WebSVN - Projects - Blame - Rev 2435 - /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);
2435	-	750	canvasAddPoint.Margin = new Thickness(pWPAdd.X, pWPAdd.Y, canvasAddPoint.Margin.Left, canvasAddPoint.Margin.Bottom);
2432	-	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);
2435	-	769	canvasAddPoint.Visibility = Visibility.Collapsed;
2432	-	770	}
		771	}
		772	private void btnCmAddPOI_Click(object sender, RoutedEventArgs e)
		773	{
		774	if (pWPAdd != null)
		775	{
		776	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		777	_addWP(p,1);
2435	-	778	canvasAddPoint.Visibility = Visibility.Collapsed;
2432	-	779	}
		780	}
		781	private void btnCmAddFailsave_Click(object sender, RoutedEventArgs e)
		782	{
		783	if (pWPAdd != null)
		784	{
		785	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		786	_addWP(p,2);
2435	-	787	canvasAddPoint.Visibility = Visibility.Collapsed;
2432	-	788	}
		789	}
		790	private void btnCmAddLanding_Click(object sender, RoutedEventArgs e)
		791	{
		792	if (pWPAdd != null)
		793	{
		794	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		795	_addWP(p,3);
2435	-	796	canvasAddPoint.Visibility = Visibility.Collapsed;
2432	-	797	}
		798	}
		799
2287	-	800	#endregion events
		801
		802	#region GMap
		803
		804	void _setupMap()
		805	{
		806	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		807	MainMap.MapProvider = GMapProviders.BingHybridMap;
		808	MainMap.SetPositionByKeywords("Landshut");
		809	MainMap.MinZoom = 0;
		810	MainMap.MaxZoom = 24;
		811	MainMap.Zoom = 16;
		812	MainMap.ShowCenter = true;
		813	MainMap.ShowTileGridLines = false;
		814	sliderMapZoom.Value = 16;
		815	comboBoxMapType.ItemsSource = providerList;
		816	comboBoxMapType.DisplayMemberPath = "Name";
		817	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		818
		819	// acccess mode
		820	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		821	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		822
		823	}
2424	-	824
2287	-	825	/// <summary>
		826	/// selection of relevant map providers --> if You need more, You can change the line:
		827	/// comboBoxMapType.ItemsSource = providerList;
		828	/// to:
		829	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		830	/// in _setupMap()
		831	/// or add items here:
		832	/// </summary>
		833	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		834	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		835	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		836	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		837	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		838
		839	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		840	{
		841	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		842	copter = new GMapMarker(MainMap.Position);
2318	-	843
2424	-	844	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"), "red");
2318	-	845	if (comboBoxCopterColor.SelectionBoxItem != null)
		846	{
		847	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	848	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	849	}
2385	-	850	Dispatcher.Invoke(() => {
		851	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		852	{
		853	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		854	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		855	}
		856	});
2405	-	857	copter.Offset = new System.Windows.Point(-26, -26);
2287	-	858	copter.ZIndex = int.MaxValue;
		859	MainMap.Markers.Add(copter);
		860	copter.Position = MainMap.Position;
		861	}
2347	-	862	void _setHomePos()
2287	-	863	{
		864	pHome = MainMap.Position;
		865	if (!MainMap.Markers.Contains(home))
		866	{
		867	home = new GMapMarker(MainMap.Position);
		868	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	869	home.Offset = new System.Windows.Point(-16.5, -16.5);
2287	-	870	// home.ZIndex = int.MaxValue;
		871	MainMap.Markers.Add(home);
		872	}
		873	home.Position = MainMap.Position;
		874	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	875
		876	if (checkBoxShowWPMaxRange.IsChecked == true)
		877	{
		878	if (cWPBound != null && cWPBound.Tag != null)
		879	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		880
		881	createCircle(home.Position, dWPMaxRange);
2408	-	882	Dispatcher.Invoke(() =>
		883	{
		884	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		885	{
		886	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		887	cWPBound.setColor(s);
		888	}
		889	});
2405	-	890	}
		891
2287	-	892	}
2347	-	893	void _setActiveWP(int iIndex)
2287	-	894	{
2429	-	895	if (iIndex < wpList.Count)
2347	-	896	{
2429	-	897	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
2347	-	898	{
2429	-	899	Dispatcher.Invoke(() =>
		900	{
		901	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		902	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		903	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		904	MainMap.Markers.Add(wpActiveMarker);
		905	});
		906	}
		907	else
		908	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
2347	-	909	}
		910
2401	-	911	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
2347	-	912	}
		913	void _clearHomePos()
		914	{
2287	-	915	MainMap.Markers.Remove(home);
2405	-	916	if (cWPBound != null && cWPBound.Tag != null)
		917	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2287	-	918	}
2335	-	919	void _clearMapMarkers(Type markerType)
		920	{
		921	for (int k = 0; k < MainMap.Markers.Count;)
		922	{
		923	GMapMarker p = MainMap.Markers[k];
2340	-	924	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	925	MainMap.Markers.Remove(p);
		926	else
		927	k++;
		928	}
2419	-	929	_WPisMouseCaptured = false;
2335	-	930	}
2369	-	931
		932	GMapMarker _findWPMarker(string name)
2368	-	933	{
		934	for (int k = 0; k < MainMap.Markers.Count;)
		935	{
		936	GMapMarker p = MainMap.Markers[k];
		937	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	938	if (((CustomMarkerWP)p.Shape).WPText == name)
		939	return p;
2368	-	940	else
		941	k++;
		942	else
		943	k++;
		944	}
2369	-	945	return null;
2368	-	946	}
2369	-	947	void _clearWPMarker(string name)
		948	{
		949	GMapMarker p = _findWPMarker(name);
2424	-	950	if (p != null)
2369	-	951	MainMap.Markers.Remove(p);
		952	}
2368	-	953	void _renameWPMarker(string s1, string s2)
		954	{
2369	-	955	GMapMarker p = _findWPMarker(s1);
		956	if (p != null)
		957	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	958	}
2372	-	959	void _WPMarkerSetType(string text, int type)
		960	{
		961	GMapMarker p = _findWPMarker(text);
		962	if (p != null)
		963	((CustomMarkerWP)p.Shape).WPType = type;
		964	}
2369	-	965	void _repositionWPMarker(PointLatLng point, string name)
		966	{
		967	GMapMarker p = _findWPMarker(name);
		968	if (p != null)
		969	p.Position = point;
		970	}
		971
2405	-	972	void createCircle(PointLatLng center, double distance)
		973	{
		974
		975	GMapMarker it = new GMapMarker(center);
		976	it.ZIndex = -1;
2424	-	977
2405	-	978	cWPBound.Center = center;
		979	cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance);
		980	cWPBound.Tag = it;
		981	cWPBound.IsHitTestVisible = false;
		982	UpdateCircle(cWPBound);
		983	it.Shape = cWPBound;
		984	MainMap.Markers.Add(it);
		985	}
		986	// calculates circle radius
		987	void UpdateCircle(Circle c)
		988	{
		989	var pxCenter = MainMap.FromLatLngToLocal(c.Center);
		990	var pxBounds = MainMap.FromLatLngToLocal(c.Bound);
		991
		992	double a = (double)(pxBounds.X - pxCenter.X);
		993	double b = (double)(pxBounds.Y - pxCenter.Y);
		994	var pxCircleRadius = Math.Sqrt(a * a + b * b);
		995
		996	c.Width = c.Height = pxCircleRadius * 2;
		997	//c.Width = 55 + pxCircleRadius * 2;
		998	//c.Height = 55 + pxCircleRadius * 2;
		999	(c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2);
		1000	}
		1001
2287	-	1002	// access mode
		1003	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		1004	{
		1005	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		1006	MainMap.ReloadMap();
		1007	}
		1008	// zoom up
		1009	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		1010	{
		1011	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		1012	}
		1013
		1014	// zoom down
		1015	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		1016	{
		1017	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		1018	}
		1019
		1020	// prefetch
		1021	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		1022	{
		1023	RectLatLng area = MainMap.SelectedArea;
		1024	if (!area.IsEmpty)
		1025	{
		1026	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		1027	{
		1028	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		1029
		1030	if (res == MessageBoxResult.Yes)
		1031	{
		1032	TilePrefetcher obj = new TilePrefetcher();
		1033	obj.Owner = this;
		1034	obj.ShowCompleteMessage = true;
		1035	obj.Start(area, i, MainMap.MapProvider, 100);
		1036	}
		1037	else if (res == MessageBoxResult.No)
		1038	{
		1039	continue;
		1040	}
		1041	else if (res == MessageBoxResult.Cancel)
		1042	{
		1043	break;
		1044	}
		1045	}
		1046	}
		1047	else
		1048	{
		1049	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1050	}
		1051	}
		1052
		1053	// goto by geocoder
		1054	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		1055	{
		1056	_goto_byGeoCoder();
		1057	}
		1058	// goto by geocoder
		1059	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		1060	{
		1061	if (e.Key == System.Windows.Input.Key.Enter)
		1062	_goto_byGeoCoder();
		1063	}
		1064	void _goto_byGeoCoder()
		1065	{
		1066	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		1067	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		1068	{
		1069	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1070	}
		1071	}
		1072	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		1073	{
		1074	try
		1075	{
		1076	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		1077	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		1078
		1079	MainMap.Position = new PointLatLng(lat, lng);
		1080	}
		1081	catch (Exception ex)
		1082	{
		1083	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		1084	}
		1085
		1086	}
		1087
		1088	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		1089	{
		1090	MainMap.ReloadMap();
		1091	}
		1092
		1093	private void MainMap_OnPositionChanged(PointLatLng point)
		1094	{
		1095	if (_bFollowCopter)
		1096	_setCopterData(MainMap.Position);
		1097	}
		1098
		1099	private void MainMap_OnMapZoomChanged()
		1100	{
		1101	if (_bFollowCopter)
		1102	_setCopterData(MainMap.Position);
2424	-	1103	if ((int)sliderMapZoom.Value != MainMap.Zoom)
2287	-	1104	sliderMapZoom.Value = MainMap.Zoom;
2424	-	1105	if (cWPBound != null && cWPBound.Tag != null)
2405	-	1106	UpdateCircle(cWPBound);
2287	-	1107	}
		1108
		1109	void _setCopterData(PointLatLng p)
		1110	{
		1111	Dispatcher.Invoke(() =>
		1112	{
		1113	copter.Position = p;
		1114	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		1115	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		1116	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		1117	});
		1118	if (home != null && MainMap.Markers.Contains(home))
		1119	{
		1120	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		1121	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		1122	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	1123
2424	-	1124	if (d * 1000 < _dThresholdDistanceWarn)
2291	-	1125	{
		1126	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		1127	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		1128	{
		1129	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		1130	_bAnimDistanceActive = false;
		1131	}
		1132	}
		1133	else
		1134	{
		1135	if (_iDistanceJitter < 20)
		1136	{ _iDistanceJitter++; }
		1137	if (_iDistanceJitter == 20)
		1138	{
		1139	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		1140	{
		1141	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		1142	_bAnimDistanceActive = true;
		1143	}
		1144	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		1145	{
2398	-	1146	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		1147	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		1148	//t.Start();
2291	-	1149	_bVoiceDistanceActive = true;
		1150	}
		1151	_iDistanceJitter++;
		1152	}
		1153	}
2287	-	1154	}
		1155	}
		1156
		1157	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		1158	{
		1159	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		1160	}
		1161
		1162	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1163	{
		1164	if (MainMap.Zoom != sliderMapZoom.Value)
		1165	MainMap.Zoom = (int)sliderMapZoom.Value;
		1166	}
		1167	#region Touch zooming hackattack ;)
		1168	/// <summary>
		1169	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1170	/// </summary>
		1171	bool bFirstAccess = true;
		1172	double dDistance = 0;
		1173	int iZoom;
		1174	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1175	{
2419	-	1176	if (!_WPisMouseCaptured)
2287	-	1177	{
2419	-	1178	var id = e.StylusDevice.Id;
		1179	e.StylusDevice.Capture(MainMap);
		1180	if (iFirstStylusID == -1)
		1181	{
		1182	iFirstStylusID = id;
		1183	}
		1184	else
		1185	{
2287	-	1186
2419	-	1187	MainMap.CanDragMap = false;
		1188	}
2287	-	1189	}
		1190	}
		1191	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1192	{
		1193	MainMap.ReleaseStylusCapture();
		1194	iFirstStylusID = -1;
		1195	bFirstAccess = true;
		1196	MainMap.CanDragMap = true;
		1197	iZoom = 0;
		1198	}
		1199	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1200	{
		1201	var id = e.StylusDevice.Id;
		1202	var tp = e.GetPosition(MainMap);
		1203
		1204	// This is the first Stylus point; just record its position.
		1205	if (id == iFirstStylusID)
		1206	{
		1207	pTouch1.X = tp.X;
		1208	pTouch1.Y = tp.Y;
		1209	}
		1210	else
		1211	if (iFirstStylusID > -1)
		1212	{
		1213	pTouch2.X = tp.X;
		1214	pTouch2.Y = tp.Y;
		1215	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1216	if (!bFirstAccess)
		1217	{
		1218	if (distance > dDistance)
		1219	iZoom++;
		1220	else
		1221	if (distance < dDistance)
		1222	iZoom--;
		1223	}
		1224	if (iZoom > 30)
		1225	{
		1226	iZoom = 0;
		1227	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1228	}
		1229	if (iZoom < -30)
		1230	{
		1231	iZoom = 0;
		1232	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1233	}
		1234	dDistance = distance;
		1235	bFirstAccess = false;
		1236	}
		1237	}
		1238	#endregion Touch zooming hackattack ;)
		1239
		1240	#endregion GMap
		1241
		1242	#region settings
		1243	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1244	{
2424	-	1245	if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
2287	-	1246	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1247	}
		1248	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1249	{
2424	-	1250	if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1)
2287	-	1251	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1252	}
		1253	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1254	{
		1255	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1256	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1257	}
		1258	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1259	{
		1260	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1261	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1262	}
		1263	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1264	{
		1265	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1266	}
		1267	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1268	{
		1269	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1270	}
		1271	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1272	{
		1273	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1274	}
		1275	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1276	{
		1277	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1278	}
		1279
		1280	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1281	{
		1282	if (cBoxLiPoCells.SelectedIndex > -1)
		1283	{
		1284	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1285	_LipoMinMax();
		1286	}
		1287	}
		1288	void _LipoMinMax()
		1289	{
		1290	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1291	_dLipoVMin = (double)_LipoCells * 3;
		1292	pbTopVoltage.Maximum = _dLipoVMax;
		1293	pbTopVoltage.Minimum = _dLipoVMin;
		1294	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1295	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1296	}
		1297	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1298	{
		1299	if (cBoxMotors.SelectedIndex > -1)
		1300	{
		1301	_iMotors = cBoxMotors.SelectedIndex + 3;
		1302	Dispatcher.Invoke(() =>
		1303	{
		1304	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1305	GridMotors.Height = dgvMotors1.Height + 10;
		1306	});
		1307	}
		1308	}
		1309	void _setMotorGridSize()
		1310	{
		1311	if (dgvMotors1.Columns.Count > 2)
		1312	{
		1313	dgvMotors1.Columns[0].Width = 24;
		1314	dgvMotors1.Columns[1].Width = 50;
		1315	dgvMotors1.Columns[2].Width = 50;
		1316	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1317	GridMotors.Height = dgvMotors1.Height + 10;
		1318	}
		1319
		1320	}
		1321	#endregion settings
		1322
		1323	#region functions
		1324
		1325	#region logging
		1326	/// <summary> Log data to the terminal window. </summary>
		1327	/// <param name="msgtype"> The type of message to be written. </param>
		1328	/// <param name="msg"> The string containing the message to be shown. </param>
		1329	private void Log(LogMsgType msgtype, string msg)
		1330	{
		1331	Dispatcher.Invoke(() =>
		1332	{
2424	-	1333	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1334	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1335	// rtfTerminal.AppendText(msg + "\r");
		1336	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd);
2287	-	1337	tr.Text = msg;
		1338	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1339	rtfTerminal.AppendText("\r");
		1340	rtfTerminal.ScrollToEnd();
		1341	});
		1342	}
2424	-	1343	private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName)
2287	-	1344	{
2381	-	1345
2287	-	1346	Dispatcher.Invoke(() =>
		1347	{
2381	-	1348	Paragraph para = new Paragraph();
		1349	para.Margin = new Thickness(0); // remove indent between paragraphs
		1350
		1351	Hyperlink link = new Hyperlink();
		1352	if (linkURL != "" && linkName != "")
		1353	{
		1354	link.IsEnabled = true;
		1355	link.Inlines.Add(linkName);
		1356	link.NavigateUri = new Uri(linkURL);
		1357	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1358	}
		1359	//msg = DateTime.Now.ToLongTimeString() + msg;
		1360	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1361	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1362	r.Foreground = new SolidColorBrush(Colors.Black);
		1363	para.Inlines.Add(r);
		1364	para.Inlines.Add(msg);
		1365	para.Inlines.Add(link);
		1366	rtfError.Document.Blocks.Add(para);
		1367	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1368	//tr.Text = msg + link;
		1369	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1370	//rtfError.AppendText("\r");
2287	-	1371	rtfError.ScrollToEnd();
		1372
2381	-	1373	//_bErrorLog = true;
2287	-	1374	});
		1375	}
		1376	/// <summary>
		1377	/// Clear the line in the errorlog window
		1378	/// containing the error string when error has ceased
		1379	/// </summary>
		1380	/// <param name="s">substring of errrormessage</param>
		1381	void _clearErrorLog(string s)
		1382	{
		1383	Dispatcher.Invoke((Action)(() =>
		1384	{
		1385	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1386	TextRange foundRange = FindTextInRange(searchRange, s);
		1387
		1388	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1389
		1390
		1391	if (iStart > -1)
		1392	{
		1393	int iLength = 0;
		1394	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1395	if (iEnd > 0)
		1396	{
		1397	iLength = iEnd + 1;
2424	-	1398	int iHttp = searchRange.Text.IndexOf("http", iEnd);
2287	-	1399	if (iHttp == iLength)
		1400	{
		1401	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1402	if (iEnd2 > iLength)
		1403	{
		1404	iLength = iEnd2 + 1;
2424	-	1405	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
2287	-	1406
		1407	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1408	rtfError.Selection.Text = string.Empty;
		1409	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1410	}
		1411
		1412	}
		1413	else
		1414	{
		1415	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1416	rtfError.Selection.Text = string.Empty;
		1417	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1418	}
		1419	}
		1420	}
		1421	}));
		1422
		1423	}
		1424	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1425	{
		1426	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1427	if (offset < 0)
		1428	return null; // Not found
		1429
		1430	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1431	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1432
		1433	return result;
		1434	}
		1435	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1436	{
		1437	while (position != null)
		1438	{
		1439	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1440	{
		1441	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1442	if (characterCount <= count)
		1443	{
		1444	return position.GetPositionAtOffset(characterCount);
		1445	}
		1446
		1447	characterCount -= count;
		1448	}
		1449
		1450	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1451	if (nextContextPosition == null)
		1452	return position;
		1453
		1454	position = nextContextPosition;
		1455	}
		1456
		1457	return position;
		1458	}
		1459	#endregion logging
		1460
		1461	#region processing received data
		1462
		1463	private void processMessage(byte[] message)
		1464	{
		1465	if (message.Length > 0)
		1466	{
		1467	_iLifeCounter++;
		1468	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1469	//Log(LogMsgType.Incoming, message.Length.ToString());
		1470	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1471	char cmdID;
		1472	byte adr;
		1473	byte[] data;
		1474	byte[] tmp = null;
		1475	if (message[0] != '#')
		1476	{
		1477	int iFound = -1;
		1478	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1479	{ //so this is a workaround to not spam the log box
		1480	if (message[i] == 35)
		1481	{
		1482	iFound = i;
		1483	break;
		1484	}
		1485	}
		1486	if (iFound > 0)
		1487	{
		1488	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1489	tmp = new byte[message.Length - iFound];
		1490	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1491	}
		1492	s = s.Trim('\0', '\n', '\r');
		1493	if (s.Length > 0)
		1494	Log(LogMsgType.Normal, s);
		1495	if (tmp != null)
		1496	{
		1497	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1498	processMessage(tmp);
		1499	}
		1500	}
		1501	//Debug.Print(s);
		1502	else
		1503	{
		1504	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1505
		1506	if (adr == 255) { crcError++; }
		1507	else crcError = 0;
		1508	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1509	//display the active controller (FC / NC)
		1510	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...???
