WebSVN - Projects - Blame - /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	/// radioman (http://www.codeplex.com/site/users/view/radioman)
		23	/// for his really GreatMaps! (http://greatmaps.codeplex.com/)
		24	///
		25	/// I made some changes to the source, so You need all files from this project here in order to compile and run
		26	///
		27	/// JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology
		28	/// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747)
		29	/// and the sourcecode (http://hdl.lib.byu.edu/1877/2748)
		30	/// By his work I finally managed to get the communication with the Mikrokopter controllers to run
		31	/// Some of his code was used in this programm like the SimpelSerialPort class (with lots of changes)
		32	/// and the FilghtControllerMessage class
		33	///
		34	///============================================================================
		35	/// DISCLAIMER
		36	/// ===========
		37	///
		38	/// I created this software with my best knowledge and belief.
		39	///
		40	/// IN NO EVENT, UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING,
		41	/// SHALL I, OR ANY PERSON BE LIABLE FOR ANY LOSS, EXPENSE OR DAMAGE,
		42	/// OF ANY TYPE OR NATURE ARISING OUT OF THE USE OF,
		43	/// OR INABILITY TO USE THIS SOFTWARE OR PROGRAM,
		44	/// INCLUDING, BUT NOT LIMITED TO, CLAIMS, SUITS OR CAUSES OF ACTION
		45	/// INVOLVING ALLEGED INFRINGEMENT OF COPYRIGHTS,
		46	/// PATENTS, TRADEMARKS, TRADE SECRETS, OR UNFAIR COMPETITION.
		47	///
		48	/// This means: use it & have fun (but @ Your own risk...)
		49	/// ===========================================================================
		50	using GMap.NET;
2287	-	51	using GMap.NET.MapProviders;
		52	using GMap.NET.WindowsPresentation;
		53	using MKLiveView.GMapCustomMarkers;
		54	using System;
		55	using System.Collections.Generic;
		56	using System.ComponentModel;
		57	using System.Data;
		58	using System.Diagnostics;
		59	using System.IO;
		60	using System.Linq;
		61	using System.Linq.Expressions;
		62	using System.Runtime.InteropServices;
		63	using System.Text;
		64	using System.Threading;
		65	using System.Threading.Tasks;
		66	using System.Windows;
		67	using System.Windows.Controls;
		68	using System.Windows.Data;
		69	using System.Windows.Documents;
		70	using System.Windows.Input;
		71	using System.Windows.Interop;
		72	using System.Windows.Media;
		73	using System.Windows.Media.Animation;
		74	using System.Windows.Media.Imaging;
		75	using System.Windows.Navigation;
		76	using System.Windows.Shapes;
		77	using System.Windows.Threading;
2313	-	78	using System.Globalization;
2324	-	79	using System.Xml;
		80	using System.Xml.Linq;
2287	-	81
		82	namespace MKLiveView
		83	{
		84	/// <summary>
		85	/// Interaktionslogik für MainWindow.xaml
		86	/// </summary>
		87	public partial class MainWindow : Window
		88	{
2304	-	89	#region declarations
2405	-	90	object lockObj = new Object();
		91	MediaPlayer.MediaPlayer mediaPlayer = new MediaPlayer.MediaPlayer();
2304	-	92
2287	-	93	GMapMarker copter;
		94	GMapMarker home;
		95	PointLatLng start;
		96	PointLatLng end;
		97	PointLatLng pHome;
2328	-	98	GMapRoute mRouteWP;
2342	-	99	GMapMarker wpActiveMarker;
2328	-	100	List<PointLatLng> wpList = new List<PointLatLng>();
2425	-	101	List<int> wpOffset = new List<int>();
2405	-	102	Circle cWPBound = new Circle();
		103	double dWPMaxRange = 0;
		104
2324	-	105	#region NC-Errors
2287	-	106	String[] NC_Error = new string[44]
		107	{
		108	"No Error",
2381	-	109	"FC not compatible",
		110	"MK3Mag not compatible",
		111	"no FC communication",
		112	"no compass communication",
		113	"no GPS communication",
		114	"bad compass value",
		115	"RC Signal lost",
		116	"FC spi rx error",
		117	"ERR: no NC communication",
		118	"ERR: FC Nick Gyro",
		119	"ERR: FC Roll Gyro",
		120	"ERR: FC Yaw Gyro",
		121	"ERR: FC Nick ACC",
		122	"ERR: FC Roll ACC",
		123	"ERR: FC Z-ACC",
		124	"ERR: Pressure sensor",
		125	"ERR: FC I2C",
		126	"ERR: Bl Missing",
		127	"Mixer Error",
		128	"FC: Carefree Error",
		129	"ERR: GPS lost",
		130	"ERR: Magnet Error",
		131	"Motor restart",
		132	"BL Limitation",
		133	"Waypoint range",
		134	"ERR:No SD-Card",
		135	"ERR:SD Logging aborted",
		136	"ERR:Flying range!",
		137	"ERR:Max Altitude",
		138	"No GPS Fix",
		139	"compass not calibrated",
		140	"ERR:BL selftest",
		141	"no ext. compass",
		142	"compass sensor",
		143	"FAILSAFE pos.!",
		144	"ERR:Redundancy",
		145	"Redundancy test",
		146	"GPS Update rate",
		147	"ERR:Canbus",
		148	"ERR: 5V RC-Supply",
		149	"ERR:Power-Supply",
		150	"ACC not calibr.",
		151	"ERR:Parachute!"
2287	-	152	};
2381	-	153	String[] NC_Error_Link = new string[44]
		154	{
		155	"",
		156	"http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		157	"http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		158	"http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		159	"http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		160	"http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		161	"http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		162	"http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		163	"http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		164	"http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		165	"http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		166	"http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		167	"http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		168	"http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		169	"http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		170	"http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		171	"http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		172	"http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		173	"http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		174	"http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		175	"http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		176	"http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		177	"http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		178	"http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		179	"http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		180	"http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		181	"http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		182	"http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		183	"http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		184	"http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		185	"http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		186	"http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		187	"http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		188	"http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		189	"http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		190	"http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		191	"http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		192	"http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		193	"http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		194	"http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		195	"http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		196	"http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		197	"http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		198	"http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		199	};
		200
2324	-	201	#endregion NC-Errors
2287	-	202	[FlagsAttribute]
		203	enum NC_HWError0 : short
		204	{
		205	None = 0,
		206	SPI_RX = 1,
		207	COMPASS_RX = 2,
		208	FC_INCOMPATIBLE = 4,
		209	COMPASS_INCOMPATIBLE = 8,
		210	GPS_RX = 16,
		211	COMPASS_VALUE = 32
		212	};
		213	[FlagsAttribute]
		214	enum FC_HWError0 : short
		215	{
		216	None = 0,
		217	GYRO_NICK = 1,
		218	GYRO_ROLL = 2,
		219	GYRO_YAW = 4,
		220	ACC_NICK = 8,
		221	ACC_ROLL = 16,
		222	ACC_TOP = 32,
		223	PRESSURE = 64,
		224	CAREFREE = 128
		225	};
		226	[FlagsAttribute]
		227	enum FC_HWError1 : short
		228	{
		229	None = 0,
		230	I2C = 1,
		231	BL_MISSING = 2,
		232	SPI_RX = 4,
		233	PPM = 8,
		234	MIXER = 16,
		235	RC_VOLTAGE = 32,
		236	ACC_NOT_CAL = 64,
		237	RES3 = 128
		238	};
		239	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		240	// Various colors for logging info
		241	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		242
		243	bool _bCBInit = true;
		244	bool _init = true;
		245	bool check_HWError = false;
		246
		247	string filePath = Directory.GetCurrentDirectory();
		248	bool bReadContinously = false;
		249	bool _debugDataAutorefresh = true;
		250	bool _navCtrlDataAutorefresh = true;
		251	bool _blctrlDataAutorefresh = true;
		252	bool _OSDAutorefresh = true;
		253	bool _bErrorLog = false;
		254	bool _bConnErr = false;
		255	bool _bFollowCopter = false;
2324	-	256	bool _bGPXLog = false;
2376	-	257	bool _Simulate = false;
2287	-	258
		259	bool _bSaveWinStateNormal = true;
		260	bool _bSaveWinStateFull = true;
		261
		262	double scaleNormalAll = 1;
		263	double scaleNormalTopBar = 1;
		264	double scaleNormalMotors = 1;
		265	double scaleNormalOSD = 1;
		266	double scaleNormalLOG = 1;
		267	double scaleNormalHorizon = 1;
		268
		269	double scaleFullAll = 1;
		270	double scaleFullTopBar = 1;
		271	double scaleFullMotors = 1;
		272	double scaleFullOSD = 1;
		273	double scaleFullLOG = 1;
		274	double scaleFullHorizon = 1;
		275
		276	int _iCtrlAct = 0;
		277	int iOSDPage = 0;
		278	int iOSDMax = 0;
		279	int _iLifeCounter = 0;
		280	int crcError = 0;
		281
2291	-	282	bool _bSatFix = false;
		283	Storyboard stbSatFixLostAnim;
		284	bool _bAnimSatFixActive = false;
		285	bool _bVoiceSatFixActive = false;
		286	bool _bVoiceSatFixPlay = false;
		287	int _iSatsLast = 0;
		288	int _iSatsJitter = 0;
		289
		290	bool _bMagneticFieldOK = false;
		291	Storyboard stbMagneticFieldAnim;
		292	bool _bAnimMagneticFieldActive = false;
		293	bool _bVoiceMagneticFieldActive = false;
		294	bool _bVoiceMagneticFieldPlay = false;
		295	int _iMagneticFieldLast = 0;
		296	int _iMagneticFieldJitter = 0;
		297
		298	bool _bRCLevelOK = false;
		299	Storyboard stbRCLevelAnim;
		300	bool _bAnimRCLevelActive = false;
		301	bool _bVoiceRCLevelActive = false;
		302	bool _bVoiceRCLevelPlay = false;
		303	int _iRCLevelLast = 0;
		304	int _iRCLevelJitter = 0;
		305
2287	-	306	int _iMotors = 4;
		307	int _LipoCells = 4;
		308
		309	double _dLipoVMax = 16.88;
		310	double _dLipoVMin = 12;
		311	double _dThresholdVoltageWarn = 0;
		312	double _dThresholdVoltageCrit = 0;
		313	Storyboard stbVoltageCritAnim;
		314	bool _bCritAnimVoltActive = false;
		315	bool _bCritVoiceVoltActive = false;
2291	-	316	bool _bWarnVoiceVoltActive = false;
2287	-	317	bool _bVoiceVoltPlay = false;
		318	double _dVoltLast = 0;
		319	int _iVoltJitter = 0;
		320
2291	-	321	double _dThresholdDistanceWarn = 100;
		322	Storyboard stbDistanceWarnAnim;
		323	bool _bAnimDistanceActive = false;
		324	bool _bVoiceDistanceActive = false;
		325	bool _bVoiceDistancePlay = false;
		326	double _dDistanceLast = 0;
		327	int _iDistanceJitter = 0;
		328
		329	double _dThresholdDistanceMax = 1000;
		330	int _iThresholdRC = 160;
		331	int _iThresholdMagField = 15;
		332
2295	-	333	bool _bAutoHome = false;
		334	bool _bFirstSatFix = false;
		335	int _iFirstSatFix = 0;
2291	-	336
2287	-	337	double _dTopHeight = 36;
		338
		339	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		340	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		341	string[] serChanTitle = new string[12];
		342
		343	string[] sAnalogLabel = new string[32];
		344	string[] sAnalogData = new string[32];
2324	-	345	int[] iAnalogData = new int[32];
2287	-	346
2424	-	347	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 };
		348	int[] iMotors = new int[] { 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 };
2287	-	349	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		350	/// <summary>
		351	/// interval for sending debugdata (multiplied by 10ms)
		352	/// </summary>
		353	byte debugInterval = 10; //(=> 100ms)
		354	/// <summary>
		355	/// interval for sending BL-CTRL status (multiplied by 10ms)
		356	/// </summary>
		357	byte blctrlInterval = 75;
		358	/// <summary>
		359	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		360	/// </summary>
2437	-	361	byte navctrlInterval = 20;
2287	-	362	/// <summary>
		363	/// interval for sending OSD page update (multiplied by 10ms)
		364	/// </summary>
		365	byte OSDInterval = 85;
		366	/// <summary>
		367	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		368	/// </summary>
		369	DataTable dtAnalog = new DataTable();
		370	/// <summary>
		371	/// datatable for motordata (current,temp)
		372	/// </summary>
2315	-	373	DataTable dtMotors = new DataTable();
2287	-	374
		375	DataTable dtWaypoints = new DataTable();
2313	-	376	static volatile int _iWPCount = -1;
		377	static volatile int _iWPIndex = -1;
		378	int _iWPTimeout = 1000;
2287	-	379	bool _bGetWP = false;
2328	-	380	bool _bShowWPRoute = false;
2437	-	381	bool _bAutoWPEdit = true;
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
2437	-	388	string _wpDefPrefix = "P";
		389	int _wpDefAltitude = 20;
		390	int _wpDefHeading = 0;
		391	int _wpDefCBoxHeading = 0;
		392	int _wpDefSpeed = 10;
		393	int _wpDefCBoxSpeed = 0;
		394	int _wpDefClimb = 10;
		395	int _wpDefCBoxClimb = 0;
		396	int _wpDefRadius = 5;
		397	int _wpDefHoldtime = 5;
		398	int _wpDefAutotrig = 0;
		399	int _wpDefCamangle = 0;
		400	int _wpDefCBoxCamangle = 0;
		401	int _wpDefOut1 = 0;
		402
		403	bool _wpAddCopterHeight = true;
		404	bool _wpAddCopterHeading = true;
		405
2287	-	406	DispatcherTimer timer = new DispatcherTimer();
		407
		408	/// <summary>
		409	/// stuff for enabeling touch zoom for the map
		410	/// </summary>
2424	-	411	Point pTouch1 = new Point(0, 0), pTouch2 = new Point(0, 0);
2287	-	412	int iFirstStylusID = -1;
2437	-	413
2287	-	414	public string connectButtonText
		415	{
		416	get
		417	{
		418	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		419	}
		420	}
		421
		422	WinState winState = new WinState();
2437	-	423
2304	-	424	#endregion declarations
2287	-	425	public MainWindow()
		426	{
		427	InitializeComponent();
		428	_initForm();
		429	_dataTablesInit();
		430	_setupMap();
		431	_init = false;
		432	timer.Tick += new EventHandler(timerEvent);
		433	timer.Interval = new TimeSpan(0, 0, 1);
		434	timer.Start();
		435	}
		436
		437	#region init
		438	void _initForm()
		439	{
		440	_readIni();
		441	if (_bSaveWinStateNormal)
		442	_setScaleSliders(false);
2424	-	443	cBoxTimingsDebug.ItemsSource =
		444	cBoxTimingsNav.ItemsSource =
		445	cBoxTimingsBl.ItemsSource =
		446	cBoxTimingsOSD.ItemsSource =
2287	-	447	iTimings;
		448	cBoxLiPoCells.ItemsSource = sLiPoCells;
		449	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		450	_LipoMinMax();
		451	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		452	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		453	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	454	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		455	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		456	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		457	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		458	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	459
2291	-	460	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		461
2287	-	462	cBoxMotors.ItemsSource = iMotors;
		463	cBoxMotors.SelectedItem = _iMotors;
		464
		465	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		466	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		467	serialPortCtrl.DataReceived += processMessage;
		468
		469	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		470	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		471	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		472	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		473
		474	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		475	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		476	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		477	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
2295	-	478	checkBoxAutoSetHP.IsChecked = _bAutoHome;
2287	-	479	checkBoxFollowCopter.IsChecked = _bFollowCopter;
2324	-	480	checkBoxGPXLog.IsChecked = _bGPXLog;
2328	-	481	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
2437	-	482	checkBoxAutoShowWPEdit.IsChecked = _bAutoWPEdit;
		483	checkBoxWPAddUseCopterHeight.IsChecked = _wpAddCopterHeight;
		484	checkBoxWPAddUseCopterHeading.IsChecked = _wpAddCopterHeading;
2421	-	485	GridSettings.Visibility = Visibility.Visible;
2437	-	486	GridData.Visibility = GridWP.Visibility = GridWPEdit.Visibility = Visibility.Collapsed;
2349	-	487	_initSerialCtrl();
2287	-	488	}
		489	/// <summary>
		490	/// initialize the datatables
		491	/// with columnnames etc
		492	/// </summary>
		493	void _dataTablesInit()
		494	{
2315	-	495	dtMotors.Columns.Add("#");
2313	-	496	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	497	dtMotors.Columns.Add("Strom");
2313	-	498	else
2315	-	499	dtMotors.Columns.Add("Current");
		500	dtMotors.Columns.Add("Temp");
		501	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	502	_initDTMotors();
		503
2424	-	504	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5, 0, 5, 0));
2287	-	505	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		506	style.Setters.Add(setter);
		507	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		508	style.Setters.Add(setter);
		509	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		510	style.Setters.Add(setter);
2313	-	511
2424	-	512	dtWaypoints.Columns.Add("Index", typeof(int));
2315	-	513	dtWaypoints.Columns.Add("Type", typeof(int));
2424	-	514	dtWaypoints.Columns.Add("Name", typeof(string));
		515	dtWaypoints.Columns.Add("Latitude", typeof(double));
		516	dtWaypoints.Columns.Add("Longitude", typeof(double));
		517	dtWaypoints.Columns.Add("Altitude", typeof(string));
		518	dtWaypoints.Columns.Add("Heading", typeof(string));
		519	dtWaypoints.Columns.Add("Speed", typeof(string));
		520	dtWaypoints.Columns.Add("ClimbRate", typeof(string));
		521	dtWaypoints.Columns.Add("Radius", typeof(string));
		522	dtWaypoints.Columns.Add("HoldTime", typeof(string));
		523	dtWaypoints.Columns.Add("AutoTrigger", typeof(string));
		524	dtWaypoints.Columns.Add("CamAngle", typeof(string));
		525	dtWaypoints.Columns.Add("Event", typeof(string));
		526	dtWaypoints.Columns.Add("Out1Timer", typeof(string));
		527	dtWaypoints.Columns.Add("Status", typeof(string));
2313	-	528	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		529	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	530	dgvWP.ColumnHeaderStyle = new Style();
		531	dgvWP.ColumnHeaderStyle = style;
2313	-	532
2424	-	533	dtGPX.Columns.Add("Index", typeof(int));
		534	dtGPX.Columns.Add("Latitude", typeof(double));
		535	dtGPX.Columns.Add("Longitude", typeof(double));
		536	dtGPX.Columns.Add("Elevation", typeof(int));
		537	dtGPX.Columns.Add("Time", typeof(string));
2324	-	538	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		539	drGPX = dtGPX.NewRow();
2313	-	540
2287	-	541	}
		542	/// <summary>
2315	-	543	/// initialize the datatable dtMotors for motor values
2313	-	544	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	545	/// </summary>
		546	void _initDTMotors()
		547	{
		548	for (int i = 0; i < 12; i++)
		549	{
2315	-	550	if (dtMotors.Rows.Count < 12)
		551	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	552	else
		553	{
2315	-	554	dtMotors.Rows[i].SetField(1, "NA");
		555	dtMotors.Rows[i].SetField(2, "NA");
2287	-	556	}
		557	}
		558	}
		559
		560	#endregion init
		561
		562	#region events
		563	private void serialPortCtrl_PortOpened()
		564	{
		565	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		566	_getVersion();
		567	Thread.Sleep(100);
2424	-	568	_getLic();
2287	-	569	//_OSDMenue(0);
		570	//Thread.Sleep(200);
		571	//_sendSerialData();
		572	_readCont(true);
		573	}
		574	private void serialPortCtrl_PortClosed()
		575	{
		576	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		577	_readCont(false);
		578	}
2324	-	579	bool _bToggle = false;
2287	-	580	void timerEvent(object sender, EventArgs e)
		581	{
		582	if (bReadContinously)
		583	{
		584	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		585
		586	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		587
