp.X;
		1204	pTouch1.Y = tp.Y;
		1205	}
		1206	else
		1207	if (iFirstStylusID > -1)
		1208	{
		1209	pTouch2.X = tp.X;
		1210	pTouch2.Y = tp.Y;
		1211	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1212	if (!bFirstAccess)
		1213	{
		1214	if (distance > dDistance)
		1215	iZoom++;
		1216	else
		1217	if (distance < dDistance)
		1218	iZoom--;
		1219	}
		1220	if (iZoom > 30)
		1221	{
		1222	iZoom = 0;
		1223	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1224	}
		1225	if (iZoom < -30)
		1226	{
		1227	iZoom = 0;
		1228	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1229	}
		1230	dDistance = distance;
		1231	bFirstAccess = false;
		1232	}
		1233	}
		1234	#endregion Touch zooming hackattack ;)
		1235
		1236	#endregion GMap
		1237
		1238	#region settings
		1239	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1240	{
2424	-	1241	if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
2287	-	1242	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1243	}
		1244	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1245	{
2424	-	1246	if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1)
2287	-	1247	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1248	}
		1249	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1250	{
		1251	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1252	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1253	}
		1254	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1255	{
		1256	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1257	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1258	}
		1259	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1260	{
		1261	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1262	}
		1263	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1264	{
		1265	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1266	}
		1267	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1268	{
		1269	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1270	}
		1271	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1272	{
		1273	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1274	}
		1275
		1276	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1277	{
		1278	if (cBoxLiPoCells.SelectedIndex > -1)
		1279	{
		1280	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1281	_LipoMinMax();
		1282	}
		1283	}
		1284	void _LipoMinMax()
		1285	{
		1286	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1287	_dLipoVMin = (double)_LipoCells * 3;
		1288	pbTopVoltage.Maximum = _dLipoVMax;
		1289	pbTopVoltage.Minimum = _dLipoVMin;
		1290	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1291	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1292	}
		1293	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1294	{
		1295	if (cBoxMotors.SelectedIndex > -1)
		1296	{
		1297	_iMotors = cBoxMotors.SelectedIndex + 3;
		1298	Dispatcher.Invoke(() =>
		1299	{
		1300	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1301	GridMotors.Height = dgvMotors1.Height + 10;
		1302	});
		1303	}
		1304	}
		1305	void _setMotorGridSize()
		1306	{
		1307	if (dgvMotors1.Columns.Count > 2)
		1308	{
		1309	dgvMotors1.Columns[0].Width = 24;
		1310	dgvMotors1.Columns[1].Width = 50;
		1311	dgvMotors1.Columns[2].Width = 50;
		1312	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1313	GridMotors.Height = dgvMotors1.Height + 10;
		1314	}
		1315
		1316	}
		1317	#endregion settings
		1318
		1319	#region functions
		1320
		1321	#region logging
		1322	/// <summary> Log data to the terminal window. </summary>
		1323	/// <param name="msgtype"> The type of message to be written. </param>
		1324	/// <param name="msg"> The string containing the message to be shown. </param>
		1325	private void Log(LogMsgType msgtype, string msg)
		1326	{
		1327	Dispatcher.Invoke(() =>
		1328	{
2424	-	1329	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1330	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1331	// rtfTerminal.AppendText(msg + "\r");
		1332	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd);
2287	-	1333	tr.Text = msg;
		1334	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1335	rtfTerminal.AppendText("\r");
		1336	rtfTerminal.ScrollToEnd();
		1337	});
		1338	}
2424	-	1339	private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName)
2287	-	1340	{
2381	-	1341
2287	-	1342	Dispatcher.Invoke(() =>
		1343	{
2381	-	1344	Paragraph para = new Paragraph();
		1345	para.Margin = new Thickness(0); // remove indent between paragraphs
		1346
		1347	Hyperlink link = new Hyperlink();
		1348	if (linkURL != "" && linkName != "")
		1349	{
		1350	link.IsEnabled = true;
		1351	link.Inlines.Add(linkName);
		1352	link.NavigateUri = new Uri(linkURL);
		1353	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1354	}
		1355	//msg = DateTime.Now.ToLongTimeString() + msg;
		1356	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1357	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1358	r.Foreground = new SolidColorBrush(Colors.Black);
		1359	para.Inlines.Add(r);
		1360	para.Inlines.Add(msg);
		1361	para.Inlines.Add(link);
		1362	rtfError.Document.Blocks.Add(para);
		1363	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1364	//tr.Text = msg + link;
		1365	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1366	//rtfError.AppendText("\r");
2287	-	1367	rtfError.ScrollToEnd();
		1368
2381	-	1369	//_bErrorLog = true;
2287	-	1370	});
		1371	}
		1372	/// <summary>
		1373	/// Clear the line in the errorlog window
		1374	/// containing the error string when error has ceased
		1375	/// </summary>
		1376	/// <param name="s">substring of errrormessage</param>
		1377	void _clearErrorLog(string s)
		1378	{
		1379	Dispatcher.Invoke((Action)(() =>
		1380	{
		1381	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1382	TextRange foundRange = FindTextInRange(searchRange, s);
		1383
		1384	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1385
		1386
		1387	if (iStart > -1)
		1388	{
		1389	int iLength = 0;
		1390	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1391	if (iEnd > 0)
		1392	{
		1393	iLength = iEnd + 1;
2424	-	1394	int iHttp = searchRange.Text.IndexOf("http", iEnd);
2287	-	1395	if (iHttp == iLength)
		1396	{
		1397	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1398	if (iEnd2 > iLength)
		1399	{
		1400	iLength = iEnd2 + 1;
2424	-	1401	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
2287	-	1402
		1403	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1404	rtfError.Selection.Text = string.Empty;
		1405	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1406	}
		1407
		1408	}
		1409	else
		1410	{
		1411	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1412	rtfError.Selection.Text = string.Empty;
		1413	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1414	}
		1415	}
		1416	}
		1417	}));
		1418
		1419	}
		1420	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1421	{
		1422	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1423	if (offset < 0)
		1424	return null; // Not found
		1425
		1426	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1427	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1428
		1429	return result;
		1430	}
		1431	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1432	{
		1433	while (position != null)
		1434	{
		1435	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1436	{
		1437	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1438	if (characterCount <= count)
		1439	{
		1440	return position.GetPositionAtOffset(characterCount);
		1441	}
		1442
		1443	characterCount -= count;
		1444	}
		1445
		1446	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1447	if (nextContextPosition == null)
		1448	return position;
		1449
		1450	position = nextContextPosition;
		1451	}
		1452
		1453	return position;
		1454	}
		1455	#endregion logging
		1456
		1457	#region processing received data
		1458
		1459	private void processMessage(byte[] message)
		1460	{
		1461	if (message.Length > 0)
		1462	{
		1463	_iLifeCounter++;
		1464	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1465	//Log(LogMsgType.Incoming, message.Length.ToString());
		1466	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1467	char cmdID;
		1468	byte adr;
		1469	byte[] data;
		1470	byte[] tmp = null;
		1471	if (message[0] != '#')
		1472	{
		1473	int iFound = -1;
		1474	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1475	{ //so this is a workaround to not spam the log box
		1476	if (message[i] == 35)
		1477	{
		1478	iFound = i;
		1479	break;
		1480	}
		1481	}
		1482	if (iFound > 0)
		1483	{
		1484	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1485	tmp = new byte[message.Length - iFound];
		1486	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1487	}
		1488	s = s.Trim('\0', '\n', '\r');
		1489	if (s.Length > 0)
		1490	Log(LogMsgType.Normal, s);
		1491	if (tmp != null)
		1492	{
		1493	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1494	processMessage(tmp);
		1495	}
		1496	}
		1497	//Debug.Print(s);
		1498	else
		1499	{
		1500	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1501
		1502	if (adr == 255) { crcError++; }
		1503	else crcError = 0;
		1504	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1505	//display the active controller (FC / NC)
		1506	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...???
		1507	{
		1508	_iCtrlAct = adr;
		1509	switch (adr)
		1510	{
		1511	case 1:
		1512	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2429	-	1513	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1514	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
2424	-	1515	// _setFieldsNA(); //display fields NA for FC
2287	-	1516	break;
		1517	case 2:
		1518	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
2429	-	1519	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1520	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
2287	-	1521	break;
		1522	//case 3:
		1523	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1524	// break;
		1525	//case 4:
		1526	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1527	// break;
		1528	default:
		1529	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1530	break;
		1531	}
2424	-	1532	// _loadLabelNames();
2287	-	1533	}
		1534	// else
		1535	// Debug.Print("Address == 0?");
		1536
		1537	if (data != null && data.Length > 0)
		1538	{
		1539	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1540	s = s.Trim('\0', '\n');
		1541
		1542	switch (cmdID)
		1543	{
		1544	//case 'A': //Label names
		1545	// _processLabelNames(s);
		1546	// break;
		1547
		1548	case 'D': //Debug data
		1549	_processDebugVals(adr, data);
		1550	break;
		1551
		1552	case 'V': //Version
		1553	_processVersion(adr, data);
		1554	break;
		1555
		1556	case 'K'://BL-CTRL data
		1557	_processBLCtrl(data);
		1558	break;
		1559
2424	-	1560	case 'M'://License info
		1561	_processLicense(data);
		1562	break;
		1563
2287	-	1564	case 'O': //NC Data
2428	-	1565	if (data[0] < 10)
		1566	_processNCData(data);
		1567	else
		1568	_processNCDataV2(data);
2287	-	1569	break;
		1570
2381	-	1571	//case 'E': //NC error-string
		1572	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1573	// break;
2287	-	1574
		1575	case 'L': //OSD Menue (called by pagenumber)
		1576	_processOSDSingle(data);
		1577	break;
		1578
		1579	case 'H': //OSD Menue (with autoupdate - called by Key)
		1580	_processOSDAuto(data);
		1581	break;
		1582
		1583	case 'X': //Waypoint data
		1584	_processWPData(data);
		1585	break;
		1586
2313	-	1587	case 'W': //return new Waypoint items count after sending waypoint to copter
		1588	_iWPCount = data[0];
		1589	break;
2287	-	1590	//default:
		1591	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1592	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1593	// break;
		1594	}
		1595	}
		1596	//else
		1597	//{
		1598	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1599	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1600	//}
		1601	}
		1602	}
		1603	}
		1604	/// <summary>
		1605	/// Analog label names 'A'
		1606	/// each label name is returned as a single string
		1607	/// and added to string array sAnalogLabel[]
		1608	/// and the datatable dtAnalog
		1609	/// </summary>
		1610	/// <param name="s">the label name</param>
		1611	void _processLabelNames(string s)
		1612	{
		1613	//if (iLableIndex < 32)
		1614	//{
		1615	// sAnalogLabel[iLableIndex] = s;
		1616	// if (dtAnalog.Rows.Count < 32)
		1617	// dtAnalog.Rows.Add(s, "");
		1618	// else
		1619	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1620
		1621	// // _getAnalogLabels(iLableIndex + 1);
		1622	//}
		1623	//Debug.Print(s);
		1624	}
		1625	/// <summary>
		1626	/// Debug values 'D'
		1627	/// </summary>
		1628	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1629	/// <param name="data">the received byte array to process</param>
		1630	void _processDebugVals(byte adr, byte[] data)
		1631	{
		1632	if (data.Length == 66)
		1633	{
2424	-	1634
2287	-	1635	double v;
		1636	int index = 0;
		1637	Int16 i16 = 0;
		1638	double dTemp = 0;
		1639	for (int i = 2; i < 66; i += 2)
		1640	{
		1641	i16 = data[i + 1];
		1642	i16 = (Int16)(i16 << 8);
		1643	iAnalogData[index] = data[i] + i16;
		1644	sAnalogData[index] = (data[i] + i16).ToString();
2424	-	1645	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
2287	-	1646
		1647	if (adr == 2) //NC
		1648	{
		1649	switch (index)
		1650	{
		1651	case 0: //pitch (German: nick)
		1652	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1653	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1654	break;
		1655	case 1: //roll
		1656	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1657	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1658	break;
		1659	case 4: //altitude
		1660	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1661	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2424	-	1662	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1663	break;
		1664	case 7: //Voltage
		1665	v = (double)iAnalogData[index] / (double)10;
		1666	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1667	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1668	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1669	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1670	{
		1671	if (v == _dVoltLast)
2424	-	1672	if (_iVoltJitter < 20) _iVoltJitter++;
		1673	else
		1674	{
		1675	_iVoltJitter = 0;
		1676	_dVoltLast = v;
		1677	}
2287	-	1678	if (_iVoltJitter == 20)
		1679	{
		1680	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1681
		1682	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1683	{
		1684	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1685	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1686	{
		1687	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1688	_bCritAnimVoltActive = true;
		1689	}
		1690	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1691	{
2398	-	1692	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1693	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1694	//t.Start();
2287	-	1695	_bCritVoiceVoltActive = true;
		1696	}
		1697	}
		1698	else
		1699	{
		1700	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1701	{
		1702	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1703	_bCritAnimVoltActive = false;
		1704	}
		1705	_bCritVoiceVoltActive = false;
		1706
2291	-	1707	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1708	{
2398	-	1709	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1710	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1711	//t.Start();
2291	-	1712	_bWarnVoiceVoltActive = true;
2287	-	1713	}
		1714	}
		1715	}
		1716	}
		1717	else
		1718	{
		1719	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1720	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1721	{
		1722	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1723	_bCritAnimVoltActive = false;
		1724	}
		1725	_bCritVoiceVoltActive = false;
2291	-	1726	_bWarnVoiceVoltActive = false;
2287	-	1727	_iVoltJitter = 0;
		1728	}
		1729	break;
		1730	case 8: // Current
		1731	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1732	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1733	break;
		1734	case 10: //heading
2291	-	1735	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2399	-	1736	if (!_Simulate) //use NavData for simulation
		1737	{
		1738	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1739	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1740	}
2287	-	1741	break;
		1742	case 12: // SPI error
2291	-	1743	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1744	break;
		1745	case 14: //i2c error
2291	-	1746	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1747	break;
		1748	case 20: //Earthmagnet field
2291	-	1749	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1750	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
2424	-	1751
2291	-	1752	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1753	{
		1754	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1755	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1756	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1757	{
		1758	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1759	_bAnimMagneticFieldActive = false;
		1760	}
		1761	}
		1762	else
		1763	{
		1764	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
2424	-	1765	if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
2291	-	1766	{
		1767	if (_iMagneticFieldJitter < 20)
		1768	_iMagneticFieldJitter++;
		1769	}
		1770	else
		1771	{
		1772	_iMagneticFieldJitter = 0;
		1773	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1774	}
2424	-	1775	if (_iMagneticFieldJitter == 20)
2291	-	1776	{
		1777	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1778	{
		1779	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1780	_bAnimMagneticFieldActive = true;
		1781	}
		1782	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1783	{
2398	-	1784	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1785	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1786	//t.Start();
2291	-	1787	_bVoiceMagneticFieldActive = true;
		1788	}
		1789	}
		1790	}
2287	-	1791	break;
		1792	case 21: //GroundSpeed
2424	-	1793	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1794	if (!_Simulate)
		1795	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2287	-	1796	break;
2291	-	1797
		1798	///******** needs testing --> not sure what position this is *************
2287	-	1799	case 28: //Distance East from saved home position -> calculate distance with distance N + height
2424	-	1800	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1801	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1802	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1803	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1804	dTemp = Math.Sqrt(dTemp) / (double)10;
		1805	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1806	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
2287	-	1807	break;
2291	-	1808
2287	-	1809	case 31: //Sats used
2424	-	1810	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1811	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
2287	-	1812	break;
		1813	}
		1814	}
		1815	index++;
		1816	}
		1817	}
		1818	else
		1819	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1820	}
		1821	/// <summary>
		1822	/// Version string 'V'
		1823	/// </summary>
		1824	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1825	/// <param name="data">the received byte array to process</param>
		1826	void _processVersion(byte adr, byte[] data)
		1827	{
		1828	if (data.Length == 12)
		1829	{
		1830	if (!check_HWError)
		1831	{
		1832	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1833	string sVersion = "";
		1834	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1835	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1836	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1837	Log(LogMsgType.Incoming, sVersion);
		1838	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1839	Log(LogMsgType.Incoming, sVersion);
		1840	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1841	}
		1842	if (data[5] > 0) //error0
		1843	{
		1844	if (adr == 1)
2424	-	1845	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", "");
2287	-	1846	if (adr == 2)
2424	-	1847	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", "");
2287	-	1848	}
		1849	if (data[6] > 0) //error1
		1850	{
		1851	if (adr == 1)
2424	-	1852	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", "");
2287	-	1853	if (adr == 2)
2424	-	1854	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field
2287	-	1855	}
2381	-	1856	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1857	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1858
		1859	}
		1860	check_HWError = false;
		1861	}
2424	-	1862
		1863	void _processLicense(byte[] data)
		1864	{
		1865	if (data.Length > 480)
		1866	{
		1867	Dispatcher.Invoke(() => {
		1868	tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127));
		1869	tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127));
		1870	tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127));
		1871	tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11));
		1872	tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16));
		1873	});
		1874	}
		1875	}
2287	-	1876	/// <summary>
		1877	/// BL-Ctrl data 'K'
		1878	/// for FC you have to use a customized firmware
		1879	/// </summary>
		1880	/// <param name="data">the received byte array to process</param>
		1881	void _processBLCtrl(byte[] data)
		1882	{
		1883	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1884	{
		1885	bool bAvailable = false;
		1886	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1887	{
		1888
		1889	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1890	bAvailable = true;
		1891	else
		1892	bAvailable = false;
		1893
		1894	if (data[i] < _iMotors)
		1895	{
		1896	if (bAvailable)
		1897	{
2315	-	1898	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1899	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1900	}
		1901	else
		1902	{
2315	-	1903	dtMotors.Rows[data[i]].SetField(1, "NA");
		1904	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1905	}
		1906	}
		1907	//if (data[i] > 3 && data[i] < 8)
		1908	//{
		1909	// if (bAvailable)
		1910	// {
		1911	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1912	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1913	// }
		1914	// else
		1915	// {
		1916	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1917	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1918	// }
		1919	//}
		1920	}
		1921	}
		1922	}
		1923	/// <summary>
		1924	/// Navi-Ctrl data 'O'
		1925	/// GPS-Position, capacatiy, flying time...