		1511	{
		1512	_iCtrlAct = adr;
		1513	switch (adr)
		1514	{
		1515	case 1:
		1516	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2429	-	1517	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1518	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
2424	-	1519	// _setFieldsNA(); //display fields NA for FC
2287	-	1520	break;
		1521	case 2:
		1522	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
2429	-	1523	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1524	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
2287	-	1525	break;
		1526	//case 3:
		1527	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1528	// break;
		1529	//case 4:
		1530	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1531	// break;
		1532	default:
		1533	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1534	break;
		1535	}
2424	-	1536	// _loadLabelNames();
2287	-	1537	}
		1538	// else
		1539	// Debug.Print("Address == 0?");
		1540
		1541	if (data != null && data.Length > 0)
		1542	{
		1543	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1544	s = s.Trim('\0', '\n');
		1545
		1546	switch (cmdID)
		1547	{
		1548	//case 'A': //Label names
		1549	// _processLabelNames(s);
		1550	// break;
		1551
		1552	case 'D': //Debug data
		1553	_processDebugVals(adr, data);
		1554	break;
		1555
		1556	case 'V': //Version
		1557	_processVersion(adr, data);
		1558	break;
		1559
		1560	case 'K'://BL-CTRL data
		1561	_processBLCtrl(data);
		1562	break;
		1563
2424	-	1564	case 'M'://License info
		1565	_processLicense(data);
		1566	break;
		1567
2287	-	1568	case 'O': //NC Data
2428	-	1569	if (data[0] < 10)
		1570	_processNCData(data);
		1571	else
		1572	_processNCDataV2(data);
2287	-	1573	break;
		1574
2381	-	1575	//case 'E': //NC error-string
		1576	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1577	// break;
2287	-	1578
		1579	case 'L': //OSD Menue (called by pagenumber)
		1580	_processOSDSingle(data);
		1581	break;
		1582
		1583	case 'H': //OSD Menue (with autoupdate - called by Key)
		1584	_processOSDAuto(data);
		1585	break;
		1586
		1587	case 'X': //Waypoint data
		1588	_processWPData(data);
		1589	break;
		1590
2313	-	1591	case 'W': //return new Waypoint items count after sending waypoint to copter
		1592	_iWPCount = data[0];
		1593	break;
2287	-	1594	//default:
		1595	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1596	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1597	// break;
		1598	}
		1599	}
		1600	//else
		1601	//{
		1602	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1603	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1604	//}
		1605	}
		1606	}
		1607	}
		1608	/// <summary>
		1609	/// Analog label names 'A'
		1610	/// each label name is returned as a single string
		1611	/// and added to string array sAnalogLabel[]
		1612	/// and the datatable dtAnalog
		1613	/// </summary>
		1614	/// <param name="s">the label name</param>
		1615	void _processLabelNames(string s)
		1616	{
		1617	//if (iLableIndex < 32)
		1618	//{
		1619	// sAnalogLabel[iLableIndex] = s;
		1620	// if (dtAnalog.Rows.Count < 32)
		1621	// dtAnalog.Rows.Add(s, "");
		1622	// else
		1623	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1624
		1625	// // _getAnalogLabels(iLableIndex + 1);
		1626	//}
		1627	//Debug.Print(s);
		1628	}
		1629	/// <summary>
		1630	/// Debug values 'D'
		1631	/// </summary>
		1632	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1633	/// <param name="data">the received byte array to process</param>
		1634	void _processDebugVals(byte adr, byte[] data)
		1635	{
		1636	if (data.Length == 66)
		1637	{
2424	-	1638
2287	-	1639	double v;
		1640	int index = 0;
		1641	Int16 i16 = 0;
		1642	double dTemp = 0;
		1643	for (int i = 2; i < 66; i += 2)
		1644	{
		1645	i16 = data[i + 1];
		1646	i16 = (Int16)(i16 << 8);
		1647	iAnalogData[index] = data[i] + i16;
		1648	sAnalogData[index] = (data[i] + i16).ToString();
2424	-	1649	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
2287	-	1650
		1651	if (adr == 2) //NC
		1652	{
		1653	switch (index)
		1654	{
		1655	case 0: //pitch (German: nick)
		1656	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1657	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1658	break;
		1659	case 1: //roll
		1660	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1661	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1662	break;
		1663	case 4: //altitude
		1664	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1665	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2424	-	1666	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1667	break;
		1668	case 7: //Voltage
		1669	v = (double)iAnalogData[index] / (double)10;
		1670	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1671	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1672	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1673	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1674	{
		1675	if (v == _dVoltLast)
2424	-	1676	if (_iVoltJitter < 20) _iVoltJitter++;
		1677	else
		1678	{
		1679	_iVoltJitter = 0;
		1680	_dVoltLast = v;
		1681	}
2287	-	1682	if (_iVoltJitter == 20)
		1683	{
		1684	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1685
		1686	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1687	{
		1688	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1689	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1690	{
		1691	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1692	_bCritAnimVoltActive = true;
		1693	}
		1694	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1695	{
2398	-	1696	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1697	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1698	//t.Start();
2287	-	1699	_bCritVoiceVoltActive = true;
		1700	}
		1701	}
		1702	else
		1703	{
		1704	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1705	{
		1706	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1707	_bCritAnimVoltActive = false;
		1708	}
		1709	_bCritVoiceVoltActive = false;
		1710
2291	-	1711	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1712	{
2398	-	1713	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1714	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1715	//t.Start();
2291	-	1716	_bWarnVoiceVoltActive = true;
2287	-	1717	}
		1718	}
		1719	}
		1720	}
		1721	else
		1722	{
		1723	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1724	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1725	{
		1726	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1727	_bCritAnimVoltActive = false;
		1728	}
		1729	_bCritVoiceVoltActive = false;
2291	-	1730	_bWarnVoiceVoltActive = false;
2287	-	1731	_iVoltJitter = 0;
		1732	}
		1733	break;
		1734	case 8: // Current
		1735	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1736	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1737	break;
		1738	case 10: //heading
2291	-	1739	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2399	-	1740	if (!_Simulate) //use NavData for simulation
		1741	{
		1742	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1743	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1744	}
2287	-	1745	break;
		1746	case 12: // SPI error
2291	-	1747	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1748	break;
		1749	case 14: //i2c error
2291	-	1750	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1751	break;
		1752	case 20: //Earthmagnet field
2291	-	1753	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1754	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
2424	-	1755
2291	-	1756	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1757	{
		1758	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1759	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1760	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1761	{
		1762	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1763	_bAnimMagneticFieldActive = false;
		1764	}
		1765	}
		1766	else
		1767	{
		1768	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
2424	-	1769	if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
2291	-	1770	{
		1771	if (_iMagneticFieldJitter < 20)
		1772	_iMagneticFieldJitter++;
		1773	}
		1774	else
		1775	{
		1776	_iMagneticFieldJitter = 0;
		1777	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1778	}
2424	-	1779	if (_iMagneticFieldJitter == 20)
2291	-	1780	{
		1781	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1782	{
		1783	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1784	_bAnimMagneticFieldActive = true;
		1785	}
		1786	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1787	{
2398	-	1788	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1789	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1790	//t.Start();
2291	-	1791	_bVoiceMagneticFieldActive = true;
		1792	}
		1793	}
		1794	}
2287	-	1795	break;
		1796	case 21: //GroundSpeed
2424	-	1797	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1798	if (!_Simulate)
		1799	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2287	-	1800	break;
2291	-	1801
		1802	///******** needs testing --> not sure what position this is *************
2287	-	1803	case 28: //Distance East from saved home position -> calculate distance with distance N + height
2424	-	1804	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1805	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1806	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1807	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1808	dTemp = Math.Sqrt(dTemp) / (double)10;
		1809	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1810	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
2287	-	1811	break;
2291	-	1812
2287	-	1813	case 31: //Sats used
2424	-	1814	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1815	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
2287	-	1816	break;
		1817	}
		1818	}
		1819	index++;
		1820	}
		1821	}
		1822	else
		1823	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1824	}
		1825	/// <summary>
		1826	/// Version string 'V'
		1827	/// </summary>
		1828	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1829	/// <param name="data">the received byte array to process</param>
		1830	void _processVersion(byte adr, byte[] data)
		1831	{
		1832	if (data.Length == 12)
		1833	{
		1834	if (!check_HWError)
		1835	{
		1836	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1837	string sVersion = "";
		1838	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1839	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1840	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1841	Log(LogMsgType.Incoming, sVersion);
		1842	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1843	Log(LogMsgType.Incoming, sVersion);
		1844	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1845	}
		1846	if (data[5] > 0) //error0
		1847	{
		1848	if (adr == 1)
2424	-	1849	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", "");
2287	-	1850	if (adr == 2)
2424	-	1851	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", "");
2287	-	1852	}
		1853	if (data[6] > 0) //error1
		1854	{
		1855	if (adr == 1)
2424	-	1856	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", "");
2287	-	1857	if (adr == 2)
2424	-	1858	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field
2287	-	1859	}
2381	-	1860	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1861	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1862
		1863	}
		1864	check_HWError = false;
		1865	}
2424	-	1866
		1867	void _processLicense(byte[] data)
		1868	{
		1869	if (data.Length > 480)
		1870	{
		1871	Dispatcher.Invoke(() => {
		1872	tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127));
		1873	tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127));
		1874	tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127));
		1875	tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11));
		1876	tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16));
		1877	});
		1878	}
		1879	}
2287	-	1880	/// <summary>
		1881	/// BL-Ctrl data 'K'
		1882	/// for FC you have to use a customized firmware
		1883	/// </summary>
		1884	/// <param name="data">the received byte array to process</param>
		1885	void _processBLCtrl(byte[] data)
		1886	{
		1887	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1888	{
		1889	bool bAvailable = false;
		1890	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1891	{
		1892
		1893	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1894	bAvailable = true;
		1895	else
		1896	bAvailable = false;
		1897
		1898	if (data[i] < _iMotors)
		1899	{
		1900	if (bAvailable)
		1901	{
2315	-	1902	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1903	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1904	}
		1905	else
		1906	{
2315	-	1907	dtMotors.Rows[data[i]].SetField(1, "NA");
		1908	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1909	}
		1910	}
		1911	//if (data[i] > 3 && data[i] < 8)
		1912	//{
		1913	// if (bAvailable)
		1914	// {
		1915	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1916	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1917	// }
		1918	// else
		1919	// {
		1920	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1921	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1922	// }
		1923	//}
		1924	}
		1925	}
		1926	}
		1927	/// <summary>
		1928	/// Navi-Ctrl data 'O'
		1929	/// GPS-Position, capacatiy, flying time...