		588	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		589	check_HWError = true;
		590	_getVersion();
		591	Thread.Sleep(10);
		592	if (_OSDAutorefresh)
		593	{
		594	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		595	_initOSDCB();
		596	_OSDMenueAutoRefresh();
		597	}
		598	if (_iLifeCounter > 0)
		599	{
		600	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
2424	-	601	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
2287	-	602	_iLifeCounter = 0;
		603	_bConnErr = false;
2424	-	604	if (_bAirborne && _bGPXLog)
2324	-	605	{
		606	drGPX[0] = dtGPX.Rows.Count;
		607	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		608	}
2327	-	609	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		610	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		611	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
2324	-	612	_bToggle = !_bToggle;
2287	-	613	}
		614	else
		615	{
		616	if (!_bConnErr)
		617	{
		618	Log(LogMsgType.Error, "No communication to NC/FC!");
		619	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
2424	-	620	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
2287	-	621	_bConnErr = true;
		622	}
		623	}
		624	}
		625	}
		626
		627	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		628	{
		629	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		630	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		631	}
		632	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		633	{
		634	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		635	if (GridMotors.IsVisible)
		636	_setMotorGridSize();
		637	}
		638	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		639	{
		640	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		641	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		642	}
		643	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		644	{
		645	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		646	}
		647	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		648	{
		649	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		650	}
		651	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		652	{
		653	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		654	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		655	}
2437	-	656	private void labelWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		657	{
		658	GridWPEdit.Visibility = GridWPEdit.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		659	}
2287	-	660
		661	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		662	{
		663	Thread t = new Thread(new ThreadStart(_getWP));
		664	t.Start();
		665	}
		666	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		667	{
2313	-	668	Thread t = new Thread(new ThreadStart(_sendWPList));
		669	t.Start();
2287	-	670	}
		671
		672	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		673	{
		674	if (!serialPortCtrl.Port.IsOpen)
		675	serialPortCtrl.Connect(true);
		676	else
		677	_readCont(!bReadContinously);
		678	}
		679	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		680	{
2347	-	681	_setHomePos();
2287	-	682	}
		683	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		684	{
2347	-	685	_clearHomePos();
2287	-	686	}
		687	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		688	{
		689	if (home != null && MainMap.Markers.Contains(home))
		690	MainMap.Position = home.Position;
		691	}
2295	-	692	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		693	{
		694	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		695	}
2287	-	696	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		697	{
		698	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		699	}
		700	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		701	{
		702	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		703	}
		704
2291	-	705	#region thresholds
2287	-	706	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		707	{
2424	-	708	if (!_init)
2287	-	709	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		710	}
		711	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		712	{
2424	-	713	if (!_init)
2287	-	714	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		715	}
		716	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		717	{
		718	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		719	}
2291	-	720
		721	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		722	{
2424	-	723	if (!_init)
2291	-	724	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		725	}
		726	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		727	{
		728	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		729	}
		730
		731	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		732	{
		733	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		734	}
		735	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		736	{
		737	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		738	}
		739	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		740	{
		741	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		742	}
		743	#endregion thresholds
		744
2287	-	745	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		746	{
		747	_switchToNC();
		748	}
		749
		750	private void Window_Loaded(object sender, RoutedEventArgs e)
		751	{
		752	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	753	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		754	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		755	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		756	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	757	_setMotorGridSize();
		758	}
2310	-	759	private void Window_Closing(object sender, CancelEventArgs e)
		760	{
		761	_writeIni();
2424	-	762	if (_bGPXLog && dtGPX.Rows.Count > 0)
2324	-	763	_saveGPXLog();
2310	-	764	}
2379	-	765	private void Window_Closed(object sender, EventArgs e)
		766	{
		767	Application.Current.Shutdown();
		768	}
		769
2432	-	770	Point pWPAdd;
		771	private void GridGMapControl_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
		772	{
2434	-	773	if(e.ClickCount == 2)
2432	-	774	{
2437	-	775	double x = 0, y = 0;
		776	var titleHeight = SystemParameters.WindowCaptionHeight + SystemParameters.ResizeFrameHorizontalBorderHeight;
		777
2432	-	778	pWPAdd = new Point(e.GetPosition(this).X, e.GetPosition(this).Y);
2437	-	779	if (pWPAdd.X + canvasAddPoint.Width > Width)
		780	x = pWPAdd.X - canvasAddPoint.Width;
		781	else
		782	x = pWPAdd.X;
		783	if (pWPAdd.Y + canvasAddPoint.Height > Height - titleHeight)
		784	y = pWPAdd.Y - canvasAddPoint.Height;
		785	else
		786	y = pWPAdd.Y;
		787
		788	canvasAddPoint.Margin = new Thickness(x, y, canvasAddPoint.Margin.Left, canvasAddPoint.Margin.Bottom);
2432	-	789	canvasAddPoint.Visibility = Visibility.Visible;
		790	}
		791
		792	}
		793	private void canvasAddPoint_LostFocus(object sender, RoutedEventArgs e)
		794	{
		795	canvasAddPoint.Visibility = Visibility.Collapsed;
		796	}
		797	private void canvasAddPoint_MouseLeave(object sender, MouseEventArgs e)
		798	{
		799	canvasAddPoint.Visibility = Visibility.Collapsed;
		800	}
		801	private void btnCmAddWP_Click(object sender, RoutedEventArgs e)
		802	{
		803	if (pWPAdd != null)
		804	{
		805	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		806	_addWP(p,0);
2435	-	807	canvasAddPoint.Visibility = Visibility.Collapsed;
2432	-	808	}
		809	}
		810	private void btnCmAddPOI_Click(object sender, RoutedEventArgs e)
		811	{
		812	if (pWPAdd != null)
		813	{
		814	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		815	_addWP(p,1);
2435	-	816	canvasAddPoint.Visibility = Visibility.Collapsed;
2432	-	817	}
		818	}
		819	private void btnCmAddFailsave_Click(object sender, RoutedEventArgs e)
		820	{
		821	if (pWPAdd != null)
		822	{
		823	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		824	_addWP(p,2);
2435	-	825	canvasAddPoint.Visibility = Visibility.Collapsed;
2432	-	826	}
		827	}
		828	private void btnCmAddLanding_Click(object sender, RoutedEventArgs e)
		829	{
		830	if (pWPAdd != null)
		831	{
		832	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		833	_addWP(p,3);
2435	-	834	canvasAddPoint.Visibility = Visibility.Collapsed;
2432	-	835	}
		836	}
		837
2287	-	838	#endregion events
		839
		840	#region GMap
		841
		842	void _setupMap()
		843	{
		844	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		845	MainMap.MapProvider = GMapProviders.BingHybridMap;
		846	MainMap.SetPositionByKeywords("Landshut");
		847	MainMap.MinZoom = 0;
		848	MainMap.MaxZoom = 24;
		849	MainMap.Zoom = 16;
		850	MainMap.ShowCenter = true;
		851	MainMap.ShowTileGridLines = false;
		852	sliderMapZoom.Value = 16;
		853	comboBoxMapType.ItemsSource = providerList;
		854	comboBoxMapType.DisplayMemberPath = "Name";
		855	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		856
		857	// acccess mode
		858	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		859	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		860
		861	}
2424	-	862
2287	-	863	/// <summary>
		864	/// selection of relevant map providers --> if You need more, You can change the line:
		865	/// comboBoxMapType.ItemsSource = providerList;
		866	/// to:
		867	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		868	/// in _setupMap()
		869	/// or add items here:
		870	/// </summary>
		871	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		872	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		873	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		874	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		875	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		876
		877	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		878	{
		879	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		880	copter = new GMapMarker(MainMap.Position);
2318	-	881
2424	-	882	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"), "red");
2318	-	883	if (comboBoxCopterColor.SelectionBoxItem != null)
		884	{
		885	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	886	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	887	}
2385	-	888	Dispatcher.Invoke(() => {
		889	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		890	{
		891	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		892	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		893	}
		894	});
2405	-	895	copter.Offset = new System.Windows.Point(-26, -26);
2287	-	896	copter.ZIndex = int.MaxValue;
		897	MainMap.Markers.Add(copter);
		898	copter.Position = MainMap.Position;
		899	}
2347	-	900	void _setHomePos()
2287	-	901	{
		902	pHome = MainMap.Position;
		903	if (!MainMap.Markers.Contains(home))
		904	{
		905	home = new GMapMarker(MainMap.Position);
		906	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	907	home.Offset = new System.Windows.Point(-16.5, -16.5);
2287	-	908	// home.ZIndex = int.MaxValue;
		909	MainMap.Markers.Add(home);
		910	}
		911	home.Position = MainMap.Position;
		912	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	913
		914	if (checkBoxShowWPMaxRange.IsChecked == true)
		915	{
		916	if (cWPBound != null && cWPBound.Tag != null)
		917	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		918
		919	createCircle(home.Position, dWPMaxRange);
2408	-	920	Dispatcher.Invoke(() =>
		921	{
		922	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		923	{
		924	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		925	cWPBound.setColor(s);
		926	}
		927	});
2405	-	928	}
		929
2287	-	930	}
2347	-	931	void _setActiveWP(int iIndex)
2287	-	932	{
2429	-	933	if (iIndex < wpList.Count)
2347	-	934	{
2429	-	935	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
2347	-	936	{
2429	-	937	Dispatcher.Invoke(() =>
		938	{
		939	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		940	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		941	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		942	MainMap.Markers.Add(wpActiveMarker);
		943	});
		944	}
		945	else
		946	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
2347	-	947	}
		948
2401	-	949	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
2347	-	950	}
		951	void _clearHomePos()
		952	{
2287	-	953	MainMap.Markers.Remove(home);
2405	-	954	if (cWPBound != null && cWPBound.Tag != null)
		955	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2287	-	956	}
2335	-	957	void _clearMapMarkers(Type markerType)
		958	{
		959	for (int k = 0; k < MainMap.Markers.Count;)
		960	{
		961	GMapMarker p = MainMap.Markers[k];
2340	-	962	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	963	MainMap.Markers.Remove(p);
		964	else
		965	k++;
		966	}
2419	-	967	_WPisMouseCaptured = false;
2335	-	968	}
2369	-	969
		970	GMapMarker _findWPMarker(string name)
2368	-	971	{
		972	for (int k = 0; k < MainMap.Markers.Count;)
		973	{
		974	GMapMarker p = MainMap.Markers[k];
		975	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	976	if (((CustomMarkerWP)p.Shape).WPText == name)
		977	return p;
2368	-	978	else
		979	k++;
		980	else
		981	k++;
		982	}
2369	-	983	return null;
2368	-	984	}
2369	-	985	void _clearWPMarker(string name)
		986	{
		987	GMapMarker p = _findWPMarker(name);
2424	-	988	if (p != null)
2369	-	989	MainMap.Markers.Remove(p);
		990	}
2368	-	991	void _renameWPMarker(string s1, string s2)
		992	{
2369	-	993	GMapMarker p = _findWPMarker(s1);
		994	if (p != null)
		995	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	996	}
2372	-	997	void _WPMarkerSetType(string text, int type)
		998	{
		999	GMapMarker p = _findWPMarker(text);
		1000	if (p != null)
		1001	((CustomMarkerWP)p.Shape).WPType = type;
		1002	}
2369	-	1003	void _repositionWPMarker(PointLatLng point, string name)
		1004	{
		1005	GMapMarker p = _findWPMarker(name);
		1006	if (p != null)
		1007	p.Position = point;
		1008	}
		1009
2405	-	1010	void createCircle(PointLatLng center, double distance)
		1011	{
		1012
		1013	GMapMarker it = new GMapMarker(center);
		1014	it.ZIndex = -1;
2424	-	1015
2405	-	1016	cWPBound.Center = center;
		1017	cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance);
		1018	cWPBound.Tag = it;
		1019	cWPBound.IsHitTestVisible = false;
		1020	UpdateCircle(cWPBound);
		1021	it.Shape = cWPBound;
		1022	MainMap.Markers.Add(it);
		1023	}
		1024	// calculates circle radius
		1025	void UpdateCircle(Circle c)
		1026	{
		1027	var pxCenter = MainMap.FromLatLngToLocal(c.Center);
		1028	var pxBounds = MainMap.FromLatLngToLocal(c.Bound);
		1029
		1030	double a = (double)(pxBounds.X - pxCenter.X);
		1031	double b = (double)(pxBounds.Y - pxCenter.Y);
		1032	var pxCircleRadius = Math.Sqrt(a * a + b * b);
		1033
		1034	c.Width = c.Height = pxCircleRadius * 2;
		1035	//c.Width = 55 + pxCircleRadius * 2;
		1036	//c.Height = 55 + pxCircleRadius * 2;
		1037	(c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2);
		1038	}
		1039
2287	-	1040	// access mode
		1041	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		1042	{
		1043	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		1044	MainMap.ReloadMap();
		1045	}
		1046	// zoom up
		1047	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		1048	{
		1049	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		1050	}
		1051
		1052	// zoom down
		1053	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		1054	{
		1055	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		1056	}
		1057
		1058	// prefetch
		1059	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		1060	{
		1061	RectLatLng area = MainMap.SelectedArea;
		1062	if (!area.IsEmpty)
		1063	{
		1064	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		1065	{
		1066	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		1067
		1068	if (res == MessageBoxResult.Yes)
		1069	{
		1070	TilePrefetcher obj = new TilePrefetcher();
		1071	obj.Owner = this;
		1072	obj.ShowCompleteMessage = true;
		1073	obj.Start(area, i, MainMap.MapProvider, 100);
		1074	}
		1075	else if (res == MessageBoxResult.No)
		1076	{
		1077	continue;
		1078	}
		1079	else if (res == MessageBoxResult.Cancel)
		1080	{
		1081	break;
		1082	}
		1083	}
		1084	}
		1085	else
		1086	{
		1087	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1088	}
		1089	}
		1090
		1091	// goto by geocoder
		1092	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		1093	{
		1094	_goto_byGeoCoder();
		1095	}
		1096	// goto by geocoder
		1097	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		1098	{
		1099	if (e.Key == System.Windows.Input.Key.Enter)
		1100	_goto_byGeoCoder();
		1101	}
		1102	void _goto_byGeoCoder()
		1103	{
		1104	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		1105	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		1106	{
		1107	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1108	}
		1109	}
		1110	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		1111	{
		1112	try
		1113	{
		1114	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		1115	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		1116
		1117	MainMap.Position = new PointLatLng(lat, lng);
		1118	}
		1119	catch (Exception ex)
		1120	{
		1121	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		1122	}
		1123
		1124	}
		1125
		1126	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		1127	{
		1128	MainMap.ReloadMap();
		1129	}
		1130
		1131	private void MainMap_OnPositionChanged(PointLatLng point)
		1132	{
		1133	if (_bFollowCopter)
		1134	_setCopterData(MainMap.Position);
		1135	}
		1136
		1137	private void MainMap_OnMapZoomChanged()
		1138	{
		1139	if (_bFollowCopter)
		1140	_setCopterData(MainMap.Position);
2424	-	1141	if ((int)sliderMapZoom.Value != MainMap.Zoom)
2287	-	1142	sliderMapZoom.Value = MainMap.Zoom;
2424	-	1143	if (cWPBound != null && cWPBound.Tag != null)
2405	-	1144	UpdateCircle(cWPBound);
2287	-	1145	}
		1146
		1147	void _setCopterData(PointLatLng p)
		1148	{
		1149	Dispatcher.Invoke(() =>
		1150	{
		1151	copter.Position = p;
		1152	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		1153	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		1154	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		1155	});
		1156	if (home != null && MainMap.Markers.Contains(home))
		1157	{
		1158	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		1159	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		1160	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	1161
2424	-	1162	if (d * 1000 < _dThresholdDistanceWarn)
2291	-	1163	{
		1164	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		1165	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		1166	{
		1167	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		1168	_bAnimDistanceActive = false;
		1169	}
		1170	}
		1171	else
		1172	{
		1173	if (_iDistanceJitter < 20)
		1174	{ _iDistanceJitter++; }
		1175	if (_iDistanceJitter == 20)
		1176	{
		1177	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		1178	{
		1179	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		1180	_bAnimDistanceActive = true;
		1181	}
		1182	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		1183	{
2398	-	1184	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		1185	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		1186	//t.Start();
2291	-	1187	_bVoiceDistanceActive = true;
		1188	}
		1189	_iDistanceJitter++;
		1190	}
		1191	}
2287	-	1192	}
		1193	}
		1194
		1195	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		1196	{
		1197	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		1198	}
		1199
		1200	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1201	{
		1202	if (MainMap.Zoom != sliderMapZoom.Value)
		1203	MainMap.Zoom = (int)sliderMapZoom.Value;
		1204	}
		1205	#region Touch zooming hackattack ;)
		1206	/// <summary>
		1207	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1208	/// </summary>
		1209	bool bFirstAccess = true;
		1210	double dDistance = 0;
		1211	int iZoom;
		1212	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1213	{
2419	-	1214	if (!_WPisMouseCaptured)
2287	-	1215	{
2419	-	1216	var id = e.StylusDevice.Id;
		1217	e.StylusDevice.Capture(MainMap);
		1218	if (iFirstStylusID == -1)
		1219	{
		1220	iFirstStylusID = id;
		1221	}
		1222	else
		1223	{
2287	-	1224
2419	-	1225	MainMap.CanDragMap = false;
		1226	}
2287	-	1227	}
		1228	}
		1229	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1230	{
		1231	MainMap.ReleaseStylusCapture();
		1232	iFirstStylusID = -1;
		1233	bFirstAccess = true;
		1234	MainMap.CanDragMap = true;
		1235	iZoom = 0;
		1236	}
		1237	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1238	{
		1239	var id = e.StylusDevice.Id;
		1240	var tp = e.GetPosition(MainMap);
		1241
		1242	// This is the first Stylus point; just record its position.