		1926	/// </summary>
		1927	/// <param name="data">the received byte array to process</param>
2428	-	1928
		1929
		1930	byte OSDSTATUSFLAGS1 = 0;
		1931	byte OSDSTATUSFLAGS2 = 0;
		1932	void _processNCDataV2(byte[] data)
		1933	{
2429	-	1934	if ((int)data[0] < 17)
2428	-	1935	{
2429	-	1936	int i_32, i_16, iVal;
		1937	double d;
		1938	OSD_Base_Data_t osd = new OSD_Base_Data_t(data);
		1939	OSDSTATUSFLAGS1 = osd.OSDSTATUSFLAGS1();
		1940	Dispatcher.Invoke(() => { drGPX[2] = osd.Pos().Lng; });
		1941	Dispatcher.Invoke(() => { drGPX[1] = osd.Pos().Lat; });
		1942	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		1943	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		1944	if (_Simulate)
		1945	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = osd.Speed().ToString("0.0 m/s")));
2428	-	1946
2429	-	1947	switch ((int)data[0])
		1948	{
		1949	case 10:
2431	-	1950	char[] c = Encoding.ASCII.GetChars(new byte[] { data[13] });
		1951	Dispatcher.Invoke((Action)(() => tbCamCtrl.Text = c[0].ToString()));
2429	-	1952	break;
		1953	case 11:
		1954	OSDSTATUSFLAGS2 = osd.OSDSTATUSFLAGS2();
		1955	//---------------NC-Flags--------------------------
		1956	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[14] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1957	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[14] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1958	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[14] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1959	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[14] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1960	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[14] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1961	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[14] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1962	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[14] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2428	-	1963
2429	-	1964	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[14] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		1965	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
		1966	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
		1967	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	-	1968
2429	-	1969	//--------------- NC Error ------------------------
		1970	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[16].ToString())); //NC Errornumber
		1971	if (data[16] > 0)
		1972	_readNCError();
		1973	if (data[16] > 0 & data[16] < 44)
		1974	ErrorLog(LogMsgType.Error, " NC Error [" + data[16].ToString() + "]: ", NC_Error_Link[data[16]], NC_Error[data[16]]);
2428	-	1975
2429	-	1976	break;
		1977	case 12:
		1978	//--------------- RC quality ------------------------
		1979	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[23].ToString()));
		1980	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[23].ToString()));
		1981
		1982	if (data[23] > _iThresholdRC)
2428	-	1983	{
2429	-	1984	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1985	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1986	{
		1987	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1988	_bAnimRCLevelActive = false;
		1989	}
2428	-	1990	}
2429	-	1991	else
2428	-	1992	{
2429	-	1993	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1994	if (_iRCLevelJitter == 20)
2428	-	1995	{
2429	-	1996	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1997	{
		1998	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1999	_bAnimRCLevelActive = true;
		2000	}
		2001	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2002	{
		2003	_bVoiceRCLevelActive = true;
		2004	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2005	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2006	//th.Start();
		2007	}
		2008	_iRCLevelJitter++;
2428	-	2009	}
		2010	}
2429	-	2011	break;
		2012	case 13:
		2013	//-------------------------Waypoint max range (by license)------------------------------
		2014	i_32 = data[24];
		2015	iVal = i_32 << 8;
		2016	iVal += data[23];
2428	-	2017
2429	-	2018	if (dWPMaxRange != iVal)
2428	-	2019	{
2429	-	2020	dWPMaxRange = iVal;
		2021	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2022	{
		2023	if (cWPBound != null && cWPBound.Tag != null)
		2024	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2428	-	2025
2429	-	2026	createCircle(home.Position, dWPMaxRange);
		2027	Dispatcher.Invoke(() =>
2428	-	2028	{
2429	-	2029	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2030	{
		2031	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2032	cWPBound.setColor(s);
		2033	}
		2034	});
		2035	}
		2036	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = iVal.ToString() + " m"));
2428	-	2037	}
2431	-	2038	//--------------- LiPoCell count ------------------------
		2039	Dispatcher.Invoke((Action)(() => tbLiPoCells.Text = data[25].ToString()));
2428	-	2040
2429	-	2041	break;
2428	-	2042
2429	-	2043	case 14:
		2044	//--------------- Flying time ------------------------
		2045	i_16 = data[14];
		2046	i_16 = (Int16)(i_16 << 8);
		2047	iVal = data[13] + i_16;
		2048	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2049	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2050	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2051	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
2428	-	2052
2429	-	2053	//--------------------------------Distance HP------------------------------------
		2054	i_16 = data[16];
		2055	i_16 = (Int16)(i_16 << 8);
		2056	iVal = data[15] + i_16;
		2057	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2428	-	2058
2429	-	2059	//--------------------------Distance to next WP--------------------------------
		2060	i_16 = data[19];
		2061	i_16 = (Int16)(i_16 << 8);
		2062	iVal = data[18] + i_16;
		2063	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2064	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		2065	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2428	-	2066
2429	-	2067	//-------------------Satellites----------------------------------
		2068	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[23].ToString()));
2428	-	2069
2429	-	2070	if (data[23] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
2428	-	2071	{
2429	-	2072	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		2073	if (_bAutoHome && !_bFirstSatFix)
2428	-	2074	{
2429	-	2075	if (_iFirstSatFix < 3)
		2076	_iFirstSatFix++;
		2077	else
		2078	{
		2079	_bFirstSatFix = true;
		2080	Dispatcher.Invoke(() => _setHomePos());
		2081	}
2428	-	2082	}
2429	-	2083	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2084	{
		2085	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2086	_bAnimSatFixActive = false;
		2087	}
		2088	if (!_bFollowCopter)
		2089	{
		2090	_setCopterData(osd.Pos());
		2091	if (!MainMap.ViewArea.Contains(osd.Pos()))
		2092	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2093
		2094	}
		2095	else
2428	-	2096	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2097	}
		2098	else
		2099	{
2429	-	2100	if (_bSatFix)
2428	-	2101	{
2429	-	2102	if (data[23] == _iSatsLast)
2428	-	2103	{
2429	-	2104	if (_iSatsJitter < 20) _iSatsJitter++;
2428	-	2105	}
2429	-	2106	else
2428	-	2107	{
2429	-	2108	_iSatsJitter = 0;
		2109	_iSatsLast = data[23];
2428	-	2110	}
		2111
2429	-	2112	if (_iSatsJitter == 20)
		2113	{
		2114	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2115	{
		2116	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2117	_bAnimSatFixActive = true;
		2118	}
		2119	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2120	{
		2121	_bVoiceSatFixActive = true;
		2122	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2123	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2124	//th.Start();
		2125	}
		2126
		2127	_bSatFix = false;
		2128	}
2428	-	2129	}
		2130	}
		2131
2429	-	2132	break;
2428	-	2133
2429	-	2134	case 15:
		2135	//--------------------------------Waypoint index------------------------------------
		2136	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[13].ToString()));
		2137	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[13].ToString()));
		2138	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[13].ToString()));
		2139	if (data[13] > 0 && _wpIndex != data[13] - 1 && wpList.Count > data[13] - 1)
		2140	{
		2141	_setActiveWP(data[13] - 1);
		2142	if ((OSDSTATUSFLAGS2 & 2) == 2)
		2143	Dispatcher.Invoke(() =>
2428	-	2144	{
2429	-	2145	DataGridRow row;
		2146	if (_wpIndex > -1)
		2147	{
		2148	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2149	row.Background = new SolidColorBrush(Colors.Transparent);
		2150	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2151	row.BorderThickness = new Thickness(0);
		2152	}
		2153
		2154	_wpIndex = data[13] - 1;
2428	-	2155	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2429	-	2156	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2157	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2158	row.BorderThickness = new Thickness(2);
		2159	dgvWP.UpdateLayout();
		2160	});
		2161	_wpIndex = data[13] - 1;
		2162	}
		2163	else
2428	-	2164	{
2429	-	2165	if ((data[13] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2428	-	2166	{
2429	-	2167	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2168	Dispatcher.Invoke(() =>
2428	-	2169	{
2429	-	2170	DataGridRow row;
		2171	if (_wpIndex > -1 && data[13] == 0 && wpList.Count > _wpIndex)
		2172	{
		2173	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2174	row.Background = new SolidColorBrush(Colors.Transparent);
		2175	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2176	row.BorderThickness = new Thickness(0);
		2177	_wpIndex = -1;
		2178	}
		2179	});
2428	-	2180
2429	-	2181	}
2428	-	2182	}
2429	-	2183	//----------------Waypoints count----------------------
		2184	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[14].ToString())); //Waypoints count
		2185	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[14].ToString())); //Waypoints count
		2186	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[14].ToString())); //Waypoints count
		2187	_wpCount = data[14];
		2188	if(_wpCount > dtWaypoints.Rows.Count)
		2189	{
		2190	Log(LogMsgType.Warning, "The copter reports more waypoints than there are in the local list!");
		2191	}
2428	-	2192
2429	-	2193	//---------------------------------Target hold time------------------------------
		2194	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[15].ToString() + " s"));
		2195	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[15].ToString() + " s"));
2428	-	2196
2429	-	2197	break;
2428	-	2198
2429	-	2199	case 16:
		2200	//--------------- Capacity used ------------------------
		2201	i_16 = data[18];
		2202	i_16 = (Int16)(i_16 << 8);
		2203	iVal = data[17] + i_16;
		2204	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2205	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
2428	-	2206
2429	-	2207	//--------------- Heading compass ------------------------
		2208	i_16 = data[21];
		2209	iVal = 2 * i_16;
		2210	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2211	if (_Simulate)
		2212	{
		2213	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2214	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2215	}
2428	-	2216
2429	-	2217	break;
		2218	case 17:
2428	-	2219
2429	-	2220	break;
		2221	case 18:
2428	-	2222
2429	-	2223	break;
		2224	default:
		2225	break;
		2226	}
		2227	//--------------------------------------------------------------------------------
		2228	//-----------------------------FC Status Flags-------------------------------
		2229	//--------------------------------------------------------------------------------
		2230	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2231	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((OSDSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2232	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((OSDSTATUSFLAGS1 & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2233	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((OSDSTATUSFLAGS2 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2234	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2235	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((OSDSTATUSFLAGS1 & 32) == 32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
2428	-	2236
2429	-	2237	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2238	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2239	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((OSDSTATUSFLAGS2 & 4) == 4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2240	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((OSDSTATUSFLAGS1 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2241	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((OSDSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2242	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
		2243	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((OSDSTATUSFLAGS2 & 64) == 64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2244	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((OSDSTATUSFLAGS2 & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
2428	-	2245
2429	-	2246	//Sidebar StatusSymbols
		2247	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2248	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
		2249	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	-	2250
2429	-	2251	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2252	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2253	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	-	2254
2429	-	2255	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2256	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
		2257	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	-	2258
2429	-	2259	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2260	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
		2261	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	-	2262
2429	-	2263	_bAirborne = (OSDSTATUSFLAGS2 & 2) == 2 ? true : false;
		2264	}
2428	-	2265	}
		2266	public class OSD_Base_Data_t
		2267	{
		2268	byte[] data;
		2269
		2270	public OSD_Base_Data_t(byte [] _data)
		2271	{
		2272	data = _data;
		2273	}
		2274
		2275	public PointLatLng Pos()
		2276	{
		2277	PointLatLng p = new PointLatLng();
		2278	int i_32, iVal;
		2279	double d;
		2280
		2281	i_32 = data[4];
		2282	iVal = i_32 << 24;
		2283	i_32 = data[3];
		2284	iVal += i_32 << 16;
		2285	i_32 = data[2];
		2286	iVal += i_32 << 8;
		2287	iVal += data[1];
		2288	d = (double)iVal / Math.Pow(10, 7);
		2289	p.Lng = d;
		2290
		2291	i_32 = data[8];
		2292	iVal = i_32 << 24;
		2293	i_32 = data[7];
		2294	iVal += i_32 << 16;
		2295	i_32 = data[6];
		2296	iVal += i_32 << 8;
		2297	iVal += data[5];
		2298	d = (double)iVal / Math.Pow(10, 7);
		2299	p.Lat = d;
		2300
		2301	return p;
		2302
		2303	}
		2304
		2305	public int Height()
		2306	{
		2307	int i_32, iVal;
		2308	i_32 = data[10];
		2309	iVal = i_32 << 8;
		2310	iVal += data[9];
		2311
		2312	return iVal;
		2313	}
		2314
		2315	public double Speed()
		2316	{
2429	-	2317	if (data.Length > 11)
		2318	return (double)data[11]/10;
		2319	else return 0;
2428	-	2320	}
		2321
		2322	public byte OSDSTATUSFLAGS1()
		2323	{
2429	-	2324	if (data.Length > 12)
		2325	return data[12];
		2326	else return 0;
2428	-	2327	}
		2328	public byte OSDSTATUSFLAGS2()
		2329	{
2429	-	2330	if (data.Length > 13)
		2331	return data[13];
		2332	else return 0;
2428	-	2333	}
		2334	}
2287	-	2335	void _processNCData(byte[] data)
		2336	{
		2337	int i_32, i_16, iVal;
		2338	double d;
2428	-	2339
		2340	//----------------------------POSITION------------------------------------
2287	-	2341	i_32 = data[4];
		2342	iVal = i_32 << 24;
		2343	i_32 = data[3];
		2344	iVal += i_32 << 16;
		2345	i_32 = data[2];
		2346	iVal += i_32 << 8;
		2347	iVal += data[1];
		2348	d = (double)iVal / Math.Pow(10, 7);
2324	-	2349	Dispatcher.Invoke(() => { drGPX[2] = d; });
		2350
2287	-	2351	PointLatLng p = new PointLatLng();
		2352
		2353	p.Lng = d;
		2354	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		2355	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		2356
		2357	i_32 = data[8];
		2358	iVal = i_32 << 24;
		2359	i_32 = data[7];
		2360	iVal += i_32 << 16;
		2361	i_32 = data[6];
		2362	iVal += i_32 << 8;
		2363	iVal += data[5];
		2364	d = (double)iVal / Math.Pow(10, 7);
2324	-	2365	Dispatcher.Invoke(() => { drGPX[1] = d; });
		2366	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	2367	p.Lat = d;
2399	-	2368
2428	-	2369	//---------------------------SATS-------------------------------------------------
2291	-	2370	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2371	{
		2372	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	2373	if(_bAutoHome && !_bFirstSatFix)
		2374	{
		2375	if (_iFirstSatFix < 3)
		2376	_iFirstSatFix++;
		2377	else
		2378	{
		2379	_bFirstSatFix = true;
2347	-	2380	Dispatcher.Invoke(() => _setHomePos());
2295	-	2381	}
		2382	}
2291	-	2383	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2384	{
		2385	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2386	_bAnimSatFixActive = false;
		2387	}
		2388	if (!_bFollowCopter)
		2389	{
		2390	_setCopterData(p);
		2391	if (!MainMap.ViewArea.Contains(p))
		2392	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	2393
2291	-	2394	}
		2395	else
2287	-	2396	Dispatcher.Invoke(() => MainMap.Position = p);
		2397	}
		2398	else
2291	-	2399	{
		2400	if(_bSatFix)
		2401	{
		2402	if (data[50] == _iSatsLast)
		2403	{
		2404	if (_iSatsJitter < 20) _iSatsJitter++;
		2405	}
		2406	else
		2407	{
		2408	_iSatsJitter = 0;
		2409	_iSatsLast = data[50];
		2410	}
2287	-	2411
2291	-	2412	if (_iSatsJitter == 20)
		2413	{
		2414	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2415	{
		2416	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2417	_bAnimSatFixActive = true;
		2418	}
		2419	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2420	{
2405	-	2421	_bVoiceSatFixActive = true;
2398	-	2422	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2423	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2424	//th.Start();
2291	-	2425	}
		2426
		2427	_bSatFix = false;
		2428	}
		2429	}
		2430	}
		2431
2428	-	2432	//--------------------------Distance to next WP--------------------------------
2287	-	2433	i_16 = data[28];
		2434	i_16 = (Int16)(i_16 << 8);
		2435	iVal = data[27] + i_16;
2399	-	2436	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2437	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
2401	-	2438	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	2439
2428	-	2440	//-------------------------Distance to HP set by GPS on----------------------------------
2287	-	2441	i_16 = data[45];
		2442	i_16 = (Int16)(i_16 << 8);
		2443	iVal = data[44] + i_16;
2428	-	2444	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	2445
2428	-	2446	//--------------------------------Waypoint index------------------------------------