		1930	/// </summary>
		1931	/// <param name="data">the received byte array to process</param>
2428	-	1932
		1933
		1934	byte OSDSTATUSFLAGS1 = 0;
		1935	byte OSDSTATUSFLAGS2 = 0;
		1936	void _processNCDataV2(byte[] data)
		1937	{
2429	-	1938	if ((int)data[0] < 17)
2428	-	1939	{
2429	-	1940	int i_32, i_16, iVal;
		1941	double d;
		1942	OSD_Base_Data_t osd = new OSD_Base_Data_t(data);
		1943	OSDSTATUSFLAGS1 = osd.OSDSTATUSFLAGS1();
		1944	Dispatcher.Invoke(() => { drGPX[2] = osd.Pos().Lng; });
		1945	Dispatcher.Invoke(() => { drGPX[1] = osd.Pos().Lat; });
		1946	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		1947	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		1948	if (_Simulate)
		1949	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = osd.Speed().ToString("0.0 m/s")));
2428	-	1950
2429	-	1951	switch ((int)data[0])
		1952	{
		1953	case 10:
2431	-	1954	char[] c = Encoding.ASCII.GetChars(new byte[] { data[13] });
		1955	Dispatcher.Invoke((Action)(() => tbCamCtrl.Text = c[0].ToString()));
2429	-	1956	break;
		1957	case 11:
		1958	OSDSTATUSFLAGS2 = osd.OSDSTATUSFLAGS2();
		1959	//---------------NC-Flags--------------------------
		1960	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[14] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1961	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[14] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1962	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[14] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1963	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[14] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1964	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[14] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1965	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[14] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1966	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[14] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2428	-	1967
2429	-	1968	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[14] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		1969	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
		1970	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
		1971	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	-	1972
2429	-	1973	//--------------- NC Error ------------------------
		1974	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[16].ToString())); //NC Errornumber
		1975	if (data[16] > 0)
		1976	_readNCError();
		1977	if (data[16] > 0 & data[16] < 44)
		1978	ErrorLog(LogMsgType.Error, " NC Error [" + data[16].ToString() + "]: ", NC_Error_Link[data[16]], NC_Error[data[16]]);
2428	-	1979
2429	-	1980	break;
		1981	case 12:
		1982	//--------------- RC quality ------------------------
		1983	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[23].ToString()));
		1984	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[23].ToString()));
		1985
		1986	if (data[23] > _iThresholdRC)
2428	-	1987	{
2429	-	1988	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1989	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1990	{
		1991	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1992	_bAnimRCLevelActive = false;
		1993	}
2428	-	1994	}
2429	-	1995	else
2428	-	1996	{
2429	-	1997	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1998	if (_iRCLevelJitter == 20)
2428	-	1999	{
2429	-	2000	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2001	{
		2002	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2003	_bAnimRCLevelActive = true;
		2004	}
		2005	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2006	{
		2007	_bVoiceRCLevelActive = true;
		2008	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2009	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2010	//th.Start();
		2011	}
		2012	_iRCLevelJitter++;
2428	-	2013	}
		2014	}
2429	-	2015	break;
		2016	case 13:
		2017	//-------------------------Waypoint max range (by license)------------------------------
		2018	i_32 = data[24];
		2019	iVal = i_32 << 8;
		2020	iVal += data[23];
2428	-	2021
2429	-	2022	if (dWPMaxRange != iVal)
2428	-	2023	{
2429	-	2024	dWPMaxRange = iVal;
		2025	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2026	{
		2027	if (cWPBound != null && cWPBound.Tag != null)
		2028	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2428	-	2029
2429	-	2030	createCircle(home.Position, dWPMaxRange);
		2031	Dispatcher.Invoke(() =>
2428	-	2032	{
2429	-	2033	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2034	{
		2035	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2036	cWPBound.setColor(s);
		2037	}
		2038	});
		2039	}
		2040	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = iVal.ToString() + " m"));
2428	-	2041	}
2431	-	2042	//--------------- LiPoCell count ------------------------
		2043	Dispatcher.Invoke((Action)(() => tbLiPoCells.Text = data[25].ToString()));
2428	-	2044
2429	-	2045	break;
2428	-	2046
2429	-	2047	case 14:
		2048	//--------------- Flying time ------------------------
		2049	i_16 = data[14];
		2050	i_16 = (Int16)(i_16 << 8);
		2051	iVal = data[13] + i_16;
		2052	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2053	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2054	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2055	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
2428	-	2056
2429	-	2057	//--------------------------------Distance HP------------------------------------
		2058	i_16 = data[16];
		2059	i_16 = (Int16)(i_16 << 8);
		2060	iVal = data[15] + i_16;
		2061	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2428	-	2062
2429	-	2063	//--------------------------Distance to next WP--------------------------------
		2064	i_16 = data[19];
		2065	i_16 = (Int16)(i_16 << 8);
		2066	iVal = data[18] + i_16;
		2067	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2068	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		2069	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2428	-	2070
2429	-	2071	//-------------------Satellites----------------------------------
		2072	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[23].ToString()));
2428	-	2073
2429	-	2074	if (data[23] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
2428	-	2075	{
2429	-	2076	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		2077	if (_bAutoHome && !_bFirstSatFix)
2428	-	2078	{
2429	-	2079	if (_iFirstSatFix < 3)
		2080	_iFirstSatFix++;
		2081	else
		2082	{
		2083	_bFirstSatFix = true;
		2084	Dispatcher.Invoke(() => _setHomePos());
		2085	}
2428	-	2086	}
2429	-	2087	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2088	{
		2089	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2090	_bAnimSatFixActive = false;
		2091	}
		2092	if (!_bFollowCopter)
		2093	{
		2094	_setCopterData(osd.Pos());
		2095	if (!MainMap.ViewArea.Contains(osd.Pos()))
		2096	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2097
		2098	}
		2099	else
2428	-	2100	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2101	}
		2102	else
		2103	{
2429	-	2104	if (_bSatFix)
2428	-	2105	{
2429	-	2106	if (data[23] == _iSatsLast)
2428	-	2107	{
2429	-	2108	if (_iSatsJitter < 20) _iSatsJitter++;
2428	-	2109	}
2429	-	2110	else
2428	-	2111	{
2429	-	2112	_iSatsJitter = 0;
		2113	_iSatsLast = data[23];
2428	-	2114	}
		2115
2429	-	2116	if (_iSatsJitter == 20)
		2117	{
		2118	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2119	{
		2120	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2121	_bAnimSatFixActive = true;
		2122	}
		2123	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2124	{
		2125	_bVoiceSatFixActive = true;
		2126	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2127	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2128	//th.Start();
		2129	}
		2130
		2131	_bSatFix = false;
		2132	}
2428	-	2133	}
		2134	}
		2135
2429	-	2136	break;
2428	-	2137
2429	-	2138	case 15:
		2139	//--------------------------------Waypoint index------------------------------------
		2140	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[13].ToString()));
		2141	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[13].ToString()));
		2142	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[13].ToString()));
		2143	if (data[13] > 0 && _wpIndex != data[13] - 1 && wpList.Count > data[13] - 1)
		2144	{
		2145	_setActiveWP(data[13] - 1);
		2146	if ((OSDSTATUSFLAGS2 & 2) == 2)
		2147	Dispatcher.Invoke(() =>
2428	-	2148	{
2429	-	2149	DataGridRow row;
		2150	if (_wpIndex > -1)
		2151	{
		2152	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2153	row.Background = new SolidColorBrush(Colors.Transparent);
		2154	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2155	row.BorderThickness = new Thickness(0);
		2156	}
		2157
		2158	_wpIndex = data[13] - 1;
2428	-	2159	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2429	-	2160	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2161	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2162	row.BorderThickness = new Thickness(2);
		2163	dgvWP.UpdateLayout();
		2164	});
		2165	_wpIndex = data[13] - 1;
		2166	}
		2167	else
2428	-	2168	{
2429	-	2169	if ((data[13] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2428	-	2170	{
2429	-	2171	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2172	Dispatcher.Invoke(() =>
2428	-	2173	{
2429	-	2174	DataGridRow row;
		2175	if (_wpIndex > -1 && data[13] == 0 && wpList.Count > _wpIndex)
		2176	{
		2177	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2178	row.Background = new SolidColorBrush(Colors.Transparent);
		2179	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2180	row.BorderThickness = new Thickness(0);
		2181	_wpIndex = -1;
		2182	}
		2183	});
2428	-	2184
2429	-	2185	}
2428	-	2186	}
2429	-	2187	//----------------Waypoints count----------------------
		2188	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[14].ToString())); //Waypoints count
		2189	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[14].ToString())); //Waypoints count
		2190	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[14].ToString())); //Waypoints count
		2191	_wpCount = data[14];
		2192	if(_wpCount > dtWaypoints.Rows.Count)
		2193	{
		2194	Log(LogMsgType.Warning, "The copter reports more waypoints than there are in the local list!");
		2195	}
2428	-	2196
2429	-	2197	//---------------------------------Target hold time------------------------------
		2198	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[15].ToString() + " s"));
		2199	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[15].ToString() + " s"));
2428	-	2200
2429	-	2201	break;
2428	-	2202
2429	-	2203	case 16:
		2204	//--------------- Capacity used ------------------------
		2205	i_16 = data[18];
		2206	i_16 = (Int16)(i_16 << 8);
		2207	iVal = data[17] + i_16;
		2208	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2209	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
2428	-	2210
2429	-	2211	//--------------- Heading compass ------------------------
		2212	i_16 = data[21];
		2213	iVal = 2 * i_16;
		2214	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2215	if (_Simulate)
		2216	{
		2217	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2218	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2219	}
2428	-	2220
2429	-	2221	break;
		2222	case 17:
2428	-	2223
2429	-	2224	break;
		2225	case 18:
2428	-	2226
2429	-	2227	break;
		2228	default:
		2229	break;
		2230	}
		2231	//--------------------------------------------------------------------------------
		2232	//-----------------------------FC Status Flags-------------------------------
		2233	//--------------------------------------------------------------------------------
		2234	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2235	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((OSDSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2236	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((OSDSTATUSFLAGS1 & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2237	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((OSDSTATUSFLAGS2 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2238	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2239	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((OSDSTATUSFLAGS1 & 32) == 32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
2428	-	2240
2429	-	2241	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2242	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2243	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((OSDSTATUSFLAGS2 & 4) == 4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2244	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((OSDSTATUSFLAGS1 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2245	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((OSDSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2246	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
		2247	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((OSDSTATUSFLAGS2 & 64) == 64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2248	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((OSDSTATUSFLAGS2 & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
2428	-	2249
2429	-	2250	//Sidebar StatusSymbols
		2251	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2252	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
		2253	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	-	2254
2429	-	2255	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2256	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2257	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	-	2258
2429	-	2259	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2260	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
		2261	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	-	2262
2429	-	2263	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2264	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
		2265	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	-	2266
2429	-	2267	_bAirborne = (OSDSTATUSFLAGS2 & 2) == 2 ? true : false;
		2268	}
2428	-	2269	}
		2270	public class OSD_Base_Data_t
		2271	{
		2272	byte[] data;
		2273
		2274	public OSD_Base_Data_t(byte [] _data)
		2275	{
		2276	data = _data;
		2277	}
		2278
		2279	public PointLatLng Pos()
		2280	{
		2281	PointLatLng p = new PointLatLng();
		2282	int i_32, iVal;
		2283	double d;
		2284
		2285	i_32 = data[4];
		2286	iVal = i_32 << 24;
		2287	i_32 = data[3];
		2288	iVal += i_32 << 16;
		2289	i_32 = data[2];
		2290	iVal += i_32 << 8;
		2291	iVal += data[1];
		2292	d = (double)iVal / Math.Pow(10, 7);
		2293	p.Lng = d;
		2294
		2295	i_32 = data[8];
		2296	iVal = i_32 << 24;
		2297	i_32 = data[7];
		2298	iVal += i_32 << 16;
		2299	i_32 = data[6];
		2300	iVal += i_32 << 8;
		2301	iVal += data[5];
		2302	d = (double)iVal / Math.Pow(10, 7);
		2303	p.Lat = d;
		2304
		2305	return p;
		2306
		2307	}
		2308
		2309	public int Height()
		2310	{
		2311	int i_32, iVal;
		2312	i_32 = data[10];
		2313	iVal = i_32 << 8;
		2314	iVal += data[9];
		2315
		2316	return iVal;
		2317	}
		2318
		2319	public double Speed()
		2320	{
2429	-	2321	if (data.Length > 11)
		2322	return (double)data[11]/10;
		2323	else return 0;
2428	-	2324	}
		2325
		2326	public byte OSDSTATUSFLAGS1()
		2327	{
2429	-	2328	if (data.Length > 12)
		2329	return data[12];
		2330	else return 0;
2428	-	2331	}
		2332	public byte OSDSTATUSFLAGS2()
		2333	{
2429	-	2334	if (data.Length > 13)
		2335	return data[13];
		2336	else return 0;
2428	-	2337	}
		2338	}
2287	-	2339	void _processNCData(byte[] data)
		2340	{
		2341	int i_32, i_16, iVal;
		2342	double d;
2428	-	2343
		2344	//----------------------------POSITION------------------------------------
2287	-	2345	i_32 = data[4];
		2346	iVal = i_32 << 24;
		2347	i_32 = data[3];
		2348	iVal += i_32 << 16;
		2349	i_32 = data[2];
		2350	iVal += i_32 << 8;
		2351	iVal += data[1];
		2352	d = (double)iVal / Math.Pow(10, 7);
2324	-	2353	Dispatcher.Invoke(() => { drGPX[2] = d; });
		2354
2287	-	2355	PointLatLng p = new PointLatLng();
		2356
		2357	p.Lng = d;
		2358	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		2359	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		2360
		2361	i_32 = data[8];
		2362	iVal = i_32 << 24;
		2363	i_32 = data[7];
		2364	iVal += i_32 << 16;
		2365	i_32 = data[6];
		2366	iVal += i_32 << 8;
		2367	iVal += data[5];
		2368	d = (double)iVal / Math.Pow(10, 7);
2324	-	2369	Dispatcher.Invoke(() => { drGPX[1] = d; });
		2370	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	2371	p.Lat = d;
2399	-	2372
2428	-	2373	//---------------------------SATS-------------------------------------------------
2291	-	2374	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2375	{
		2376	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	2377	if(_bAutoHome && !_bFirstSatFix)
		2378	{
		2379	if (_iFirstSatFix < 3)
		2380	_iFirstSatFix++;
		2381	else
		2382	{
		2383	_bFirstSatFix = true;
2347	-	2384	Dispatcher.Invoke(() => _setHomePos());
2295	-	2385	}
		2386	}
2291	-	2387	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2388	{
		2389	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2390	_bAnimSatFixActive = false;
		2391	}
		2392	if (!_bFollowCopter)
		2393	{
		2394	_setCopterData(p);
		2395	if (!MainMap.ViewArea.Contains(p))
		2396	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	2397
2291	-	2398	}
		2399	else
2287	-	2400	Dispatcher.Invoke(() => MainMap.Position = p);
		2401	}
		2402	else
2291	-	2403	{
		2404	if(_bSatFix)
		2405	{
		2406	if (data[50] == _iSatsLast)
		2407	{
		2408	if (_iSatsJitter < 20) _iSatsJitter++;
		2409	}
		2410	else
		2411	{
		2412	_iSatsJitter = 0;
		2413	_iSatsLast = data[50];
		2414	}
2287	-	2415
2291	-	2416	if (_iSatsJitter == 20)
		2417	{
		2418	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2419	{
		2420	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2421	_bAnimSatFixActive = true;
		2422	}
		2423	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2424	{
2405	-	2425	_bVoiceSatFixActive = true;
2398	-	2426	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2427	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2428	//th.Start();
2291	-	2429	}
		2430
		2431	_bSatFix = false;
		2432	}
		2433	}
		2434	}
		2435
2428	-	2436	//--------------------------Distance to next WP--------------------------------
2287	-	2437	i_16 = data[28];
		2438	i_16 = (Int16)(i_16 << 8);
		2439	iVal = data[27] + i_16;
2399	-	2440	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2441	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
2401	-	2442	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	2443
2428	-	2444	//-------------------------Distance to HP set by GPS on----------------------------------
2287	-	2445	i_16 = data[45];
		2446	i_16 = (Int16)(i_16 << 8);
		2447	iVal = data[44] + i_16;
2428	-	2448	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	2449
2428	-	2450	//--------------------------------Waypoint index------------------------------------
		2451	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString()));
2355	-	2452	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2401	-	2453	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
2399	-	2454	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
2342	-	2455	{
2425	-	2456	_setActiveWP(data[48]- 1);
2355	-	2457	if((data[67] & 2) == 2)
		2458	Dispatcher.Invoke(() => {
		2459	DataGridRow row;
		2460	if (_wpIndex > -1)
		2461	{
2425	-	2462	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	2463	row.Background = new SolidColorBrush(Colors.Transparent);
		2464	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2465	row.BorderThickness = new Thickness(0);
		2466	}
2425	-	2467
2355	-	2468	_wpIndex = data[48] - 1;
2425	-	2469	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2366	-	2470	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2471	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	2472	row.BorderThickness = new Thickness(2);
		2473	dgvWP.UpdateLayout();
		2474	});
2425	-	2475	_wpIndex = data[48]- 1;
2342	-	2476	}
2347	-	2477	else
		2478	{
		2479	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	2480	{
2347	-	2481	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	2482	Dispatcher.Invoke(() =>
		2483	{
		2484	DataGridRow row;
2368	-	2485	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	2486	{
2425	-	2487	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	2488	row.Background = new SolidColorBrush(Colors.Transparent);
		2489	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2490	row.BorderThickness = new Thickness(0);
		2491	_wpIndex = -1;
		2492	}
		2493	});
		2494
		2495	}
2347	-	2496	}
2428	-	2497	//----------------Waypoints count----------------------
2287	-	2498	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	2499	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2401	-	2500	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	2501	_wpCount = data[49];
2428	-	2502	//-------------------Satellites----------------------------------
		2503	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString()));
2287	-	2504
		2505	//--------------- Capacity used ------------------------
		2506	i_16 = data[81];
		2507	i_16 = (Int16)(i_16 << 8);
		2508	iVal = data[80] + i_16;
		2509	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2510	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2511
2398	-	2512	//--------------- Ground speed ------------------------
		2513	i_16 = data[59];
		2514	i_16 = (Int16)(i_16 << 8);
		2515	iVal = data[58] + i_16;
2399	-	2516	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2517	if(_Simulate)
		2518	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
2398	-	2519
		2520	//--------------- Heading north ------------------------
2431	-	2521	//i_16 = data[61];
		2522	//i_16 = (Int16)(i_16 << 8);
		2523	//iVal = data[60] + i_16;
		2524	//Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
2398	-	2525
		2526	//--------------- Heading compass ------------------------
		2527	i_16 = data[63];
		2528	i_16 = (Int16)(i_16 << 8);
		2529	iVal = data[62] + i_16;
		2530	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
2399	-	2531	if (_Simulate)
		2532	{
		2533	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2534	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2535	}
2287	-	2536	//--------------- Flying time ------------------------
		2537	i_16 = data[56];
		2538	i_16 = (Int16)(i_16 << 8);
		2539	iVal = data[55] + i_16;
		2540	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2541	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2542	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2543	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2544
		2545	//--------------- RC quality ------------------------
		2546	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		2547	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		2548
2291	-	2549	if(data[66] > _iThresholdRC)
		2550	{
		2551	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2552	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2553	{
		2554	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2555	_bAnimRCLevelActive = false;
		2556	}
		2557	}
		2558	else
		2559	{
		2560	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2561	if (_iRCLevelJitter == 20)
		2562	{
		2563	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2564	{
		2565	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2566	_bAnimRCLevelActive = true;
		2567	}
		2568	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2569	{
2405	-	2570	_bVoiceRCLevelActive = true;
2398	-	2571	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2572	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2573	//th.Start();
2291	-	2574	}
		2575	_iRCLevelJitter++;
		2576	}
		2577	}
		2578
2428	-	2579	//-------------------------Waypoint max range (by license)------------------------------
2405	-	2580	if(dWPMaxRange != (double)data[70])
		2581	{
		2582	dWPMaxRange = (double)data[70];
		2583	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2584	{
		2585	if (cWPBound != null && cWPBound.Tag != null)
		2586	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2587
		2588	createCircle(home.Position, dWPMaxRange);
2408	-	2589	Dispatcher.Invoke(() =>
		2590	{
		2591	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2592	{
		2593	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2594	cWPBound.setColor(s);
		2595	}
		2596	});
2405	-	2597	}
		2598	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		2599	}
2428	-	2600	//---------------------------------Target hold time------------------------------
2399	-	2601	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
2401	-	2602	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
2399	-	2603
2287	-	2604	//--------------- NC Error ------------------------
		2605	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		2606	if (data[69] > 0)
		2607	_readNCError();
		2608	if (data[69] > 0 & data[69] < 44)
2381	-	2609	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		2610	//else
		2611	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	2612
2428	-	2613	//--------------------------------------------------------------------------------
		2614	//-----------------------------FC / NC Status Flags-------------------------------
		2615	//--------------------------------------------------------------------------------
2298	-	2616	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2617	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2618	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2619	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2620	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2621	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2622
		2623	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2624	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2625	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2626	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2627	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2628	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
		2629	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2630	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2631
		2632	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2633	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2634	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2635	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2636	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2637	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2638	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	2639
		2640	//Sidebar StatusSymbols
		2641	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2642	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
		2643	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
		2644
		2645	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2646	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
		2647	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
		2648
		2649	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2650	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
		2651	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	-	2652
		2653	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2654	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
		2655	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
		2656
		2657	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2658	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
		2659	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
		2660	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	-	2661
2324	-	2662	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2663	}
		2664	/// <summary>
		2665	/// Navi-Ctrl WP data struct 'X'
		2666	/// called by index
		2667	/// </summary>
		2668	/// <param name="data">the received byte array to process</param>
		2669	void _processWPData(byte[] data)
		2670	{
2313	-	2671	_iWPCount = data[0];
2287	-	2672	_bGetWPCount = false;
		2673	if (data.Length >= 28)
		2674	{
		2675	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2676	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2677	if (_bGetWP)
		2678	{
		2679	if (data[1] == 1)
2315	-	2680	{
2333	-	2681	Dispatcher.Invoke(() =>
		2682	{
2356	-	2683	wpList.Clear();
		2684	_clearMapMarkers(typeof(CustomMarkerWP));
		2685	if (mRouteWP != null)
		2686	MainMap.Markers.Remove(mRouteWP);
		2687	if (wpActiveMarker != null)
		2688	MainMap.Markers.Remove(wpActiveMarker);
		2689	lblWPRouteDistance.Content = "0 m";
		2690	dtWaypoints.Rows.Clear();
2368	-	2691	_wpEdit = -1;_wpIndex = -1;
2425	-	2692	wpOffset.Clear();
2318	-	2693	});
2315	-	2694	}
2287	-	2695	DataRow dr = dtWaypoints.NewRow();
		2696	dr = Waypoints.toDataRow(data, dr);
2313	-	2697	dtWaypoints.Rows.Add(dr);
2425	-	2698	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1],(int)data[1]-1);
2313	-	2699	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2700	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2701	if (data[1] == data[0])
		2702	{
		2703	_bGetWP = false;
2368	-	2704	_routeUpdate();
2287	-	2705	}
		2706
		2707	}
		2708	}
		2709	else
		2710	{
		2711	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2712	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2713	}
		2714	}
		2715	/// <summary>
		2716	/// OSD Menue 'L'
		2717	/// single page called by pagenumber
		2718	/// no autoupdate
		2719	/// </summary>
		2720	/// <param name="data">the received byte array to process</param>
		2721	void _processOSDSingle(byte[] data)
		2722	{
		2723	if (data.Length == 84)
		2724	{
		2725	string sMessage = "";
		2726	iOSDPage = data[0];
		2727	iOSDMax = data[1];
		2728	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2729	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2730	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2731	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2732	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2733	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2734	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2735	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2736
		2737	}
		2738	//else
		2739	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2740
		2741	}
		2742	/// <summary>
		2743	/// OSD Menue 'H'
		2744	/// called by keys (0x01,0x02,0x03,0x04)
		2745	/// autoupdate
		2746	/// </summary>
		2747	/// <param name="data">the received byte array to process</param>
		2748	void _processOSDAuto(byte[] data)
		2749	{
		2750	if (data.Length == 81)
		2751	{
		2752	string sMessage = "";
		2753	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2754	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2755	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2756	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2757	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2758
		2759	}
		2760	//else
		2761	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2762	}
		2763
		2764	#endregion processing received data
		2765
		2766	#region controller messages
		2767	/// <summary> send message to controller to request data
		2768	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2769	/// </summary>
		2770	/// <param name="CMDID"> the command ID </param>
		2771	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2772	private void _sendControllerMessage(char CMDID, byte address)
		2773	{
		2774	if (serialPortCtrl.Port.IsOpen)
		2775	{
		2776	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2777	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2778	serialStream.Write(bytes, 0, bytes.Length);
		2779
		2780	}
		2781	else
		2782	Log(LogMsgType.Error, "NOT CONNECTED!");
		2783	}
		2784	/// <summary> send message to controller to request data
		2785	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2786	/// </summary>
		2787	/// <param name="CMDID"> the command ID </param>
		2788	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2789	/// <param name="data"> additional data for the request</param>
		2790	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2791	{
		2792	if (serialPortCtrl.Port.IsOpen)
		2793	{
		2794	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2795	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2796	serialStream.Write(bytes, 0, bytes.Length);
		2797
		2798	}
		2799	else
		2800	Log(LogMsgType.Error, "NOT CONNECTED!");
		2801	}
		2802
		2803	/// <summary>
		2804	/// start/stop continous polling of controller values
		2805	/// </summary>
		2806	/// <param name="b">start/stop switch</param>
		2807	void _readCont(bool b)
		2808	{
		2809	bReadContinously = b;
		2810	if (bReadContinously)
		2811	{
		2812	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2813	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2814	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2815	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2816	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2817	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2818	}
		2819	else
		2820	{
		2821	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2822	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2823	_bConnErr = false;
		2824	}
		2825	_iLifeCounter = 0;
		2826	}
		2827
		2828	private void _getVersion()
		2829	{
		2830	_sendControllerMessage('v', 0);
		2831	}
		2832	/// <summary>
		2833	/// get FC version struct via NC
		2834	/// by sending '1' as data (not documented in wiki...)