		1243	if (id == iFirstStylusID)
		1244	{
		1245	pTouch1.X = tp.X;
		1246	pTouch1.Y = tp.Y;
		1247	}
		1248	else
		1249	if (iFirstStylusID > -1)
		1250	{
		1251	pTouch2.X = tp.X;
		1252	pTouch2.Y = tp.Y;
		1253	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1254	if (!bFirstAccess)
		1255	{
		1256	if (distance > dDistance)
		1257	iZoom++;
		1258	else
		1259	if (distance < dDistance)
		1260	iZoom--;
		1261	}
		1262	if (iZoom > 30)
		1263	{
		1264	iZoom = 0;
		1265	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1266	}
		1267	if (iZoom < -30)
		1268	{
		1269	iZoom = 0;
		1270	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1271	}
		1272	dDistance = distance;
		1273	bFirstAccess = false;
		1274	}
		1275	}
		1276	#endregion Touch zooming hackattack ;)
		1277
		1278	#endregion GMap
		1279
		1280	#region settings
		1281	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1282	{
2424	-	1283	if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
2287	-	1284	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1285	}
		1286	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1287	{
2424	-	1288	if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1)
2287	-	1289	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1290	}
		1291	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1292	{
		1293	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1294	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1295	}
		1296	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1297	{
		1298	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1299	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1300	}
		1301	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1302	{
		1303	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1304	}
		1305	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1306	{
		1307	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1308	}
		1309	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1310	{
		1311	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1312	}
		1313	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1314	{
		1315	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1316	}
		1317
		1318	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1319	{
		1320	if (cBoxLiPoCells.SelectedIndex > -1)
		1321	{
		1322	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1323	_LipoMinMax();
		1324	}
		1325	}
		1326	void _LipoMinMax()
		1327	{
		1328	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1329	_dLipoVMin = (double)_LipoCells * 3;
		1330	pbTopVoltage.Maximum = _dLipoVMax;
		1331	pbTopVoltage.Minimum = _dLipoVMin;
		1332	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1333	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1334	}
		1335	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1336	{
		1337	if (cBoxMotors.SelectedIndex > -1)
		1338	{
		1339	_iMotors = cBoxMotors.SelectedIndex + 3;
		1340	Dispatcher.Invoke(() =>
		1341	{
		1342	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1343	GridMotors.Height = dgvMotors1.Height + 10;
		1344	});
		1345	}
		1346	}
		1347	void _setMotorGridSize()
		1348	{
		1349	if (dgvMotors1.Columns.Count > 2)
		1350	{
		1351	dgvMotors1.Columns[0].Width = 24;
		1352	dgvMotors1.Columns[1].Width = 50;
		1353	dgvMotors1.Columns[2].Width = 50;
		1354	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1355	GridMotors.Height = dgvMotors1.Height + 10;
		1356	}
		1357
		1358	}
		1359	#endregion settings
		1360
		1361	#region functions
		1362
		1363	#region logging
		1364	/// <summary> Log data to the terminal window. </summary>
		1365	/// <param name="msgtype"> The type of message to be written. </param>
		1366	/// <param name="msg"> The string containing the message to be shown. </param>
		1367	private void Log(LogMsgType msgtype, string msg)
		1368	{
		1369	Dispatcher.Invoke(() =>
		1370	{
2424	-	1371	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1372	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1373	// rtfTerminal.AppendText(msg + "\r");
		1374	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd);
2287	-	1375	tr.Text = msg;
		1376	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1377	rtfTerminal.AppendText("\r");
		1378	rtfTerminal.ScrollToEnd();
		1379	});
		1380	}
2424	-	1381	private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName)
2287	-	1382	{
2381	-	1383
2287	-	1384	Dispatcher.Invoke(() =>
		1385	{
2381	-	1386	Paragraph para = new Paragraph();
		1387	para.Margin = new Thickness(0); // remove indent between paragraphs
		1388
		1389	Hyperlink link = new Hyperlink();
		1390	if (linkURL != "" && linkName != "")
		1391	{
		1392	link.IsEnabled = true;
		1393	link.Inlines.Add(linkName);
		1394	link.NavigateUri = new Uri(linkURL);
		1395	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1396	}
		1397	//msg = DateTime.Now.ToLongTimeString() + msg;
		1398	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1399	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1400	r.Foreground = new SolidColorBrush(Colors.Black);
		1401	para.Inlines.Add(r);
		1402	para.Inlines.Add(msg);
		1403	para.Inlines.Add(link);
		1404	rtfError.Document.Blocks.Add(para);
		1405	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1406	//tr.Text = msg + link;
		1407	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1408	//rtfError.AppendText("\r");
2287	-	1409	rtfError.ScrollToEnd();
		1410
2381	-	1411	//_bErrorLog = true;
2287	-	1412	});
		1413	}
		1414	/// <summary>
		1415	/// Clear the line in the errorlog window
		1416	/// containing the error string when error has ceased
		1417	/// </summary>
		1418	/// <param name="s">substring of errrormessage</param>
		1419	void _clearErrorLog(string s)
		1420	{
		1421	Dispatcher.Invoke((Action)(() =>
		1422	{
		1423	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1424	TextRange foundRange = FindTextInRange(searchRange, s);
		1425
		1426	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1427
		1428
		1429	if (iStart > -1)
		1430	{
		1431	int iLength = 0;
		1432	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1433	if (iEnd > 0)
		1434	{
		1435	iLength = iEnd + 1;
2424	-	1436	int iHttp = searchRange.Text.IndexOf("http", iEnd);
2287	-	1437	if (iHttp == iLength)
		1438	{
		1439	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1440	if (iEnd2 > iLength)
		1441	{
		1442	iLength = iEnd2 + 1;
2424	-	1443	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
2287	-	1444
		1445	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1446	rtfError.Selection.Text = string.Empty;
		1447	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1448	}
		1449
		1450	}
		1451	else
		1452	{
		1453	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1454	rtfError.Selection.Text = string.Empty;
		1455	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1456	}
		1457	}
		1458	}
		1459	}));
		1460
		1461	}
		1462	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1463	{
		1464	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1465	if (offset < 0)
		1466	return null; // Not found
		1467
		1468	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1469	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1470
		1471	return result;
		1472	}
		1473	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1474	{
		1475	while (position != null)
		1476	{
		1477	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1478	{
		1479	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1480	if (characterCount <= count)
		1481	{
		1482	return position.GetPositionAtOffset(characterCount);
		1483	}
		1484
		1485	characterCount -= count;
		1486	}
		1487
		1488	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1489	if (nextContextPosition == null)
		1490	return position;
		1491
		1492	position = nextContextPosition;
		1493	}
		1494
		1495	return position;
		1496	}
		1497	#endregion logging
		1498
		1499	#region processing received data
		1500
		1501	private void processMessage(byte[] message)
		1502	{
		1503	if (message.Length > 0)
		1504	{
		1505	_iLifeCounter++;
		1506	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1507	//Log(LogMsgType.Incoming, message.Length.ToString());
		1508	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1509	char cmdID;
		1510	byte adr;
		1511	byte[] data;
		1512	byte[] tmp = null;
		1513	if (message[0] != '#')
		1514	{
		1515	int iFound = -1;
		1516	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1517	{ //so this is a workaround to not spam the log box
		1518	if (message[i] == 35)
		1519	{
		1520	iFound = i;
		1521	break;
		1522	}
		1523	}
		1524	if (iFound > 0)
		1525	{
		1526	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1527	tmp = new byte[message.Length - iFound];
		1528	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1529	}
		1530	s = s.Trim('\0', '\n', '\r');
		1531	if (s.Length > 0)
		1532	Log(LogMsgType.Normal, s);
		1533	if (tmp != null)
		1534	{
		1535	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1536	processMessage(tmp);
		1537	}
		1538	}
		1539	//Debug.Print(s);
		1540	else
		1541	{
		1542	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1543
		1544	if (adr == 255) { crcError++; }
		1545	else crcError = 0;
		1546	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1547	//display the active controller (FC / NC)
		1548	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...???
		1549	{
		1550	_iCtrlAct = adr;
		1551	switch (adr)
		1552	{
		1553	case 1:
		1554	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2429	-	1555	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1556	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
2424	-	1557	// _setFieldsNA(); //display fields NA for FC
2287	-	1558	break;
		1559	case 2:
		1560	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
2429	-	1561	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1562	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
2287	-	1563	break;
		1564	//case 3:
		1565	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1566	// break;
		1567	//case 4:
		1568	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1569	// break;
		1570	default:
		1571	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1572	break;
		1573	}
2424	-	1574	// _loadLabelNames();
2287	-	1575	}
		1576	// else
		1577	// Debug.Print("Address == 0?");
		1578
		1579	if (data != null && data.Length > 0)
		1580	{
		1581	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1582	s = s.Trim('\0', '\n');
		1583
		1584	switch (cmdID)
		1585	{
		1586	//case 'A': //Label names
		1587	// _processLabelNames(s);
		1588	// break;
		1589
		1590	case 'D': //Debug data
		1591	_processDebugVals(adr, data);
		1592	break;
		1593
		1594	case 'V': //Version
		1595	_processVersion(adr, data);
		1596	break;
		1597
		1598	case 'K'://BL-CTRL data
		1599	_processBLCtrl(data);
		1600	break;
		1601
2424	-	1602	case 'M'://License info
		1603	_processLicense(data);
		1604	break;
		1605
2287	-	1606	case 'O': //NC Data
2428	-	1607	if (data[0] < 10)
		1608	_processNCData(data);
		1609	else
		1610	_processNCDataV2(data);
2287	-	1611	break;
		1612
2381	-	1613	//case 'E': //NC error-string
		1614	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1615	// break;
2287	-	1616
		1617	case 'L': //OSD Menue (called by pagenumber)
		1618	_processOSDSingle(data);
		1619	break;
		1620
		1621	case 'H': //OSD Menue (with autoupdate - called by Key)
		1622	_processOSDAuto(data);
		1623	break;
		1624
		1625	case 'X': //Waypoint data
		1626	_processWPData(data);
		1627	break;
		1628
2313	-	1629	case 'W': //return new Waypoint items count after sending waypoint to copter
		1630	_iWPCount = data[0];
		1631	break;
2287	-	1632	//default:
		1633	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1634	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1635	// break;
		1636	}
		1637	}
		1638	//else
		1639	//{
		1640	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1641	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1642	//}
		1643	}
		1644	}
		1645	}
		1646	/// <summary>
		1647	/// Analog label names 'A'
		1648	/// each label name is returned as a single string
		1649	/// and added to string array sAnalogLabel[]
		1650	/// and the datatable dtAnalog
		1651	/// </summary>
		1652	/// <param name="s">the label name</param>
		1653	void _processLabelNames(string s)
		1654	{
		1655	//if (iLableIndex < 32)
		1656	//{
		1657	// sAnalogLabel[iLableIndex] = s;
		1658	// if (dtAnalog.Rows.Count < 32)
		1659	// dtAnalog.Rows.Add(s, "");
		1660	// else
		1661	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1662
		1663	// // _getAnalogLabels(iLableIndex + 1);
		1664	//}
		1665	//Debug.Print(s);
		1666	}
		1667	/// <summary>
		1668	/// Debug values 'D'
		1669	/// </summary>
		1670	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1671	/// <param name="data">the received byte array to process</param>
		1672	void _processDebugVals(byte adr, byte[] data)
		1673	{
		1674	if (data.Length == 66)
		1675	{
2424	-	1676
2287	-	1677	double v;
		1678	int index = 0;
		1679	Int16 i16 = 0;
		1680	double dTemp = 0;
		1681	for (int i = 2; i < 66; i += 2)
		1682	{
		1683	i16 = data[i + 1];
		1684	i16 = (Int16)(i16 << 8);
		1685	iAnalogData[index] = data[i] + i16;
		1686	sAnalogData[index] = (data[i] + i16).ToString();
2424	-	1687	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
2287	-	1688
		1689	if (adr == 2) //NC
		1690	{
		1691	switch (index)
		1692	{
		1693	case 0: //pitch (German: nick)
		1694	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1695	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1696	break;
		1697	case 1: //roll
		1698	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1699	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1700	break;
		1701	case 4: //altitude
		1702	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1703	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2424	-	1704	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1705	break;
		1706	case 7: //Voltage
		1707	v = (double)iAnalogData[index] / (double)10;
		1708	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1709	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1710	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1711	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1712	{
		1713	if (v == _dVoltLast)
2424	-	1714	if (_iVoltJitter < 20) _iVoltJitter++;
		1715	else
		1716	{
		1717	_iVoltJitter = 0;
		1718	_dVoltLast = v;
		1719	}
2287	-	1720	if (_iVoltJitter == 20)
		1721	{
		1722	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1723
		1724	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1725	{
		1726	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1727	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1728	{
		1729	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1730	_bCritAnimVoltActive = true;
		1731	}
		1732	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1733	{
2398	-	1734	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1735	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1736	//t.Start();
2287	-	1737	_bCritVoiceVoltActive = true;
		1738	}
		1739	}
		1740	else
		1741	{
		1742	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1743	{
		1744	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1745	_bCritAnimVoltActive = false;
		1746	}
		1747	_bCritVoiceVoltActive = false;
		1748
2291	-	1749	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1750	{
2398	-	1751	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1752	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1753	//t.Start();
2291	-	1754	_bWarnVoiceVoltActive = true;
2287	-	1755	}
		1756	}
		1757	}
		1758	}
		1759	else
		1760	{
		1761	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1762	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1763	{
		1764	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1765	_bCritAnimVoltActive = false;
		1766	}
		1767	_bCritVoiceVoltActive = false;
2291	-	1768	_bWarnVoiceVoltActive = false;
2287	-	1769	_iVoltJitter = 0;
		1770	}
		1771	break;
		1772	case 8: // Current
		1773	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1774	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1775	break;
		1776	case 10: //heading
2291	-	1777	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2399	-	1778	if (!_Simulate) //use NavData for simulation
		1779	{
		1780	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1781	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1782	}
2287	-	1783	break;
		1784	case 12: // SPI error
2291	-	1785	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1786	break;
		1787	case 14: //i2c error
2291	-	1788	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1789	break;
		1790	case 20: //Earthmagnet field
2291	-	1791	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1792	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
2424	-	1793
2291	-	1794	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1795	{
		1796	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1797	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1798	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1799	{
		1800	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1801	_bAnimMagneticFieldActive = false;
		1802	}
		1803	}
		1804	else
		1805	{
		1806	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
2424	-	1807	if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
2291	-	1808	{
		1809	if (_iMagneticFieldJitter < 20)
		1810	_iMagneticFieldJitter++;
		1811	}
		1812	else
		1813	{
		1814	_iMagneticFieldJitter = 0;
		1815	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1816	}
2424	-	1817	if (_iMagneticFieldJitter == 20)
2291	-	1818	{
		1819	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1820	{
		1821	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1822	_bAnimMagneticFieldActive = true;
		1823	}
		1824	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1825	{
2398	-	1826	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1827	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1828	//t.Start();
2291	-	1829	_bVoiceMagneticFieldActive = true;
		1830	}
		1831	}
		1832	}
2287	-	1833	break;
		1834	case 21: //GroundSpeed
2424	-	1835	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1836	if (!_Simulate)
		1837	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2287	-	1838	break;
2291	-	1839
		1840	///******** needs testing --> not sure what position this is *************
2287	-	1841	case 28: //Distance East from saved home position -> calculate distance with distance N + height
2424	-	1842	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1843	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1844	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1845	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1846	dTemp = Math.Sqrt(dTemp) / (double)10;
		1847	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1848	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
2287	-	1849	break;
2291	-	1850
2287	-	1851	case 31: //Sats used
2424	-	1852	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1853	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
2287	-	1854	break;
		1855	}
		1856	}
		1857	index++;
		1858	}
		1859	}
		1860	else
		1861	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1862	}
		1863	/// <summary>
		1864	/// Version string 'V'
		1865	/// </summary>
		1866	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1867	/// <param name="data">the received byte array to process</param>
		1868	void _processVersion(byte adr, byte[] data)
		1869	{
		1870	if (data.Length == 12)
		1871	{
		1872	if (!check_HWError)
		1873	{
		1874	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1875	string sVersion = "";
		1876	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1877	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1878	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1879	Log(LogMsgType.Incoming, sVersion);
		1880	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1881	Log(LogMsgType.Incoming, sVersion);
		1882	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1883	}
		1884	if (data[5] > 0) //error0
		1885	{
		1886	if (adr == 1)
2424	-	1887	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", "");
2287	-	1888	if (adr == 2)
2424	-	1889	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", "");
2287	-	1890	}
		1891	if (data[6] > 0) //error1
		1892	{
		1893	if (adr == 1)
2424	-	1894	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", "");
2287	-	1895	if (adr == 2)
2424	-	1896	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field
2287	-	1897	}
2381	-	1898	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1899	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1900
		1901	}
		1902	check_HWError = false;
		1903	}
2424	-	1904
		1905	void _processLicense(byte[] data)
		1906	{
		1907	if (data.Length > 480)
		1908	{
		1909	Dispatcher.Invoke(() => {
		1910	tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127));
		1911	tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127));
		1912	tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127));
		1913	tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11));
		1914	tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16));
		1915	});
		1916	}
		1917	}
2287	-	1918	/// <summary>
		1919	/// BL-Ctrl data 'K'
		1920	/// for FC you have to use a customized firmware
		1921	/// </summary>
		1922	/// <param name="data">the received byte array to process</param>
		1923	void _processBLCtrl(byte[] data)
		1924	{
		1925	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1926	{
		1927	bool bAvailable = false;
		1928	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1929	{
		1930
		1931	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1932	bAvailable = true;
		1933	else
		1934	bAvailable = false;
		1935
		1936	if (data[i] < _iMotors)
		1937	{
		1938	if (bAvailable)
		1939	{
2315	-	1940	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1941	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1942	}
		1943	else
		1944	{
2315	-	1945	dtMotors.Rows[data[i]].SetField(1, "NA");
		1946	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1947	}
		1948	}
		1949	//if (data[i] > 3 && data[i] < 8)
		1950	//{
		1951	// if (bAvailable)
		1952	// {
		1953	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1954	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1955	// }
		1956	// else
		1957	// {
		1958	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1959	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1960	// }
		1961	//}
		1962	}
		1963	}
		1964	}
		1965	/// <summary>
		1966	/// Navi-Ctrl data 'O'
		1967	/// GPS-Position, capacatiy, flying time...