		2447	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString()));
2355	-	2448	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2401	-	2449	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
2399	-	2450	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
2342	-	2451	{
2425	-	2452	_setActiveWP(data[48]- 1);
2355	-	2453	if((data[67] & 2) == 2)
		2454	Dispatcher.Invoke(() => {
		2455	DataGridRow row;
		2456	if (_wpIndex > -1)
		2457	{
2425	-	2458	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	2459	row.Background = new SolidColorBrush(Colors.Transparent);
		2460	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2461	row.BorderThickness = new Thickness(0);
		2462	}
2425	-	2463
2355	-	2464	_wpIndex = data[48] - 1;
2425	-	2465	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2366	-	2466	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2467	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	2468	row.BorderThickness = new Thickness(2);
		2469	dgvWP.UpdateLayout();
		2470	});
2425	-	2471	_wpIndex = data[48]- 1;
2342	-	2472	}
2347	-	2473	else
		2474	{
		2475	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	2476	{
2347	-	2477	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	2478	Dispatcher.Invoke(() =>
		2479	{
		2480	DataGridRow row;
2368	-	2481	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	2482	{
2425	-	2483	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	2484	row.Background = new SolidColorBrush(Colors.Transparent);
		2485	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2486	row.BorderThickness = new Thickness(0);
		2487	_wpIndex = -1;
		2488	}
		2489	});
		2490
		2491	}
2347	-	2492	}
2428	-	2493	//----------------Waypoints count----------------------
2287	-	2494	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	2495	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2401	-	2496	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	2497	_wpCount = data[49];
2428	-	2498	//-------------------Satellites----------------------------------
		2499	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString()));
2287	-	2500
		2501	//--------------- Capacity used ------------------------
		2502	i_16 = data[81];
		2503	i_16 = (Int16)(i_16 << 8);
		2504	iVal = data[80] + i_16;
		2505	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2506	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2507
2398	-	2508	//--------------- Ground speed ------------------------
		2509	i_16 = data[59];
		2510	i_16 = (Int16)(i_16 << 8);
		2511	iVal = data[58] + i_16;
2399	-	2512	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2513	if(_Simulate)
		2514	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
2398	-	2515
		2516	//--------------- Heading north ------------------------
2431	-	2517	//i_16 = data[61];
		2518	//i_16 = (Int16)(i_16 << 8);
		2519	//iVal = data[60] + i_16;
		2520	//Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
2398	-	2521
		2522	//--------------- Heading compass ------------------------
		2523	i_16 = data[63];
		2524	i_16 = (Int16)(i_16 << 8);
		2525	iVal = data[62] + i_16;
		2526	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
2399	-	2527	if (_Simulate)
		2528	{
		2529	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2530	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2531	}
2287	-	2532	//--------------- Flying time ------------------------
		2533	i_16 = data[56];
		2534	i_16 = (Int16)(i_16 << 8);
		2535	iVal = data[55] + i_16;
		2536	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2537	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2538	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2539	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2540
		2541	//--------------- RC quality ------------------------
		2542	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		2543	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		2544
2291	-	2545	if(data[66] > _iThresholdRC)
		2546	{
		2547	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2548	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2549	{
		2550	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2551	_bAnimRCLevelActive = false;
		2552	}
		2553	}
		2554	else
		2555	{
		2556	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2557	if (_iRCLevelJitter == 20)
		2558	{
		2559	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2560	{
		2561	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2562	_bAnimRCLevelActive = true;
		2563	}
		2564	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2565	{
2405	-	2566	_bVoiceRCLevelActive = true;
2398	-	2567	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2568	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2569	//th.Start();
2291	-	2570	}
		2571	_iRCLevelJitter++;
		2572	}
		2573	}
		2574
2428	-	2575	//-------------------------Waypoint max range (by license)------------------------------
2405	-	2576	if(dWPMaxRange != (double)data[70])
		2577	{
		2578	dWPMaxRange = (double)data[70];
		2579	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2580	{
		2581	if (cWPBound != null && cWPBound.Tag != null)
		2582	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2583
		2584	createCircle(home.Position, dWPMaxRange);
2408	-	2585	Dispatcher.Invoke(() =>
		2586	{
		2587	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2588	{
		2589	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2590	cWPBound.setColor(s);
		2591	}
		2592	});
2405	-	2593	}
		2594	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		2595	}
2428	-	2596	//---------------------------------Target hold time------------------------------
2399	-	2597	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
2401	-	2598	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
2399	-	2599
2287	-	2600	//--------------- NC Error ------------------------
		2601	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		2602	if (data[69] > 0)
		2603	_readNCError();
		2604	if (data[69] > 0 & data[69] < 44)
2381	-	2605	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		2606	//else
		2607	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	2608
2428	-	2609	//--------------------------------------------------------------------------------
		2610	//-----------------------------FC / NC Status Flags-------------------------------
		2611	//--------------------------------------------------------------------------------
2298	-	2612	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2613	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2614	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2615	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2616	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2617	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2618
		2619	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2620	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2621	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2622	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2623	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2624	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
		2625	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2626	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2627
		2628	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2629	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2630	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2631	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2632	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2633	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2634	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	2635
		2636	//Sidebar StatusSymbols
		2637	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2638	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
		2639	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
		2640
		2641	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2642	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
		2643	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
		2644
		2645	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2646	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
		2647	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	-	2648
		2649	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2650	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
		2651	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
		2652
		2653	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2654	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
		2655	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
		2656	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	-	2657
2324	-	2658	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2659	}
		2660	/// <summary>
		2661	/// Navi-Ctrl WP data struct 'X'
		2662	/// called by index
		2663	/// </summary>
		2664	/// <param name="data">the received byte array to process</param>
		2665	void _processWPData(byte[] data)
		2666	{
2313	-	2667	_iWPCount = data[0];
2287	-	2668	_bGetWPCount = false;
		2669	if (data.Length >= 28)
		2670	{
		2671	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2672	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2673	if (_bGetWP)
		2674	{
		2675	if (data[1] == 1)
2315	-	2676	{
2333	-	2677	Dispatcher.Invoke(() =>
		2678	{
2356	-	2679	wpList.Clear();
		2680	_clearMapMarkers(typeof(CustomMarkerWP));
		2681	if (mRouteWP != null)
		2682	MainMap.Markers.Remove(mRouteWP);
		2683	if (wpActiveMarker != null)
		2684	MainMap.Markers.Remove(wpActiveMarker);
		2685	lblWPRouteDistance.Content = "0 m";
		2686	dtWaypoints.Rows.Clear();
2368	-	2687	_wpEdit = -1;_wpIndex = -1;
2425	-	2688	wpOffset.Clear();
2318	-	2689	});
2315	-	2690	}
2287	-	2691	DataRow dr = dtWaypoints.NewRow();
		2692	dr = Waypoints.toDataRow(data, dr);
2313	-	2693	dtWaypoints.Rows.Add(dr);
2425	-	2694	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1],(int)data[1]-1);
2313	-	2695	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2696	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2697	if (data[1] == data[0])
		2698	{
		2699	_bGetWP = false;
2368	-	2700	_routeUpdate();
2287	-	2701	}
		2702
		2703	}
		2704	}
		2705	else
		2706	{
		2707	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2708	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2709	}
		2710	}
		2711	/// <summary>
		2712	/// OSD Menue 'L'
		2713	/// single page called by pagenumber
		2714	/// no autoupdate
		2715	/// </summary>
		2716	/// <param name="data">the received byte array to process</param>
		2717	void _processOSDSingle(byte[] data)
		2718	{
		2719	if (data.Length == 84)
		2720	{
		2721	string sMessage = "";
		2722	iOSDPage = data[0];
		2723	iOSDMax = data[1];
		2724	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2725	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2726	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2727	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2728	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2729	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2730	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2731	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2732
		2733	}
		2734	//else
		2735	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2736
		2737	}
		2738	/// <summary>
		2739	/// OSD Menue 'H'
		2740	/// called by keys (0x01,0x02,0x03,0x04)
		2741	/// autoupdate
		2742	/// </summary>
		2743	/// <param name="data">the received byte array to process</param>
		2744	void _processOSDAuto(byte[] data)
		2745	{
		2746	if (data.Length == 81)
		2747	{
		2748	string sMessage = "";
		2749	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2750	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2751	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2752	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2753	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2754
		2755	}
		2756	//else
		2757	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2758	}
		2759
		2760	#endregion processing received data
		2761
		2762	#region controller messages
		2763	/// <summary> send message to controller to request data
		2764	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2765	/// </summary>
		2766	/// <param name="CMDID"> the command ID </param>
		2767	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2768	private void _sendControllerMessage(char CMDID, byte address)
		2769	{
		2770	if (serialPortCtrl.Port.IsOpen)
		2771	{
		2772	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2773	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2774	serialStream.Write(bytes, 0, bytes.Length);
		2775
		2776	}
		2777	else
		2778	Log(LogMsgType.Error, "NOT CONNECTED!");
		2779	}
		2780	/// <summary> send message to controller to request data
		2781	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2782	/// </summary>
		2783	/// <param name="CMDID"> the command ID </param>
		2784	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2785	/// <param name="data"> additional data for the request</param>
		2786	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2787	{
		2788	if (serialPortCtrl.Port.IsOpen)
		2789	{
		2790	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2791	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2792	serialStream.Write(bytes, 0, bytes.Length);
		2793
		2794	}
		2795	else
		2796	Log(LogMsgType.Error, "NOT CONNECTED!");
		2797	}
		2798
		2799	/// <summary>
		2800	/// start/stop continous polling of controller values
		2801	/// </summary>
		2802	/// <param name="b">start/stop switch</param>
		2803	void _readCont(bool b)
		2804	{
		2805	bReadContinously = b;
		2806	if (bReadContinously)
		2807	{
		2808	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2809	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2810	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2811	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2812	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2813	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2814	}
		2815	else
		2816	{
		2817	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2818	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2819	_bConnErr = false;
		2820	}
		2821	_iLifeCounter = 0;
		2822	}
		2823
		2824	private void _getVersion()
		2825	{
		2826	_sendControllerMessage('v', 0);
		2827	}
		2828	/// <summary>
		2829	/// get FC version struct via NC
		2830	/// by sending '1' as data (not documented in wiki...)
		2831	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2832	/// </summary>
		2833	/// <param name="ctrl">controller number 1=FC</param>
		2834	private void _getVersion(byte ctrl)
		2835	{
		2836	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2837	}
		2838	/// <summary>
		2839	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2840	/// </summary>
		2841	private void _switchToNC()
		2842	{
		2843	if (serialPortCtrl.Port.IsOpen)
		2844	{
		2845	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2846	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2847	serialStream.Write(bytes, 0, bytes.Length);
		2848
		2849	Thread.Sleep(100);
		2850	_getVersion();
		2851	Thread.Sleep(100);
2424	-	2852	_getLic();
2287	-	2853	// _OSDMenue(0);
		2854	}
		2855	else
		2856	Log(LogMsgType.Error, "NOT CONNECTED!");
		2857	}
		2858	/// <summary>
		2859	/// switch to FC
		2860	/// </summary>
		2861	private void _switchToFC()
		2862	{
		2863	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2864	Thread.Sleep(100);
		2865	_getVersion();
		2866	Thread.Sleep(100);
		2867	// _OSDMenue(0);
		2868	}
		2869	/// <summary>
		2870	/// send RESET signal to FC
		2871	/// </summary>
		2872	private void _resetCtrl()
		2873	{
		2874	_sendControllerMessage('R', 1);
		2875	}
		2876	/// <summary>
		2877	/// poll the debug data (4sec subscription)
		2878	/// </summary>
		2879	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2880	private void _readDebugData(bool auto)
		2881	{
		2882	byte interval = auto ? debugInterval : (byte)0;
		2883	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2884	}
		2885	/// <summary>
		2886	/// poll the BL-CTRL status via NC (4sec subscription)
		2887	/// </summary>
		2888	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2889	private void _readBLCtrl(bool auto)
		2890	{
		2891	byte interval = auto ? blctrlInterval : (byte)0;
		2892	_sendControllerMessage('k', 0, new byte[1] { interval });
		2893	}
		2894	/// <summary>
		2895	/// poll the NC data struct (4sec subscription)
		2896	/// </summary>
		2897	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2898	private void _readNavData(bool auto)
		2899	{
		2900	byte interval = auto ? navctrlInterval : (byte)0;
2429	-	2901	// _sendControllerMessage('o', 2, new byte[1] { interval });
		2902	_sendControllerMessage('o', 2, new byte[3] { interval,4,0 });
2287	-	2903	}
		2904	/// <summary>
2424	-	2905	/// request the license info
		2906	/// </summary>
		2907	void _getLic()
		2908	{
		2909	if (serialPortCtrl.Port.IsOpen)
		2910	{
		2911	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2912	byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 });
		2913	serialStream.Write(bytes, 0, bytes.Length);
		2914	}
		2915	else
		2916	Log(LogMsgType.Error, "NOT CONNECTED!");
		2917
		2918	}
		2919	/// <summary>
2287	-	2920	/// get the errortext for pending NC error
		2921	/// </summary>
		2922	private void _readNCError()
		2923	{
		2924	_sendControllerMessage('e', 2);
		2925	}
		2926	/// <summary>
		2927	/// request the Waypoint at index
		2928	/// </summary>
		2929	/// <param name="index"></param>
		2930	void _getpWP(int index)
		2931	{
		2932	if (serialPortCtrl.Port.IsOpen)
		2933	{
		2934	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2935	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2936	serialStream.Write(bytes, 0, bytes.Length);
		2937	}
		2938	else
		2939	Log(LogMsgType.Error, "NOT CONNECTED!");
		2940
		2941	}
		2942	void _getWP()
		2943	{
2335	-	2944	int iTimeout = 0;
2287	-	2945	_bGetWPCount = true;
2315	-	2946	_getpWP(1); //get the itemscount of wp
2335	-	2947	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2948	{
		2949	Thread.Sleep(10);
		2950	iTimeout++;
		2951	}
		2952	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2953	_getWPList();
		2954	}
		2955	void _getWPList()
		2956	{
		2957	_bGetWP = true;
2313	-	2958	int iTimeout=0;
		2959	for (int j = 0; j < _iWPCount; j++)
2287	-	2960	{
		2961	_getpWP(j + 1);
2313	-	2962	iTimeout = 0;
		2963	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2964	{
		2965	Thread.Sleep(1);
		2966	iTimeout++;
		2967	}
2287	-	2968	}
2419	-	2969	Dispatcher.Invoke(() =>
		2970	{
		2971	// MainMap.ZoomAndCenterMarkers(null);
		2972	MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]);
		2973	MainMap.Zoom = 19;
		2974	});
2287	-	2975	}
2363	-	2976	/// <summary>
		2977	/// Wrapper for _clearCopterWPList()
		2978	/// necessary, cause it is called by threadnew which does not like return values...