		2835	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2836	/// </summary>
		2837	/// <param name="ctrl">controller number 1=FC</param>
		2838	private void _getVersion(byte ctrl)
		2839	{
		2840	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2841	}
		2842	/// <summary>
		2843	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2844	/// </summary>
		2845	private void _switchToNC()
		2846	{
		2847	if (serialPortCtrl.Port.IsOpen)
		2848	{
		2849	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2850	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2851	serialStream.Write(bytes, 0, bytes.Length);
		2852
		2853	Thread.Sleep(100);
		2854	_getVersion();
		2855	Thread.Sleep(100);
2424	-	2856	_getLic();
2287	-	2857	// _OSDMenue(0);
		2858	}
		2859	else
		2860	Log(LogMsgType.Error, "NOT CONNECTED!");
		2861	}
		2862	/// <summary>
		2863	/// switch to FC
		2864	/// </summary>
		2865	private void _switchToFC()
		2866	{
		2867	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2868	Thread.Sleep(100);
		2869	_getVersion();
		2870	Thread.Sleep(100);
		2871	// _OSDMenue(0);
		2872	}
		2873	/// <summary>
		2874	/// send RESET signal to FC
		2875	/// </summary>
		2876	private void _resetCtrl()
		2877	{
		2878	_sendControllerMessage('R', 1);
		2879	}
		2880	/// <summary>
		2881	/// poll the debug data (4sec subscription)
		2882	/// </summary>
		2883	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2884	private void _readDebugData(bool auto)
		2885	{
		2886	byte interval = auto ? debugInterval : (byte)0;
		2887	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2888	}
		2889	/// <summary>
		2890	/// poll the BL-CTRL status via NC (4sec subscription)
		2891	/// </summary>
		2892	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2893	private void _readBLCtrl(bool auto)
		2894	{
		2895	byte interval = auto ? blctrlInterval : (byte)0;
		2896	_sendControllerMessage('k', 0, new byte[1] { interval });
		2897	}
		2898	/// <summary>
		2899	/// poll the NC data struct (4sec subscription)
		2900	/// </summary>
		2901	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2902	private void _readNavData(bool auto)
		2903	{
		2904	byte interval = auto ? navctrlInterval : (byte)0;
2429	-	2905	// _sendControllerMessage('o', 2, new byte[1] { interval });
		2906	_sendControllerMessage('o', 2, new byte[3] { interval,4,0 });
2287	-	2907	}
		2908	/// <summary>
2424	-	2909	/// request the license info
		2910	/// </summary>
		2911	void _getLic()
		2912	{
		2913	if (serialPortCtrl.Port.IsOpen)
		2914	{
		2915	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2916	byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 });
		2917	serialStream.Write(bytes, 0, bytes.Length);
		2918	}
		2919	else
		2920	Log(LogMsgType.Error, "NOT CONNECTED!");
		2921
		2922	}
		2923	/// <summary>
2287	-	2924	/// get the errortext for pending NC error
		2925	/// </summary>
		2926	private void _readNCError()
		2927	{
		2928	_sendControllerMessage('e', 2);
		2929	}
		2930	/// <summary>
		2931	/// request the Waypoint at index
		2932	/// </summary>
		2933	/// <param name="index"></param>
		2934	void _getpWP(int index)
		2935	{
		2936	if (serialPortCtrl.Port.IsOpen)
		2937	{
		2938	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2939	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2940	serialStream.Write(bytes, 0, bytes.Length);
		2941	}
		2942	else
		2943	Log(LogMsgType.Error, "NOT CONNECTED!");
		2944
		2945	}
		2946	void _getWP()
		2947	{
2335	-	2948	int iTimeout = 0;
2287	-	2949	_bGetWPCount = true;
2315	-	2950	_getpWP(1); //get the itemscount of wp
2335	-	2951	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2952	{
		2953	Thread.Sleep(10);
		2954	iTimeout++;
		2955	}
		2956	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2957	_getWPList();
		2958	}
		2959	void _getWPList()
		2960	{
		2961	_bGetWP = true;
2313	-	2962	int iTimeout=0;
		2963	for (int j = 0; j < _iWPCount; j++)
2287	-	2964	{
		2965	_getpWP(j + 1);
2313	-	2966	iTimeout = 0;
		2967	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2968	{
		2969	Thread.Sleep(1);
		2970	iTimeout++;
		2971	}
2287	-	2972	}
2419	-	2973	Dispatcher.Invoke(() =>
		2974	{
		2975	// MainMap.ZoomAndCenterMarkers(null);
		2976	MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]);
		2977	MainMap.Zoom = 19;
		2978	});
2287	-	2979	}
2363	-	2980	/// <summary>
		2981	/// Wrapper for _clearCopterWPList()
		2982	/// necessary, cause it is called by threadnew which does not like return values...
		2983	/// </summary>
2340	-	2984	void clearCopterWPList()
2313	-	2985	{
2340	-	2986	_clearCopterWPList();
		2987	}
2363	-	2988	/// <summary>
		2989	/// clear the WP list of the copter
		2990	/// by sending 'invalid' and index '0'
		2991	/// </summary>
		2992	/// <returns></returns>
2340	-	2993	bool _clearCopterWPList()
		2994	{
2335	-	2995	int iTimeout = 0;
2313	-	2996	if (serialPortCtrl.Port.IsOpen)
		2997	{
		2998	byte[] bData = new byte[30];
		2999	for (int i = 0; i < 30; i++)
		3000	bData[i] = 0;
		3001	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3002	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		3003	serialStream.Write(bytes, 0, bytes.Length);
2287	-	3004
2313	-	3005	_iWPCount = -1;
2340	-	3006	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	3007	{
2313	-	3008	Thread.Sleep(10);
2335	-	3009	iTimeout++;
		3010	}
2313	-	3011	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	3012	if (_iWPCount > -1)
2340	-	3013	return true;
		3014	else
		3015	Log(LogMsgType.Error, "Timeout while sending list!");
		3016	}
		3017	else
		3018	Log(LogMsgType.Error, "NOT CONNECTED!");
		3019
		3020	return false;
		3021	}
		3022	void _sendWPList()
		3023	{
2362	-	3024	_sendWPList(0);
		3025	}
		3026	void _sendWPList(int iStart)
		3027	{
2340	-	3028	int iTimeout = 0;
		3029	if (serialPortCtrl.Port.IsOpen)
		3030	{
		3031	if (_clearCopterWPList())
2313	-	3032	{
2362	-	3033	int k = 1;
		3034	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	3035	{
2362	-	3036	k = iStart > 0 ? k : -1;
2376	-	3037	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	3038
2335	-	3039	_iWPCount = -1;
		3040	iTimeout = 0;
		3041	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		3042	{
		3043	Thread.Sleep(10);
		3044	iTimeout++;
		3045	}
		3046	if (_iWPCount == -1)
		3047	{
		3048	Log(LogMsgType.Error, "Timeout while sending list!");
		3049	break;
		3050	}
		3051	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	3052	k++;
2335	-	3053	}
2313	-	3054	}
		3055	}
		3056	else
		3057	Log(LogMsgType.Error, "NOT CONNECTED!");
		3058
		3059	}
2376	-	3060	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	3061	{
2313	-	3062
2340	-	3063	if (serialPortCtrl.Port.IsOpen)
		3064	{
		3065	byte[] bData = new byte[30];
		3066	for (int i = 0; i < 30; i++)
		3067	bData[i] = 0;
		3068	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3069	byte[] bytes;
		3070	int iVal;
		3071	double dVal;
		3072	NumberFormatInfo nfi = new NumberFormatInfo();
		3073	nfi.NumberDecimalSeparator = ",";
		3074
		3075	//longitude
		3076	dVal = Convert.ToDouble(dr[4], nfi);
		3077	iVal = (int)(dVal * Math.Pow(10, 7));
		3078	bData[0] = (byte)(iVal & 0xff);
		3079	bData[1] = (byte)((iVal >> 8) & 0xff);
		3080	bData[2] = (byte)((iVal >> 16) & 0xff);
		3081	bData[3] = (byte)(iVal >> 24);
		3082	//latitude
		3083	dVal = Convert.ToDouble(dr[3], nfi);
		3084	iVal = (int)(dVal * Math.Pow(10, 7));
		3085	bData[4] = (byte)(iVal & 0xff);
		3086	bData[5] = (byte)((iVal >> 8) & 0xff);
		3087	bData[6] = (byte)((iVal >> 16) & 0xff);
		3088	bData[7] = (byte)(iVal >> 24);
		3089	//altitude
		3090	dVal = Convert.ToDouble(dr[5], nfi);
		3091	iVal = (int)(dVal * 10);
		3092	bData[8] = (byte)(iVal & 0xff);
		3093	bData[9] = (byte)((iVal >> 8) & 0xff);
		3094	bData[10] = (byte)((iVal >> 16) & 0xff);
		3095	bData[11] = (byte)(iVal >> 24);
2376	-	3096	if(bSim)
		3097	bData[12] = 3; //Status 'SIMULATE'
2340	-	3098	//Status 'NEWDATA'
2376	-	3099	else
		3100	bData[12] = 1;
2340	-	3101	//heading
		3102	iVal = Convert.ToInt16(dr[6]);
		3103	bData[13] = (byte)(iVal & 0xff);
		3104	bData[14] = (byte)((iVal >> 8) & 0xff);
		3105	//ToleranceRadius
		3106	bData[15] = Convert.ToByte(dr[9]);
		3107	//HoldTime
		3108	bData[16] = Convert.ToByte(dr[10]);
		3109	//Event_Flag
		3110	bData[17] = Convert.ToByte(dr[13]);
		3111	//Index
2379	-	3112	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	3113	//Type
		3114	bData[19] = Convert.ToByte(dr[1]);
		3115	//WP_EventChannelValue
		3116	bData[20] = Convert.ToByte(dr[14]);
		3117	//AltitudeRate
		3118	bData[21] = Convert.ToByte(dr[8]);
		3119	//Speed
		3120	bData[22] = Convert.ToByte(dr[7]);
		3121	//CamAngle
		3122	bData[23] = (byte)Convert.ToInt16(dr[12]);
		3123	//Name
2362	-	3124	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		3125	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	3126	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		3127	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		3128	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		3129	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		3130	//Autotrigger
		3131	bData[28] = Convert.ToByte(dr[11]);
		3132
2356	-	3133	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	3134	serialStream.Write(bytes, 0, bytes.Length);
		3135
		3136	return true;
		3137	}
		3138
		3139	return false;
		3140	}
2287	-	3141	#region OSD-Menue
		3142
		3143	/// <summary>
		3144	/// one time query of the OSD Menue with pagenumber
		3145	/// </summary>
		3146	/// <param name="iMenue">Menue page</param>
		3147	void _OSDMenue(int iMenue)
		3148	{
		3149	if (serialPortCtrl.Port.IsOpen)
		3150	{
		3151	if (iMenue > iOSDMax)
		3152	iMenue = 0;
		3153	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3154	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		3155	serialStream.Write(bytes, 0, bytes.Length);
		3156	}
		3157	else
		3158	Log(LogMsgType.Error, "NOT CONNECTED!");
		3159
		3160	}
		3161	/// <summary>
		3162	/// call the OSDMenue and start autorefresh
		3163	/// usually by sending a menuekey
		3164	/// 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)
		3165	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		3166	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		3167	/// </summary>
		3168	void _OSDMenueAutoRefresh()
		3169	{
		3170	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		3171	}
		3172	void _OSDMenueAutoRefresh(byte key)
		3173	{
		3174	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		3175	}
		3176	/// <summary>
		3177	/// initialize the OSD menue combobox
		3178	/// combox is filled by numbers from 0 to max pagenumber
		3179	/// </summary>
		3180	void _initOSDCB()
		3181	{
		3182	_bCBInit = true;
		3183	if (iOSDMax == 0)
		3184	{
		3185	_OSDMenue(0);
		3186	Thread.Sleep(10);
		3187	}
		3188	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		3189	for (int i = 0; i <= iOSDMax; i++)
		3190	{
		3191	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		3192	}
		3193	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		3194	_bCBInit = false;
		3195	}
		3196	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		3197	{
		3198	iOSDPage++;
		3199	if (iOSDPage > iOSDMax)
		3200	iOSDPage = 0;
		3201
		3202	_OSDMenue(iOSDPage);
		3203	}
		3204	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		3205	{
		3206	iOSDPage--;
		3207	if (iOSDPage < 0)
		3208	iOSDPage = iOSDMax;
		3209
		3210	_OSDMenue(iOSDPage);
		3211	}
		3212	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		3213	{
		3214	_OSDMenueAutoRefresh(8);
		3215	}
		3216	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		3217	{
		3218	_OSDMenueAutoRefresh(4);
		3219	}
		3220	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		3221	{
		3222	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		3223	_OSDMenue(cbOSD.SelectedIndex);
		3224	}
		3225	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		3226	{
		3227	Dispatcher.Invoke(() =>
		3228	{
		3229	TextRange tr;
		3230	if (bNew)
		3231	{
		3232	rtfOSD.SelectAll();
		3233	rtfOSD.Selection.Text = string.Empty;
		3234	}
		3235	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		3236	tr.Text = msg;
		3237	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		3238	// rtfOSD.AppendText("\r");
		3239	rtfOSD.ScrollToEnd();
		3240
		3241	});
		3242	}
		3243
		3244	#endregion OSD-Menue
		3245
		3246	#endregion controller messages
		3247
2398	-	3248	void _mediaPlayer(object file)
2295	-	3249	{
2405	-	3250	Monitor.TryEnter(lockObj);
		3251	try
2295	-	3252	{
2405	-	3253	if (File.Exists((string)file))
		3254	{
		3255
		3256	mediaPlayer.Open((string)file);
		3257	mediaPlayer.Play();
		3258	}
		3259
2295	-	3260	}
2405	-	3261	finally
		3262	{
		3263	Monitor.Exit(lockObj);
		3264	}
2295	-	3265	}
2310	-	3266
2362	-	3267	#region ui
2310	-	3268	/// <summary>
		3269	/// Switch between fullscreen and normal window mode
		3270	/// save & restore scaling settings
		3271	/// </summary>
		3272	/// <param name="sender"></param>
		3273	/// <param name="e"></param>
2287	-	3274	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		3275	{
		3276	if (winState.isMaximized)
		3277	{
		3278	winState.Restore(this);
		3279	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		3280	if(_bSaveWinStateFull)
		3281	_saveScaleSliders(true);
		3282	if(_bSaveWinStateNormal)
		3283	_setScaleSliders(false);
		3284	}
		3285	else
		3286	{
		3287	winState.Maximize(this);
		3288	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		3289	if(_bSaveWinStateNormal)
		3290	_saveScaleSliders(false);
		3291	if(_bSaveWinStateFull)
		3292	_setScaleSliders(true);
		3293	}
		3294	}
		3295
		3296	/// <summary>
		3297	/// reset the scaling of all UI elements to default
		3298	/// </summary>
		3299	/// <param name="sender"></param>
		3300	/// <param name="e"></param>
		3301	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		3302	{
		3303	UIScaleHorizonSlider.Value =
		3304	UIScaleLOGSlider.Value =
		3305	UIScaleMotorsSlider.Value =
		3306	UIScaleOSDSlider.Value =
		3307	UIScaleSlider.Value =
		3308	UIScaleTopSlider.Value = 1;
		3309	}
		3310	/// <summary>
		3311	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		3312	/// </summary>
		3313	/// <param name="sender"></param>
		3314	/// <param name="e"></param>
		3315	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3316	{
		3317	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		3318	if (GridMotors != null)
		3319	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		3320	if (GridSideBar != null)
		3321	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
2401	-	3322	if (WPStatus != null)
		3323	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
2287	-	3324	if (GridOSD != null)
2401	-	3325	{
		3326	if(WPStatus.Visibility == Visibility.Visible)
		3327	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3328	else
		3329	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3330	}
2287	-	3331	if (GridData != null)
		3332	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		3333	if (GridWP != null)
		3334	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		3335	}
2419	-	3336	private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3337	{
		3338	if (!_init)
		3339	{
		3340	if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible))
		3341	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3342	else
		3343	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3344	}
		3345	}
		3346
2310	-	3347	/// <summary>
		3348	/// restore the saved scalings for the fullscreen/normal window mode
		3349	/// </summary>
		3350	/// <param name="bFull">the mode the window is set to</param>
2287	-	3351	void _setScaleSliders(bool bFull)
		3352	{
		3353	if(bFull)
		3354	{
		3355	UIScaleSlider.Value = scaleFullAll;
		3356	UIScaleTopSlider.Value = scaleFullTopBar;
		3357	UIScaleMotorsSlider.Value = scaleFullMotors;
		3358	UIScaleOSDSlider.Value = scaleFullOSD;
		3359	UIScaleLOGSlider.Value = scaleFullLOG;
		3360	UIScaleHorizonSlider.Value = scaleFullHorizon;
		3361	}
		3362	else
		3363	{
		3364	UIScaleSlider.Value = scaleNormalAll;
		3365	UIScaleTopSlider.Value = scaleNormalTopBar;
		3366	UIScaleMotorsSlider.Value = scaleNormalMotors;
		3367	UIScaleOSDSlider.Value = scaleNormalOSD;
		3368	UIScaleLOGSlider.Value = scaleNormalLOG;
		3369	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		3370	}
		3371	}
		3372
2310	-	3373	/// <summary>
		3374	/// save the scalings for the actual window mode
		3375	/// </summary>
		3376	/// <param name="bFull">the actual window mode</param>
2287	-	3377	void _saveScaleSliders(bool bFull)
		3378	{
		3379
		3380	if (bFull)
		3381	{
		3382	scaleFullAll = UIScaleSlider.Value;
		3383	scaleFullTopBar = UIScaleTopSlider.Value;
		3384	scaleFullMotors = UIScaleMotorsSlider.Value;
		3385	scaleFullOSD = UIScaleOSDSlider.Value;
		3386	scaleFullLOG = UIScaleLOGSlider.Value;
		3387	scaleFullHorizon = UIScaleHorizonSlider.Value;
		3388	}
		3389	else
		3390	{
		3391	scaleNormalAll = UIScaleSlider.Value;
		3392	scaleNormalTopBar = UIScaleTopSlider.Value;
		3393	scaleNormalMotors = UIScaleMotorsSlider.Value;
		3394	scaleNormalOSD = UIScaleOSDSlider.Value;
		3395	scaleNormalLOG = UIScaleLOGSlider.Value;
		3396	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		3397	}
		3398	}
2362	-	3399	#endregion ui
2287	-	3400
		3401	/// <summary>
		3402	/// read settings from ini-file
		3403	/// </summary>
		3404	void _readIni()
		3405	{
		3406	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		3407	_writeIni();
		3408	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3409	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	3410	try
		3411	{
2287	-	3412
2312	-	3413	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		3414	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		3415	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		3416	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		3417	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		3418	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		3419	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		3420	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	3421