		1968	/// </summary>
		1969	/// <param name="data">the received byte array to process</param>
2428	-	1970
		1971
		1972	byte OSDSTATUSFLAGS1 = 0;
		1973	byte OSDSTATUSFLAGS2 = 0;
		1974	void _processNCDataV2(byte[] data)
		1975	{
2429	-	1976	if ((int)data[0] < 17)
2428	-	1977	{
2429	-	1978	int i_32, i_16, iVal;
		1979	double d;
		1980	OSD_Base_Data_t osd = new OSD_Base_Data_t(data);
		1981	OSDSTATUSFLAGS1 = osd.OSDSTATUSFLAGS1();
		1982	Dispatcher.Invoke(() => { drGPX[2] = osd.Pos().Lng; });
		1983	Dispatcher.Invoke(() => { drGPX[1] = osd.Pos().Lat; });
		1984	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		1985	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		1986	if (_Simulate)
		1987	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = osd.Speed().ToString("0.0 m/s")));
2428	-	1988
2429	-	1989	switch ((int)data[0])
		1990	{
		1991	case 10:
2431	-	1992	char[] c = Encoding.ASCII.GetChars(new byte[] { data[13] });
		1993	Dispatcher.Invoke((Action)(() => tbCamCtrl.Text = c[0].ToString()));
2429	-	1994	break;
		1995	case 11:
		1996	OSDSTATUSFLAGS2 = osd.OSDSTATUSFLAGS2();
		1997	//---------------NC-Flags--------------------------
		1998	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[14] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1999	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[14] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2000	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[14] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2001	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[14] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2002	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[14] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2003	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[14] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2004	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[14] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2428	-	2005
2429	-	2006	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[14] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		2007	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
		2008	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
		2009	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	-	2010
2429	-	2011	//--------------- NC Error ------------------------
		2012	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[16].ToString())); //NC Errornumber
		2013	if (data[16] > 0)
		2014	_readNCError();
		2015	if (data[16] > 0 & data[16] < 44)
		2016	ErrorLog(LogMsgType.Error, " NC Error [" + data[16].ToString() + "]: ", NC_Error_Link[data[16]], NC_Error[data[16]]);
2428	-	2017
2429	-	2018	break;
		2019	case 12:
		2020	//--------------- RC quality ------------------------
		2021	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[23].ToString()));
		2022	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[23].ToString()));
		2023
		2024	if (data[23] > _iThresholdRC)
2428	-	2025	{
2429	-	2026	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2027	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2028	{
		2029	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2030	_bAnimRCLevelActive = false;
		2031	}
2428	-	2032	}
2429	-	2033	else
2428	-	2034	{
2429	-	2035	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2036	if (_iRCLevelJitter == 20)
2428	-	2037	{
2429	-	2038	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2039	{
		2040	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2041	_bAnimRCLevelActive = true;
		2042	}
		2043	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2044	{
		2045	_bVoiceRCLevelActive = true;
		2046	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2047	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2048	//th.Start();
		2049	}
		2050	_iRCLevelJitter++;
2428	-	2051	}
		2052	}
2429	-	2053	break;
		2054	case 13:
		2055	//-------------------------Waypoint max range (by license)------------------------------
		2056	i_32 = data[24];
		2057	iVal = i_32 << 8;
		2058	iVal += data[23];
2428	-	2059
2429	-	2060	if (dWPMaxRange != iVal)
2428	-	2061	{
2429	-	2062	dWPMaxRange = iVal;
		2063	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2064	{
		2065	if (cWPBound != null && cWPBound.Tag != null)
		2066	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2428	-	2067
2429	-	2068	createCircle(home.Position, dWPMaxRange);
		2069	Dispatcher.Invoke(() =>
2428	-	2070	{
2429	-	2071	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2072	{
		2073	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2074	cWPBound.setColor(s);
		2075	}
		2076	});
		2077	}
		2078	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = iVal.ToString() + " m"));
2428	-	2079	}
2431	-	2080	//--------------- LiPoCell count ------------------------
		2081	Dispatcher.Invoke((Action)(() => tbLiPoCells.Text = data[25].ToString()));
2428	-	2082
2429	-	2083	break;
2428	-	2084
2429	-	2085	case 14:
		2086	//--------------- Flying time ------------------------
		2087	i_16 = data[14];
		2088	i_16 = (Int16)(i_16 << 8);
		2089	iVal = data[13] + i_16;
		2090	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2091	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2092	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2093	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
2428	-	2094
2429	-	2095	//--------------------------------Distance HP------------------------------------
		2096	i_16 = data[16];
		2097	i_16 = (Int16)(i_16 << 8);
		2098	iVal = data[15] + i_16;
		2099	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2428	-	2100
2429	-	2101	//--------------------------Distance to next WP--------------------------------
		2102	i_16 = data[19];
		2103	i_16 = (Int16)(i_16 << 8);
		2104	iVal = data[18] + i_16;
		2105	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2106	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		2107	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2428	-	2108
2429	-	2109	//-------------------Satellites----------------------------------
		2110	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[23].ToString()));
2428	-	2111
2429	-	2112	if (data[23] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
2428	-	2113	{
2429	-	2114	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		2115	if (_bAutoHome && !_bFirstSatFix)
2428	-	2116	{
2429	-	2117	if (_iFirstSatFix < 3)
		2118	_iFirstSatFix++;
		2119	else
		2120	{
		2121	_bFirstSatFix = true;
		2122	Dispatcher.Invoke(() => _setHomePos());
		2123	}
2428	-	2124	}
2429	-	2125	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2126	{
		2127	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2128	_bAnimSatFixActive = false;
		2129	}
		2130	if (!_bFollowCopter)
		2131	{
		2132	_setCopterData(osd.Pos());
		2133	if (!MainMap.ViewArea.Contains(osd.Pos()))
		2134	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2135
		2136	}
		2137	else
2428	-	2138	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2139	}
		2140	else
		2141	{
2429	-	2142	if (_bSatFix)
2428	-	2143	{
2429	-	2144	if (data[23] == _iSatsLast)
2428	-	2145	{
2429	-	2146	if (_iSatsJitter < 20) _iSatsJitter++;
2428	-	2147	}
2429	-	2148	else
2428	-	2149	{
2429	-	2150	_iSatsJitter = 0;
		2151	_iSatsLast = data[23];
2428	-	2152	}
		2153
2429	-	2154	if (_iSatsJitter == 20)
		2155	{
		2156	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2157	{
		2158	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2159	_bAnimSatFixActive = true;
		2160	}
		2161	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2162	{
		2163	_bVoiceSatFixActive = true;
		2164	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2165	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2166	//th.Start();
		2167	}
		2168
		2169	_bSatFix = false;
		2170	}
2428	-	2171	}
		2172	}
		2173
2429	-	2174	break;
2428	-	2175
2429	-	2176	case 15:
		2177	//--------------------------------Waypoint index------------------------------------
		2178	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[13].ToString()));
		2179	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[13].ToString()));
		2180	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[13].ToString()));
		2181	if (data[13] > 0 && _wpIndex != data[13] - 1 && wpList.Count > data[13] - 1)
		2182	{
		2183	_setActiveWP(data[13] - 1);
		2184	if ((OSDSTATUSFLAGS2 & 2) == 2)
		2185	Dispatcher.Invoke(() =>
2428	-	2186	{
2429	-	2187	DataGridRow row;
		2188	if (_wpIndex > -1)
		2189	{
		2190	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2191	row.Background = new SolidColorBrush(Colors.Transparent);
		2192	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2193	row.BorderThickness = new Thickness(0);
		2194	}
		2195
		2196	_wpIndex = data[13] - 1;
2428	-	2197	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2429	-	2198	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2199	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2200	row.BorderThickness = new Thickness(2);
		2201	dgvWP.UpdateLayout();
		2202	});
		2203	_wpIndex = data[13] - 1;
		2204	}
		2205	else
2428	-	2206	{
2429	-	2207	if ((data[13] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2428	-	2208	{
2429	-	2209	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2210	Dispatcher.Invoke(() =>
2428	-	2211	{
2429	-	2212	DataGridRow row;
		2213	if (_wpIndex > -1 && data[13] == 0 && wpList.Count > _wpIndex)
		2214	{
		2215	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2216	row.Background = new SolidColorBrush(Colors.Transparent);
		2217	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2218	row.BorderThickness = new Thickness(0);
		2219	_wpIndex = -1;
		2220	}
		2221	});
2428	-	2222
2429	-	2223	}
2428	-	2224	}
2429	-	2225	//----------------Waypoints count----------------------
		2226	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[14].ToString())); //Waypoints count
		2227	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[14].ToString())); //Waypoints count
		2228	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[14].ToString())); //Waypoints count
		2229	_wpCount = data[14];
		2230	if(_wpCount > dtWaypoints.Rows.Count)
		2231	{
		2232	Log(LogMsgType.Warning, "The copter reports more waypoints than there are in the local list!");
		2233	}
2428	-	2234
2429	-	2235	//---------------------------------Target hold time------------------------------
		2236	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[15].ToString() + " s"));
		2237	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[15].ToString() + " s"));
2428	-	2238
2429	-	2239	break;
2428	-	2240
2429	-	2241	case 16:
		2242	//--------------- Capacity used ------------------------
		2243	i_16 = data[18];
		2244	i_16 = (Int16)(i_16 << 8);
		2245	iVal = data[17] + i_16;
		2246	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2247	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
2428	-	2248
2429	-	2249	//--------------- Heading compass ------------------------
		2250	i_16 = data[21];
		2251	iVal = 2 * i_16;
		2252	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2253	if (_Simulate)
		2254	{
		2255	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2256	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2257	}
2428	-	2258
2429	-	2259	break;
		2260	case 17:
2428	-	2261
2429	-	2262	break;
		2263	case 18:
2428	-	2264
2429	-	2265	break;
		2266	default:
		2267	break;
		2268	}
		2269	//--------------------------------------------------------------------------------
		2270	//-----------------------------FC Status Flags-------------------------------
		2271	//--------------------------------------------------------------------------------
		2272	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2273	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((OSDSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2274	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((OSDSTATUSFLAGS1 & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2275	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((OSDSTATUSFLAGS2 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2276	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2277	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((OSDSTATUSFLAGS1 & 32) == 32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
2428	-	2278
2429	-	2279	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2280	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2281	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((OSDSTATUSFLAGS2 & 4) == 4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2282	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((OSDSTATUSFLAGS1 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2283	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((OSDSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2284	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
		2285	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((OSDSTATUSFLAGS2 & 64) == 64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2286	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((OSDSTATUSFLAGS2 & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
2428	-	2287
2429	-	2288	//Sidebar StatusSymbols
		2289	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2290	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
		2291	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	-	2292
2429	-	2293	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2294	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2295	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	-	2296
2429	-	2297	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2298	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
		2299	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	-	2300
2429	-	2301	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2302	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
		2303	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	-	2304
2429	-	2305	_bAirborne = (OSDSTATUSFLAGS2 & 2) == 2 ? true : false;
		2306	}
2428	-	2307	}
		2308	public class OSD_Base_Data_t
		2309	{
		2310	byte[] data;
		2311
		2312	public OSD_Base_Data_t(byte [] _data)
		2313	{
		2314	data = _data;
		2315	}
		2316
		2317	public PointLatLng Pos()
		2318	{
		2319	PointLatLng p = new PointLatLng();
		2320	int i_32, iVal;
		2321	double d;
		2322
		2323	i_32 = data[4];
		2324	iVal = i_32 << 24;
		2325	i_32 = data[3];
		2326	iVal += i_32 << 16;
		2327	i_32 = data[2];
		2328	iVal += i_32 << 8;
		2329	iVal += data[1];
		2330	d = (double)iVal / Math.Pow(10, 7);
		2331	p.Lng = d;
		2332
		2333	i_32 = data[8];
		2334	iVal = i_32 << 24;
		2335	i_32 = data[7];
		2336	iVal += i_32 << 16;
		2337	i_32 = data[6];
		2338	iVal += i_32 << 8;
		2339	iVal += data[5];
		2340	d = (double)iVal / Math.Pow(10, 7);
		2341	p.Lat = d;
		2342
		2343	return p;
		2344
		2345	}
		2346
		2347	public int Height()
		2348	{
		2349	int i_32, iVal;
		2350	i_32 = data[10];
		2351	iVal = i_32 << 8;
		2352	iVal += data[9];
		2353
		2354	return iVal;
		2355	}
		2356
		2357	public double Speed()
		2358	{
2429	-	2359	if (data.Length > 11)
		2360	return (double)data[11]/10;
		2361	else return 0;
2428	-	2362	}
		2363
		2364	public byte OSDSTATUSFLAGS1()
		2365	{
2429	-	2366	if (data.Length > 12)
		2367	return data[12];
		2368	else return 0;
2428	-	2369	}
		2370	public byte OSDSTATUSFLAGS2()
		2371	{
2429	-	2372	if (data.Length > 13)
		2373	return data[13];
		2374	else return 0;
2428	-	2375	}
		2376	}
2287	-	2377	void _processNCData(byte[] data)
		2378	{
		2379	int i_32, i_16, iVal;
		2380	double d;
2428	-	2381
		2382	//----------------------------POSITION------------------------------------
2287	-	2383	i_32 = data[4];
		2384	iVal = i_32 << 24;
		2385	i_32 = data[3];
		2386	iVal += i_32 << 16;
		2387	i_32 = data[2];
		2388	iVal += i_32 << 8;
		2389	iVal += data[1];
		2390	d = (double)iVal / Math.Pow(10, 7);
2324	-	2391	Dispatcher.Invoke(() => { drGPX[2] = d; });
		2392
2287	-	2393	PointLatLng p = new PointLatLng();
		2394
		2395	p.Lng = d;
		2396	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		2397	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		2398
		2399	i_32 = data[8];
		2400	iVal = i_32 << 24;
		2401	i_32 = data[7];
		2402	iVal += i_32 << 16;
		2403	i_32 = data[6];
		2404	iVal += i_32 << 8;
		2405	iVal += data[5];
		2406	d = (double)iVal / Math.Pow(10, 7);
2324	-	2407	Dispatcher.Invoke(() => { drGPX[1] = d; });
		2408	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	2409	p.Lat = d;
2399	-	2410
2428	-	2411	//---------------------------SATS-------------------------------------------------
2291	-	2412	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2413	{
		2414	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	2415	if(_bAutoHome && !_bFirstSatFix)
		2416	{
		2417	if (_iFirstSatFix < 3)
		2418	_iFirstSatFix++;
		2419	else
		2420	{
		2421	_bFirstSatFix = true;
2347	-	2422	Dispatcher.Invoke(() => _setHomePos());
2295	-	2423	}
		2424	}
2291	-	2425	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2426	{
		2427	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2428	_bAnimSatFixActive = false;
		2429	}
		2430	if (!_bFollowCopter)
		2431	{
		2432	_setCopterData(p);
		2433	if (!MainMap.ViewArea.Contains(p))
		2434	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	2435
2291	-	2436	}
		2437	else
2287	-	2438	Dispatcher.Invoke(() => MainMap.Position = p);
		2439	}
		2440	else
2291	-	2441	{
		2442	if(_bSatFix)
		2443	{
		2444	if (data[50] == _iSatsLast)
		2445	{
		2446	if (_iSatsJitter < 20) _iSatsJitter++;
		2447	}
		2448	else
		2449	{
		2450	_iSatsJitter = 0;
		2451	_iSatsLast = data[50];
		2452	}
2287	-	2453
2291	-	2454	if (_iSatsJitter == 20)
		2455	{
		2456	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2457	{
		2458	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2459	_bAnimSatFixActive = true;
		2460	}
		2461	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2462	{
2405	-	2463	_bVoiceSatFixActive = true;
2398	-	2464	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2465	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2466	//th.Start();
2291	-	2467	}
		2468
		2469	_bSatFix = false;
		2470	}
		2471	}
		2472	}
		2473
2428	-	2474	//--------------------------Distance to next WP--------------------------------
2287	-	2475	i_16 = data[28];
		2476	i_16 = (Int16)(i_16 << 8);
		2477	iVal = data[27] + i_16;
2399	-	2478	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2479	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
2401	-	2480	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	2481
2428	-	2482	//-------------------------Distance to HP set by GPS on----------------------------------
2287	-	2483	i_16 = data[45];
		2484	i_16 = (Int16)(i_16 << 8);
		2485	iVal = data[44] + i_16;
2428	-	2486	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	2487
2428	-	2488	//--------------------------------Waypoint index------------------------------------