		2979	/// </summary>
2340	-	2980	void clearCopterWPList()
2313	-	2981	{
2340	-	2982	_clearCopterWPList();
		2983	}
2363	-	2984	/// <summary>
		2985	/// clear the WP list of the copter
		2986	/// by sending 'invalid' and index '0'
		2987	/// </summary>
		2988	/// <returns></returns>
2340	-	2989	bool _clearCopterWPList()
		2990	{
2335	-	2991	int iTimeout = 0;
2313	-	2992	if (serialPortCtrl.Port.IsOpen)
		2993	{
		2994	byte[] bData = new byte[30];
		2995	for (int i = 0; i < 30; i++)
		2996	bData[i] = 0;
		2997	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2998	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2999	serialStream.Write(bytes, 0, bytes.Length);
2287	-	3000
2313	-	3001	_iWPCount = -1;
2340	-	3002	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	3003	{
2313	-	3004	Thread.Sleep(10);
2335	-	3005	iTimeout++;
		3006	}
2313	-	3007	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	3008	if (_iWPCount > -1)
2340	-	3009	return true;
		3010	else
		3011	Log(LogMsgType.Error, "Timeout while sending list!");
		3012	}
		3013	else
		3014	Log(LogMsgType.Error, "NOT CONNECTED!");
		3015
		3016	return false;
		3017	}
		3018	void _sendWPList()
		3019	{
2362	-	3020	_sendWPList(0);
		3021	}
		3022	void _sendWPList(int iStart)
		3023	{
2340	-	3024	int iTimeout = 0;
		3025	if (serialPortCtrl.Port.IsOpen)
		3026	{
		3027	if (_clearCopterWPList())
2313	-	3028	{
2362	-	3029	int k = 1;
		3030	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	3031	{
2362	-	3032	k = iStart > 0 ? k : -1;
2376	-	3033	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	3034
2335	-	3035	_iWPCount = -1;
		3036	iTimeout = 0;
		3037	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		3038	{
		3039	Thread.Sleep(10);
		3040	iTimeout++;
		3041	}
		3042	if (_iWPCount == -1)
		3043	{
		3044	Log(LogMsgType.Error, "Timeout while sending list!");
		3045	break;
		3046	}
		3047	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	3048	k++;
2335	-	3049	}
2313	-	3050	}
		3051	}
		3052	else
		3053	Log(LogMsgType.Error, "NOT CONNECTED!");
		3054
		3055	}
2376	-	3056	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	3057	{
2313	-	3058
2340	-	3059	if (serialPortCtrl.Port.IsOpen)
		3060	{
		3061	byte[] bData = new byte[30];
		3062	for (int i = 0; i < 30; i++)
		3063	bData[i] = 0;
		3064	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3065	byte[] bytes;
		3066	int iVal;
		3067	double dVal;
		3068	NumberFormatInfo nfi = new NumberFormatInfo();
		3069	nfi.NumberDecimalSeparator = ",";
		3070
		3071	//longitude
		3072	dVal = Convert.ToDouble(dr[4], nfi);
		3073	iVal = (int)(dVal * Math.Pow(10, 7));
		3074	bData[0] = (byte)(iVal & 0xff);
		3075	bData[1] = (byte)((iVal >> 8) & 0xff);
		3076	bData[2] = (byte)((iVal >> 16) & 0xff);
		3077	bData[3] = (byte)(iVal >> 24);
		3078	//latitude
		3079	dVal = Convert.ToDouble(dr[3], nfi);
		3080	iVal = (int)(dVal * Math.Pow(10, 7));
		3081	bData[4] = (byte)(iVal & 0xff);
		3082	bData[5] = (byte)((iVal >> 8) & 0xff);
		3083	bData[6] = (byte)((iVal >> 16) & 0xff);
		3084	bData[7] = (byte)(iVal >> 24);
		3085	//altitude
		3086	dVal = Convert.ToDouble(dr[5], nfi);
		3087	iVal = (int)(dVal * 10);
		3088	bData[8] = (byte)(iVal & 0xff);
		3089	bData[9] = (byte)((iVal >> 8) & 0xff);
		3090	bData[10] = (byte)((iVal >> 16) & 0xff);
		3091	bData[11] = (byte)(iVal >> 24);
2376	-	3092	if(bSim)
		3093	bData[12] = 3; //Status 'SIMULATE'
2340	-	3094	//Status 'NEWDATA'
2376	-	3095	else
		3096	bData[12] = 1;
2340	-	3097	//heading
		3098	iVal = Convert.ToInt16(dr[6]);
		3099	bData[13] = (byte)(iVal & 0xff);
		3100	bData[14] = (byte)((iVal >> 8) & 0xff);
		3101	//ToleranceRadius
		3102	bData[15] = Convert.ToByte(dr[9]);
		3103	//HoldTime
		3104	bData[16] = Convert.ToByte(dr[10]);
		3105	//Event_Flag
		3106	bData[17] = Convert.ToByte(dr[13]);
		3107	//Index
2379	-	3108	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	3109	//Type
		3110	bData[19] = Convert.ToByte(dr[1]);
		3111	//WP_EventChannelValue
		3112	bData[20] = Convert.ToByte(dr[14]);
		3113	//AltitudeRate
		3114	bData[21] = Convert.ToByte(dr[8]);
		3115	//Speed
		3116	bData[22] = Convert.ToByte(dr[7]);
		3117	//CamAngle
		3118	bData[23] = (byte)Convert.ToInt16(dr[12]);
		3119	//Name
2362	-	3120	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		3121	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	3122	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		3123	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		3124	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		3125	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		3126	//Autotrigger
		3127	bData[28] = Convert.ToByte(dr[11]);
		3128
2356	-	3129	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	3130	serialStream.Write(bytes, 0, bytes.Length);
		3131
		3132	return true;
		3133	}
		3134
		3135	return false;
		3136	}
2287	-	3137	#region OSD-Menue
		3138
		3139	/// <summary>
		3140	/// one time query of the OSD Menue with pagenumber
		3141	/// </summary>
		3142	/// <param name="iMenue">Menue page</param>
		3143	void _OSDMenue(int iMenue)
		3144	{
		3145	if (serialPortCtrl.Port.IsOpen)
		3146	{
		3147	if (iMenue > iOSDMax)
		3148	iMenue = 0;
		3149	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3150	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		3151	serialStream.Write(bytes, 0, bytes.Length);
		3152	}
		3153	else
		3154	Log(LogMsgType.Error, "NOT CONNECTED!");
		3155
		3156	}
		3157	/// <summary>
		3158	/// call the OSDMenue and start autorefresh
		3159	/// usually by sending a menuekey
		3160	/// 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)
		3161	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		3162	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		3163	/// </summary>
		3164	void _OSDMenueAutoRefresh()
		3165	{
		3166	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		3167	}
		3168	void _OSDMenueAutoRefresh(byte key)
		3169	{
		3170	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		3171	}
		3172	/// <summary>
		3173	/// initialize the OSD menue combobox
		3174	/// combox is filled by numbers from 0 to max pagenumber
		3175	/// </summary>
		3176	void _initOSDCB()
		3177	{
		3178	_bCBInit = true;
		3179	if (iOSDMax == 0)
		3180	{
		3181	_OSDMenue(0);
		3182	Thread.Sleep(10);
		3183	}
		3184	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		3185	for (int i = 0; i <= iOSDMax; i++)
		3186	{
		3187	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		3188	}
		3189	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		3190	_bCBInit = false;
		3191	}
		3192	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		3193	{
		3194	iOSDPage++;
		3195	if (iOSDPage > iOSDMax)
		3196	iOSDPage = 0;
		3197
		3198	_OSDMenue(iOSDPage);
		3199	}
		3200	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		3201	{
		3202	iOSDPage--;
		3203	if (iOSDPage < 0)
		3204	iOSDPage = iOSDMax;
		3205
		3206	_OSDMenue(iOSDPage);
		3207	}
		3208	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		3209	{
		3210	_OSDMenueAutoRefresh(8);
		3211	}
		3212	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		3213	{
		3214	_OSDMenueAutoRefresh(4);
		3215	}
		3216	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		3217	{
		3218	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		3219	_OSDMenue(cbOSD.SelectedIndex);
		3220	}
		3221	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		3222	{
		3223	Dispatcher.Invoke(() =>
		3224	{
		3225	TextRange tr;
		3226	if (bNew)
		3227	{
		3228	rtfOSD.SelectAll();
		3229	rtfOSD.Selection.Text = string.Empty;
		3230	}
		3231	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		3232	tr.Text = msg;
		3233	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		3234	// rtfOSD.AppendText("\r");
		3235	rtfOSD.ScrollToEnd();
		3236
		3237	});
		3238	}
		3239
		3240	#endregion OSD-Menue
		3241
		3242	#endregion controller messages
		3243
2398	-	3244	void _mediaPlayer(object file)
2295	-	3245	{
2405	-	3246	Monitor.TryEnter(lockObj);
		3247	try
2295	-	3248	{
2405	-	3249	if (File.Exists((string)file))
		3250	{
		3251
		3252	mediaPlayer.Open((string)file);
		3253	mediaPlayer.Play();
		3254	}
		3255
2295	-	3256	}
2405	-	3257	finally
		3258	{
		3259	Monitor.Exit(lockObj);
		3260	}
2295	-	3261	}
2310	-	3262
2362	-	3263	#region ui
2310	-	3264	/// <summary>
		3265	/// Switch between fullscreen and normal window mode
		3266	/// save & restore scaling settings
		3267	/// </summary>
		3268	/// <param name="sender"></param>
		3269	/// <param name="e"></param>
2287	-	3270	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		3271	{
		3272	if (winState.isMaximized)
		3273	{
		3274	winState.Restore(this);
		3275	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		3276	if(_bSaveWinStateFull)
		3277	_saveScaleSliders(true);
		3278	if(_bSaveWinStateNormal)
		3279	_setScaleSliders(false);
		3280	}
		3281	else
		3282	{
		3283	winState.Maximize(this);
		3284	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		3285	if(_bSaveWinStateNormal)
		3286	_saveScaleSliders(false);
		3287	if(_bSaveWinStateFull)
		3288	_setScaleSliders(true);
		3289	}
		3290	}
		3291
		3292	/// <summary>
		3293	/// reset the scaling of all UI elements to default
		3294	/// </summary>
		3295	/// <param name="sender"></param>
		3296	/// <param name="e"></param>
		3297	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		3298	{
		3299	UIScaleHorizonSlider.Value =
		3300	UIScaleLOGSlider.Value =
		3301	UIScaleMotorsSlider.Value =
		3302	UIScaleOSDSlider.Value =
		3303	UIScaleSlider.Value =
		3304	UIScaleTopSlider.Value = 1;
		3305	}
		3306	/// <summary>
		3307	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		3308	/// </summary>
		3309	/// <param name="sender"></param>
		3310	/// <param name="e"></param>
		3311	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3312	{
		3313	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		3314	if (GridMotors != null)
		3315	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		3316	if (GridSideBar != null)
		3317	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
2401	-	3318	if (WPStatus != null)
		3319	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
2287	-	3320	if (GridOSD != null)
2401	-	3321	{
		3322	if(WPStatus.Visibility == Visibility.Visible)
		3323	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3324	else
		3325	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3326	}
2287	-	3327	if (GridData != null)
		3328	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		3329	if (GridWP != null)
		3330	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		3331	}
2419	-	3332	private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3333	{
		3334	if (!_init)
		3335	{
		3336	if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible))
		3337	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3338	else
		3339	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3340	}
		3341	}
		3342
2310	-	3343	/// <summary>
		3344	/// restore the saved scalings for the fullscreen/normal window mode
		3345	/// </summary>
		3346	/// <param name="bFull">the mode the window is set to</param>
2287	-	3347	void _setScaleSliders(bool bFull)
		3348	{
		3349	if(bFull)
		3350	{
		3351	UIScaleSlider.Value = scaleFullAll;
		3352	UIScaleTopSlider.Value = scaleFullTopBar;
		3353	UIScaleMotorsSlider.Value = scaleFullMotors;
		3354	UIScaleOSDSlider.Value = scaleFullOSD;
		3355	UIScaleLOGSlider.Value = scaleFullLOG;
		3356	UIScaleHorizonSlider.Value = scaleFullHorizon;
		3357	}
		3358	else
		3359	{
		3360	UIScaleSlider.Value = scaleNormalAll;
		3361	UIScaleTopSlider.Value = scaleNormalTopBar;
		3362	UIScaleMotorsSlider.Value = scaleNormalMotors;
		3363	UIScaleOSDSlider.Value = scaleNormalOSD;
		3364	UIScaleLOGSlider.Value = scaleNormalLOG;
		3365	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		3366	}
		3367	}
		3368
2310	-	3369	/// <summary>
		3370	/// save the scalings for the actual window mode
		3371	/// </summary>
		3372	/// <param name="bFull">the actual window mode</param>
2287	-	3373	void _saveScaleSliders(bool bFull)
		3374	{
		3375
		3376	if (bFull)
		3377	{
		3378	scaleFullAll = UIScaleSlider.Value;
		3379	scaleFullTopBar = UIScaleTopSlider.Value;
		3380	scaleFullMotors = UIScaleMotorsSlider.Value;
		3381	scaleFullOSD = UIScaleOSDSlider.Value;
		3382	scaleFullLOG = UIScaleLOGSlider.Value;
		3383	scaleFullHorizon = UIScaleHorizonSlider.Value;
		3384	}
		3385	else
		3386	{
		3387	scaleNormalAll = UIScaleSlider.Value;
		3388	scaleNormalTopBar = UIScaleTopSlider.Value;
		3389	scaleNormalMotors = UIScaleMotorsSlider.Value;
		3390	scaleNormalOSD = UIScaleOSDSlider.Value;
		3391	scaleNormalLOG = UIScaleLOGSlider.Value;
		3392	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		3393	}
		3394	}
2362	-	3395	#endregion ui
2287	-	3396
		3397	/// <summary>
		3398	/// read settings from ini-file
		3399	/// </summary>
		3400	void _readIni()
		3401	{
		3402	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		3403	_writeIni();
		3404	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3405	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	3406	try
		3407	{
2287	-	3408
2312	-	3409	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		3410	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		3411	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		3412	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		3413	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		3414	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		3415	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		3416	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	3417
2312	-	3418	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		3419	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		3420	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		3421	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		3422	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		3423	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		3424	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		3425	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	3426
2312	-	3427	sVal = ini.IniReadValue("topBar", "voltage");
		3428	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		3429	sVal = ini.IniReadValue("topBar", "capacity");
		3430	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		3431	sVal = ini.IniReadValue("topBar", "current");
		3432	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		3433	sVal = ini.IniReadValue("topBar", "flightTime");
		3434	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		3435	sVal = ini.IniReadValue("topBar", "distanceHP");
		3436	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		3437	sVal = ini.IniReadValue("topBar", "height");
		3438	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		3439	sVal = ini.IniReadValue("topBar", "speed");
		3440	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		3441	sVal = ini.IniReadValue("topBar", "magneticField");
		3442	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		3443	sVal = ini.IniReadValue("topBar", "satellites");
		3444	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		3445	sVal = ini.IniReadValue("topBar", "rc");
		3446	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	3447
2312	-	3448	sVal = ini.IniReadValue("style", "saveFullScreen");
		3449	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		3450	sVal = ini.IniReadValue("style", "saveNormalState");
		3451	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	3452
2312	-	3453	sVal = ini.IniReadValue("style", "scaleNormalAll");
		3454	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		3455	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		3456	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		3457	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		3458	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		3459	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		3460	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		3461	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		3462	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		3463	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		3464	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	3465
2312	-	3466	sVal = ini.IniReadValue("style", "scaleFullAll");
		3467	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		3468	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		3469	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		3470	sVal = ini.IniReadValue("style", "scaleFullMotors");
		3471	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		3472	sVal = ini.IniReadValue("style", "scaleFullOSD");
		3473	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		3474	sVal = ini.IniReadValue("style", "scaleFullLOG");
		3475	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		3476	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		3477	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	3478
2312	-	3479	sVal = ini.IniReadValue("general", "LiPoCells");
		3480	_LipoCells = Convert.ToInt16(sVal);
		3481	sVal = ini.IniReadValue("general", "Motors");
		3482	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	3483
2312	-	3484	sVal = ini.IniReadValue("map", "followMe");