2312	-	3422	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		3423	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		3424	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		3425	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		3426	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		3427	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		3428	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		3429	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	3430
2312	-	3431	sVal = ini.IniReadValue("topBar", "voltage");
		3432	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		3433	sVal = ini.IniReadValue("topBar", "capacity");
		3434	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		3435	sVal = ini.IniReadValue("topBar", "current");
		3436	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		3437	sVal = ini.IniReadValue("topBar", "flightTime");
		3438	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		3439	sVal = ini.IniReadValue("topBar", "distanceHP");
		3440	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		3441	sVal = ini.IniReadValue("topBar", "height");
		3442	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		3443	sVal = ini.IniReadValue("topBar", "speed");
		3444	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		3445	sVal = ini.IniReadValue("topBar", "magneticField");
		3446	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		3447	sVal = ini.IniReadValue("topBar", "satellites");
		3448	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		3449	sVal = ini.IniReadValue("topBar", "rc");
		3450	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	3451
2312	-	3452	sVal = ini.IniReadValue("style", "saveFullScreen");
		3453	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		3454	sVal = ini.IniReadValue("style", "saveNormalState");
		3455	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	3456
2312	-	3457	sVal = ini.IniReadValue("style", "scaleNormalAll");
		3458	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		3459	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		3460	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		3461	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		3462	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		3463	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		3464	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		3465	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		3466	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		3467	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		3468	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	3469
2312	-	3470	sVal = ini.IniReadValue("style", "scaleFullAll");
		3471	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		3472	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		3473	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		3474	sVal = ini.IniReadValue("style", "scaleFullMotors");
		3475	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		3476	sVal = ini.IniReadValue("style", "scaleFullOSD");
		3477	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		3478	sVal = ini.IniReadValue("style", "scaleFullLOG");
		3479	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		3480	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		3481	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	3482
2312	-	3483	sVal = ini.IniReadValue("general", "LiPoCells");
		3484	_LipoCells = Convert.ToInt16(sVal);
		3485	sVal = ini.IniReadValue("general", "Motors");
		3486	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	3487
2312	-	3488	sVal = ini.IniReadValue("map", "followMe");
		3489	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		3490	sVal = ini.IniReadValue("map", "AutoSetHome");
		3491	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	3492	sVal = ini.IniReadValue("map", "GPXLog");
		3493	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	3494
2312	-	3495	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		3496	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		3497	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		3498	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		3499	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		3500	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		3501	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		3502	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		3503	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		3504	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		3505	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		3506	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		3507	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		3508	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		3509	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		3510	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		3511	sVal = ini.IniReadValue("threshold", "MaxDistance");
		3512	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		3513	sVal = ini.IniReadValue("threshold", "RCThreshold");
		3514	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		3515	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		3516	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	3517
		3518	sVal = ini.IniReadValue("waypoints", "wpcolor");
		3519	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		3520	sVal = ini.IniReadValue("waypoints", "poicolor");
		3521	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		3522	sVal = ini.IniReadValue("waypoints", "fscolor");
		3523	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		3524	sVal = ini.IniReadValue("waypoints", "coptercolor");
		3525	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	3526	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		3527	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	3528	sVal = ini.IniReadValue("waypoints", "landingcolor");
		3529	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	3530	sVal = ini.IniReadValue("waypoints", "routecolor");
		3531	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		3532	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		3533	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2408	-	3534	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		3535	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		3536	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		3537	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
2349	-	3538
		3539	for (int i = 0; i < 12; i++)
		3540	{
		3541	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		3542	if (sVal != "")
		3543	serChan[i] = Convert.ToInt16(sVal);
		3544	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		3545	if (sVal != "")
		3546	serChanTitle[i] = sVal;
		3547	for (int y = 0; i < 4 && y < 3; y++)
		3548	{
		3549	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		3550	if (sVal != "")
		3551	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		3552	}
		3553	}
		3554
2312	-	3555	}
		3556	catch (Exception e)
		3557	{
2287	-	3558
2312	-	3559	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		3560	}
		3561
2287	-	3562	}
		3563
		3564	/// <summary>
		3565	/// save settings to ini-file
		3566	/// </summary>
		3567	void _writeIni()
		3568	{
		3569
		3570	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3571	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3572
2312	-	3573	try
		3574	{
2287	-	3575
2312	-	3576	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		3577	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		3578	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		3579	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	3580
2312	-	3581	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		3582	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		3583	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		3584	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	3585
2312	-	3586	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		3587	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	3588
2312	-	3589	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		3590	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	3591	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	3592
2312	-	3593	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		3594	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		3595	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		3596	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		3597	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		3598	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		3599	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		3600	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		3601	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		3602	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	3603
2312	-	3604	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		3605	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	3606
2312	-	3607	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		3608	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		3609	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		3610	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		3611	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		3612	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	3613
2312	-	3614	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		3615	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		3616	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		3617	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		3618	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		3619	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	3620
2312	-	3621	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		3622
		3623	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		3624	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		3625	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		3626	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		3627	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		3628	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		3629	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		3630	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		3631	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		3632	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		3633	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	3634
		3635	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		3636	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		3637	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		3638	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	3639	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	3640	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	3641	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		3642	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2408	-	3643	ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString());
		3644	ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString());
2349	-	3645
		3646	for (int i = 0; i < 12; i++)
		3647	{
		3648	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		3649	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		3650	for (int y = 0; i < 4 && y < 3; y++)
		3651	{
		3652	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		3653	}
		3654	}
		3655
2312	-	3656	}
		3657	catch (Exception e)
		3658	{
		3659
		3660	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);
		3661	}
2287	-	3662	}
2350	-	3663
2349	-	3664	#region serial channels
		3665	/// <summary>
		3666	/// Sending the serial channel values
		3667	/// </summary>
		3668	void _sendSerialData()
		3669	{
		3670	byte[] serData = new byte[12];
		3671	for (int i = 0; i < 12; i++)
		3672	{
		3673	serData[i] = unchecked((byte)(serChan[i] - 127));
		3674	}
		3675	_sendControllerMessage('y', 1, serData);
		3676	}
		3677	/// <summary>
		3678	/// init the controls for displaying
		3679	/// and setting serial control channels
		3680	/// </summary>
		3681	void _initSerialCtrl()
		3682	{
		3683	SerChan1ScaleSlider.Value = serChan[0];
		3684	textBoxSerial1.Text = serChanTitle[0];
		3685	SerChan2ScaleSlider.Value = serChan[1];
		3686	textBoxSerial2.Text = serChanTitle[1];
2350	-	3687	SerChan3ScaleSlider.Value = serChan[2];
		3688	textBoxSerial3.Text = serChanTitle[2];
2349	-	3689	//SerChan4ScaleSlider.Value = serChan[3];
		3690	//textBoxSerial4.Text = serChanTitle[3];
		3691	//trckbarSerial5.Value = serChan[4];
		3692	//textBoxSerial5.Text = serChanTitle[4];
		3693	//trckbarSerial6.Value = serChan[5];
		3694	//textBoxSerial6.Text = serChanTitle[5];
		3695	//trckbarSerial7.Value = serChan[6];
		3696	//textBoxSerial7.Text = serChanTitle[6];
		3697	//trckbarSerial8.Value = serChan[7];
		3698	//textBoxSerial8.Text = serChanTitle[7];
2312	-	3699
2349	-	3700	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3701	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3702	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3703	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3704	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3705	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3706	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3707	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3708	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3709	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3710	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3711	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3712	}
		3713	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3714	{
		3715	if (!_init)
		3716	{
		3717	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3718	_sendSerialData();
		3719	}
		3720	}
		3721	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3722	{
		3723	if (!_init)
		3724	{
		3725	serChanTitle[0] = textBoxSerial1.Text;
		3726	}
		3727	}
		3728	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3729	{
		3730	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3731	{
		3732	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3733	}
		3734	}
		3735	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3736	{
		3737	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3738	{
		3739	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3740	}
		3741	}
		3742	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3743	{
		3744	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3745	{
		3746	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3747	}
		3748	}
		3749	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3750	{
		3751	if (textBoxSerial1_val1.Text.Length > 0)
		3752	{
		3753	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3754	}
		3755	}
		3756	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3757	{
		3758	SerChan1ScaleSlider.Value = 0;
		3759	}
		3760	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3761	{
		3762	SerChan1ScaleSlider.Value = 127;
		3763	}
		3764	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3765	{
		3766	SerChan1ScaleSlider.Value = 254;
		3767	}
		3768	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3769	{
		3770	if (textBoxSerial1_val2.Text.Length > 0)
		3771	{
		3772	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3773	}
		3774	}
		3775	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3776	{
		3777	if (textBoxSerial1_val3.Text.Length > 0)
		3778	{
		3779	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3780	}
		3781	}
		3782
		3783	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3784	{
		3785	if (!_init)
		3786	{
		3787	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3788	_sendSerialData();
		3789	}
		3790	}
		3791	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3792	{
		3793	if (!_init)
		3794	{
		3795	serChanTitle[1] = textBoxSerial2.Text;
		3796	}
		3797	}
		3798	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3799	{
		3800	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3801	{
		3802	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3803	}
		3804	}
		3805	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3806	{
		3807	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3808	{
		3809	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3810	}
		3811	}
		3812	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3813	{
		3814	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3815	{
		3816	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3817	}
		3818	}
		3819	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3820	{
		3821	SerChan2ScaleSlider.Value = 0;
		3822	}
		3823	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3824	{
		3825	SerChan2ScaleSlider.Value = 127;
		3826	}
		3827	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3828	{
		3829	SerChan2ScaleSlider.Value = 254;
		3830	}
		3831	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3832	{
		3833	if (textBoxSerial2_val1.Text.Length > 0)
		3834	{
		3835	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3836	}
		3837	}
		3838	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3839	{
		3840	if (textBoxSerial2_val2.Text.Length > 0)
		3841	{
		3842	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3843	}
		3844	}
		3845	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3846	{
		3847	if (textBoxSerial2_val3.Text.Length > 0)
		3848	{
		3849	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3850	}
		3851	}
2350	-	3852
		3853	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3854	{
		3855	if (!_init)
		3856	{
		3857	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3858	_sendSerialData();
		3859	}
		3860	}
		3861	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3862	{
		3863	if (!_init)
		3864	{
		3865	serChanTitle[2] = textBoxSerial3.Text;
		3866	}
		3867	}
		3868	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3869	{
		3870	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3871	{
		3872	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3873	}
		3874	}
		3875	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3876	{
		3877	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3878	{
		3879	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3880	}
		3881	}
		3882	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3883	{