		2489	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString()));
2355	-	2490	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2401	-	2491	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
2399	-	2492	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
2342	-	2493	{
2425	-	2494	_setActiveWP(data[48]- 1);
2355	-	2495	if((data[67] & 2) == 2)
		2496	Dispatcher.Invoke(() => {
		2497	DataGridRow row;
		2498	if (_wpIndex > -1)
		2499	{
2425	-	2500	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	2501	row.Background = new SolidColorBrush(Colors.Transparent);
		2502	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2503	row.BorderThickness = new Thickness(0);
		2504	}
2425	-	2505
2355	-	2506	_wpIndex = data[48] - 1;
2425	-	2507	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2366	-	2508	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2509	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	2510	row.BorderThickness = new Thickness(2);
		2511	dgvWP.UpdateLayout();
		2512	});
2425	-	2513	_wpIndex = data[48]- 1;
2342	-	2514	}
2347	-	2515	else
		2516	{
		2517	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	2518	{
2347	-	2519	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	2520	Dispatcher.Invoke(() =>
		2521	{
		2522	DataGridRow row;
2368	-	2523	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	2524	{
2425	-	2525	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	2526	row.Background = new SolidColorBrush(Colors.Transparent);
		2527	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2528	row.BorderThickness = new Thickness(0);
		2529	_wpIndex = -1;
		2530	}
		2531	});
		2532
		2533	}
2347	-	2534	}
2428	-	2535	//----------------Waypoints count----------------------
2287	-	2536	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	2537	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2401	-	2538	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	2539	_wpCount = data[49];
2428	-	2540	//-------------------Satellites----------------------------------
		2541	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString()));
2287	-	2542
		2543	//--------------- Capacity used ------------------------
		2544	i_16 = data[81];
		2545	i_16 = (Int16)(i_16 << 8);
		2546	iVal = data[80] + i_16;
		2547	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2548	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2549
2398	-	2550	//--------------- Ground speed ------------------------
		2551	i_16 = data[59];
		2552	i_16 = (Int16)(i_16 << 8);
		2553	iVal = data[58] + i_16;
2399	-	2554	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2555	if(_Simulate)
		2556	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
2398	-	2557
		2558	//--------------- Heading north ------------------------
2431	-	2559	//i_16 = data[61];
		2560	//i_16 = (Int16)(i_16 << 8);
		2561	//iVal = data[60] + i_16;
		2562	//Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
2398	-	2563
		2564	//--------------- Heading compass ------------------------
		2565	i_16 = data[63];
		2566	i_16 = (Int16)(i_16 << 8);
		2567	iVal = data[62] + i_16;
		2568	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
2399	-	2569	if (_Simulate)
		2570	{
		2571	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2572	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2573	}
2287	-	2574	//--------------- Flying time ------------------------
		2575	i_16 = data[56];
		2576	i_16 = (Int16)(i_16 << 8);
		2577	iVal = data[55] + i_16;
		2578	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2579	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2580	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2581	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2582
		2583	//--------------- RC quality ------------------------
		2584	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		2585	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		2586
2291	-	2587	if(data[66] > _iThresholdRC)
		2588	{
		2589	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2590	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2591	{
		2592	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2593	_bAnimRCLevelActive = false;
		2594	}
		2595	}
		2596	else
		2597	{
		2598	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2599	if (_iRCLevelJitter == 20)
		2600	{
		2601	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2602	{
		2603	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2604	_bAnimRCLevelActive = true;
		2605	}
		2606	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2607	{
2405	-	2608	_bVoiceRCLevelActive = true;
2398	-	2609	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2610	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2611	//th.Start();
2291	-	2612	}
		2613	_iRCLevelJitter++;
		2614	}
		2615	}
		2616
2428	-	2617	//-------------------------Waypoint max range (by license)------------------------------
2405	-	2618	if(dWPMaxRange != (double)data[70])
		2619	{
		2620	dWPMaxRange = (double)data[70];
		2621	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2622	{
		2623	if (cWPBound != null && cWPBound.Tag != null)
		2624	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2625
		2626	createCircle(home.Position, dWPMaxRange);
2408	-	2627	Dispatcher.Invoke(() =>
		2628	{
		2629	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2630	{
		2631	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2632	cWPBound.setColor(s);
		2633	}
		2634	});
2405	-	2635	}
		2636	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		2637	}
2428	-	2638	//---------------------------------Target hold time------------------------------
2399	-	2639	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
2401	-	2640	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
2399	-	2641
2287	-	2642	//--------------- NC Error ------------------------
		2643	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		2644	if (data[69] > 0)
		2645	_readNCError();
		2646	if (data[69] > 0 & data[69] < 44)
2381	-	2647	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		2648	//else
		2649	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	2650
2428	-	2651	//--------------------------------------------------------------------------------
		2652	//-----------------------------FC / NC Status Flags-------------------------------
		2653	//--------------------------------------------------------------------------------
2298	-	2654	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2655	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2656	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2657	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2658	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2659	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2660
		2661	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2662	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2663	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2664	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2665	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2666	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
		2667	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2668	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2669
		2670	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2671	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2672	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2673	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2674	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2675	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2676	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	2677
		2678	//Sidebar StatusSymbols
		2679	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2680	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
		2681	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
		2682
		2683	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2684	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
		2685	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
		2686
		2687	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2688	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
		2689	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	-	2690
		2691	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2692	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
		2693	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
		2694
		2695	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2696	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
		2697	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
		2698	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	-	2699
2324	-	2700	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2701	}
		2702	/// <summary>
		2703	/// Navi-Ctrl WP data struct 'X'
		2704	/// called by index
		2705	/// </summary>
		2706	/// <param name="data">the received byte array to process</param>
		2707	void _processWPData(byte[] data)
		2708	{
2313	-	2709	_iWPCount = data[0];
2287	-	2710	_bGetWPCount = false;
		2711	if (data.Length >= 28)
		2712	{
		2713	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2714	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2715	if (_bGetWP)
		2716	{
		2717	if (data[1] == 1)
2315	-	2718	{
2333	-	2719	Dispatcher.Invoke(() =>
		2720	{
2356	-	2721	wpList.Clear();
		2722	_clearMapMarkers(typeof(CustomMarkerWP));
		2723	if (mRouteWP != null)
		2724	MainMap.Markers.Remove(mRouteWP);
		2725	if (wpActiveMarker != null)
		2726	MainMap.Markers.Remove(wpActiveMarker);
		2727	lblWPRouteDistance.Content = "0 m";
		2728	dtWaypoints.Rows.Clear();
2368	-	2729	_wpEdit = -1;_wpIndex = -1;
2425	-	2730	wpOffset.Clear();
2318	-	2731	});
2315	-	2732	}
2287	-	2733	DataRow dr = dtWaypoints.NewRow();
		2734	dr = Waypoints.toDataRow(data, dr);
2313	-	2735	dtWaypoints.Rows.Add(dr);
2425	-	2736	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1],(int)data[1]-1);
2313	-	2737	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2738	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2739	if (data[1] == data[0])
		2740	{
		2741	_bGetWP = false;
2368	-	2742	_routeUpdate();
2287	-	2743	}
		2744
		2745	}
		2746	}
		2747	else
		2748	{
		2749	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2750	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2751	}
		2752	}
		2753	/// <summary>
		2754	/// OSD Menue 'L'
		2755	/// single page called by pagenumber
		2756	/// no autoupdate
		2757	/// </summary>
		2758	/// <param name="data">the received byte array to process</param>
		2759	void _processOSDSingle(byte[] data)
		2760	{
		2761	if (data.Length == 84)
		2762	{
		2763	string sMessage = "";
		2764	iOSDPage = data[0];
		2765	iOSDMax = data[1];
		2766	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2767	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2768	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2769	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2770	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2771	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2772	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2773	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2774
		2775	}
		2776	//else
		2777	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2778
		2779	}
		2780	/// <summary>
		2781	/// OSD Menue 'H'
		2782	/// called by keys (0x01,0x02,0x03,0x04)
		2783	/// autoupdate
		2784	/// </summary>
		2785	/// <param name="data">the received byte array to process</param>
		2786	void _processOSDAuto(byte[] data)
		2787	{
		2788	if (data.Length == 81)
		2789	{
		2790	string sMessage = "";
		2791	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2792	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2793	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2794	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2795	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2796
		2797	}
		2798	//else
		2799	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2800	}
		2801
		2802	#endregion processing received data
		2803
		2804	#region controller messages
		2805	/// <summary> send message to controller to request data
		2806	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2807	/// </summary>
		2808	/// <param name="CMDID"> the command ID </param>
		2809	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2810	private void _sendControllerMessage(char CMDID, byte address)
		2811	{
		2812	if (serialPortCtrl.Port.IsOpen)
		2813	{
		2814	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2815	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2816	serialStream.Write(bytes, 0, bytes.Length);
		2817
		2818	}
		2819	else
		2820	Log(LogMsgType.Error, "NOT CONNECTED!");
		2821	}
		2822	/// <summary> send message to controller to request data
		2823	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2824	/// </summary>
		2825	/// <param name="CMDID"> the command ID </param>
		2826	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2827	/// <param name="data"> additional data for the request</param>
		2828	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2829	{
		2830	if (serialPortCtrl.Port.IsOpen)
		2831	{
		2832	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2833	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2834	serialStream.Write(bytes, 0, bytes.Length);
		2835
		2836	}
		2837	else
		2838	Log(LogMsgType.Error, "NOT CONNECTED!");
		2839	}
		2840
		2841	/// <summary>
		2842	/// start/stop continous polling of controller values
		2843	/// </summary>
		2844	/// <param name="b">start/stop switch</param>
		2845	void _readCont(bool b)
		2846	{
		2847	bReadContinously = b;
		2848	if (bReadContinously)
		2849	{
		2850	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2851	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2852	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2853	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2854	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2855	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2856	}
		2857	else
		2858	{
		2859	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2860	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2861	_bConnErr = false;
		2862	}
		2863	_iLifeCounter = 0;
		2864	}
		2865
		2866	private void _getVersion()
		2867	{
		2868	_sendControllerMessage('v', 0);
		2869	}
		2870	/// <summary>
		2871	/// get FC version struct via NC
		2872	/// by sending '1' as data (not documented in wiki...)
		2873	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2874	/// </summary>
		2875	/// <param name="ctrl">controller number 1=FC</param>
		2876	private void _getVersion(byte ctrl)
		2877	{
		2878	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2879	}
		2880	/// <summary>
		2881	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2882	/// </summary>
		2883	private void _switchToNC()
		2884	{
		2885	if (serialPortCtrl.Port.IsOpen)
		2886	{
		2887	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2888	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2889	serialStream.Write(bytes, 0, bytes.Length);
		2890
		2891	Thread.Sleep(100);
		2892	_getVersion();
		2893	Thread.Sleep(100);
2424	-	2894	_getLic();
2287	-	2895	// _OSDMenue(0);
		2896	}
		2897	else
		2898	Log(LogMsgType.Error, "NOT CONNECTED!");
		2899	}
		2900	/// <summary>
		2901	/// switch to FC
		2902	/// </summary>
		2903	private void _switchToFC()
		2904	{
		2905	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2906	Thread.Sleep(100);
		2907	_getVersion();
		2908	Thread.Sleep(100);
		2909	// _OSDMenue(0);
		2910	}
		2911	/// <summary>
		2912	/// send RESET signal to FC
		2913	/// </summary>
		2914	private void _resetCtrl()
		2915	{
		2916	_sendControllerMessage('R', 1);
		2917	}
		2918	/// <summary>
		2919	/// poll the debug data (4sec subscription)
		2920	/// </summary>
		2921	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2922	private void _readDebugData(bool auto)
		2923	{
		2924	byte interval = auto ? debugInterval : (byte)0;
		2925	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2926	}
		2927	/// <summary>
		2928	/// poll the BL-CTRL status via NC (4sec subscription)
		2929	/// </summary>
		2930	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2931	private void _readBLCtrl(bool auto)
		2932	{
		2933	byte interval = auto ? blctrlInterval : (byte)0;
		2934	_sendControllerMessage('k', 0, new byte[1] { interval });
		2935	}
		2936	/// <summary>
		2937	/// poll the NC data struct (4sec subscription)
		2938	/// </summary>
		2939	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2940	private void _readNavData(bool auto)
		2941	{
		2942	byte interval = auto ? navctrlInterval : (byte)0;
2429	-	2943	// _sendControllerMessage('o', 2, new byte[1] { interval });
		2944	_sendControllerMessage('o', 2, new byte[3] { interval,4,0 });
2287	-	2945	}
		2946	/// <summary>
2424	-	2947	/// request the license info
		2948	/// </summary>
		2949	void _getLic()
		2950	{
		2951	if (serialPortCtrl.Port.IsOpen)
		2952	{
		2953	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2954	byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 });
		2955	serialStream.Write(bytes, 0, bytes.Length);
		2956	}
		2957	else
		2958	Log(LogMsgType.Error, "NOT CONNECTED!");
		2959
		2960	}
		2961	/// <summary>
2287	-	2962	/// get the errortext for pending NC error
		2963	/// </summary>
		2964	private void _readNCError()
		2965	{
		2966	_sendControllerMessage('e', 2);
		2967	}
		2968	/// <summary>
		2969	/// request the Waypoint at index
		2970	/// </summary>
		2971	/// <param name="index"></param>
		2972	void _getpWP(int index)
		2973	{
		2974	if (serialPortCtrl.Port.IsOpen)
		2975	{
		2976	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2977	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2978	serialStream.Write(bytes, 0, bytes.Length);
		2979	}
		2980	else
		2981	Log(LogMsgType.Error, "NOT CONNECTED!");
		2982
		2983	}
		2984	void _getWP()
		2985	{
2335	-	2986	int iTimeout = 0;
2287	-	2987	_bGetWPCount = true;
2315	-	2988	_getpWP(1); //get the itemscount of wp
2335	-	2989	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2990	{
		2991	Thread.Sleep(10);
		2992	iTimeout++;
		2993	}
		2994	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2995	_getWPList();
		2996	}
		2997	void _getWPList()
		2998	{
		2999	_bGetWP = true;
2313	-	3000	int iTimeout=0;
		3001	for (int j = 0; j < _iWPCount; j++)
2287	-	3002	{
		3003	_getpWP(j + 1);
2313	-	3004	iTimeout = 0;
		3005	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		3006	{
		3007	Thread.Sleep(1);
		3008	iTimeout++;
		3009	}
2287	-	3010	}
2419	-	3011	Dispatcher.Invoke(() =>
		3012	{
		3013	// MainMap.ZoomAndCenterMarkers(null);
		3014	MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]);
		3015	MainMap.Zoom = 19;
		3016	});
2287	-	3017	}
2363	-	3018	/// <summary>
		3019	/// Wrapper for _clearCopterWPList()
		3020	/// necessary, cause it is called by threadnew which does not like return values...