		3485	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		3486	sVal = ini.IniReadValue("map", "AutoSetHome");
		3487	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	3488	sVal = ini.IniReadValue("map", "GPXLog");
		3489	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	3490
2312	-	3491	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		3492	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		3493	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		3494	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		3495	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		3496	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		3497	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		3498	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		3499	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		3500	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		3501	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		3502	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		3503	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		3504	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		3505	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		3506	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		3507	sVal = ini.IniReadValue("threshold", "MaxDistance");
		3508	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		3509	sVal = ini.IniReadValue("threshold", "RCThreshold");
		3510	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		3511	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		3512	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	3513
		3514	sVal = ini.IniReadValue("waypoints", "wpcolor");
		3515	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		3516	sVal = ini.IniReadValue("waypoints", "poicolor");
		3517	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		3518	sVal = ini.IniReadValue("waypoints", "fscolor");
		3519	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		3520	sVal = ini.IniReadValue("waypoints", "coptercolor");
		3521	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	3522	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		3523	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	3524	sVal = ini.IniReadValue("waypoints", "landingcolor");
		3525	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	3526	sVal = ini.IniReadValue("waypoints", "routecolor");
		3527	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		3528	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		3529	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2408	-	3530	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		3531	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		3532	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		3533	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
2349	-	3534
		3535	for (int i = 0; i < 12; i++)
		3536	{
		3537	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		3538	if (sVal != "")
		3539	serChan[i] = Convert.ToInt16(sVal);
		3540	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		3541	if (sVal != "")
		3542	serChanTitle[i] = sVal;
		3543	for (int y = 0; i < 4 && y < 3; y++)
		3544	{
		3545	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		3546	if (sVal != "")
		3547	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		3548	}
		3549	}
		3550
2312	-	3551	}
		3552	catch (Exception e)
		3553	{
2287	-	3554
2312	-	3555	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		3556	}
		3557
2287	-	3558	}
		3559
		3560	/// <summary>
		3561	/// save settings to ini-file
		3562	/// </summary>
		3563	void _writeIni()
		3564	{
		3565
		3566	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3567	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3568
2312	-	3569	try
		3570	{
2287	-	3571
2312	-	3572	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		3573	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		3574	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		3575	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	3576
2312	-	3577	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		3578	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		3579	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		3580	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	3581
2312	-	3582	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		3583	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	3584
2312	-	3585	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		3586	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	3587	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	3588
2312	-	3589	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		3590	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		3591	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		3592	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		3593	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		3594	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		3595	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		3596	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		3597	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		3598	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	3599
2312	-	3600	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		3601	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	3602
2312	-	3603	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		3604	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		3605	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		3606	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		3607	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		3608	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	3609
2312	-	3610	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		3611	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		3612	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		3613	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		3614	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		3615	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	3616
2312	-	3617	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		3618
		3619	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		3620	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		3621	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		3622	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		3623	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		3624	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		3625	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		3626	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		3627	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		3628	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		3629	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	3630
		3631	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		3632	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		3633	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		3634	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	3635	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	3636	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	3637	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		3638	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2408	-	3639	ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString());
		3640	ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString());
2349	-	3641
		3642	for (int i = 0; i < 12; i++)
		3643	{
		3644	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		3645	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		3646	for (int y = 0; i < 4 && y < 3; y++)
		3647	{
		3648	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		3649	}
		3650	}
		3651
2312	-	3652	}
		3653	catch (Exception e)
		3654	{
		3655
		3656	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);
		3657	}
2287	-	3658	}
2350	-	3659
2349	-	3660	#region serial channels
		3661	/// <summary>
		3662	/// Sending the serial channel values
		3663	/// </summary>
		3664	void _sendSerialData()
		3665	{
		3666	byte[] serData = new byte[12];
		3667	for (int i = 0; i < 12; i++)
		3668	{
		3669	serData[i] = unchecked((byte)(serChan[i] - 127));
		3670	}
		3671	_sendControllerMessage('y', 1, serData);
		3672	}
		3673	/// <summary>
		3674	/// init the controls for displaying
		3675	/// and setting serial control channels
		3676	/// </summary>
		3677	void _initSerialCtrl()
		3678	{
		3679	SerChan1ScaleSlider.Value = serChan[0];
		3680	textBoxSerial1.Text = serChanTitle[0];
		3681	SerChan2ScaleSlider.Value = serChan[1];
		3682	textBoxSerial2.Text = serChanTitle[1];
2350	-	3683	SerChan3ScaleSlider.Value = serChan[2];
		3684	textBoxSerial3.Text = serChanTitle[2];
2349	-	3685	//SerChan4ScaleSlider.Value = serChan[3];
		3686	//textBoxSerial4.Text = serChanTitle[3];
		3687	//trckbarSerial5.Value = serChan[4];
		3688	//textBoxSerial5.Text = serChanTitle[4];
		3689	//trckbarSerial6.Value = serChan[5];
		3690	//textBoxSerial6.Text = serChanTitle[5];
		3691	//trckbarSerial7.Value = serChan[6];
		3692	//textBoxSerial7.Text = serChanTitle[6];
		3693	//trckbarSerial8.Value = serChan[7];
		3694	//textBoxSerial8.Text = serChanTitle[7];
2312	-	3695
2349	-	3696	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3697	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3698	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3699	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3700	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3701	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3702	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3703	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3704	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3705	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3706	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3707	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3708	}
		3709	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3710	{
		3711	if (!_init)
		3712	{
		3713	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3714	_sendSerialData();
		3715	}
		3716	}
		3717	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3718	{
		3719	if (!_init)
		3720	{
		3721	serChanTitle[0] = textBoxSerial1.Text;
		3722	}
		3723	}
		3724	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3725	{
		3726	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3727	{
		3728	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3729	}
		3730	}
		3731	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3732	{
		3733	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3734	{
		3735	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3736	}
		3737	}
		3738	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3739	{
		3740	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3741	{
		3742	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3743	}
		3744	}
		3745	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3746	{
		3747	if (textBoxSerial1_val1.Text.Length > 0)
		3748	{
		3749	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3750	}
		3751	}
		3752	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3753	{
		3754	SerChan1ScaleSlider.Value = 0;
		3755	}
		3756	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3757	{
		3758	SerChan1ScaleSlider.Value = 127;
		3759	}
		3760	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3761	{
		3762	SerChan1ScaleSlider.Value = 254;
		3763	}
		3764	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3765	{
		3766	if (textBoxSerial1_val2.Text.Length > 0)
		3767	{
		3768	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3769	}
		3770	}
		3771	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3772	{
		3773	if (textBoxSerial1_val3.Text.Length > 0)
		3774	{
		3775	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3776	}
		3777	}
		3778
		3779	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3780	{
		3781	if (!_init)
		3782	{
		3783	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3784	_sendSerialData();
		3785	}
		3786	}
		3787	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3788	{
		3789	if (!_init)
		3790	{
		3791	serChanTitle[1] = textBoxSerial2.Text;
		3792	}
		3793	}
		3794	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3795	{
		3796	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3797	{
		3798	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3799	}
		3800	}
		3801	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3802	{
		3803	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3804	{
		3805	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3806	}
		3807	}
		3808	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3809	{
		3810	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3811	{
		3812	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3813	}
		3814	}
		3815	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3816	{
		3817	SerChan2ScaleSlider.Value = 0;
		3818	}
		3819	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3820	{
		3821	SerChan2ScaleSlider.Value = 127;
		3822	}
		3823	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3824	{
		3825	SerChan2ScaleSlider.Value = 254;
		3826	}
		3827	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3828	{
		3829	if (textBoxSerial2_val1.Text.Length > 0)
		3830	{
		3831	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3832	}
		3833	}
		3834	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3835	{
		3836	if (textBoxSerial2_val2.Text.Length > 0)
		3837	{
		3838	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3839	}
		3840	}
		3841	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3842	{
		3843	if (textBoxSerial2_val3.Text.Length > 0)
		3844	{
		3845	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3846	}
		3847	}
2350	-	3848
		3849	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3850	{
		3851	if (!_init)
		3852	{
		3853	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3854	_sendSerialData();
		3855	}
		3856	}
		3857	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3858	{
		3859	if (!_init)
		3860	{
		3861	serChanTitle[2] = textBoxSerial3.Text;
		3862	}
		3863	}
		3864	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3865	{
		3866	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3867	{
		3868	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3869	}
		3870	}
		3871	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3872	{
		3873	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3874	{
		3875	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3876	}
		3877	}
		3878	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3879	{
		3880	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3881	{
		3882	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3883	}
		3884	}
		3885	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3886	{
		3887	SerChan3ScaleSlider.Value = 0;
		3888	}
		3889	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3890	{
		3891	SerChan3ScaleSlider.Value = 127;
		3892	}
		3893	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3894	{
		3895	SerChan3ScaleSlider.Value = 254;
		3896	}
		3897	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3898	{
		3899	if (textBoxSerial3_val1.Text.Length > 0)
		3900	{
		3901	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3902	}
		3903	}
		3904	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3905	{
		3906	if (textBoxSerial3_val2.Text.Length > 0)
		3907	{
		3908	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3909	}
		3910	}
		3911	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3912	{
		3913	if (textBoxSerial3_val3.Text.Length > 0)
		3914	{
		3915	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3916	}
		3917	}
2349	-	3918	/// <summary>
		3919	/// checks the input of a textbox
		3920	/// for valid data
		3921	/// in this case values 0-254
		3922	/// </summary>
		3923	/// <param name="sender"></param>
		3924	/// <param name="e"></param>
		3925	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3926	{
		3927	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3928	e.Handled = true;
		3929	else
		3930	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3931	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3932	e.Handled = true;
		3933	else
		3934	{
		3935	int i = -1;
		3936	switch (((TextBox)sender).Name)
		3937	{
		3938	case "textBoxSerial1_val1":
		3939	i = 0;
		3940	break;
		3941	case "textBoxSerial1_val2":
		3942	i = 1;
		3943	break;
		3944	case "textBoxSerial1_val3":
		3945	i = 2;
		3946	break;
		3947	case "textBoxSerial2_val1":
		3948	i = 3;
		3949	break;
		3950	case "textBoxSerial2_val2":
		3951	i = 4;
		3952	break;
		3953	case "textBoxSerial2_val3":
		3954	i = 5;
		3955	break;
		3956	case "textBoxSerial3_val1":
		3957	i = 6;
		3958	break;
		3959	case "textBoxSerial3_val2":
		3960	i = 7;
		3961	break;
		3962	case "textBoxSerial3_val3":
		3963	i = 8;
		3964	break;
		3965	case "textBoxSerial4_val1":
		3966	i = 9;
		3967	break;
		3968	case "textBoxSerial4_val2":
		3969	i = 10;
		3970	break;
		3971	case "textBoxSerial4_val3":
		3972	i = 11;
		3973	break;
		3974	}
		3975	if (i > -1)
		3976	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3977	}
		3978	}
		3979
		3980	#endregion serial channels
2315	-	3981	#region WP
2312	-	3982	void _readWPLFile()