		3884	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3885	{
		3886	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3887	}
		3888	}
		3889	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3890	{
		3891	SerChan3ScaleSlider.Value = 0;
		3892	}
		3893	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3894	{
		3895	SerChan3ScaleSlider.Value = 127;
		3896	}
		3897	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3898	{
		3899	SerChan3ScaleSlider.Value = 254;
		3900	}
		3901	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3902	{
		3903	if (textBoxSerial3_val1.Text.Length > 0)
		3904	{
		3905	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3906	}
		3907	}
		3908	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3909	{
		3910	if (textBoxSerial3_val2.Text.Length > 0)
		3911	{
		3912	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3913	}
		3914	}
		3915	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3916	{
		3917	if (textBoxSerial3_val3.Text.Length > 0)
		3918	{
		3919	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3920	}
		3921	}
2349	-	3922	/// <summary>
		3923	/// checks the input of a textbox
		3924	/// for valid data
		3925	/// in this case values 0-254
		3926	/// </summary>
		3927	/// <param name="sender"></param>
		3928	/// <param name="e"></param>
		3929	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3930	{
		3931	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3932	e.Handled = true;
		3933	else
		3934	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3935	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3936	e.Handled = true;
		3937	else
		3938	{
		3939	int i = -1;
		3940	switch (((TextBox)sender).Name)
		3941	{
		3942	case "textBoxSerial1_val1":
		3943	i = 0;
		3944	break;
		3945	case "textBoxSerial1_val2":
		3946	i = 1;
		3947	break;
		3948	case "textBoxSerial1_val3":
		3949	i = 2;
		3950	break;
		3951	case "textBoxSerial2_val1":
		3952	i = 3;
		3953	break;
		3954	case "textBoxSerial2_val2":
		3955	i = 4;
		3956	break;
		3957	case "textBoxSerial2_val3":
		3958	i = 5;
		3959	break;
		3960	case "textBoxSerial3_val1":
		3961	i = 6;
		3962	break;
		3963	case "textBoxSerial3_val2":
		3964	i = 7;
		3965	break;
		3966	case "textBoxSerial3_val3":
		3967	i = 8;
		3968	break;
		3969	case "textBoxSerial4_val1":
		3970	i = 9;
		3971	break;
		3972	case "textBoxSerial4_val2":
		3973	i = 10;
		3974	break;
		3975	case "textBoxSerial4_val3":
		3976	i = 11;
		3977	break;
		3978	}
		3979	if (i > -1)
		3980	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3981	}
		3982	}
		3983
		3984	#endregion serial channels
2315	-	3985	#region WP
2312	-	3986	void _readWPLFile()
		3987	{
		3988	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3989	fd.Filter = "Waypointlists \| *.wpl";
		3990	fd.Multiselect = false;
		3991	if (fd.ShowDialog().Value)
		3992	{
		3993	string file = fd.SafeFileName;
		3994	IniFile ini = new IniFile(fd.SafeFileName);
		3995	ini.path = fd.FileName;
		3996
		3997	try
		3998	{
		3999	string sVal = ini.IniReadValue("General", "FileVersion");
		4000	if (sVal == "")
		4001	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4002	else
		4003	{
		4004	if (Convert.ToInt16(sVal) < 3)
		4005	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4006	else
		4007	{
		4008	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		4009	if (sVal == "")
		4010	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4011	else
		4012	{
		4013	int wpnum = Convert.ToInt16(sVal);
		4014	string wp;
		4015	int i;
2313	-	4016	NumberFormatInfo nfi = new NumberFormatInfo();
		4017	nfi.NumberDecimalSeparator = ".";
2312	-	4018	dtWaypoints.Rows.Clear();
2368	-	4019	_wpEdit = -1;_wpIndex = -1;
2425	-	4020	wpOffset.Clear();
2327	-	4021	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	4022	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	4023	wpList.Clear();
		4024	if (mRouteWP != null)
		4025	MainMap.Markers.Remove(mRouteWP);
2363	-	4026	//if (wpActiveMarker != null)
		4027	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	4028	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4029
2312	-	4030	for (int k = 1; k <= wpnum; k++)
		4031	{
		4032	DataRow dr = dtWaypoints.NewRow();
		4033	dr.ItemArray = new object[16];
		4034	object[] o = new object[16];
		4035	i = 0;
		4036	wp = "Point" + k.ToString();
		4037	o[i] = k;
		4038	i++;
		4039	sVal = ini.IniReadValue(wp, "Type");
		4040	if (sVal != "")
2315	-	4041	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	4042	i++;
		4043	sVal = ini.IniReadValue(wp, "Prefix");
		4044	if (sVal != "")
2350	-	4045	o[i] = sVal + k.ToString();
		4046	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	4047	i++;
2313	-	4048	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	4049	if (sVal != "")
2313	-	4050	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4051	i++;
2313	-	4052	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	4053	if (sVal != "")
2313	-	4054	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4055	i++;
		4056	sVal = ini.IniReadValue(wp, "Altitude");
		4057	if (sVal != "")
2313	-	4058	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4059	i++;
		4060	sVal = ini.IniReadValue(wp, "Heading");
		4061	if (sVal != "")
		4062	o[i] = Convert.ToInt16(sVal);
		4063	i++;
		4064	sVal = ini.IniReadValue(wp, "Speed");
		4065	if (sVal != "")
2315	-	4066	o[i] = Convert.ToInt16(sVal);
2312	-	4067	i++;
		4068	sVal = ini.IniReadValue(wp, "ClimbRate");
		4069	if (sVal != "")
		4070	o[i] = Convert.ToInt16(sVal);
		4071	i++;
		4072	sVal = ini.IniReadValue(wp, "Radius");
		4073	if (sVal != "")
		4074	o[i] = Convert.ToInt16(sVal);
		4075	i++;
		4076	sVal = ini.IniReadValue(wp, "DelayTime");
		4077	if (sVal != "")
		4078	o[i] = Convert.ToInt16(sVal);
		4079	i++;
		4080	sVal = ini.IniReadValue(wp, "AutoTrigger");
		4081	if (sVal != "")
		4082	o[i] = Convert.ToInt16(sVal); ;
		4083	i++;
		4084	sVal = ini.IniReadValue(wp, "CAM-Nick");
		4085	if (sVal != "")
2313	-	4086	o[i] = Convert.ToInt16(sVal);
2312	-	4087	i++;
		4088	o[i] = 0;
		4089	i++;
		4090	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		4091	if (sVal != "")
		4092	o[i] = Convert.ToInt16(sVal);
		4093	i++;
		4094	o[i] = "New";
		4095
		4096	dr.ItemArray = o;
		4097	dtWaypoints.Rows.Add(dr);
2425	-	4098	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1], (int)o[0]-1);
2315	-	4099
2312	-	4100	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		4101	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		4102	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2419	-	4103	Thread.Sleep(1);
2312	-	4104	}
2419	-	4105	Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]));
		4106	Dispatcher.Invoke(() => MainMap.Zoom = 19);
		4107	// Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null));
		4108	Dispatcher.Invoke(() => _routeUpdate());
2312	-	4109	}
		4110	}
		4111	}
		4112
		4113	}
		4114	catch (Exception e)
		4115	{
		4116
		4117	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		4118	}
		4119
		4120	}
		4121	}
2350	-	4122	void _saveWPLFile()
		4123	{
		4124	if (dtWaypoints.Rows.Count > 0)
		4125	{
		4126	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		4127	fd.Filter = "Waypointlists \| *.wpl";
		4128	fd.AddExtension = true;
		4129	if (fd.ShowDialog().Value)
		4130	{
		4131	string file = fd.SafeFileName;
		4132	IniFile ini = new IniFile(fd.SafeFileName);
		4133	ini.path = fd.FileName;
		4134	NumberFormatInfo nfi = new NumberFormatInfo();
		4135	nfi.NumberDecimalSeparator = ".";
		4136
		4137	try
		4138	{
		4139	ini.IniWriteValue("General", "FileVersion", "3");
		4140	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		4141	ini.IniWriteValue("General", "Mapfile", "");
		4142	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		4143	{
		4144	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		4145	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		4146	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		4147	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		4148	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		4149	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		4150	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		4151	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		4152	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		4153	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		4154	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		4155	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));
		4156	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		4157	}
		4158	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		4159	}
		4160	catch { }
		4161	}
		4162	}
		4163	else
		4164	MessageBox.Show("Nothing to save...");
		4165	}
		4166	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		4167	{
		4168	_saveWPLFile();
		4169	}
		4170	/// <summary>
		4171	/// set the selected color for the route
		4172	/// </summary>
		4173	/// <param name="color"></param>
		4174	/// <returns></returns>
2328	-	4175	Brush _getBrush(string color)
		4176	{
		4177	switch (color)
		4178	{
		4179	case "red":
		4180	return Brushes.Red;
		4181	case "green":
		4182	return Brushes.Lime;
		4183	case "blue":
		4184	return Brushes.Aqua;
		4185	case "pink":
		4186	return Brushes.Magenta;
		4187	case "yellow":
		4188	return Brushes.Yellow;
		4189	default:
		4190	return Brushes.Magenta;
		4191	}
		4192	}
2359	-	4193	void _routeUpdate()
		4194	{
		4195	Dispatcher.Invoke(() =>
		4196	{
		4197	if (comboBoxRouteColor.SelectionBoxItem != null)
		4198	{
		4199	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4200	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4201	}
		4202	else
		4203	mRouteWP = new GMapRoute(wpList, null);
		4204
		4205	if (_bShowWPRoute)
2368	-	4206	MainMap.Markers.Add(mRouteWP);
2359	-	4207	});
		4208
		4209	MapRoute mr = new MapRoute(wpList, "WPList");
		4210	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		4211	}
2425	-	4212	GMapMarker _createWP(PointLatLng p, string name, int type, int index)
2363	-	4213	{
		4214	GMapMarker wpMarker = new GMapMarker(p);
2385	-	4215	Dispatcher.Invoke(()=>
		4216	{
		4217	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
2419	-	4218	wpMarker.Tag = name;
2385	-	4219	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		4220	wpMarker.ZIndex = 100;
		4221	_setMarkerColor(wpMarker, type);
		4222	MainMap.Markers.Add(wpMarker);
		4223	if (type == 0 \|\| type == 3)
2425	-	4224	{
2385	-	4225	wpList.Add(p);
2425	-	4226	wpOffset.Add(index);
		4227	}
2419	-	4228	((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos;
		4229	((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin;
2421	-	4230	((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured;
2385	-	4231	});
2363	-	4232	return wpMarker;
		4233	}
2419	-	4234	bool _WPisMouseCaptured = false;
2421	-	4235	void _WPMouseCaptured(bool isCaptured)
2419	-	4236	{
		4237	_WPisMouseCaptured = isCaptured;
		4238	MainMap.CanDragMap = !isCaptured;
		4239	}
		4240	void _updateDTWPPos(CustomMarkerWP wp)
		4241	{
		4242	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4243	int index = Convert.ToInt16(sIndex) -1;
		4244	GMapMarker p = ((GMapMarker)wp.DataContext);
		4245	if (p != null && index < dtWaypoints.Rows.Count)
		4246	{
		4247	//Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4248	if(wp.WPType == 0 \| wp.WPType == 3)
2424	-	4249	{
		4250	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4251	int wpListIndex = wpList.IndexOf(x);
		4252	if (wpListIndex > -1)
		4253	{
		4254	wpList[wpListIndex] = p.Position;
		4255	MainMap.Markers.Remove(mRouteWP);
		4256	_routeUpdate();
		4257	}
2419	-	4258	}
2424	-	4259	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4260	dtWaypoints.Rows[index][4] = p.Position.Lng;
2419	-	4261	}
		4262	}
		4263	void _updateDTWPPosFin(CustomMarkerWP wp)
		4264	{
		4265	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4266	int index = Convert.ToInt16(sIndex) -1;
		4267	GMapMarker p = ((GMapMarker)wp.DataContext);
		4268	if (p != null && index < dtWaypoints.Rows.Count)
		4269	{
		4270	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4271	dtWaypoints.Rows[index][4] = p.Position.Lng;
2421	-	4272	Dispatcher.Invoke(() =>
		4273	{
		4274	dgvWP.Items.Refresh();
		4275	dgvWP.SelectedIndex = index;
		4276	_dgvWPselectEditRow();
		4277	});
		4278
2419	-	4279	}
		4280
		4281	}
2432	-	4282	void _addWP(PointLatLng p,int type)
		4283	{
		4284	object[] o = new object[16];
2428	-	4285
2432	-	4286	o[0] = dgvWP.ItemContainerGenerator.Items.Count + 1;
		4287	o[1] = type;
		4288	// cbWPEditType.SelectedIndex = 0;
		4289	// tbWPEditPrefix.Text = "P";
		4290	o[2] = "P" + o[0].ToString();
		4291	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4292	o[3] = p.Lat;
		4293	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4294	o[4] = p.Lng;
		4295	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4296	o[5] = iAnalogData[4].ToString();
		4297
		4298	// cbWPEditHeading.SelectedIndex = 2;
		4299	o[6] = iAnalogData[10].ToString();
		4300	//tbWPEditHeading.Text = iAnalogData[10].ToString();
		4301	// tbWPEditHeading.IsReadOnly = false;
		4302
		4303	// cbWPEditSpeed.SelectedIndex = 1;
		4304	// tbWPEditSpeed.Text = "5.0";
		4305	// tbWPEditSpeed.IsReadOnly = false;
		4306	o[7] = "10";
		4307
		4308	// cbWPEditClimbrate.SelectedIndex = 1;
		4309	// tbWPEditClimbrate.Text = "5.0";
		4310	// tbWPEditClimbrate.IsReadOnly = false;
		4311	o[8] = "10";
		4312
		4313	// tbWPEditRadius.Text = "10";
		4314	o[9] = "5";
		4315	// tbWPEditHoldtime.Text = "5";
		4316	o[10] = "5";
		4317	// tbWPEditAutoTrigger.Text = "0";
		4318	o[11] = "0";
		4319	// cbWPEditCamAngle.SelectedIndex = 1;
		4320	// tbWPEditCamAngle.Text = "AUTO";
		4321	// tbWPEditCamAngle.IsReadOnly = true;
		4322	o[12] = "255";
		4323
		4324	o[13] = "0";
		4325	// tbWPEditOut1.Text = "0";
		4326	o[14] = "0";
		4327	o[15] = "0";
		4328
		4329	dtWaypoints.Rows.Add(o);
		4330	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1], (int)o[0] - 1);
		4331	// Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4332	if (mRouteWP != null)
		4333	MainMap.Markers.Remove(mRouteWP);
		4334	_routeUpdate();
		4335	Dispatcher.Invoke(() =>
		4336	{
		4337	dgvWP.Items.Refresh();
		4338	dgvWP.UpdateLayout();
		4339	dgvWP.SelectedIndex = (int)o[0] - 1;
		4340	_dgvWPselectEditRow();
		4341	});
		4342	}
2425	-	4343	/// <summary>
		4344	/// find the index of of a wp from datatable in the waypointlist wpList
		4345	/// </summary>
		4346	/// <param name="dtIndex">the index of wp in datatable (0-based)</param>
		4347	/// <returns></returns>
		4348	int _getWPIndexfromList(int dtIndex)
		4349	{
		4350	if ((int)dtWaypoints.Rows[dtIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dtIndex][1] == 3)
		4351	{
		4352	GMapMarker wp = _findWPMarker((string)dtWaypoints.Rows[dtIndex][2]);
		4353	if (wp != null)
		4354	return wpList.IndexOf(wp.Position);
		4355	}
		4356	return -1;
		4357	}
		4358	/// <summary>
		4359	/// find the index of of a wp from datatable in the waypointlist wpList
		4360	/// </summary>
		4361	/// <param name="name">the name of the wp</param>
		4362	/// <returns></returns>
		4363	int _getWPIndexfromList(string name)
		4364	{
		4365	GMapMarker wp = _findWPMarker(name);
		4366	if ((wp != null && wp.Shape != null) && ((CustomMarkerWP)wp.Shape).WPType == 0 \| ((CustomMarkerWP)wp.Shape).WPType == 3)
		4367	return wpList.IndexOf(wp.Position);
		4368	else
		4369	return -1;
		4370	}
		4371	int _getWPListOffset(int index)
		4372	{
		4373	int k = 0;
		4374	for(int i = 0; i < wpOffset.Count;i++)
		4375	{
		4376	if (wpOffset[i] <= index)
		4377	k++;
		4378	}
2419	-	4379
2425	-	4380	return k;
		4381	}
2315	-	4382	void _setMarkerColor(GMapMarker wpMarker,int iType)
		4383	{
2369	-	4384	if(wpMarker != null)
2315	-	4385	Dispatcher.Invoke(() =>
		4386	{
		4387	switch (iType)
		4388	{
		4389	case 0:
		4390	if (comboBoxWPColor.SelectionBoxItem != null)
		4391	{
		4392	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		4393	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4394	}
		4395	else
2372	-	4396	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	4397	break;
		4398	case 1:
		4399	if (comboBoxPOIColor.SelectionBoxItem != null)
		4400	{
		4401	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		4402	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4403	}
		4404	else
2372	-	4405	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	4406	break;
		4407	case 2:
		4408	if (comboBoxFSColor.SelectionBoxItem != null)
		4409	{
		4410	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		4411	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4412	}
		4413	else
		4414	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4415	break;
2372	-	4416	case 3:
		4417	if (comboBoxLandingColor.SelectionBoxItem != null)
		4418	{
		4419	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		4420	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4421	}
		4422	else
		4423	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		4424	break;
2315	-	4425	default:
		4426	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4427	break;
		4428	}
		4429	});
2312	-	4430
2315	-	4431	}
2372	-	4432	void _MarkerColorSelection(object sender,int type)
		4433	{
2315	-	4434	Dispatcher.Invoke(() =>
		4435	{
2372	-	4436	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	4437	{
		4438	for (int k = 0; k < MainMap.Markers.Count; k++)
		4439	{
		4440	GMapMarker p = MainMap.Markers[k];
2372	-	4441	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	4442	{
2372	-	4443	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	4444	{
2372	-	4445	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	4446	((CustomMarkerWP)(p.Shape)).setColor(s);
		4447	}
		4448	}
		4449	}
		4450	}
		4451	});
2287	-	4452	}
2379	-	4453	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	4454	{
2376	-	4455	_MarkerColorSelection(sender, 0);
		4456	}
		4457	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		4458	{
		4459	_MarkerColorSelection(sender, 1);
		4460	}
		4461	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		4462	{
		4463	_MarkerColorSelection(sender, 2);
		4464	}