		3021	/// </summary>
2340	-	3022	void clearCopterWPList()
2313	-	3023	{
2340	-	3024	_clearCopterWPList();
		3025	}
2363	-	3026	/// <summary>
		3027	/// clear the WP list of the copter
		3028	/// by sending 'invalid' and index '0'
		3029	/// </summary>
		3030	/// <returns></returns>
2340	-	3031	bool _clearCopterWPList()
		3032	{
2335	-	3033	int iTimeout = 0;
2313	-	3034	if (serialPortCtrl.Port.IsOpen)
		3035	{
		3036	byte[] bData = new byte[30];
		3037	for (int i = 0; i < 30; i++)
		3038	bData[i] = 0;
		3039	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3040	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		3041	serialStream.Write(bytes, 0, bytes.Length);
2287	-	3042
2313	-	3043	_iWPCount = -1;
2340	-	3044	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	3045	{
2313	-	3046	Thread.Sleep(10);
2335	-	3047	iTimeout++;
		3048	}
2313	-	3049	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	3050	if (_iWPCount > -1)
2340	-	3051	return true;
		3052	else
		3053	Log(LogMsgType.Error, "Timeout while sending list!");
		3054	}
		3055	else
		3056	Log(LogMsgType.Error, "NOT CONNECTED!");
		3057
		3058	return false;
		3059	}
		3060	void _sendWPList()
		3061	{
2362	-	3062	_sendWPList(0);
		3063	}
		3064	void _sendWPList(int iStart)
		3065	{
2340	-	3066	int iTimeout = 0;
		3067	if (serialPortCtrl.Port.IsOpen)
		3068	{
		3069	if (_clearCopterWPList())
2313	-	3070	{
2362	-	3071	int k = 1;
		3072	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	3073	{
2362	-	3074	k = iStart > 0 ? k : -1;
2376	-	3075	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	3076
2335	-	3077	_iWPCount = -1;
		3078	iTimeout = 0;
		3079	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		3080	{
		3081	Thread.Sleep(10);
		3082	iTimeout++;
		3083	}
		3084	if (_iWPCount == -1)
		3085	{
		3086	Log(LogMsgType.Error, "Timeout while sending list!");
		3087	break;
		3088	}
		3089	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	3090	k++;
2335	-	3091	}
2313	-	3092	}
		3093	}
		3094	else
		3095	Log(LogMsgType.Error, "NOT CONNECTED!");
		3096
		3097	}
2376	-	3098	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	3099	{
2313	-	3100
2340	-	3101	if (serialPortCtrl.Port.IsOpen)
		3102	{
		3103	byte[] bData = new byte[30];
		3104	for (int i = 0; i < 30; i++)
		3105	bData[i] = 0;
		3106	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3107	byte[] bytes;
		3108	int iVal;
		3109	double dVal;
		3110	NumberFormatInfo nfi = new NumberFormatInfo();
		3111	nfi.NumberDecimalSeparator = ",";
		3112
		3113	//longitude
		3114	dVal = Convert.ToDouble(dr[4], nfi);
		3115	iVal = (int)(dVal * Math.Pow(10, 7));
		3116	bData[0] = (byte)(iVal & 0xff);
		3117	bData[1] = (byte)((iVal >> 8) & 0xff);
		3118	bData[2] = (byte)((iVal >> 16) & 0xff);
		3119	bData[3] = (byte)(iVal >> 24);
		3120	//latitude
		3121	dVal = Convert.ToDouble(dr[3], nfi);
		3122	iVal = (int)(dVal * Math.Pow(10, 7));
		3123	bData[4] = (byte)(iVal & 0xff);
		3124	bData[5] = (byte)((iVal >> 8) & 0xff);
		3125	bData[6] = (byte)((iVal >> 16) & 0xff);
		3126	bData[7] = (byte)(iVal >> 24);
		3127	//altitude
		3128	dVal = Convert.ToDouble(dr[5], nfi);
		3129	iVal = (int)(dVal * 10);
		3130	bData[8] = (byte)(iVal & 0xff);
		3131	bData[9] = (byte)((iVal >> 8) & 0xff);
		3132	bData[10] = (byte)((iVal >> 16) & 0xff);
		3133	bData[11] = (byte)(iVal >> 24);
2376	-	3134	if(bSim)
		3135	bData[12] = 3; //Status 'SIMULATE'
2340	-	3136	//Status 'NEWDATA'
2376	-	3137	else
		3138	bData[12] = 1;
2340	-	3139	//heading
		3140	iVal = Convert.ToInt16(dr[6]);
		3141	bData[13] = (byte)(iVal & 0xff);
		3142	bData[14] = (byte)((iVal >> 8) & 0xff);
		3143	//ToleranceRadius
		3144	bData[15] = Convert.ToByte(dr[9]);
		3145	//HoldTime
		3146	bData[16] = Convert.ToByte(dr[10]);
		3147	//Event_Flag
		3148	bData[17] = Convert.ToByte(dr[13]);
		3149	//Index
2379	-	3150	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	3151	//Type
		3152	bData[19] = Convert.ToByte(dr[1]);
		3153	//WP_EventChannelValue
		3154	bData[20] = Convert.ToByte(dr[14]);
		3155	//AltitudeRate
		3156	bData[21] = Convert.ToByte(dr[8]);
		3157	//Speed
		3158	bData[22] = Convert.ToByte(dr[7]);
		3159	//CamAngle
		3160	bData[23] = (byte)Convert.ToInt16(dr[12]);
		3161	//Name
2362	-	3162	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		3163	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	3164	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		3165	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		3166	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		3167	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		3168	//Autotrigger
		3169	bData[28] = Convert.ToByte(dr[11]);
		3170
2356	-	3171	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	3172	serialStream.Write(bytes, 0, bytes.Length);
		3173
		3174	return true;
		3175	}
		3176
		3177	return false;
		3178	}
2287	-	3179	#region OSD-Menue
		3180
		3181	/// <summary>
		3182	/// one time query of the OSD Menue with pagenumber
		3183	/// </summary>
		3184	/// <param name="iMenue">Menue page</param>
		3185	void _OSDMenue(int iMenue)
		3186	{
		3187	if (serialPortCtrl.Port.IsOpen)
		3188	{
		3189	if (iMenue > iOSDMax)
		3190	iMenue = 0;
		3191	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3192	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		3193	serialStream.Write(bytes, 0, bytes.Length);
		3194	}
		3195	else
		3196	Log(LogMsgType.Error, "NOT CONNECTED!");
		3197
		3198	}
		3199	/// <summary>
		3200	/// call the OSDMenue and start autorefresh
		3201	/// usually by sending a menuekey
		3202	/// 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)
		3203	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		3204	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		3205	/// </summary>
		3206	void _OSDMenueAutoRefresh()
		3207	{
		3208	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		3209	}
		3210	void _OSDMenueAutoRefresh(byte key)
		3211	{
		3212	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		3213	}
		3214	/// <summary>
		3215	/// initialize the OSD menue combobox
		3216	/// combox is filled by numbers from 0 to max pagenumber
		3217	/// </summary>
		3218	void _initOSDCB()
		3219	{
		3220	_bCBInit = true;
		3221	if (iOSDMax == 0)
		3222	{
		3223	_OSDMenue(0);
		3224	Thread.Sleep(10);
		3225	}
		3226	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		3227	for (int i = 0; i <= iOSDMax; i++)
		3228	{
		3229	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		3230	}
		3231	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		3232	_bCBInit = false;
		3233	}
		3234	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		3235	{
		3236	iOSDPage++;
		3237	if (iOSDPage > iOSDMax)
		3238	iOSDPage = 0;
		3239
		3240	_OSDMenue(iOSDPage);
		3241	}
		3242	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		3243	{
		3244	iOSDPage--;
		3245	if (iOSDPage < 0)
		3246	iOSDPage = iOSDMax;
		3247
		3248	_OSDMenue(iOSDPage);
		3249	}
		3250	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		3251	{
		3252	_OSDMenueAutoRefresh(8);
		3253	}
		3254	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		3255	{
		3256	_OSDMenueAutoRefresh(4);
		3257	}
		3258	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		3259	{
		3260	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		3261	_OSDMenue(cbOSD.SelectedIndex);
		3262	}
		3263	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		3264	{
		3265	Dispatcher.Invoke(() =>
		3266	{
		3267	TextRange tr;
		3268	if (bNew)
		3269	{
		3270	rtfOSD.SelectAll();
		3271	rtfOSD.Selection.Text = string.Empty;
		3272	}
		3273	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		3274	tr.Text = msg;
		3275	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		3276	// rtfOSD.AppendText("\r");
		3277	rtfOSD.ScrollToEnd();
		3278
		3279	});
		3280	}
		3281
		3282	#endregion OSD-Menue
		3283
		3284	#endregion controller messages
		3285
2398	-	3286	void _mediaPlayer(object file)
2295	-	3287	{
2405	-	3288	Monitor.TryEnter(lockObj);
		3289	try
2295	-	3290	{
2405	-	3291	if (File.Exists((string)file))
		3292	{
		3293
		3294	mediaPlayer.Open((string)file);
		3295	mediaPlayer.Play();
		3296	}
		3297
2295	-	3298	}
2405	-	3299	finally
		3300	{
		3301	Monitor.Exit(lockObj);
		3302	}
2295	-	3303	}
2310	-	3304
2362	-	3305	#region ui
2310	-	3306	/// <summary>
		3307	/// Switch between fullscreen and normal window mode
		3308	/// save & restore scaling settings
		3309	/// </summary>
		3310	/// <param name="sender"></param>
		3311	/// <param name="e"></param>
2287	-	3312	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		3313	{
		3314	if (winState.isMaximized)
		3315	{
		3316	winState.Restore(this);
		3317	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		3318	if(_bSaveWinStateFull)
		3319	_saveScaleSliders(true);
		3320	if(_bSaveWinStateNormal)
		3321	_setScaleSliders(false);
		3322	}
		3323	else
		3324	{
		3325	winState.Maximize(this);
		3326	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		3327	if(_bSaveWinStateNormal)
		3328	_saveScaleSliders(false);
		3329	if(_bSaveWinStateFull)
		3330	_setScaleSliders(true);
		3331	}
		3332	}
		3333
		3334	/// <summary>
		3335	/// reset the scaling of all UI elements to default
		3336	/// </summary>
		3337	/// <param name="sender"></param>
		3338	/// <param name="e"></param>
		3339	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		3340	{
		3341	UIScaleHorizonSlider.Value =
		3342	UIScaleLOGSlider.Value =
		3343	UIScaleMotorsSlider.Value =
		3344	UIScaleOSDSlider.Value =
		3345	UIScaleSlider.Value =
		3346	UIScaleTopSlider.Value = 1;
		3347	}
		3348	/// <summary>
		3349	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		3350	/// </summary>
		3351	/// <param name="sender"></param>
		3352	/// <param name="e"></param>
		3353	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3354	{
		3355	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		3356	if (GridMotors != null)
		3357	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		3358	if (GridSideBar != null)
		3359	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
2401	-	3360	if (WPStatus != null)
		3361	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
2287	-	3362	if (GridOSD != null)
2401	-	3363	{
		3364	if(WPStatus.Visibility == Visibility.Visible)
		3365	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3366	else
		3367	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3368	}
2287	-	3369	if (GridData != null)
		3370	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		3371	if (GridWP != null)
		3372	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		3373	}
2419	-	3374	private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3375	{
		3376	if (!_init)
		3377	{
		3378	if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible))
		3379	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3380	else
		3381	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3382	}
		3383	}
		3384
2310	-	3385	/// <summary>
		3386	/// restore the saved scalings for the fullscreen/normal window mode
		3387	/// </summary>
		3388	/// <param name="bFull">the mode the window is set to</param>
2287	-	3389	void _setScaleSliders(bool bFull)
		3390	{
		3391	if(bFull)
		3392	{
		3393	UIScaleSlider.Value = scaleFullAll;
		3394	UIScaleTopSlider.Value = scaleFullTopBar;
		3395	UIScaleMotorsSlider.Value = scaleFullMotors;
		3396	UIScaleOSDSlider.Value = scaleFullOSD;
		3397	UIScaleLOGSlider.Value = scaleFullLOG;
		3398	UIScaleHorizonSlider.Value = scaleFullHorizon;
		3399	}
		3400	else
		3401	{
		3402	UIScaleSlider.Value = scaleNormalAll;
		3403	UIScaleTopSlider.Value = scaleNormalTopBar;
		3404	UIScaleMotorsSlider.Value = scaleNormalMotors;
		3405	UIScaleOSDSlider.Value = scaleNormalOSD;
		3406	UIScaleLOGSlider.Value = scaleNormalLOG;
		3407	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		3408	}
		3409	}
		3410
2310	-	3411	/// <summary>
		3412	/// save the scalings for the actual window mode
		3413	/// </summary>
		3414	/// <param name="bFull">the actual window mode</param>
2287	-	3415	void _saveScaleSliders(bool bFull)
		3416	{
		3417
		3418	if (bFull)
		3419	{
		3420	scaleFullAll = UIScaleSlider.Value;
		3421	scaleFullTopBar = UIScaleTopSlider.Value;
		3422	scaleFullMotors = UIScaleMotorsSlider.Value;
		3423	scaleFullOSD = UIScaleOSDSlider.Value;
		3424	scaleFullLOG = UIScaleLOGSlider.Value;
		3425	scaleFullHorizon = UIScaleHorizonSlider.Value;
		3426	}
		3427	else
		3428	{
		3429	scaleNormalAll = UIScaleSlider.Value;
		3430	scaleNormalTopBar = UIScaleTopSlider.Value;
		3431	scaleNormalMotors = UIScaleMotorsSlider.Value;
		3432	scaleNormalOSD = UIScaleOSDSlider.Value;
		3433	scaleNormalLOG = UIScaleLOGSlider.Value;
		3434	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		3435	}
		3436	}
2362	-	3437	#endregion ui
2287	-	3438
		3439	/// <summary>
		3440	/// read settings from ini-file
		3441	/// </summary>
		3442	void _readIni()
		3443	{
		3444	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		3445	_writeIni();
		3446	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3447	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	3448	try
		3449	{
2287	-	3450
2312	-	3451	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		3452	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		3453	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		3454	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		3455	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		3456	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		3457	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		3458	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	3459
2312	-	3460	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		3461	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		3462	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		3463	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		3464	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		3465	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		3466	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		3467	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	3468
2312	-	3469	sVal = ini.IniReadValue("topBar", "voltage");
		3470	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		3471	sVal = ini.IniReadValue("topBar", "capacity");
		3472	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		3473	sVal = ini.IniReadValue("topBar", "current");
		3474	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		3475	sVal = ini.IniReadValue("topBar", "flightTime");
		3476	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		3477	sVal = ini.IniReadValue("topBar", "distanceHP");
		3478	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		3479	sVal = ini.IniReadValue("topBar", "height");
		3480	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		3481	sVal = ini.IniReadValue("topBar", "speed");
		3482	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		3483	sVal = ini.IniReadValue("topBar", "magneticField");
		3484	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		3485	sVal = ini.IniReadValue("topBar", "satellites");
		3486	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		3487	sVal = ini.IniReadValue("topBar", "rc");
		3488	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	3489
2312	-	3490	sVal = ini.IniReadValue("style", "saveFullScreen");
		3491	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		3492	sVal = ini.IniReadValue("style", "saveNormalState");
		3493	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	3494
2312	-	3495	sVal = ini.IniReadValue("style", "scaleNormalAll");
		3496	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		3497	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		3498	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		3499	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		3500	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		3501	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		3502	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		3503	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		3504	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		3505	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		3506	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	3507
2312	-	3508	sVal = ini.IniReadValue("style", "scaleFullAll");
		3509	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		3510	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		3511	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		3512	sVal = ini.IniReadValue("style", "scaleFullMotors");
		3513	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		3514	sVal = ini.IniReadValue("style", "scaleFullOSD");
		3515	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		3516	sVal = ini.IniReadValue("style", "scaleFullLOG");
		3517	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		3518	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		3519	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	3520
2312	-	3521	sVal = ini.IniReadValue("general", "LiPoCells");
		3522	_LipoCells = Convert.ToInt16(sVal);
		3523	sVal = ini.IniReadValue("general", "Motors");
		3524	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	3525
2312	-	3526	sVal = ini.IniReadValue("map", "followMe");
		3527	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		3528	sVal = ini.IniReadValue("map", "AutoSetHome");
		3529	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	3530	sVal = ini.IniReadValue("map", "GPXLog");
		3531	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	3532
2312	-	3533	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		3534	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		3535	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		3536	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		3537	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		3538	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		3539	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		3540	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		3541	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		3542	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		3543	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		3544	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		3545	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		3546	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		3547	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		3548	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		3549	sVal = ini.IniReadValue("threshold", "MaxDistance");
		3550	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		3551	sVal = ini.IniReadValue("threshold", "RCThreshold");
		3552	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		3553	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		3554	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	3555
		3556	sVal = ini.IniReadValue("waypoints", "wpcolor");
		3557	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		3558	sVal = ini.IniReadValue("waypoints", "poicolor");
		3559	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		3560	sVal = ini.IniReadValue("waypoints", "fscolor");