		3983	{
		3984	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3985	fd.Filter = "Waypointlists \| *.wpl";
		3986	fd.Multiselect = false;
		3987	if (fd.ShowDialog().Value)
		3988	{
		3989	string file = fd.SafeFileName;
		3990	IniFile ini = new IniFile(fd.SafeFileName);
		3991	ini.path = fd.FileName;
		3992
		3993	try
		3994	{
		3995	string sVal = ini.IniReadValue("General", "FileVersion");
		3996	if (sVal == "")
		3997	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3998	else
		3999	{
		4000	if (Convert.ToInt16(sVal) < 3)
		4001	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4002	else
		4003	{
		4004	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		4005	if (sVal == "")
		4006	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4007	else
		4008	{
		4009	int wpnum = Convert.ToInt16(sVal);
		4010	string wp;
		4011	int i;
2313	-	4012	NumberFormatInfo nfi = new NumberFormatInfo();
		4013	nfi.NumberDecimalSeparator = ".";
2312	-	4014	dtWaypoints.Rows.Clear();
2368	-	4015	_wpEdit = -1;_wpIndex = -1;
2425	-	4016	wpOffset.Clear();
2327	-	4017	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	4018	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	4019	wpList.Clear();
		4020	if (mRouteWP != null)
		4021	MainMap.Markers.Remove(mRouteWP);
2363	-	4022	//if (wpActiveMarker != null)
		4023	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	4024	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4025
2312	-	4026	for (int k = 1; k <= wpnum; k++)
		4027	{
		4028	DataRow dr = dtWaypoints.NewRow();
		4029	dr.ItemArray = new object[16];
		4030	object[] o = new object[16];
		4031	i = 0;
		4032	wp = "Point" + k.ToString();
		4033	o[i] = k;
		4034	i++;
		4035	sVal = ini.IniReadValue(wp, "Type");
		4036	if (sVal != "")
2315	-	4037	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	4038	i++;
		4039	sVal = ini.IniReadValue(wp, "Prefix");
		4040	if (sVal != "")
2350	-	4041	o[i] = sVal + k.ToString();
		4042	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	4043	i++;
2313	-	4044	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	4045	if (sVal != "")
2313	-	4046	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4047	i++;
2313	-	4048	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	4049	if (sVal != "")
2313	-	4050	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4051	i++;
		4052	sVal = ini.IniReadValue(wp, "Altitude");
		4053	if (sVal != "")
2313	-	4054	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4055	i++;
		4056	sVal = ini.IniReadValue(wp, "Heading");
		4057	if (sVal != "")
		4058	o[i] = Convert.ToInt16(sVal);
		4059	i++;
		4060	sVal = ini.IniReadValue(wp, "Speed");
		4061	if (sVal != "")
2315	-	4062	o[i] = Convert.ToInt16(sVal);
2312	-	4063	i++;
		4064	sVal = ini.IniReadValue(wp, "ClimbRate");
		4065	if (sVal != "")
		4066	o[i] = Convert.ToInt16(sVal);
		4067	i++;
		4068	sVal = ini.IniReadValue(wp, "Radius");
		4069	if (sVal != "")
		4070	o[i] = Convert.ToInt16(sVal);
		4071	i++;
		4072	sVal = ini.IniReadValue(wp, "DelayTime");
		4073	if (sVal != "")
		4074	o[i] = Convert.ToInt16(sVal);
		4075	i++;
		4076	sVal = ini.IniReadValue(wp, "AutoTrigger");
		4077	if (sVal != "")
		4078	o[i] = Convert.ToInt16(sVal); ;
		4079	i++;
		4080	sVal = ini.IniReadValue(wp, "CAM-Nick");
		4081	if (sVal != "")
2313	-	4082	o[i] = Convert.ToInt16(sVal);
2312	-	4083	i++;
		4084	o[i] = 0;
		4085	i++;
		4086	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		4087	if (sVal != "")
		4088	o[i] = Convert.ToInt16(sVal);
		4089	i++;
		4090	o[i] = "New";
		4091
		4092	dr.ItemArray = o;
		4093	dtWaypoints.Rows.Add(dr);
2425	-	4094	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1], (int)o[0]-1);
2315	-	4095
2312	-	4096	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		4097	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		4098	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2419	-	4099	Thread.Sleep(1);
2312	-	4100	}
2419	-	4101	Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]));
		4102	Dispatcher.Invoke(() => MainMap.Zoom = 19);
		4103	// Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null));
		4104	Dispatcher.Invoke(() => _routeUpdate());
2312	-	4105	}
		4106	}
		4107	}
		4108
		4109	}
		4110	catch (Exception e)
		4111	{
		4112
		4113	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		4114	}
		4115
		4116	}
		4117	}
2350	-	4118	void _saveWPLFile()
		4119	{
		4120	if (dtWaypoints.Rows.Count > 0)
		4121	{
		4122	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		4123	fd.Filter = "Waypointlists \| *.wpl";
		4124	fd.AddExtension = true;
		4125	if (fd.ShowDialog().Value)
		4126	{
		4127	string file = fd.SafeFileName;
		4128	IniFile ini = new IniFile(fd.SafeFileName);
		4129	ini.path = fd.FileName;
		4130	NumberFormatInfo nfi = new NumberFormatInfo();
		4131	nfi.NumberDecimalSeparator = ".";
		4132
		4133	try
		4134	{
		4135	ini.IniWriteValue("General", "FileVersion", "3");
		4136	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		4137	ini.IniWriteValue("General", "Mapfile", "");
		4138	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		4139	{
		4140	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		4141	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		4142	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		4143	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		4144	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		4145	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		4146	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		4147	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		4148	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		4149	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		4150	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		4151	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));
		4152	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		4153	}
		4154	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		4155	}
		4156	catch { }
		4157	}
		4158	}
		4159	else
		4160	MessageBox.Show("Nothing to save...");
		4161	}
		4162	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		4163	{
		4164	_saveWPLFile();
		4165	}
		4166	/// <summary>
		4167	/// set the selected color for the route
		4168	/// </summary>
		4169	/// <param name="color"></param>
		4170	/// <returns></returns>
2328	-	4171	Brush _getBrush(string color)
		4172	{
		4173	switch (color)
		4174	{
		4175	case "red":
		4176	return Brushes.Red;
		4177	case "green":
		4178	return Brushes.Lime;
		4179	case "blue":
		4180	return Brushes.Aqua;
		4181	case "pink":
		4182	return Brushes.Magenta;
		4183	case "yellow":
		4184	return Brushes.Yellow;
		4185	default:
		4186	return Brushes.Magenta;
		4187	}
		4188	}
2359	-	4189	void _routeUpdate()
		4190	{
		4191	Dispatcher.Invoke(() =>
		4192	{
		4193	if (comboBoxRouteColor.SelectionBoxItem != null)
		4194	{
		4195	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4196	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4197	}
		4198	else
		4199	mRouteWP = new GMapRoute(wpList, null);
		4200
		4201	if (_bShowWPRoute)
2368	-	4202	MainMap.Markers.Add(mRouteWP);
2359	-	4203	});
		4204
		4205	MapRoute mr = new MapRoute(wpList, "WPList");
		4206	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		4207	}
2425	-	4208	GMapMarker _createWP(PointLatLng p, string name, int type, int index)
2363	-	4209	{
		4210	GMapMarker wpMarker = new GMapMarker(p);
2385	-	4211	Dispatcher.Invoke(()=>
		4212	{
		4213	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
2419	-	4214	wpMarker.Tag = name;
2385	-	4215	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		4216	wpMarker.ZIndex = 100;
		4217	_setMarkerColor(wpMarker, type);
		4218	MainMap.Markers.Add(wpMarker);
		4219	if (type == 0 \|\| type == 3)
2425	-	4220	{
2385	-	4221	wpList.Add(p);
2425	-	4222	wpOffset.Add(index);
		4223	}
2419	-	4224	((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos;
		4225	((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin;
2421	-	4226	((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured;
2385	-	4227	});
2363	-	4228	return wpMarker;
		4229	}
2419	-	4230	bool _WPisMouseCaptured = false;
2421	-	4231	void _WPMouseCaptured(bool isCaptured)
2419	-	4232	{
		4233	_WPisMouseCaptured = isCaptured;
		4234	MainMap.CanDragMap = !isCaptured;
		4235	}
		4236	void _updateDTWPPos(CustomMarkerWP wp)
		4237	{
		4238	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4239	int index = Convert.ToInt16(sIndex) -1;
		4240	GMapMarker p = ((GMapMarker)wp.DataContext);
		4241	if (p != null && index < dtWaypoints.Rows.Count)
		4242	{
		4243	//Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4244	if(wp.WPType == 0 \| wp.WPType == 3)
2424	-	4245	{
		4246	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4247	int wpListIndex = wpList.IndexOf(x);
		4248	if (wpListIndex > -1)
		4249	{
		4250	wpList[wpListIndex] = p.Position;
		4251	MainMap.Markers.Remove(mRouteWP);
		4252	_routeUpdate();
		4253	}
2419	-	4254	}
2424	-	4255	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4256	dtWaypoints.Rows[index][4] = p.Position.Lng;
2419	-	4257	}
		4258	}
		4259	void _updateDTWPPosFin(CustomMarkerWP wp)
		4260	{
		4261	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4262	int index = Convert.ToInt16(sIndex) -1;
		4263	GMapMarker p = ((GMapMarker)wp.DataContext);
		4264	if (p != null && index < dtWaypoints.Rows.Count)
		4265	{
		4266	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4267	dtWaypoints.Rows[index][4] = p.Position.Lng;
2421	-	4268	Dispatcher.Invoke(() =>
		4269	{
		4270	dgvWP.Items.Refresh();
		4271	dgvWP.SelectedIndex = index;
		4272	_dgvWPselectEditRow();
		4273	});
		4274
2419	-	4275	}
		4276
		4277	}
2432	-	4278	void _addWP(PointLatLng p,int type)
		4279	{
		4280	object[] o = new object[16];
2428	-	4281
2432	-	4282	o[0] = dgvWP.ItemContainerGenerator.Items.Count + 1;
		4283	o[1] = type;
		4284	// cbWPEditType.SelectedIndex = 0;
		4285	// tbWPEditPrefix.Text = "P";
		4286	o[2] = "P" + o[0].ToString();
		4287	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4288	o[3] = p.Lat;
		4289	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4290	o[4] = p.Lng;
		4291	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4292	o[5] = iAnalogData[4].ToString();
		4293
		4294	// cbWPEditHeading.SelectedIndex = 2;
		4295	o[6] = iAnalogData[10].ToString();
		4296	//tbWPEditHeading.Text = iAnalogData[10].ToString();
		4297	// tbWPEditHeading.IsReadOnly = false;
		4298
		4299	// cbWPEditSpeed.SelectedIndex = 1;
		4300	// tbWPEditSpeed.Text = "5.0";
		4301	// tbWPEditSpeed.IsReadOnly = false;
		4302	o[7] = "10";
		4303
		4304	// cbWPEditClimbrate.SelectedIndex = 1;
		4305	// tbWPEditClimbrate.Text = "5.0";
		4306	// tbWPEditClimbrate.IsReadOnly = false;
		4307	o[8] = "10";
		4308
		4309	// tbWPEditRadius.Text = "10";
		4310	o[9] = "5";
		4311	// tbWPEditHoldtime.Text = "5";
		4312	o[10] = "5";
		4313	// tbWPEditAutoTrigger.Text = "0";
		4314	o[11] = "0";
		4315	// cbWPEditCamAngle.SelectedIndex = 1;
		4316	// tbWPEditCamAngle.Text = "AUTO";
		4317	// tbWPEditCamAngle.IsReadOnly = true;
		4318	o[12] = "255";
		4319
		4320	o[13] = "0";
		4321	// tbWPEditOut1.Text = "0";
		4322	o[14] = "0";
		4323	o[15] = "0";
		4324
		4325	dtWaypoints.Rows.Add(o);
		4326	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1], (int)o[0] - 1);
		4327	// Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4328	if (mRouteWP != null)
		4329	MainMap.Markers.Remove(mRouteWP);
		4330	_routeUpdate();
		4331	Dispatcher.Invoke(() =>
		4332	{
		4333	dgvWP.Items.Refresh();
		4334	dgvWP.UpdateLayout();
		4335	dgvWP.SelectedIndex = (int)o[0] - 1;
		4336	_dgvWPselectEditRow();
		4337	});
		4338	}
2425	-	4339	/// <summary>
		4340	/// find the index of of a wp from datatable in the waypointlist wpList
		4341	/// </summary>
		4342	/// <param name="dtIndex">the index of wp in datatable (0-based)</param>
		4343	/// <returns></returns>
		4344	int _getWPIndexfromList(int dtIndex)
		4345	{
		4346	if ((int)dtWaypoints.Rows[dtIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dtIndex][1] == 3)
		4347	{
		4348	GMapMarker wp = _findWPMarker((string)dtWaypoints.Rows[dtIndex][2]);
		4349	if (wp != null)
		4350	return wpList.IndexOf(wp.Position);
		4351	}
		4352	return -1;
		4353	}
		4354	/// <summary>
		4355	/// find the index of of a wp from datatable in the waypointlist wpList
		4356	/// </summary>
		4357	/// <param name="name">the name of the wp</param>
		4358	/// <returns></returns>
		4359	int _getWPIndexfromList(string name)
		4360	{
		4361	GMapMarker wp = _findWPMarker(name);
		4362	if ((wp != null && wp.Shape != null) && ((CustomMarkerWP)wp.Shape).WPType == 0 \| ((CustomMarkerWP)wp.Shape).WPType == 3)
		4363	return wpList.IndexOf(wp.Position);
		4364	else
		4365	return -1;
		4366	}
		4367	int _getWPListOffset(int index)
		4368	{
		4369	int k = 0;
		4370	for(int i = 0; i < wpOffset.Count;i++)
		4371	{
		4372	if (wpOffset[i] <= index)
		4373	k++;
		4374	}
2419	-	4375
2425	-	4376	return k;
		4377	}
2315	-	4378	void _setMarkerColor(GMapMarker wpMarker,int iType)
		4379	{
2369	-	4380	if(wpMarker != null)
2315	-	4381	Dispatcher.Invoke(() =>
		4382	{
		4383	switch (iType)
		4384	{
		4385	case 0:
		4386	if (comboBoxWPColor.SelectionBoxItem != null)
		4387	{
		4388	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		4389	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4390	}
		4391	else
2372	-	4392	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	4393	break;
		4394	case 1:
		4395	if (comboBoxPOIColor.SelectionBoxItem != null)
		4396	{
		4397	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		4398	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4399	}
		4400	else
2372	-	4401	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	4402	break;
		4403	case 2:
		4404	if (comboBoxFSColor.SelectionBoxItem != null)
		4405	{
		4406	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		4407	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4408	}
		4409	else
		4410	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4411	break;
2372	-	4412	case 3:
		4413	if (comboBoxLandingColor.SelectionBoxItem != null)
		4414	{
		4415	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		4416	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4417	}
		4418	else
		4419	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		4420	break;
2315	-	4421	default:
		4422	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4423	break;
		4424	}
		4425	});
2312	-	4426
2315	-	4427	}
2372	-	4428	void _MarkerColorSelection(object sender,int type)
		4429	{
2315	-	4430	Dispatcher.Invoke(() =>
		4431	{
2372	-	4432	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	4433	{
		4434	for (int k = 0; k < MainMap.Markers.Count; k++)
		4435	{
		4436	GMapMarker p = MainMap.Markers[k];
2372	-	4437	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	4438	{
2372	-	4439	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	4440	{
2372	-	4441	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	4442	((CustomMarkerWP)(p.Shape)).setColor(s);
		4443	}
		4444	}
		4445	}
		4446	}
		4447	});
2287	-	4448	}
2379	-	4449	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	4450	{
2376	-	4451	_MarkerColorSelection(sender, 0);
		4452	}
		4453	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		4454	{
		4455	_MarkerColorSelection(sender, 1);
		4456	}
		4457	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		4458	{
		4459	_MarkerColorSelection(sender, 2);
		4460	}
		4461	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		4462	{
		4463	_MarkerColorSelection(sender,3);
		4464	}
2385	-	4465	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	4466	{
2318	-	4467	Dispatcher.Invoke(() => {
		4468	if (comboBoxCopterColor.SelectionBoxItem != null)
		4469	{
		4470	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	4471	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	4472	}
		4473	else
2385	-	4474	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	4475	});
		4476	}
2385	-	4477	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		4478	{
		4479	Dispatcher.Invoke(() => {
		4480	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		4481	{
		4482	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		4483	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		4484	}
		4485	else
		4486	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		4487	});
		4488	}
2328	-	4489	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		4490	{
		4491	Dispatcher.Invoke(() =>
		4492	{
		4493	if (comboBoxRouteColor.SelectionBoxItem != null)
		4494	{
		4495	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4496	MainMap.Markers.Remove(mRouteWP);
		4497	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4498	if (_bShowWPRoute)
		4499	MainMap.Markers.Add(mRouteWP);
		4500	}
		4501	});
		4502	}
2408	-	4503	private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e)
		4504	{
		4505	Dispatcher.Invoke(() =>
		4506	{
		4507	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		4508	{
		4509	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		4510	{
		4511	if (cWPBound != null && cWPBound.Tag != null)
		4512	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		4513
		4514	createCircle(home.Position, dWPMaxRange);