		4465	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		4466	{
		4467	_MarkerColorSelection(sender,3);
		4468	}
2385	-	4469	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	4470	{
2318	-	4471	Dispatcher.Invoke(() => {
		4472	if (comboBoxCopterColor.SelectionBoxItem != null)
		4473	{
		4474	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	4475	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	4476	}
		4477	else
2385	-	4478	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	4479	});
		4480	}
2385	-	4481	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		4482	{
		4483	Dispatcher.Invoke(() => {
		4484	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		4485	{
		4486	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		4487	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		4488	}
		4489	else
		4490	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		4491	});
		4492	}
2328	-	4493	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		4494	{
		4495	Dispatcher.Invoke(() =>
		4496	{
		4497	if (comboBoxRouteColor.SelectionBoxItem != null)
		4498	{
		4499	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4500	MainMap.Markers.Remove(mRouteWP);
		4501	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4502	if (_bShowWPRoute)
		4503	MainMap.Markers.Add(mRouteWP);
		4504	}
		4505	});
		4506	}
2408	-	4507	private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e)
		4508	{
		4509	Dispatcher.Invoke(() =>
		4510	{
		4511	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		4512	{
		4513	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		4514	{
		4515	if (cWPBound != null && cWPBound.Tag != null)
		4516	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		4517
		4518	createCircle(home.Position, dWPMaxRange);
		4519	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		4520	cWPBound.setColor(s);
		4521
		4522	}
		4523	}
		4524	});
		4525
		4526	}
2328	-	4527	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		4528	{
		4529	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		4530	if (_bShowWPRoute)
		4531	{
		4532	if (mRouteWP != null)
		4533	MainMap.Markers.Add(mRouteWP);
		4534	}
		4535	else
		4536	{
		4537	if (mRouteWP != null)
		4538	MainMap.Markers.Remove(mRouteWP);
		4539	}
		4540	}
2428	-	4541
2315	-	4542	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	4543	{
2315	-	4544	_readWPLFile();
2287	-	4545	}
2335	-	4546	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		4547	{
		4548	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	4549	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	4550	wpList.Clear();
		4551	if (mRouteWP != null)
		4552	MainMap.Markers.Remove(mRouteWP);
2347	-	4553	//if (wpActiveMarker != null)
		4554	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	4555	dtWaypoints.Rows.Clear();
2356	-	4556	_wpEdit = -1;
2368	-	4557	_wpIndex = -1;
2425	-	4558	wpOffset.Clear();
2335	-	4559	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4560	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		4561	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		4562	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4563	}
2340	-	4564	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		4565	{
		4566	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		4567	t.Start();
		4568	}
2355	-	4569	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	4570	{
		4571	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4572	{
2372	-	4573	if (_wpCount > 0)
2376	-	4574	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	4575	else
2376	-	4576	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	4577
2372	-	4578	//int index = dgvWP.SelectedIndex;
		4579	//Thread t = new Thread(() => _sendWPList(index));
		4580	//t.Start();
2354	-	4581
		4582	Dispatcher.Invoke(() => {
		4583	DataGridRow row;
2368	-	4584	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	4585	{
2368	-	4586	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	4587	row.Background = new SolidColorBrush(Colors.Transparent);
		4588	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4589	row.BorderThickness = new Thickness(0);
2376	-	4590	dgvWP.UpdateLayout();
2354	-	4591	}
2376	-	4592	//_wpEdit = dgvWP.SelectedIndex;
		4593	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4594	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		4595	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		4596	//row.BorderThickness = new Thickness(2);
2354	-	4597	});
2340	-	4598	}
		4599	}
2385	-	4600	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		4601	{
		4602	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4603	{
		4604
		4605	object[] o = new object[16];
		4606	o[0] = dgvWP.SelectedIndex + 1;
		4607	o[1] = cbWPEditType.SelectedIndex;
		4608	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4609	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4610	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		4611	o[5] = tbWPEditAlt.Text;
		4612	switch (cbWPEditHeading.SelectedIndex)
		4613	{
		4614	case 0:
		4615	o[6] = "0";
		4616	break;
		4617	case 1:
		4618	o[6] = "-" + tbWPEditHeading.Text;
		4619	break;
		4620	case 2:
		4621	o[6] = tbWPEditHeading.Text;
		4622	break;
		4623	}
		4624	switch (cbWPEditSpeed.SelectedIndex)
		4625	{
		4626	case 0:
		4627	o[7] = "0";
		4628	break;
		4629	case 1:
		4630	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4631	break;
		4632	case 2:
		4633	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4634	break;
		4635	}
		4636	switch (cbWPEditClimbrate.SelectedIndex)
		4637	{
		4638	case 0:
		4639	o[8] = "255";
		4640	break;
		4641	case 1:
		4642	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		4643	break;
		4644	}
		4645	o[9] = tbWPEditRadius.Text;
		4646	o[10] = tbWPEditHoldtime.Text;
		4647	o[11] = tbWPEditAutoTrigger.Text;
		4648	switch (cbWPEditCamAngle.SelectedIndex)
		4649	{
		4650	case 0:
		4651	o[12] = "0";
		4652	break;
		4653	case 1:
		4654	o[12] = "255";
		4655	break;
		4656	case 2:
		4657	o[12] = tbWPEditCamAngle.Text;
		4658	break;
		4659	}
		4660	o[13] = 0;
		4661	o[14] = tbWPEditOut1.Text;
		4662	DataRow dr = dtWaypoints.NewRow();
		4663	dr.ItemArray = o;
		4664
		4665	if (_wpCount > 0)
		4666	_sendWayPoint(dr, -1, 'w', false);
		4667	else
		4668	_sendWayPoint(dr, 1, 'w', false);
2399	-	4669
2429	-	4670	if (_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		4671	_sendWayPoint(dtWaypoints.Rows[wpOffset[_wpIndex]], _wpIndex+1, 's', false);
2385	-	4672	}
		4673	}
2376	-	4674	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		4675	{
		4676	_Simulate = !_Simulate;
		4677	if (dtWaypoints.Rows.Count > 0)
		4678	{
		4679	DataRow dr = dtWaypoints.Rows[0];
		4680	dr[13] = _Simulate ? 3 : 0;
2379	-	4681	_sendWayPoint(dr, 0, 's', true);
2381	-	4682	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	4683	}
		4684	}
2428	-	4685
2355	-	4686	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		4687	{
2359	-	4688	_dgvWPselectEditRow();
		4689	}
		4690	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		4691	{
		4692	}
		4693	void _dgvWPselectEditRow()
		4694	{
2355	-	4695	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4696	{
2368	-	4697	Dispatcher.Invoke(() => {
2355	-	4698	DataGridRow row;
2432	-	4699	dgvWP.Items.Refresh();
2421	-	4700	dgvWP.UpdateLayout();
2368	-	4701	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	4702	{
		4703	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2432	-	4704	if (row != null)
		4705	{
		4706	row.Background = new SolidColorBrush(Colors.Transparent);
		4707	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4708	row.BorderThickness = new Thickness(0);
		4709	}
2355	-	4710	}
		4711	_wpEdit = dgvWP.SelectedIndex;
		4712	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2432	-	4713	if (row != null)
		4714	{
		4715	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		4716	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		4717	row.BorderThickness = new Thickness(2);
		4718	dgvWP.UpdateLayout();
2340	-	4719
2432	-	4720	_setWPEditFields(_wpEdit);
		4721	}
2355	-	4722	});
		4723	}
		4724	}
		4725	void _setWPEditFields(int index)
		4726	{
		4727	int iVal;
2421	-	4728	lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString();
2355	-	4729	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		4730	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		4731	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		4732	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		4733	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		4734	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		4735	if (iVal == 0)
		4736	{
		4737	cbWPEditHeading.SelectedIndex = 0;
		4738	tbWPEditHeading.Text = " - - -";
		4739	tbWPEditHeading.IsReadOnly = true;
		4740	}
		4741	if (iVal > 0 && iVal < 360)
		4742	{
		4743	cbWPEditHeading.SelectedIndex = 2;
		4744	tbWPEditHeading.Text = iVal.ToString();
		4745	tbWPEditHeading.IsReadOnly = false;
		4746	}
		4747	if (iVal < 0)
		4748	{
		4749	cbWPEditHeading.SelectedIndex = 1;
		4750	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		4751	tbWPEditHeading.IsReadOnly = false;
		4752	}
		4753	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		4754	if (iVal == 0)
		4755	{
		4756	cbWPEditSpeed.SelectedIndex = 0;
		4757	tbWPEditSpeed.Text = "MAX";
		4758	tbWPEditSpeed.IsReadOnly = true;
		4759	}
		4760	if (iVal > 0 && iVal < 248)
		4761	{
		4762	cbWPEditSpeed.SelectedIndex = 1;
		4763	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		4764	tbWPEditSpeed.IsReadOnly = false;
		4765	}
		4766	if (iVal > 247)
		4767	{
		4768	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		4769	tbWPEditSpeed.Text = "";
		4770	tbWPEditSpeed.IsReadOnly = true;
		4771	}
		4772	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		4773	if (iVal == 255)
		4774	{
		4775	cbWPEditClimbrate.SelectedIndex = 0;
		4776	tbWPEditClimbrate.Text = "AUTO";
		4777	tbWPEditClimbrate.IsReadOnly = true;
		4778	}
		4779	else
		4780	{
		4781	cbWPEditClimbrate.SelectedIndex = 1;
		4782	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		4783	tbWPEditClimbrate.IsReadOnly = false;
		4784	}
		4785	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		4786	tbWPEditRadius.Text = iVal.ToString();
		4787	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		4788	tbWPEditHoldtime.Text = iVal.ToString();
		4789	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		4790	tbWPEditAutoTrigger.Text = iVal.ToString();
		4791	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		4792	if (iVal == 0)
		4793	{
		4794	cbWPEditCamAngle.SelectedIndex = 0;
		4795	tbWPEditCamAngle.Text = " - - - ";
		4796	tbWPEditCamAngle.IsReadOnly = true;
		4797	}
		4798	if (iVal < 0 \| iVal == 255)
		4799	{
		4800	cbWPEditCamAngle.SelectedIndex = 1;
		4801	tbWPEditCamAngle.Text = "AUTO";
		4802	tbWPEditCamAngle.IsReadOnly = true;
		4803	}
		4804	if (iVal > 0 & iVal < 255)
		4805	{
		4806	cbWPEditCamAngle.SelectedIndex = 2;
		4807	tbWPEditCamAngle.Text = iVal.ToString();
		4808	tbWPEditCamAngle.IsReadOnly = false;
		4809	}
		4810	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		4811	tbWPEditOut1.Text = iVal.ToString();
		4812
		4813	}
2361	-	4814	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		4815	{
2363	-	4816	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4817	{
2369	-	4818	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	4819	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		4820	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		4821	int i = wpList.IndexOf(pOld);
2363	-	4822	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		4823	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4824	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4825	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	4826	if (i > -1)
		4827	{
2425	-	4828	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
2372	-	4829	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4830	else
2425	-	4831	{
2372	-	4832	wpList.Remove(pOld);
2425	-	4833	wpOffset.Remove(wpOffset[i]);
		4834	}
2372	-	4835	}
		4836	else
		4837	{
		4838	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4839	{
		4840	int found = 0;
		4841	for (int k = 0; k < dgvWP.SelectedIndex; k++)
2425	-	4842	{
		4843	if ((int)dtWaypoints.Rows[k][1] == 0 \|\| (int)dtWaypoints.Rows[k][1] == 3)
		4844	{
2372	-	4845	found++;
2425	-	4846	}
		4847	}
2372	-	4848	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
2425	-	4849	wpOffset.Insert(found, dgvWP.SelectedIndex);
2372	-	4850	}
		4851	}
2363	-	4852	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		4853	switch (cbWPEditHeading.SelectedIndex)
		4854	{
		4855	case 0:
		4856	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		4857	break;
		4858	case 1:
		4859	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		4860	break;
		4861	case 2:
		4862	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		4863	break;
		4864	}
		4865	switch (cbWPEditSpeed.SelectedIndex)
		4866	{
		4867	case 0:
		4868	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		4869	break;
		4870	case 1:
		4871	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4872	break;
		4873	case 2:
		4874	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4875	break;
		4876	}
		4877	switch (cbWPEditClimbrate.SelectedIndex)
		4878	{
		4879	case 0:
		4880	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		4881	break;
		4882	case 1:
		4883	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		4884	break;
		4885	}
		4886	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		4887	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		4888	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		4889	switch (cbWPEditCamAngle.SelectedIndex)
		4890	{
		4891	case 0:
		4892	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		4893	break;
		4894	case 1:
		4895	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		4896	break;
		4897	case 2:
		4898	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		4899	break;
		4900	}
		4901	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	4902
2369	-	4903	// _clearMapMarkers(typeof(CustomMarkerWP));
		4904	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		4905	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	4906	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4907	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4908	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4909	// wpList.Clear();
2363	-	4910	if (mRouteWP != null)
		4911	MainMap.Markers.Remove(mRouteWP);
		4912
2369	-	4913	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		4914	//{
		4915	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		4916	//}
2363	-	4917	_routeUpdate();
		4918	dgvWP.Items.Refresh();
		4919
		4920	}
		4921
2361	-	4922	}
2432	-	4923	private void btnEditWPAdd_Click(object sender, RoutedEventArgs e)
		4924	{
		4925	DataRow dr = dtWaypoints.NewRow();
		4926	dr[0] = dtWaypoints.Rows.Count+1;
		4927	dr[1] = cbWPEditType.SelectedIndex;
		4928	dr[2] = tbWPEditPrefix.Text + dr[0].ToString();
		4929	dr[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')) + 0.00000001;
		4930	dr[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')) + 0.00000001;
		4931	dr[5] = tbWPEditAlt.Text;
		4932	switch (cbWPEditHeading.SelectedIndex)
		4933	{
		4934	case 0:
		4935	dr[6] = "0";
		4936	break;
		4937	case 1:
		4938	dr[6] = "-" + tbWPEditHeading.Text;
		4939	break;
		4940	case 2:
		4941	dr[6] = tbWPEditHeading.Text;
		4942	break;
		4943	}
		4944	switch (cbWPEditSpeed.SelectedIndex)
		4945	{
		4946	case 0:
		4947	dr[7] = "0";
		4948	break;
		4949	case 1:
		4950	dr[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4951	break;
		4952	case 2:
		4953	dr[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4954	break;
		4955	}
		4956	switch (cbWPEditClimbrate.SelectedIndex)
		4957	{
		4958	case 0:
		4959	dr[8] = "255";
		4960	break;
		4961	case 1:
		4962	dr[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		4963	break;
		4964	}
		4965	dr[9] = tbWPEditRadius.Text;
		4966	dr[10] = tbWPEditHoldtime.Text;
		4967	dr[11] = tbWPEditAutoTrigger.Text;
		4968	switch (cbWPEditCamAngle.SelectedIndex)
		4969	{
		4970	case 0:
		4971	dr[12] = "0";
		4972	break;
		4973	case 1:
		4974	dr[12] = "255";
		4975	break;
		4976	case 2:
		4977	dr[12] = tbWPEditCamAngle.Text;
		4978	break;
		4979	}
		4980	dr[13] = "";
		4981	dr[14] = tbWPEditOut1.Text;
		4982	dr[15] = "";
		4983	_createWP(new PointLatLng((double)dr[3], (double)dr[4]),(string) dr[2], (int)dr[1], (int)dr[0]);
		4984	if (mRouteWP != null)
		4985	MainMap.Markers.Remove(mRouteWP);
		4986	_routeUpdate();
		4987	dtWaypoints.Rows.Add(dr);
		4988	dgvWP.Items.Refresh();
		4989	}
2361	-	4990	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		4991	{
2368	-	4992	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4993	{
		4994	int index = dgvWP.SelectedIndex;
		4995	Dispatcher.Invoke(() => {
		4996	DataGridRow row;
		4997	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4998	{
		4999	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		5000	row.Background = new SolidColorBrush(Colors.Transparent);
		5001	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		5002	row.BorderThickness = new Thickness(0);
		5003	}
2372	-	5004	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	5005	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
2425	-	5006	else
		5007	wpOffset.Remove((int)dtWaypoints.Rows[index][0] + 1);
2368	-	5008	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	5009	if (wpActiveMarker != null)
		5010	MainMap.Markers.Remove(wpActiveMarker);
2368	-	5011	dtWaypoints.Rows[index].Delete();
		5012	_wpIndex = -1;
		5013	_wpEdit = -1;
		5014	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		5015	{
		5016	dtWaypoints.Rows[i][0] = i + 1;
		5017	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		5018	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		5019	_renameWPMarker(s1, s2);
		5020	dtWaypoints.Rows[i][2] = s2;
		5021	}
		5022	lblWPCount.Content = dtWaypoints.Rows.Count;
		5023	if (mRouteWP != null)
		5024	MainMap.Markers.Remove(mRouteWP);
		5025	_routeUpdate();
2361	-	5026
2368	-	5027	dgvWP.UpdateLayout();
		5028	});
		5029	}
2361	-	5030	}