		3561	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		3562	sVal = ini.IniReadValue("waypoints", "coptercolor");
		3563	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	3564	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		3565	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	3566	sVal = ini.IniReadValue("waypoints", "landingcolor");
		3567	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	3568	sVal = ini.IniReadValue("waypoints", "routecolor");
		3569	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		3570	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		3571	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2437	-	3572	sVal = ini.IniReadValue("waypoints", "autoShowWPEdit");
		3573	if(sVal != "") _bAutoWPEdit = Convert.ToBoolean(sVal);
2408	-	3574	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		3575	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		3576	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		3577	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
2437	-	3578	sVal = ini.IniReadValue("waypoints", "WPDefPrefix");
		3579	if(sVal != "") _wpDefPrefix = sVal;
		3580	sVal = ini.IniReadValue("waypoints", "WPDefAltitude");
		3581	if(sVal != "") _wpDefAltitude = Convert.ToInt32(sVal);
		3582	sVal = ini.IniReadValue("waypoints", "WPDefHeading");
		3583	if(sVal != "") _wpDefHeading = Convert.ToInt32(sVal);
		3584	sVal = ini.IniReadValue("waypoints", "WPDefCBoxHeading");
		3585	if(sVal != "") _wpDefCBoxHeading = Convert.ToInt32(sVal);
		3586	sVal = ini.IniReadValue("waypoints", "WPDefSpeed");
		3587	if(sVal != "") _wpDefSpeed = Convert.ToInt32(sVal);
		3588	sVal = ini.IniReadValue("waypoints", "WPDefCBoxSpeed");
		3589	if(sVal != "") _wpDefCBoxSpeed = Convert.ToInt32(sVal);
		3590	sVal = ini.IniReadValue("waypoints", "WPDefClimb");
		3591	if(sVal != "") _wpDefClimb = Convert.ToInt32(sVal);
		3592	sVal = ini.IniReadValue("waypoints", "WPDefCBoxClimb");
		3593	if(sVal != "") _wpDefCBoxClimb = Convert.ToInt32(sVal);
		3594	sVal = ini.IniReadValue("waypoints", "WPDefRadius");
		3595	if(sVal != "") _wpDefRadius = Convert.ToInt32(sVal);
		3596	sVal = ini.IniReadValue("waypoints", "WPDefHoldtime");
		3597	if(sVal != "") _wpDefHoldtime = Convert.ToInt32(sVal);
		3598	sVal = ini.IniReadValue("waypoints", "WPDefAutotrig");
		3599	if(sVal != "") _wpDefAutotrig = Convert.ToInt32(sVal);
		3600	sVal = ini.IniReadValue("waypoints", "WPDefCamangle");
		3601	if(sVal != "") _wpDefCamangle = Convert.ToInt32(sVal);
		3602	sVal = ini.IniReadValue("waypoints", "WPDefCBoxCamangle");
		3603	if(sVal != "") _wpDefCBoxCamangle = Convert.ToInt32(sVal);
		3604	sVal = ini.IniReadValue("waypoints", "WPDefOut1");
		3605	if(sVal != "") _wpDefOut1 = Convert.ToInt32(sVal);
		3606	sVal = ini.IniReadValue("waypoints", "WPAddCopterHeight");
		3607	if (sVal != "") _wpAddCopterHeight = Convert.ToBoolean(sVal);
		3608	sVal = ini.IniReadValue("waypoints", "WPAddCopterHeading");
		3609	if (sVal != "") _wpAddCopterHeading = Convert.ToBoolean(sVal);
2349	-	3610
		3611	for (int i = 0; i < 12; i++)
		3612	{
		3613	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		3614	if (sVal != "")
		3615	serChan[i] = Convert.ToInt16(sVal);
		3616	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		3617	if (sVal != "")
		3618	serChanTitle[i] = sVal;
		3619	for (int y = 0; i < 4 && y < 3; y++)
		3620	{
		3621	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		3622	if (sVal != "")
		3623	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		3624	}
		3625	}
		3626
2312	-	3627	}
		3628	catch (Exception e)
		3629	{
2287	-	3630
2312	-	3631	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		3632	}
		3633
2287	-	3634	}
		3635
		3636	/// <summary>
		3637	/// save settings to ini-file
		3638	/// </summary>
		3639	void _writeIni()
		3640	{
		3641
		3642	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3643	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3644
2312	-	3645	try
		3646	{
2287	-	3647
2312	-	3648	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		3649	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		3650	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		3651	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	3652
2312	-	3653	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		3654	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		3655	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		3656	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	3657
2312	-	3658	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		3659	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	3660
2312	-	3661	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		3662	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	3663	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	3664
2312	-	3665	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		3666	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		3667	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		3668	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		3669	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		3670	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		3671	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		3672	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		3673	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		3674	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	3675
2312	-	3676	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		3677	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	3678
2312	-	3679	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		3680	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		3681	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		3682	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		3683	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		3684	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	3685
2312	-	3686	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		3687	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		3688	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		3689	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		3690	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		3691	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	3692
2312	-	3693	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		3694
		3695	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		3696	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		3697	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		3698	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		3699	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		3700	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		3701	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		3702	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		3703	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		3704	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		3705	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	3706
		3707	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		3708	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		3709	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		3710	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	3711	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	3712	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	3713	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		3714	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2408	-	3715	ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString());
2437	-	3716	ini.IniWriteValue("waypoints", "autoShowWPEdit", ((bool)checkBoxAutoShowWPEdit.IsChecked).ToString());
2408	-	3717	ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString());
2437	-	3718	ini.IniWriteValue("waypoints", "WPDefPrefix", _wpDefPrefix);
		3719	ini.IniWriteValue("waypoints", "WPDefAltitude", _wpDefAltitude.ToString());
		3720	ini.IniWriteValue("waypoints", "WPDefHeading", _wpDefHeading.ToString());
		3721	ini.IniWriteValue("waypoints", "WPDefCBoxHeading", _wpDefCBoxHeading.ToString());
		3722	ini.IniWriteValue("waypoints", "WPDefSpeed", _wpDefSpeed.ToString());
		3723	ini.IniWriteValue("waypoints", "WPDefCBoxSpeed", _wpDefCBoxSpeed.ToString());
		3724	ini.IniWriteValue("waypoints", "WPDefClimb", _wpDefClimb.ToString());
		3725	ini.IniWriteValue("waypoints", "WPDefCBoxClimb", _wpDefCBoxClimb.ToString());
		3726	ini.IniWriteValue("waypoints", "WPDefRadius", _wpDefRadius.ToString());
		3727	ini.IniWriteValue("waypoints", "WPDefHoldtime", _wpDefHoldtime.ToString());
		3728	ini.IniWriteValue("waypoints", "WPDefAutotrig", _wpDefAutotrig.ToString());
		3729	ini.IniWriteValue("waypoints", "WPDefCamangle", _wpDefCamangle.ToString());
		3730	ini.IniWriteValue("waypoints", "WPDefCBoxCamangle", _wpDefCBoxCamangle.ToString());
		3731	ini.IniWriteValue("waypoints", "WPDefOut1", _wpDefOut1.ToString());
		3732	ini.IniWriteValue("waypoints", "WPAddCopterHeight", _wpAddCopterHeight.ToString());
		3733	ini.IniWriteValue("waypoints", "WPAddCopterHeading", _wpAddCopterHeading.ToString());
2349	-	3734
2437	-	3735
2349	-	3736	for (int i = 0; i < 12; i++)
		3737	{
		3738	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		3739	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		3740	for (int y = 0; i < 4 && y < 3; y++)
		3741	{
		3742	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		3743	}
		3744	}
		3745
2312	-	3746	}
		3747	catch (Exception e)
		3748	{
		3749
		3750	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);
		3751	}
2287	-	3752	}
2350	-	3753
2349	-	3754	#region serial channels
		3755	/// <summary>
		3756	/// Sending the serial channel values
		3757	/// </summary>
		3758	void _sendSerialData()
		3759	{
		3760	byte[] serData = new byte[12];
		3761	for (int i = 0; i < 12; i++)
		3762	{
		3763	serData[i] = unchecked((byte)(serChan[i] - 127));
		3764	}
		3765	_sendControllerMessage('y', 1, serData);
		3766	}
		3767	/// <summary>
		3768	/// init the controls for displaying
		3769	/// and setting serial control channels
		3770	/// </summary>
		3771	void _initSerialCtrl()
		3772	{
		3773	SerChan1ScaleSlider.Value = serChan[0];
		3774	textBoxSerial1.Text = serChanTitle[0];
		3775	SerChan2ScaleSlider.Value = serChan[1];
		3776	textBoxSerial2.Text = serChanTitle[1];
2350	-	3777	SerChan3ScaleSlider.Value = serChan[2];
		3778	textBoxSerial3.Text = serChanTitle[2];
2349	-	3779	//SerChan4ScaleSlider.Value = serChan[3];
		3780	//textBoxSerial4.Text = serChanTitle[3];
		3781	//trckbarSerial5.Value = serChan[4];
		3782	//textBoxSerial5.Text = serChanTitle[4];
		3783	//trckbarSerial6.Value = serChan[5];
		3784	//textBoxSerial6.Text = serChanTitle[5];
		3785	//trckbarSerial7.Value = serChan[6];
		3786	//textBoxSerial7.Text = serChanTitle[6];
		3787	//trckbarSerial8.Value = serChan[7];
		3788	//textBoxSerial8.Text = serChanTitle[7];
2312	-	3789
2349	-	3790	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3791	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3792	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3793	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3794	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3795	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3796	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3797	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3798	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3799	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3800	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3801	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3802	}
		3803	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3804	{
		3805	if (!_init)
		3806	{
		3807	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3808	_sendSerialData();
		3809	}
		3810	}
		3811	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3812	{
		3813	if (!_init)
		3814	{
		3815	serChanTitle[0] = textBoxSerial1.Text;
		3816	}
		3817	}
		3818	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3819	{
		3820	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3821	{
		3822	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3823	}
		3824	}
		3825	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3826	{
		3827	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3828	{
		3829	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3830	}
		3831	}
		3832	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3833	{
		3834	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3835	{
		3836	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3837	}
		3838	}
		3839	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3840	{
		3841	if (textBoxSerial1_val1.Text.Length > 0)
		3842	{
		3843	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3844	}
		3845	}
		3846	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3847	{
		3848	SerChan1ScaleSlider.Value = 0;
		3849	}
		3850	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3851	{
		3852	SerChan1ScaleSlider.Value = 127;
		3853	}
		3854	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3855	{
		3856	SerChan1ScaleSlider.Value = 254;
		3857	}
		3858	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3859	{
		3860	if (textBoxSerial1_val2.Text.Length > 0)
		3861	{
		3862	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3863	}
		3864	}
		3865	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3866	{
		3867	if (textBoxSerial1_val3.Text.Length > 0)
		3868	{
		3869	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3870	}
		3871	}
		3872
		3873	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3874	{
		3875	if (!_init)
		3876	{
		3877	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3878	_sendSerialData();
		3879	}
		3880	}
		3881	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3882	{
		3883	if (!_init)
		3884	{
		3885	serChanTitle[1] = textBoxSerial2.Text;
		3886	}
		3887	}
		3888	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3889	{
		3890	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3891	{
		3892	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3893	}
		3894	}
		3895	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3896	{
		3897	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3898	{
		3899	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3900	}
		3901	}
		3902	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3903	{
		3904	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3905	{
		3906	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3907	}
		3908	}
		3909	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3910	{
		3911	SerChan2ScaleSlider.Value = 0;
		3912	}
		3913	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3914	{
		3915	SerChan2ScaleSlider.Value = 127;
		3916	}
		3917	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3918	{
		3919	SerChan2ScaleSlider.Value = 254;
		3920	}
		3921	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3922	{
		3923	if (textBoxSerial2_val1.Text.Length > 0)
		3924	{
		3925	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3926	}
		3927	}
		3928	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3929	{
		3930	if (textBoxSerial2_val2.Text.Length > 0)
		3931	{
		3932	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3933	}
		3934	}
		3935	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3936	{
		3937	if (textBoxSerial2_val3.Text.Length > 0)
		3938	{
		3939	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3940	}
		3941	}
2350	-	3942
		3943	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3944	{
		3945	if (!_init)
		3946	{
		3947	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3948	_sendSerialData();
		3949	}
		3950	}
		3951	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3952	{
		3953	if (!_init)
		3954	{
		3955	serChanTitle[2] = textBoxSerial3.Text;
		3956	}
		3957	}
		3958	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3959	{
		3960	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3961	{
		3962	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3963	}
		3964	}
		3965	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3966	{
		3967	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3968	{
		3969	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3970	}
		3971	}
		3972	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3973	{
		3974	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3975	{
		3976	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3977	}
		3978	}
		3979	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3980	{
		3981	SerChan3ScaleSlider.Value = 0;
		3982	}
		3983	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3984	{
		3985	SerChan3ScaleSlider.Value = 127;
		3986	}
		3987	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3988	{
		3989	SerChan3ScaleSlider.Value = 254;
		3990	}
		3991	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3992	{
		3993	if (textBoxSerial3_val1.Text.Length > 0)
		3994	{
		3995	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3996	}
		3997	}
		3998	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3999	{
		4000	if (textBoxSerial3_val2.Text.Length > 0)
		4001	{
		4002	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		4003	}
		4004	}
		4005	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		4006	{
		4007	if (textBoxSerial3_val3.Text.Length > 0)
		4008	{
		4009	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		4010	}
		4011	}
2349	-	4012	/// <summary>
		4013	/// checks the input of a textbox
		4014	/// for valid data
		4015	/// in this case values 0-254
		4016	/// </summary>
		4017	/// <param name="sender"></param>
		4018	/// <param name="e"></param>
		4019	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		4020	{
		4021	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		4022	e.Handled = true;
		4023	else
		4024	if ("\b".IndexOf(e.Key.ToString()) < 0)
		4025	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		4026	e.Handled = true;
		4027	else
		4028	{
		4029	int i = -1;
		4030	switch (((TextBox)sender).Name)
		4031	{
		4032	case "textBoxSerial1_val1":
		4033	i = 0;
		4034	break;
		4035	case "textBoxSerial1_val2":
		4036	i = 1;
		4037	break;
		4038	case "textBoxSerial1_val3":
		4039	i = 2;
		4040	break;
		4041	case "textBoxSerial2_val1":
		4042	i = 3;
		4043	break;
		4044	case "textBoxSerial2_val2":
		4045	i = 4;
		4046	break;
		4047	case "textBoxSerial2_val3":
		4048	i = 5;
		4049	break;
		4050	case "textBoxSerial3_val1":
		4051	i = 6;
		4052	break;
		4053	case "textBoxSerial3_val2":
		4054	i = 7;
		4055	break;
		4056	case "textBoxSerial3_val3":
		4057	i = 8;
		4058	break;
		4059	case "textBoxSerial4_val1":
		4060	i = 9;
		4061	break;
		4062	case "textBoxSerial4_val2":
		4063	i = 10;
		4064	break;
		4065	case "textBoxSerial4_val3":
		4066	i = 11;
		4067	break;
		4068	}
		4069	if (i > -1)
		4070	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		4071	}
		4072	}
		4073
		4074	#endregion serial channels
2315	-	4075	#region WP
2312	-	4076	void _readWPLFile()
		4077	{
		4078	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4079	fd.Filter = "Waypointlists \| *.wpl";
		4080	fd.Multiselect = false;
		4081	if (fd.ShowDialog().Value)
		4082	{
		4083	string file = fd.SafeFileName;