		4515	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		4516	cWPBound.setColor(s);
		4517
		4518	}
		4519	}
		4520	});
		4521
		4522	}
2328	-	4523	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		4524	{
		4525	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		4526	if (_bShowWPRoute)
		4527	{
		4528	if (mRouteWP != null)
		4529	MainMap.Markers.Add(mRouteWP);
		4530	}
		4531	else
		4532	{
		4533	if (mRouteWP != null)
		4534	MainMap.Markers.Remove(mRouteWP);
		4535	}
		4536	}
2428	-	4537
2315	-	4538	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	4539	{
2315	-	4540	_readWPLFile();
2287	-	4541	}
2335	-	4542	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		4543	{
		4544	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	4545	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	4546	wpList.Clear();
		4547	if (mRouteWP != null)
		4548	MainMap.Markers.Remove(mRouteWP);
2347	-	4549	//if (wpActiveMarker != null)
		4550	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	4551	dtWaypoints.Rows.Clear();
2356	-	4552	_wpEdit = -1;
2368	-	4553	_wpIndex = -1;
2425	-	4554	wpOffset.Clear();
2335	-	4555	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4556	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		4557	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		4558	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4559	}
2340	-	4560	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		4561	{
		4562	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		4563	t.Start();
		4564	}
2355	-	4565	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	4566	{
		4567	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4568	{
2372	-	4569	if (_wpCount > 0)
2376	-	4570	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	4571	else
2376	-	4572	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	4573
2372	-	4574	//int index = dgvWP.SelectedIndex;
		4575	//Thread t = new Thread(() => _sendWPList(index));
		4576	//t.Start();
2354	-	4577
		4578	Dispatcher.Invoke(() => {
		4579	DataGridRow row;
2368	-	4580	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	4581	{
2368	-	4582	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	4583	row.Background = new SolidColorBrush(Colors.Transparent);
		4584	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4585	row.BorderThickness = new Thickness(0);
2376	-	4586	dgvWP.UpdateLayout();
2354	-	4587	}
2376	-	4588	//_wpEdit = dgvWP.SelectedIndex;
		4589	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4590	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		4591	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		4592	//row.BorderThickness = new Thickness(2);
2354	-	4593	});
2340	-	4594	}
		4595	}
2385	-	4596	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		4597	{
		4598	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4599	{
		4600
		4601	object[] o = new object[16];
		4602	o[0] = dgvWP.SelectedIndex + 1;
		4603	o[1] = cbWPEditType.SelectedIndex;
		4604	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4605	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4606	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		4607	o[5] = tbWPEditAlt.Text;
		4608	switch (cbWPEditHeading.SelectedIndex)
		4609	{
		4610	case 0:
		4611	o[6] = "0";
		4612	break;
		4613	case 1:
		4614	o[6] = "-" + tbWPEditHeading.Text;
		4615	break;
		4616	case 2:
		4617	o[6] = tbWPEditHeading.Text;
		4618	break;
		4619	}
		4620	switch (cbWPEditSpeed.SelectedIndex)
		4621	{
		4622	case 0:
		4623	o[7] = "0";
		4624	break;
		4625	case 1:
		4626	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4627	break;
		4628	case 2:
		4629	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4630	break;
		4631	}
		4632	switch (cbWPEditClimbrate.SelectedIndex)
		4633	{
		4634	case 0:
		4635	o[8] = "255";
		4636	break;
		4637	case 1:
		4638	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		4639	break;
		4640	}
		4641	o[9] = tbWPEditRadius.Text;
		4642	o[10] = tbWPEditHoldtime.Text;
		4643	o[11] = tbWPEditAutoTrigger.Text;
		4644	switch (cbWPEditCamAngle.SelectedIndex)
		4645	{
		4646	case 0:
		4647	o[12] = "0";
		4648	break;
		4649	case 1:
		4650	o[12] = "255";
		4651	break;
		4652	case 2:
		4653	o[12] = tbWPEditCamAngle.Text;
		4654	break;
		4655	}
		4656	o[13] = 0;
		4657	o[14] = tbWPEditOut1.Text;
		4658	DataRow dr = dtWaypoints.NewRow();
		4659	dr.ItemArray = o;
		4660
		4661	if (_wpCount > 0)
		4662	_sendWayPoint(dr, -1, 'w', false);
		4663	else
		4664	_sendWayPoint(dr, 1, 'w', false);
2399	-	4665
2429	-	4666	if (_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		4667	_sendWayPoint(dtWaypoints.Rows[wpOffset[_wpIndex]], _wpIndex+1, 's', false);
2385	-	4668	}
		4669	}
2376	-	4670	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		4671	{
		4672	_Simulate = !_Simulate;
		4673	if (dtWaypoints.Rows.Count > 0)
		4674	{
		4675	DataRow dr = dtWaypoints.Rows[0];
		4676	dr[13] = _Simulate ? 3 : 0;
2379	-	4677	_sendWayPoint(dr, 0, 's', true);
2381	-	4678	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	4679	}
		4680	}
2428	-	4681
2355	-	4682	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		4683	{
2359	-	4684	_dgvWPselectEditRow();
		4685	}
		4686	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		4687	{
		4688	}
		4689	void _dgvWPselectEditRow()
		4690	{
2355	-	4691	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4692	{
2368	-	4693	Dispatcher.Invoke(() => {
2355	-	4694	DataGridRow row;
2432	-	4695	dgvWP.Items.Refresh();
2421	-	4696	dgvWP.UpdateLayout();
2368	-	4697	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	4698	{
		4699	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2432	-	4700	if (row != null)
		4701	{
		4702	row.Background = new SolidColorBrush(Colors.Transparent);
		4703	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4704	row.BorderThickness = new Thickness(0);
		4705	}
2355	-	4706	}
		4707	_wpEdit = dgvWP.SelectedIndex;
		4708	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2432	-	4709	if (row != null)
		4710	{
		4711	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		4712	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		4713	row.BorderThickness = new Thickness(2);
		4714	dgvWP.UpdateLayout();
2340	-	4715
2432	-	4716	_setWPEditFields(_wpEdit);
		4717	}
2355	-	4718	});
		4719	}
		4720	}
		4721	void _setWPEditFields(int index)
		4722	{
		4723	int iVal;
2421	-	4724	lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString();
2355	-	4725	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		4726	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		4727	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		4728	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		4729	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		4730	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		4731	if (iVal == 0)
		4732	{
		4733	cbWPEditHeading.SelectedIndex = 0;
		4734	tbWPEditHeading.Text = " - - -";
		4735	tbWPEditHeading.IsReadOnly = true;
		4736	}
		4737	if (iVal > 0 && iVal < 360)
		4738	{
		4739	cbWPEditHeading.SelectedIndex = 2;
		4740	tbWPEditHeading.Text = iVal.ToString();
		4741	tbWPEditHeading.IsReadOnly = false;
		4742	}
		4743	if (iVal < 0)
		4744	{
		4745	cbWPEditHeading.SelectedIndex = 1;
		4746	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		4747	tbWPEditHeading.IsReadOnly = false;
		4748	}
		4749	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		4750	if (iVal == 0)
		4751	{
		4752	cbWPEditSpeed.SelectedIndex = 0;
		4753	tbWPEditSpeed.Text = "MAX";
		4754	tbWPEditSpeed.IsReadOnly = true;
		4755	}
		4756	if (iVal > 0 && iVal < 248)
		4757	{
		4758	cbWPEditSpeed.SelectedIndex = 1;
		4759	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		4760	tbWPEditSpeed.IsReadOnly = false;
		4761	}
		4762	if (iVal > 247)
		4763	{
		4764	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		4765	tbWPEditSpeed.Text = "";
		4766	tbWPEditSpeed.IsReadOnly = true;
		4767	}
		4768	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		4769	if (iVal == 255)
		4770	{
		4771	cbWPEditClimbrate.SelectedIndex = 0;
		4772	tbWPEditClimbrate.Text = "AUTO";
		4773	tbWPEditClimbrate.IsReadOnly = true;
		4774	}
		4775	else
		4776	{
		4777	cbWPEditClimbrate.SelectedIndex = 1;
		4778	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		4779	tbWPEditClimbrate.IsReadOnly = false;
		4780	}
		4781	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		4782	tbWPEditRadius.Text = iVal.ToString();
		4783	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		4784	tbWPEditHoldtime.Text = iVal.ToString();
		4785	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		4786	tbWPEditAutoTrigger.Text = iVal.ToString();
		4787	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		4788	if (iVal == 0)
		4789	{
		4790	cbWPEditCamAngle.SelectedIndex = 0;
		4791	tbWPEditCamAngle.Text = " - - - ";
		4792	tbWPEditCamAngle.IsReadOnly = true;
		4793	}
		4794	if (iVal < 0 \| iVal == 255)
		4795	{
		4796	cbWPEditCamAngle.SelectedIndex = 1;
		4797	tbWPEditCamAngle.Text = "AUTO";
		4798	tbWPEditCamAngle.IsReadOnly = true;
		4799	}
		4800	if (iVal > 0 & iVal < 255)
		4801	{
		4802	cbWPEditCamAngle.SelectedIndex = 2;
		4803	tbWPEditCamAngle.Text = iVal.ToString();
		4804	tbWPEditCamAngle.IsReadOnly = false;
		4805	}
		4806	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		4807	tbWPEditOut1.Text = iVal.ToString();
		4808
		4809	}
2361	-	4810	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		4811	{
2363	-	4812	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4813	{
2369	-	4814	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	4815	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		4816	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		4817	int i = wpList.IndexOf(pOld);
2363	-	4818	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		4819	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4820	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4821	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	4822	if (i > -1)
		4823	{
2425	-	4824	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
2372	-	4825	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4826	else
2425	-	4827	{
2372	-	4828	wpList.Remove(pOld);
2425	-	4829	wpOffset.Remove(wpOffset[i]);
		4830	}
2372	-	4831	}
		4832	else
		4833	{
		4834	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4835	{
		4836	int found = 0;
		4837	for (int k = 0; k < dgvWP.SelectedIndex; k++)
2425	-	4838	{
		4839	if ((int)dtWaypoints.Rows[k][1] == 0 \|\| (int)dtWaypoints.Rows[k][1] == 3)
		4840	{
2372	-	4841	found++;
2425	-	4842	}
		4843	}
2372	-	4844	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
2425	-	4845	wpOffset.Insert(found, dgvWP.SelectedIndex);
2372	-	4846	}
		4847	}
2363	-	4848	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		4849	switch (cbWPEditHeading.SelectedIndex)
		4850	{
		4851	case 0:
		4852	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		4853	break;
		4854	case 1:
		4855	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		4856	break;
		4857	case 2:
		4858	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		4859	break;
		4860	}
		4861	switch (cbWPEditSpeed.SelectedIndex)
		4862	{
		4863	case 0:
		4864	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		4865	break;
		4866	case 1:
		4867	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4868	break;
		4869	case 2:
		4870	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4871	break;
		4872	}
		4873	switch (cbWPEditClimbrate.SelectedIndex)
		4874	{
		4875	case 0:
		4876	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		4877	break;
		4878	case 1:
		4879	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		4880	break;
		4881	}
		4882	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		4883	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		4884	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		4885	switch (cbWPEditCamAngle.SelectedIndex)
		4886	{
		4887	case 0:
		4888	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		4889	break;
		4890	case 1:
		4891	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		4892	break;
		4893	case 2:
		4894	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		4895	break;
		4896	}
		4897	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	4898
2369	-	4899	// _clearMapMarkers(typeof(CustomMarkerWP));
		4900	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		4901	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	4902	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4903	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4904	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4905	// wpList.Clear();
2363	-	4906	if (mRouteWP != null)
		4907	MainMap.Markers.Remove(mRouteWP);
		4908
2369	-	4909	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		4910	//{
		4911	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		4912	//}
2363	-	4913	_routeUpdate();
		4914	dgvWP.Items.Refresh();
		4915
		4916	}
		4917
2361	-	4918	}
2432	-	4919	private void btnEditWPAdd_Click(object sender, RoutedEventArgs e)
		4920	{
		4921	DataRow dr = dtWaypoints.NewRow();
		4922	dr[0] = dtWaypoints.Rows.Count+1;
		4923	dr[1] = cbWPEditType.SelectedIndex;
		4924	dr[2] = tbWPEditPrefix.Text + dr[0].ToString();
		4925	dr[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')) + 0.00000001;
		4926	dr[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')) + 0.00000001;
		4927	dr[5] = tbWPEditAlt.Text;
		4928	switch (cbWPEditHeading.SelectedIndex)
		4929	{
		4930	case 0:
		4931	dr[6] = "0";
		4932	break;
		4933	case 1:
		4934	dr[6] = "-" + tbWPEditHeading.Text;
		4935	break;
		4936	case 2:
		4937	dr[6] = tbWPEditHeading.Text;
		4938	break;
		4939	}
		4940	switch (cbWPEditSpeed.SelectedIndex)
		4941	{
		4942	case 0:
		4943	dr[7] = "0";
		4944	break;
		4945	case 1:
		4946	dr[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4947	break;
		4948	case 2:
		4949	dr[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4950	break;
		4951	}
		4952	switch (cbWPEditClimbrate.SelectedIndex)
		4953	{
		4954	case 0:
		4955	dr[8] = "255";
		4956	break;
		4957	case 1:
		4958	dr[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		4959	break;
		4960	}
		4961	dr[9] = tbWPEditRadius.Text;
		4962	dr[10] = tbWPEditHoldtime.Text;
		4963	dr[11] = tbWPEditAutoTrigger.Text;
		4964	switch (cbWPEditCamAngle.SelectedIndex)
		4965	{
		4966	case 0:
		4967	dr[12] = "0";
		4968	break;
		4969	case 1:
		4970	dr[12] = "255";
		4971	break;
		4972	case 2:
		4973	dr[12] = tbWPEditCamAngle.Text;
		4974	break;
		4975	}
		4976	dr[13] = "";
		4977	dr[14] = tbWPEditOut1.Text;
		4978	dr[15] = "";
		4979	_createWP(new PointLatLng((double)dr[3], (double)dr[4]),(string) dr[2], (int)dr[1], (int)dr[0]);
		4980	if (mRouteWP != null)
		4981	MainMap.Markers.Remove(mRouteWP);
		4982	_routeUpdate();
		4983	dtWaypoints.Rows.Add(dr);
		4984	dgvWP.Items.Refresh();
		4985	}
2361	-	4986	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		4987	{
2368	-	4988	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4989	{
		4990	int index = dgvWP.SelectedIndex;
		4991	Dispatcher.Invoke(() => {
		4992	DataGridRow row;
		4993	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4994	{
		4995	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4996	row.Background = new SolidColorBrush(Colors.Transparent);
		4997	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4998	row.BorderThickness = new Thickness(0);
		4999	}
2372	-	5000	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	5001	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
2425	-	5002	else
		5003	wpOffset.Remove((int)dtWaypoints.Rows[index][0] + 1);
2368	-	5004	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	5005	if (wpActiveMarker != null)
		5006	MainMap.Markers.Remove(wpActiveMarker);
2368	-	5007	dtWaypoints.Rows[index].Delete();
		5008	_wpIndex = -1;
		5009	_wpEdit = -1;
		5010	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		5011	{
		5012	dtWaypoints.Rows[i][0] = i + 1;
		5013	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		5014	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		5015	_renameWPMarker(s1, s2);
		5016	dtWaypoints.Rows[i][2] = s2;
		5017	}
		5018	lblWPCount.Content = dtWaypoints.Rows.Count;
		5019	if (mRouteWP != null)
		5020	MainMap.Markers.Remove(mRouteWP);
		5021	_routeUpdate();
2361	-	5022
2368	-	5023	dgvWP.UpdateLayout();
		5024	});
		5025	}
2361	-	5026	}
2366	-	5027	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		5028	{
		5029	_wpWEdit(sender);
		5030	}
2361	-	5031	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		5032	{
2366	-	5033	_wpWEdit(sender);
		5034	}
2369	-	5035	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		5036	{
		5037	_wpWEdit(sender);
		5038	}
2366	-	5039	void _wpWEdit(object sender)
		5040	{
2369	-	5041	// if (!((TextBox)sender).IsReadOnly)
2361	-	5042	{
		5043	KeyPad.Keypad k = new KeyPad.Keypad(this);
		5044
2363	-	5045	switch (((TextBox)sender).Name)
		5046	{
		5047	case "tbWPEditLat":
		5048	k.Title = "Latitude";
		5049	k.LENGTH = 17;
		5050	k.MAX = 359.9;
		5051	break;
		5052	case "tbWPEditLon":
		5053	k.Title = "Longitude";
		5054	k.LENGTH = 17;
		5055	k.MAX = 359.9;
		5056	break;
		5057	case "tbWPEditAlt":
		5058	k.Title = "Altitude";
		5059	k.LENGTH = 3;
		5060	k.MAX = 254;
		5061	k.disableDecimal();