2366	-	5031	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		5032	{
		5033	_wpWEdit(sender);
		5034	}
2361	-	5035	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		5036	{
2366	-	5037	_wpWEdit(sender);
		5038	}
2369	-	5039	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		5040	{
		5041	_wpWEdit(sender);
		5042	}
2366	-	5043	void _wpWEdit(object sender)
		5044	{
2369	-	5045	// if (!((TextBox)sender).IsReadOnly)
2361	-	5046	{
		5047	KeyPad.Keypad k = new KeyPad.Keypad(this);
		5048
2363	-	5049	switch (((TextBox)sender).Name)
		5050	{
		5051	case "tbWPEditLat":
		5052	k.Title = "Latitude";
		5053	k.LENGTH = 17;
		5054	k.MAX = 359.9;
		5055	break;
		5056	case "tbWPEditLon":
		5057	k.Title = "Longitude";
		5058	k.LENGTH = 17;
		5059	k.MAX = 359.9;
		5060	break;
		5061	case "tbWPEditAlt":
		5062	k.Title = "Altitude";
		5063	k.LENGTH = 3;
		5064	k.MAX = 254;
		5065	k.disableDecimal();
		5066	break;
		5067	case "tbWPEditHeading":
		5068	k.Title = "Heading";
		5069	k.LENGTH = 3;
		5070	k.MAX = 359;
		5071	k.MIN = 1;
		5072	k.disableDecimal();
		5073	break;
		5074	case "tbWPEditSpeed":
		5075	k.Title = "Speed";
		5076	k.LENGTH = 4;
		5077	k.MAX = 24.7;
		5078	k.MIN = 0.1;
		5079	break;
		5080	case "tbWPEditClimbrate":
		5081	k.Title = "Climbrate";
		5082	k.LENGTH = 4;
		5083	k.MAX = 25.4;
		5084	k.MIN = 0.1;
		5085	break;
		5086	case "tbWPEditRadius":
		5087	k.Title = "Radius";
		5088	k.LENGTH = 3;
		5089	k.MAX = 254;
		5090	k.disableDecimal();
		5091	break;
		5092	case "tbWPEditHoldtime":
		5093	k.Title = "Holdtime";
		5094	k.LENGTH = 3;
		5095	k.MAX = 254;
		5096	break;
		5097	case "tbWPEditAutoTrigger":
		5098	k.Title = "Autotrigger";
		5099	k.LENGTH = 3;
		5100	k.MAX = 254;
		5101	k.disableDecimal();
		5102	break;
		5103	case "tbWPEditCamAngle":
		5104	k.Title = "Camera angle";
		5105	k.LENGTH = 3;
		5106	k.MAX = 254;
		5107	k.MIN = 1;
		5108	k.disableDecimal();
		5109	break;
		5110	case "tbWPEditOut1":
		5111	k.Title = "OUT1 timer interval";
		5112	k.LENGTH = 3;
		5113	k.MAX = 254;
		5114	k.disableDecimal();
		5115	break;
		5116	}
		5117	k.Result = ((TextBox)sender).Text;
2366	-	5118	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	5119	((TextBox)sender).Text = k.Result;
2361	-	5120	}
2366	-	5121
2361	-	5122	}
		5123	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	5124	{
2432	-	5125	_addWP(new PointLatLng(copter.Position.Lat, copter.Position.Lng),0);
2356	-	5126	}
2428	-	5127
		5128	private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e)
		5129	{
		5130	if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5131	{
		5132	int index = dgvWP.SelectedIndex;
		5133	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)
		5134	{
		5135	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5136	int wpListIndex = wpList.IndexOf(x);
		5137	if (wpListIndex > 0)
		5138	{
		5139	wpList.RemoveAt(wpListIndex);
		5140	wpList.Insert(wpListIndex - 1, x);
		5141	MainMap.Markers.Remove(mRouteWP);
		5142	_routeUpdate();
		5143	}
		5144	}
		5145	DataRow dr = dtWaypoints.Rows[index];
		5146	DataRow newRow = dtWaypoints.NewRow();
		5147	newRow.ItemArray = dr.ItemArray;
		5148	dtWaypoints.Rows.Remove(dr);
		5149	dtWaypoints.Rows.InsertAt(newRow, index - 1);
		5150	dtWaypoints.Rows[index][0] = 100;
		5151	dtWaypoints.Rows[index - 1][0] = index;
		5152	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString());
		5153	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5154	dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString();
		5155	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString();
		5156	dtWaypoints.Rows[index][0] = index + 1;
		5157	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5158	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5159	dgvWP.Items.Refresh();
		5160	dgvWP.SelectedIndex = index - 1;
		5161	_dgvWPselectEditRow();
		5162	if (wpOffset.Contains(index)) // calculating offset for wpList (index is 0-based - offset starts with index 1)
		5163	{
		5164	int iOffset = wpOffset.IndexOf(index);
		5165	if (iOffset > 0) // if not first element
		5166	{
		5167	if (wpOffset[iOffset - 1] < index-1) //if previous element is not immediately before actual offset
		5168	wpOffset[iOffset] = index-1; //then decrease offset value by one
		5169	}
		5170	else
		5171	wpOffset[iOffset] = index-1; //if first element, decrease offset by one
		5172	}
		5173	else //selected line is POI
		5174	{
		5175	if (wpOffset.Contains(index - 1)) // if next point is WP
		5176	{
		5177	int iOffset = wpOffset.IndexOf(index - 1);
		5178	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5179	}
		5180	}
		5181
		5182	}
		5183	}
		5184	private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e)
		5185	{
		5186	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1)
		5187	{
		5188	int index = dgvWP.SelectedIndex;
		5189	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)
		5190	{
		5191	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5192	int wpListIndex = wpList.IndexOf(x);
		5193	if (wpListIndex > -1)
		5194	{
		5195	wpList.RemoveAt(wpListIndex);
		5196	if (wpList.Count > wpListIndex)
		5197	wpList.Insert(wpListIndex + 1, x);
		5198	else
		5199	wpList.Add(x);
		5200	MainMap.Markers.Remove(mRouteWP);
		5201	_routeUpdate();
		5202	}
		5203	}
		5204	DataRow dr = dtWaypoints.Rows[index];
		5205	DataRow newRow = dtWaypoints.NewRow();
		5206	newRow.ItemArray = dr.ItemArray;
		5207	dtWaypoints.Rows.Remove(dr);
		5208	dtWaypoints.Rows.InsertAt(newRow, index + 1);
		5209	dtWaypoints.Rows[index][0] = 100;
		5210	dtWaypoints.Rows[index + 1][0] = index + 2;
		5211	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString());
		5212	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5213	dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString();
		5214	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString();
		5215	dtWaypoints.Rows[index][0] = index + 1;
		5216	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5217	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5218	dgvWP.Items.Refresh();
		5219	dgvWP.SelectedIndex = index + 1;
		5220	_dgvWPselectEditRow();
		5221	if(wpOffset.Contains(index)) // If selected line is WP
		5222	{
		5223	int iOffset = wpOffset.IndexOf(index);
		5224	if(iOffset < wpOffset.Count -1) // if not last element
		5225	{
		5226	if (wpOffset[iOffset + 1] > index + 1) //if next element is not immediately after actual offset
		5227	wpOffset[iOffset] = index + 1; //then increase offset value by one
		5228	}
		5229	else
		5230	wpOffset[iOffset] = index + 1; //if last element increase offset by one
		5231	}
		5232	else //selected line is POI
		5233	{
		5234	if (wpOffset.Contains(index + 1)) // if next point is WP
		5235	{
		5236	int iOffset = wpOffset.IndexOf(index + 1);
		5237	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5238	}
		5239	}
		5240	}
		5241
		5242	}
		5243
2405	-	5244	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		5245	{
		5246	if (WPStatus.Visibility == Visibility.Visible)
		5247	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5248	else
		5249	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5250	}
		5251	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		5252	{
		5253	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		5254	{
		5255	if (cWPBound != null && cWPBound.Tag != null)
		5256	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2356	-	5257
2408	-	5258	createCircle(home.Position, dWPMaxRange);
2419	-	5259	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		5260	{
		5261	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		5262	cWPBound.setColor(s);
		5263	}
2405	-	5264	}
2408	-	5265
2405	-	5266	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		5267	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		5268	}
2315	-	5269	#endregion WP
2324	-	5270	#region GPX
		5271	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		5272	{
		5273	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		5274	}
		5275	void _gpxAdd(double lat,double lon, int elevation)
		5276	{
		5277	DataRow dr = dtGPX.NewRow();
		5278	dr[0] = dtGPX.Rows.Count - 1;
		5279	dr[1] = lat;
		5280	dr[2] = lon;
		5281	dr[3] = elevation;
		5282	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		5283	dtGPX.Rows.Add(dr);
		5284	}
		5285	void _saveGPXLog()
		5286	{
		5287	if (!Directory.Exists("GPXLog"))
		5288	Directory.CreateDirectory("GPXLog");
		5289	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		5290	XmlTextWriter myXmlTextWriter = null;
		5291	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		5292	NumberFormatInfo nfi = new NumberFormatInfo();
		5293	nfi.NumberDecimalSeparator = ".";
2315	-	5294
2324	-	5295	try
		5296	{
		5297	myXmlTextWriter.Formatting = Formatting.Indented;
		5298
		5299	myXmlTextWriter.WriteStartDocument();
		5300
		5301	myXmlTextWriter.WriteStartElement("gpx");
		5302
		5303	myXmlTextWriter.WriteAttributeString("version", "1.0");
		5304	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		5305	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		5306	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		5307	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		5308
		5309	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		5310
		5311	myXmlTextWriter.WriteStartElement("trk");
		5312	myXmlTextWriter.WriteStartElement("trkseg");
		5313	for(int i = 0; i< dtGPX.Rows.Count;i++)
		5314	{
		5315	myXmlTextWriter.WriteStartElement("trkpt");
		5316	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		5317	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		5318	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		5319	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		5320	myXmlTextWriter.WriteEndElement();
		5321	}
		5322	myXmlTextWriter.WriteEndElement();
		5323	myXmlTextWriter.WriteEndElement();
		5324	myXmlTextWriter.WriteEndElement();
		5325	}
		5326	catch (Exception e)
		5327	{
		5328	Console.WriteLine("Exception: {0}", e.ToString());
		5329	}
		5330	finally
		5331	{
		5332	if (myXmlTextWriter != null)
		5333	{
		5334	myXmlTextWriter.Close();
		5335	}
		5336	}
		5337	}
2425	-	5338
2324	-	5339	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		5340	{
		5341	_loadGPXLog();
		5342	}
2327	-	5343	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		5344	{
		5345	_clearMapMarkers(typeof(GMapRoute));
		5346	}
2324	-	5347	void _loadGPXLog()
		5348	{
		5349
		5350	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		5351	fd.Filter = "GPX-Logfile \| *.gpx";
		5352	fd.Multiselect = false;
		5353	if (fd.ShowDialog().Value)
		5354	{
		5355	string file = fd.FileName;
		5356	try
		5357	{
		5358	XDocument gpxDoc = XDocument.Load(file);
		5359	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		5360
		5361	NumberFormatInfo nfi = new NumberFormatInfo();
		5362	nfi.NumberDecimalSeparator = ".";
		5363
		5364	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		5365	select new
		5366	{
		5367	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		5368	Segs = (
		5369	from trackpoint in track.Descendants(gpx + "trkpt")
		5370	select new
		5371	{
		5372	Latitude = trackpoint.Attribute("lat").Value,
		5373	Longitude = trackpoint.Attribute("lon").Value,
		5374	Elevation = trackpoint.Element(gpx + "ele") != null ?
		5375	trackpoint.Element(gpx + "ele").Value : null,
		5376	Time = trackpoint.Element(gpx + "time") != null ?
		5377	trackpoint.Element(gpx + "time").Value : null
		5378	}
		5379	)
		5380	};
		5381
		5382	List<PointLatLng> wpl = new List<PointLatLng>();
		5383	foreach(var trk in tracks)
		5384	{
		5385	foreach(var trkseg in trk.Segs)
		5386	{
		5387	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		5388	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		5389	}
		5390
		5391	}
		5392	if(wpl.Count() > 0)
		5393	{
2327	-	5394	_clearMapMarkers(typeof(GMapRoute));
2324	-	5395	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	5396	Dispatcher.Invoke(() =>
		5397	{
		5398	GMapRoute mRoute;
		5399	if (comboBoxRouteColor.SelectionBoxItem != null)
		5400	{
		5401	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	5402	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	5403	}
		5404	else
2366	-	5405	mRoute = new GMapRoute(wpl, null);
2324	-	5406
2328	-	5407	MainMap.Markers.Add(mRoute);
		5408	});
2324	-	5409	}
		5410
		5411	}
		5412	catch (Exception e)
		5413	{
		5414	Console.WriteLine("Exception: {0}", e.ToString());
		5415	}
		5416	}
		5417	}
		5418	#endregion GPX
2315	-	5419	#endregion functions
2287	-	5420	}
2425	-	5421
		5422	/// <summary>
2315	-	5423	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		5424	/// </summary>
2313	-	5425	public class waypointsConverter : IValueConverter
		5426	{
		5427	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		5428	{
		5429	if (value != null)
		5430	{
		5431	switch ((string)parameter)
		5432	{
		5433	case "Latitude":
		5434	return value.ToString() + " °";
		5435	case "Longitude":
		5436	return value.ToString() + " °";
		5437	case "Radius":
		5438	return value.ToString() + " m";
		5439	case "Altitude":
		5440	return value.ToString() + " m";
		5441	case "ClimbRate":
		5442	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		5443	case "DelayTime":
		5444	return value.ToString() + " s";
		5445	case "Heading":
		5446	return Waypoints.Heading(System.Convert.ToInt32(value));
		5447	case "Speed":
		5448	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		5449	case "CamAngle":
		5450	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		5451	case "Type":
		5452	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		5453	case "AutoTrigger":
		5454	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		5455	case "Status":
2355	-	5456	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	5457	}
		5458
		5459	return value.ToString();
		5460	}
		5461	else return value;
		5462	}
		5463
		5464	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		5465	{
		5466	throw new NotImplementedException();
		5467	}
		5468	}
2287	-	5469	public class IniFile
		5470	{
		5471	public string path;
		5472
		5473	[DllImport("kernel32")]
		5474	private static extern long WritePrivateProfileString(string section,
		5475	string key, string val, string filePath);
		5476
		5477	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		5478	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		5479	uint nSize, string lpFileName);
		5480
		5481	[DllImport("kernel32")]
		5482	private static extern int GetPrivateProfileString(string section,
		5483	string key, string def, StringBuilder retVal,
		5484	int size, string filePath);
		5485
		5486	public IniFile(string INIPath)
		5487	{
		5488	path = INIPath;
		5489	}
		5490
		5491	public void IniWriteValue(string Section, string Key, string Value)
		5492	{
		5493	WritePrivateProfileString(Section, Key, Value, this.path);
		5494	}
		5495
		5496	public string IniReadValue(string Section, string Key)
		5497	{
		5498	StringBuilder temp = new StringBuilder(255);
		5499	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		5500	return temp.ToString();
		5501	}
		5502	//Ini_sections auslesen in String-Array
		5503	public string[] IniSectionNames()
		5504	{
		5505
		5506	// uint MAX_BUFFER = 32767;
		5507	uint MAX_BUFFER = 8388608;
		5508	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		5509	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		5510	if (bytesReturned == 0)
		5511	{
		5512	Marshal.FreeCoTaskMem(pReturnedString);
		5513	return null;
		5514	}
		5515	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		5516	Marshal.FreeCoTaskMem(pReturnedString);
		5517	//use of Substring below removes terminating null for split
		5518	return local.Substring(0, local.Length - 1).Split('\0');
		5519
		5520
		5521	}
		5522	}
		5523	/// <summary>
		5524	/// Selected Win AI Function Calls
		5525	/// </summary>
		5526	public class WinApi
		5527	{
		5528	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		5529	public static extern int GetSystemMetrics(int which);
		5530	[DllImport("user32.dll")]
		5531	public static extern void
		5532	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		5533	int X, int Y, int width, int height, uint flags);
		5534
		5535	private const int SM_CXSCREEN = 0;
		5536	private const int SM_CYSCREEN = 1;
		5537	private static IntPtr HWND_TOP = IntPtr.Zero;
		5538	private const int SWP_SHOWWINDOW = 64; // 0x0040
		5539
		5540	public static int ScreenX
		5541	{
		5542	get { return GetSystemMetrics(SM_CXSCREEN); }
		5543	}
		5544
		5545	public static int ScreenY
		5546	{
		5547	get { return GetSystemMetrics(SM_CYSCREEN); }
		5548	}
		5549
		5550	public static void SetWinFullScreen(IntPtr hwnd)
		5551	{
		5552	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		5553	}
		5554	}
		5555	/// <summary>
		5556	/// Class used to preserve / restore state of the window
		5557	/// </summary>
		5558	public class WinState
		5559	{
		5560	private WindowState winState;
		5561	private WindowStyle brdStyle;
		5562	private bool topMost;
		5563	private Rect restore;
		5564	private bool IsMaximized = false;
		5565
		5566	public bool isMaximized
		5567	{
		5568	get { return IsMaximized; }
		5569	}
		5570	public void Maximize(Window targetForm)
		5571	{
		5572	if (!IsMaximized)
		5573	{
		5574	IsMaximized = true;
		5575	Save(targetForm);
		5576	targetForm.WindowState = WindowState.Maximized;
		5577	targetForm.WindowStyle = WindowStyle.None;
		5578	targetForm.Topmost = true;
		5579	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		5580	}
		5581	}
		5582
		5583	public void Save(Window targetForm)
		5584	{
		5585	winState = targetForm.WindowState;
		5586	brdStyle = targetForm.WindowStyle;
		5587	topMost = targetForm.Topmost;
		5588	restore = targetForm.RestoreBounds;
		5589	}
		5590	public void Restore(Window targetForm)
		5591	{
		5592	targetForm.WindowState = winState;
		5593	targetForm.WindowStyle = brdStyle;
		5594	targetForm.Topmost = topMost;
		5595
		5596	targetForm.Left = restore.Left;
		5597	targetForm.Top = restore.Top;
		5598	targetForm.Height = restore.Height;
		5599	targetForm.Width = restore.Width;
		5600	IsMaximized = false;
		5601	}
		5602	}
		5603	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs - Rev 2435