		5062	break;
		5063	case "tbWPEditHeading":
		5064	k.Title = "Heading";
		5065	k.LENGTH = 3;
		5066	k.MAX = 359;
		5067	k.MIN = 1;
		5068	k.disableDecimal();
		5069	break;
		5070	case "tbWPEditSpeed":
		5071	k.Title = "Speed";
		5072	k.LENGTH = 4;
		5073	k.MAX = 24.7;
		5074	k.MIN = 0.1;
		5075	break;
		5076	case "tbWPEditClimbrate":
		5077	k.Title = "Climbrate";
		5078	k.LENGTH = 4;
		5079	k.MAX = 25.4;
		5080	k.MIN = 0.1;
		5081	break;
		5082	case "tbWPEditRadius":
		5083	k.Title = "Radius";
		5084	k.LENGTH = 3;
		5085	k.MAX = 254;
		5086	k.disableDecimal();
		5087	break;
		5088	case "tbWPEditHoldtime":
		5089	k.Title = "Holdtime";
		5090	k.LENGTH = 3;
		5091	k.MAX = 254;
		5092	break;
		5093	case "tbWPEditAutoTrigger":
		5094	k.Title = "Autotrigger";
		5095	k.LENGTH = 3;
		5096	k.MAX = 254;
		5097	k.disableDecimal();
		5098	break;
		5099	case "tbWPEditCamAngle":
		5100	k.Title = "Camera angle";
		5101	k.LENGTH = 3;
		5102	k.MAX = 254;
		5103	k.MIN = 1;
		5104	k.disableDecimal();
		5105	break;
		5106	case "tbWPEditOut1":
		5107	k.Title = "OUT1 timer interval";
		5108	k.LENGTH = 3;
		5109	k.MAX = 254;
		5110	k.disableDecimal();
		5111	break;
		5112	}
		5113	k.Result = ((TextBox)sender).Text;
2366	-	5114	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	5115	((TextBox)sender).Text = k.Result;
2361	-	5116	}
2366	-	5117
2361	-	5118	}
		5119	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	5120	{
2432	-	5121	_addWP(new PointLatLng(copter.Position.Lat, copter.Position.Lng),0);
2356	-	5122	}
2428	-	5123
		5124	private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e)
		5125	{
		5126	if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5127	{
		5128	int index = dgvWP.SelectedIndex;
		5129	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)
		5130	{
		5131	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5132	int wpListIndex = wpList.IndexOf(x);
		5133	if (wpListIndex > 0)
		5134	{
		5135	wpList.RemoveAt(wpListIndex);
		5136	wpList.Insert(wpListIndex - 1, x);
		5137	MainMap.Markers.Remove(mRouteWP);
		5138	_routeUpdate();
		5139	}
		5140	}
		5141	DataRow dr = dtWaypoints.Rows[index];
		5142	DataRow newRow = dtWaypoints.NewRow();
		5143	newRow.ItemArray = dr.ItemArray;
		5144	dtWaypoints.Rows.Remove(dr);
		5145	dtWaypoints.Rows.InsertAt(newRow, index - 1);
		5146	dtWaypoints.Rows[index][0] = 100;
		5147	dtWaypoints.Rows[index - 1][0] = index;
		5148	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString());
		5149	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5150	dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString();
		5151	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString();
		5152	dtWaypoints.Rows[index][0] = index + 1;
		5153	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5154	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5155	dgvWP.Items.Refresh();
		5156	dgvWP.SelectedIndex = index - 1;
		5157	_dgvWPselectEditRow();
		5158	if (wpOffset.Contains(index)) // calculating offset for wpList (index is 0-based - offset starts with index 1)
		5159	{
		5160	int iOffset = wpOffset.IndexOf(index);
		5161	if (iOffset > 0) // if not first element
		5162	{
		5163	if (wpOffset[iOffset - 1] < index-1) //if previous element is not immediately before actual offset
		5164	wpOffset[iOffset] = index-1; //then decrease offset value by one
		5165	}
		5166	else
		5167	wpOffset[iOffset] = index-1; //if first element, decrease offset by one
		5168	}
		5169	else //selected line is POI
		5170	{
		5171	if (wpOffset.Contains(index - 1)) // if next point is WP
		5172	{
		5173	int iOffset = wpOffset.IndexOf(index - 1);
		5174	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5175	}
		5176	}
		5177
		5178	}
		5179	}
		5180	private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e)
		5181	{
		5182	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1)
		5183	{
		5184	int index = dgvWP.SelectedIndex;
		5185	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)
		5186	{
		5187	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5188	int wpListIndex = wpList.IndexOf(x);
		5189	if (wpListIndex > -1)
		5190	{
		5191	wpList.RemoveAt(wpListIndex);
		5192	if (wpList.Count > wpListIndex)
		5193	wpList.Insert(wpListIndex + 1, x);
		5194	else
		5195	wpList.Add(x);
		5196	MainMap.Markers.Remove(mRouteWP);
		5197	_routeUpdate();
		5198	}
		5199	}
		5200	DataRow dr = dtWaypoints.Rows[index];
		5201	DataRow newRow = dtWaypoints.NewRow();
		5202	newRow.ItemArray = dr.ItemArray;
		5203	dtWaypoints.Rows.Remove(dr);
		5204	dtWaypoints.Rows.InsertAt(newRow, index + 1);
		5205	dtWaypoints.Rows[index][0] = 100;
		5206	dtWaypoints.Rows[index + 1][0] = index + 2;
		5207	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString());
		5208	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5209	dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString();
		5210	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString();
		5211	dtWaypoints.Rows[index][0] = index + 1;
		5212	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5213	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5214	dgvWP.Items.Refresh();
		5215	dgvWP.SelectedIndex = index + 1;
		5216	_dgvWPselectEditRow();
		5217	if(wpOffset.Contains(index)) // If selected line is WP
		5218	{
		5219	int iOffset = wpOffset.IndexOf(index);
		5220	if(iOffset < wpOffset.Count -1) // if not last element
		5221	{
		5222	if (wpOffset[iOffset + 1] > index + 1) //if next element is not immediately after actual offset
		5223	wpOffset[iOffset] = index + 1; //then increase offset value by one
		5224	}
		5225	else
		5226	wpOffset[iOffset] = index + 1; //if last element increase offset by one
		5227	}
		5228	else //selected line is POI
		5229	{
		5230	if (wpOffset.Contains(index + 1)) // if next point is WP
		5231	{
		5232	int iOffset = wpOffset.IndexOf(index + 1);
		5233	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5234	}
		5235	}
		5236	}
		5237
		5238	}
		5239
2405	-	5240	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		5241	{
		5242	if (WPStatus.Visibility == Visibility.Visible)
		5243	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5244	else
		5245	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5246	}
		5247	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		5248	{
		5249	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		5250	{
		5251	if (cWPBound != null && cWPBound.Tag != null)
		5252	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2356	-	5253
2408	-	5254	createCircle(home.Position, dWPMaxRange);
2419	-	5255	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		5256	{
		5257	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		5258	cWPBound.setColor(s);
		5259	}
2405	-	5260	}
2408	-	5261
2405	-	5262	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		5263	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		5264	}
2315	-	5265	#endregion WP
2324	-	5266	#region GPX
		5267	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		5268	{
		5269	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		5270	}
		5271	void _gpxAdd(double lat,double lon, int elevation)
		5272	{
		5273	DataRow dr = dtGPX.NewRow();
		5274	dr[0] = dtGPX.Rows.Count - 1;
		5275	dr[1] = lat;
		5276	dr[2] = lon;
		5277	dr[3] = elevation;
		5278	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		5279	dtGPX.Rows.Add(dr);
		5280	}
		5281	void _saveGPXLog()
		5282	{
		5283	if (!Directory.Exists("GPXLog"))
		5284	Directory.CreateDirectory("GPXLog");
		5285	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		5286	XmlTextWriter myXmlTextWriter = null;
		5287	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		5288	NumberFormatInfo nfi = new NumberFormatInfo();
		5289	nfi.NumberDecimalSeparator = ".";
2315	-	5290
2324	-	5291	try
		5292	{
		5293	myXmlTextWriter.Formatting = Formatting.Indented;
		5294
		5295	myXmlTextWriter.WriteStartDocument();
		5296
		5297	myXmlTextWriter.WriteStartElement("gpx");
		5298
		5299	myXmlTextWriter.WriteAttributeString("version", "1.0");
		5300	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		5301	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		5302	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		5303	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		5304
		5305	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		5306
		5307	myXmlTextWriter.WriteStartElement("trk");
		5308	myXmlTextWriter.WriteStartElement("trkseg");
		5309	for(int i = 0; i< dtGPX.Rows.Count;i++)
		5310	{
		5311	myXmlTextWriter.WriteStartElement("trkpt");
		5312	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		5313	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		5314	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		5315	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		5316	myXmlTextWriter.WriteEndElement();
		5317	}
		5318	myXmlTextWriter.WriteEndElement();
		5319	myXmlTextWriter.WriteEndElement();
		5320	myXmlTextWriter.WriteEndElement();
		5321	}
		5322	catch (Exception e)
		5323	{
		5324	Console.WriteLine("Exception: {0}", e.ToString());
		5325	}
		5326	finally
		5327	{
		5328	if (myXmlTextWriter != null)
		5329	{
		5330	myXmlTextWriter.Close();
		5331	}
		5332	}
		5333	}
2425	-	5334
2324	-	5335	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		5336	{
		5337	_loadGPXLog();
		5338	}
2327	-	5339	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		5340	{
		5341	_clearMapMarkers(typeof(GMapRoute));
		5342	}
2324	-	5343	void _loadGPXLog()
		5344	{
		5345
		5346	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		5347	fd.Filter = "GPX-Logfile \| *.gpx";
		5348	fd.Multiselect = false;
		5349	if (fd.ShowDialog().Value)
		5350	{
		5351	string file = fd.FileName;
		5352	try
		5353	{
		5354	XDocument gpxDoc = XDocument.Load(file);
		5355	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		5356
		5357	NumberFormatInfo nfi = new NumberFormatInfo();
		5358	nfi.NumberDecimalSeparator = ".";
		5359
		5360	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		5361	select new
		5362	{
		5363	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		5364	Segs = (
		5365	from trackpoint in track.Descendants(gpx + "trkpt")
		5366	select new
		5367	{
		5368	Latitude = trackpoint.Attribute("lat").Value,
		5369	Longitude = trackpoint.Attribute("lon").Value,
		5370	Elevation = trackpoint.Element(gpx + "ele") != null ?
		5371	trackpoint.Element(gpx + "ele").Value : null,
		5372	Time = trackpoint.Element(gpx + "time") != null ?
		5373	trackpoint.Element(gpx + "time").Value : null
		5374	}
		5375	)
		5376	};
		5377
		5378	List<PointLatLng> wpl = new List<PointLatLng>();
		5379	foreach(var trk in tracks)
		5380	{
		5381	foreach(var trkseg in trk.Segs)
		5382	{
		5383	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		5384	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		5385	}
		5386
		5387	}
		5388	if(wpl.Count() > 0)
		5389	{
2327	-	5390	_clearMapMarkers(typeof(GMapRoute));
2324	-	5391	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	5392	Dispatcher.Invoke(() =>
		5393	{
		5394	GMapRoute mRoute;
		5395	if (comboBoxRouteColor.SelectionBoxItem != null)
		5396	{
		5397	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	5398	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	5399	}
		5400	else
2366	-	5401	mRoute = new GMapRoute(wpl, null);
2324	-	5402
2328	-	5403	MainMap.Markers.Add(mRoute);
		5404	});
2324	-	5405	}
		5406
		5407	}
		5408	catch (Exception e)
		5409	{
		5410	Console.WriteLine("Exception: {0}", e.ToString());
		5411	}
		5412	}
		5413	}
		5414	#endregion GPX
2315	-	5415	#endregion functions
2287	-	5416	}
2425	-	5417
		5418	/// <summary>
2315	-	5419	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		5420	/// </summary>
2313	-	5421	public class waypointsConverter : IValueConverter
		5422	{
		5423	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		5424	{
		5425	if (value != null)
		5426	{
		5427	switch ((string)parameter)
		5428	{
		5429	case "Latitude":
		5430	return value.ToString() + " °";
		5431	case "Longitude":
		5432	return value.ToString() + " °";
		5433	case "Radius":
		5434	return value.ToString() + " m";
		5435	case "Altitude":
		5436	return value.ToString() + " m";
		5437	case "ClimbRate":
		5438	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		5439	case "DelayTime":
		5440	return value.ToString() + " s";
		5441	case "Heading":
		5442	return Waypoints.Heading(System.Convert.ToInt32(value));
		5443	case "Speed":
		5444	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		5445	case "CamAngle":
		5446	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		5447	case "Type":
		5448	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		5449	case "AutoTrigger":
		5450	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		5451	case "Status":
2355	-	5452	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	5453	}
		5454
		5455	return value.ToString();
		5456	}
		5457	else return value;
		5458	}
		5459
		5460	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		5461	{
		5462	throw new NotImplementedException();
		5463	}
		5464	}
2287	-	5465	public class IniFile
		5466	{
		5467	public string path;
		5468
		5469	[DllImport("kernel32")]
		5470	private static extern long WritePrivateProfileString(string section,
		5471	string key, string val, string filePath);
		5472
		5473	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		5474	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		5475	uint nSize, string lpFileName);
		5476
		5477	[DllImport("kernel32")]
		5478	private static extern int GetPrivateProfileString(string section,
		5479	string key, string def, StringBuilder retVal,
		5480	int size, string filePath);
		5481
		5482	public IniFile(string INIPath)
		5483	{
		5484	path = INIPath;
		5485	}
		5486
		5487	public void IniWriteValue(string Section, string Key, string Value)
		5488	{
		5489	WritePrivateProfileString(Section, Key, Value, this.path);
		5490	}
		5491
		5492	public string IniReadValue(string Section, string Key)
		5493	{
		5494	StringBuilder temp = new StringBuilder(255);
		5495	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		5496	return temp.ToString();
		5497	}
		5498	//Ini_sections auslesen in String-Array
		5499	public string[] IniSectionNames()
		5500	{
		5501
		5502	// uint MAX_BUFFER = 32767;
		5503	uint MAX_BUFFER = 8388608;
		5504	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		5505	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		5506	if (bytesReturned == 0)
		5507	{
		5508	Marshal.FreeCoTaskMem(pReturnedString);
		5509	return null;
		5510	}
		5511	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		5512	Marshal.FreeCoTaskMem(pReturnedString);
		5513	//use of Substring below removes terminating null for split
		5514	return local.Substring(0, local.Length - 1).Split('\0');
		5515
		5516
		5517	}
		5518	}
		5519	/// <summary>
		5520	/// Selected Win AI Function Calls
		5521	/// </summary>
		5522	public class WinApi
		5523	{
		5524	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		5525	public static extern int GetSystemMetrics(int which);
		5526	[DllImport("user32.dll")]
		5527	public static extern void
		5528	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		5529	int X, int Y, int width, int height, uint flags);
		5530
		5531	private const int SM_CXSCREEN = 0;
		5532	private const int SM_CYSCREEN = 1;
		5533	private static IntPtr HWND_TOP = IntPtr.Zero;
		5534	private const int SWP_SHOWWINDOW = 64; // 0x0040
		5535
		5536	public static int ScreenX
		5537	{
		5538	get { return GetSystemMetrics(SM_CXSCREEN); }
		5539	}
		5540
		5541	public static int ScreenY
		5542	{
		5543	get { return GetSystemMetrics(SM_CYSCREEN); }
		5544	}
		5545
		5546	public static void SetWinFullScreen(IntPtr hwnd)
		5547	{
		5548	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		5549	}
		5550	}
		5551	/// <summary>
		5552	/// Class used to preserve / restore state of the window
		5553	/// </summary>
		5554	public class WinState
		5555	{
		5556	private WindowState winState;
		5557	private WindowStyle brdStyle;
		5558	private bool topMost;
		5559	private Rect restore;
		5560	private bool IsMaximized = false;
		5561
		5562	public bool isMaximized
		5563	{
		5564	get { return IsMaximized; }
		5565	}
		5566	public void Maximize(Window targetForm)
		5567	{
		5568	if (!IsMaximized)
		5569	{
		5570	IsMaximized = true;
		5571	Save(targetForm);
		5572	targetForm.WindowState = WindowState.Maximized;
		5573	targetForm.WindowStyle = WindowStyle.None;
		5574	targetForm.Topmost = true;
		5575	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		5576	}
		5577	}
		5578
		5579	public void Save(Window targetForm)
		5580	{
		5581	winState = targetForm.WindowState;
		5582	brdStyle = targetForm.WindowStyle;
		5583	topMost = targetForm.Topmost;
		5584	restore = targetForm.RestoreBounds;
		5585	}
		5586	public void Restore(Window targetForm)
		5587	{
		5588	targetForm.WindowState = winState;
		5589	targetForm.WindowStyle = brdStyle;
		5590	targetForm.Topmost = topMost;
		5591
		5592	targetForm.Left = restore.Left;
		5593	targetForm.Top = restore.Top;
		5594	targetForm.Height = restore.Height;
		5595	targetForm.Width = restore.Width;
		5596	IsMaximized = false;
		5597	}
		5598	}
		5599	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs - Rev 2434