		4084	IniFile ini = new IniFile(fd.SafeFileName);
		4085	ini.path = fd.FileName;
		4086
		4087	try
		4088	{
		4089	string sVal = ini.IniReadValue("General", "FileVersion");
		4090	if (sVal == "")
		4091	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4092	else
		4093	{
		4094	if (Convert.ToInt16(sVal) < 3)
		4095	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4096	else
		4097	{
		4098	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		4099	if (sVal == "")
		4100	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4101	else
		4102	{
		4103	int wpnum = Convert.ToInt16(sVal);
		4104	string wp;
		4105	int i;
2313	-	4106	NumberFormatInfo nfi = new NumberFormatInfo();
		4107	nfi.NumberDecimalSeparator = ".";
2312	-	4108	dtWaypoints.Rows.Clear();
2368	-	4109	_wpEdit = -1;_wpIndex = -1;
2425	-	4110	wpOffset.Clear();
2327	-	4111	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	4112	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	4113	wpList.Clear();
		4114	if (mRouteWP != null)
		4115	MainMap.Markers.Remove(mRouteWP);
2363	-	4116	//if (wpActiveMarker != null)
		4117	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	4118	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4119
2312	-	4120	for (int k = 1; k <= wpnum; k++)
		4121	{
		4122	DataRow dr = dtWaypoints.NewRow();
		4123	dr.ItemArray = new object[16];
		4124	object[] o = new object[16];
		4125	i = 0;
		4126	wp = "Point" + k.ToString();
		4127	o[i] = k;
		4128	i++;
		4129	sVal = ini.IniReadValue(wp, "Type");
		4130	if (sVal != "")
2315	-	4131	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	4132	i++;
		4133	sVal = ini.IniReadValue(wp, "Prefix");
		4134	if (sVal != "")
2350	-	4135	o[i] = sVal + k.ToString();
		4136	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	4137	i++;
2313	-	4138	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	4139	if (sVal != "")
2313	-	4140	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4141	i++;
2313	-	4142	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	4143	if (sVal != "")
2313	-	4144	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4145	i++;
		4146	sVal = ini.IniReadValue(wp, "Altitude");
		4147	if (sVal != "")
2313	-	4148	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4149	i++;
		4150	sVal = ini.IniReadValue(wp, "Heading");
		4151	if (sVal != "")
		4152	o[i] = Convert.ToInt16(sVal);
		4153	i++;
		4154	sVal = ini.IniReadValue(wp, "Speed");
		4155	if (sVal != "")
2315	-	4156	o[i] = Convert.ToInt16(sVal);
2312	-	4157	i++;
		4158	sVal = ini.IniReadValue(wp, "ClimbRate");
		4159	if (sVal != "")
		4160	o[i] = Convert.ToInt16(sVal);
		4161	i++;
		4162	sVal = ini.IniReadValue(wp, "Radius");
		4163	if (sVal != "")
		4164	o[i] = Convert.ToInt16(sVal);
		4165	i++;
		4166	sVal = ini.IniReadValue(wp, "DelayTime");
		4167	if (sVal != "")
		4168	o[i] = Convert.ToInt16(sVal);
		4169	i++;
		4170	sVal = ini.IniReadValue(wp, "AutoTrigger");
		4171	if (sVal != "")
		4172	o[i] = Convert.ToInt16(sVal); ;
		4173	i++;
		4174	sVal = ini.IniReadValue(wp, "CAM-Nick");
		4175	if (sVal != "")
2313	-	4176	o[i] = Convert.ToInt16(sVal);
2312	-	4177	i++;
		4178	o[i] = 0;
		4179	i++;
		4180	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		4181	if (sVal != "")
		4182	o[i] = Convert.ToInt16(sVal);
		4183	i++;
		4184	o[i] = "New";
		4185
		4186	dr.ItemArray = o;
		4187	dtWaypoints.Rows.Add(dr);
2425	-	4188	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1], (int)o[0]-1);
2315	-	4189
2312	-	4190	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		4191	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		4192	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2419	-	4193	Thread.Sleep(1);
2312	-	4194	}
2419	-	4195	Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]));
		4196	Dispatcher.Invoke(() => MainMap.Zoom = 19);
		4197	// Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null));
		4198	Dispatcher.Invoke(() => _routeUpdate());
2312	-	4199	}
		4200	}
		4201	}
		4202
		4203	}
		4204	catch (Exception e)
		4205	{
		4206
		4207	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		4208	}
		4209
		4210	}
		4211	}
2350	-	4212	void _saveWPLFile()
		4213	{
		4214	if (dtWaypoints.Rows.Count > 0)
		4215	{
		4216	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		4217	fd.Filter = "Waypointlists \| *.wpl";
		4218	fd.AddExtension = true;
		4219	if (fd.ShowDialog().Value)
		4220	{
		4221	string file = fd.SafeFileName;
		4222	IniFile ini = new IniFile(fd.SafeFileName);
		4223	ini.path = fd.FileName;
		4224	NumberFormatInfo nfi = new NumberFormatInfo();
		4225	nfi.NumberDecimalSeparator = ".";
		4226
		4227	try
		4228	{
		4229	ini.IniWriteValue("General", "FileVersion", "3");
		4230	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		4231	ini.IniWriteValue("General", "Mapfile", "");
		4232	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		4233	{
		4234	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		4235	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		4236	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		4237	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		4238	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		4239	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		4240	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		4241	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		4242	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		4243	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		4244	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		4245	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));
		4246	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		4247	}
		4248	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		4249	}
		4250	catch { }
		4251	}
		4252	}
		4253	else
		4254	MessageBox.Show("Nothing to save...");
		4255	}
		4256	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		4257	{
		4258	_saveWPLFile();
		4259	}
		4260	/// <summary>
		4261	/// set the selected color for the route
		4262	/// </summary>
		4263	/// <param name="color"></param>
		4264	/// <returns></returns>
2328	-	4265	Brush _getBrush(string color)
		4266	{
		4267	switch (color)
		4268	{
		4269	case "red":
		4270	return Brushes.Red;
		4271	case "green":
		4272	return Brushes.Lime;
		4273	case "blue":
		4274	return Brushes.Aqua;
		4275	case "pink":
		4276	return Brushes.Magenta;
		4277	case "yellow":
		4278	return Brushes.Yellow;
		4279	default:
		4280	return Brushes.Magenta;
		4281	}
		4282	}
2359	-	4283	void _routeUpdate()
		4284	{
		4285	Dispatcher.Invoke(() =>
		4286	{
		4287	if (comboBoxRouteColor.SelectionBoxItem != null)
		4288	{
		4289	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4290	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4291	}
		4292	else
		4293	mRouteWP = new GMapRoute(wpList, null);
		4294
		4295	if (_bShowWPRoute)
2368	-	4296	MainMap.Markers.Add(mRouteWP);
2359	-	4297	});
		4298
		4299	MapRoute mr = new MapRoute(wpList, "WPList");
		4300	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		4301	}
2425	-	4302	GMapMarker _createWP(PointLatLng p, string name, int type, int index)
2363	-	4303	{
		4304	GMapMarker wpMarker = new GMapMarker(p);
2385	-	4305	Dispatcher.Invoke(()=>
		4306	{
		4307	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
2419	-	4308	wpMarker.Tag = name;
2385	-	4309	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		4310	wpMarker.ZIndex = 100;
		4311	_setMarkerColor(wpMarker, type);
		4312	MainMap.Markers.Add(wpMarker);
		4313	if (type == 0 \|\| type == 3)
2425	-	4314	{
2385	-	4315	wpList.Add(p);
2425	-	4316	wpOffset.Add(index);
		4317	}
2419	-	4318	((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos;
		4319	((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin;
2421	-	4320	((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured;
2385	-	4321	});
2363	-	4322	return wpMarker;
		4323	}
2419	-	4324	bool _WPisMouseCaptured = false;
2421	-	4325	void _WPMouseCaptured(bool isCaptured)
2419	-	4326	{
		4327	_WPisMouseCaptured = isCaptured;
		4328	MainMap.CanDragMap = !isCaptured;
		4329	}
		4330	void _updateDTWPPos(CustomMarkerWP wp)
		4331	{
		4332	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4333	int index = Convert.ToInt16(sIndex) -1;
		4334	GMapMarker p = ((GMapMarker)wp.DataContext);
		4335	if (p != null && index < dtWaypoints.Rows.Count)
		4336	{
		4337	//Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4338	if(wp.WPType == 0 \| wp.WPType == 3)
2424	-	4339	{
		4340	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4341	int wpListIndex = wpList.IndexOf(x);
		4342	if (wpListIndex > -1)
		4343	{
		4344	wpList[wpListIndex] = p.Position;
		4345	MainMap.Markers.Remove(mRouteWP);
		4346	_routeUpdate();
		4347	}
2419	-	4348	}
2424	-	4349	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4350	dtWaypoints.Rows[index][4] = p.Position.Lng;
2419	-	4351	}
		4352	}
		4353	void _updateDTWPPosFin(CustomMarkerWP wp)
		4354	{
		4355	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4356	int index = Convert.ToInt16(sIndex) -1;
		4357	GMapMarker p = ((GMapMarker)wp.DataContext);
		4358	if (p != null && index < dtWaypoints.Rows.Count)
		4359	{
		4360	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4361	dtWaypoints.Rows[index][4] = p.Position.Lng;
2421	-	4362	Dispatcher.Invoke(() =>
		4363	{
		4364	dgvWP.Items.Refresh();
		4365	dgvWP.SelectedIndex = index;
		4366	_dgvWPselectEditRow();
		4367	});
		4368
2419	-	4369	}
		4370
		4371	}
2432	-	4372	void _addWP(PointLatLng p,int type)
		4373	{
		4374	object[] o = new object[16];
2428	-	4375
2432	-	4376	o[0] = dgvWP.ItemContainerGenerator.Items.Count + 1;
		4377	o[1] = type;
		4378	// cbWPEditType.SelectedIndex = 0;
		4379	// tbWPEditPrefix.Text = "P";
2437	-	4380	o[2] = _wpDefPrefix + o[0].ToString();
2432	-	4381	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4382	o[3] = p.Lat;
		4383	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4384	o[4] = p.Lng;
2437	-	4385	// lblWPEditAlt.Content = ((double)iAnalogData[4] / (double)10).ToString();
		4386	o[5] = _wpAddCopterHeight ? iAnalogData[4].ToString(): _wpDefAltitude.ToString();
2432	-	4387
2437	-	4388	cbWPEditHeading.SelectedIndex = _wpDefCBoxHeading;
		4389	o[6] = _wpAddCopterHeading ? iAnalogData[10].ToString(): _wpDefHeading.ToString();
		4390	//lblWPEditHeading.Content = iAnalogData[10].ToString();
2432	-	4391	// tbWPEditHeading.IsReadOnly = false;
		4392
2437	-	4393	cbWPEditSpeed.SelectedIndex = _wpDefCBoxSpeed;
2432	-	4394	// tbWPEditSpeed.Text = "5.0";
		4395	// tbWPEditSpeed.IsReadOnly = false;
2437	-	4396	o[7] = _wpDefSpeed.ToString();
2432	-	4397
2437	-	4398	cbWPEditClimbrate.SelectedIndex = _wpDefCBoxClimb;
		4399	// lblWPEditClimbrate.Content = "5.0";
2432	-	4400	// tbWPEditClimbrate.IsReadOnly = false;
2437	-	4401	o[8] = _wpDefClimb.ToString();
2432	-	4402
2437	-	4403	// lblWPEditRadius.Content = "10";
		4404	o[9] = _wpDefRadius.ToString();
		4405	// lblWPEditHoldtime.Content = "5";
		4406	o[10] = _wpDefHoldtime.ToString();
		4407	// lblWPEditAutoTrigger.Content = "0";
		4408	o[11] = _wpDefAutotrig.ToString();
		4409	cbWPEditCamAngle.SelectedIndex = _wpDefCBoxCamangle;
		4410	// lblWPEditCamAngle.Content = "AUTO";
2432	-	4411	// tbWPEditCamAngle.IsReadOnly = true;
2437	-	4412	o[12] = _wpDefCamangle.ToString();
2432	-	4413
		4414	o[13] = "0";
2437	-	4415	// lblWPEditOut1.Content = "0";
		4416	o[14] = _wpDefOut1.ToString();
2432	-	4417	o[15] = "0";
		4418
		4419	dtWaypoints.Rows.Add(o);
		4420	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1], (int)o[0] - 1);
		4421	// Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4422	if (mRouteWP != null)
		4423	MainMap.Markers.Remove(mRouteWP);
		4424	_routeUpdate();
		4425	Dispatcher.Invoke(() =>
		4426	{
		4427	dgvWP.Items.Refresh();
		4428	dgvWP.UpdateLayout();
		4429	dgvWP.SelectedIndex = (int)o[0] - 1;
		4430	_dgvWPselectEditRow();
		4431	});
		4432	}
2425	-	4433	/// <summary>
		4434	/// find the index of of a wp from datatable in the waypointlist wpList
		4435	/// </summary>
		4436	/// <param name="dtIndex">the index of wp in datatable (0-based)</param>
		4437	/// <returns></returns>
		4438	int _getWPIndexfromList(int dtIndex)
		4439	{
		4440	if ((int)dtWaypoints.Rows[dtIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dtIndex][1] == 3)
		4441	{
		4442	GMapMarker wp = _findWPMarker((string)dtWaypoints.Rows[dtIndex][2]);
		4443	if (wp != null)
		4444	return wpList.IndexOf(wp.Position);
		4445	}
		4446	return -1;
		4447	}
		4448	/// <summary>
		4449	/// find the index of of a wp from datatable in the waypointlist wpList
		4450	/// </summary>
		4451	/// <param name="name">the name of the wp</param>
		4452	/// <returns></returns>
		4453	int _getWPIndexfromList(string name)
		4454	{
		4455	GMapMarker wp = _findWPMarker(name);
		4456	if ((wp != null && wp.Shape != null) && ((CustomMarkerWP)wp.Shape).WPType == 0 \| ((CustomMarkerWP)wp.Shape).WPType == 3)
		4457	return wpList.IndexOf(wp.Position);
		4458	else
		4459	return -1;
		4460	}
		4461	int _getWPListOffset(int index)
		4462	{
		4463	int k = 0;
		4464	for(int i = 0; i < wpOffset.Count;i++)
		4465	{
		4466	if (wpOffset[i] <= index)
		4467	k++;
		4468	}
2419	-	4469
2425	-	4470	return k;
		4471	}
2315	-	4472	void _setMarkerColor(GMapMarker wpMarker,int iType)
		4473	{
2369	-	4474	if(wpMarker != null)
2315	-	4475	Dispatcher.Invoke(() =>
		4476	{
		4477	switch (iType)
		4478	{
		4479	case 0:
		4480	if (comboBoxWPColor.SelectionBoxItem != null)
		4481	{
		4482	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		4483	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4484	}
		4485	else
2372	-	4486	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	4487	break;
		4488	case 1:
		4489	if (comboBoxPOIColor.SelectionBoxItem != null)
		4490	{
		4491	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		4492	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4493	}
		4494	else
2372	-	4495	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	4496	break;
		4497	case 2:
		4498	if (comboBoxFSColor.SelectionBoxItem != null)
		4499	{
		4500	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		4501	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4502	}
		4503	else
		4504	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4505	break;
2372	-	4506	case 3:
		4507	if (comboBoxLandingColor.SelectionBoxItem != null)
		4508	{
		4509	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		4510	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4511	}
		4512	else
		4513	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		4514	break;
2315	-	4515	default:
		4516	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4517	break;
		4518	}
		4519	});
2312	-	4520
2315	-	4521	}
2372	-	4522	void _MarkerColorSelection(object sender,int type)
		4523	{
2315	-	4524	Dispatcher.Invoke(() =>
		4525	{
2372	-	4526	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	4527	{
		4528	for (int k = 0; k < MainMap.Markers.Count; k++)
		4529	{
		4530	GMapMarker p = MainMap.Markers[k];
2372	-	4531	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	4532	{
2372	-	4533	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	4534	{
2372	-	4535	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	4536	((CustomMarkerWP)(p.Shape)).setColor(s);
		4537	}
		4538	}
		4539	}
		4540	}
		4541	});
2287	-	4542	}
2379	-	4543	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	4544	{
2376	-	4545	_MarkerColorSelection(sender, 0);
		4546	}
		4547	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		4548	{
		4549	_MarkerColorSelection(sender, 1);
		4550	}
		4551	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		4552	{
		4553	_MarkerColorSelection(sender, 2);
		4554	}
		4555	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		4556	{
		4557	_MarkerColorSelection(sender,3);
		4558	}
2385	-	4559	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	4560	{
2318	-	4561	Dispatcher.Invoke(() => {
		4562	if (comboBoxCopterColor.SelectionBoxItem != null)
		4563	{
		4564	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	4565	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	4566	}
		4567	else
2385	-	4568	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	4569	});
		4570	}
2385	-	4571	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		4572	{
		4573	Dispatcher.Invoke(() => {
		4574	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		4575	{
		4576	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		4577	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		4578	}
		4579	else
		4580	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		4581	});
		4582	}
2328	-	4583	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		4584	{
		4585	Dispatcher.Invoke(() =>
		4586	{
		4587	if (comboBoxRouteColor.SelectionBoxItem != null)
		4588	{
		4589	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4590	MainMap.Markers.Remove(mRouteWP);
		4591	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4592	if (_bShowWPRoute)
		4593	MainMap.Markers.Add(mRouteWP);
		4594	}
		4595	});
		4596	}
2408	-	4597	private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e)
		4598	{
		4599	Dispatcher.Invoke(() =>
		4600	{
		4601	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		4602	{
		4603	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		4604	{
		4605	if (cWPBound != null && cWPBound.Tag != null)
		4606	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		4607
		4608	createCircle(home.Position, dWPMaxRange);
		4609	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		4610	cWPBound.setColor(s);
		4611
		4612	}
		4613	}
		4614	});
		4615
		4616	}
2328	-	4617	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		4618	{
		4619	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		4620	if (_bShowWPRoute)
		4621	{
		4622	if (mRouteWP != null)
		4623	MainMap.Markers.Add(mRouteWP);
		4624	}
		4625	else
		4626	{
		4627	if (mRouteWP != null)
		4628	MainMap.Markers.Remove(mRouteWP);
		4629	}
		4630	}
2428	-	4631
2315	-	4632	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	4633	{
2315	-	4634	_readWPLFile();
2287	-	4635	}
2335	-	4636	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		4637	{
		4638	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	4639	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	4640	wpList.Clear();
		4641	if (mRouteWP != null)
		4642	MainMap.Markers.Remove(mRouteWP);
2347	-	4643	//if (wpActiveMarker != null)
		4644	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	4645	dtWaypoints.Rows.Clear();
2356	-	4646	_wpEdit = -1;
2368	-	4647	_wpIndex = -1;
2425	-	4648	wpOffset.Clear();
2335	-	4649	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4650	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		4651	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		4652	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4653	}
2340	-	4654	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		4655	{
		4656	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		4657	t.Start();
		4658	}
2355	-	4659	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	4660	{
		4661	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4662	{
2372	-	4663	if (_wpCount > 0)
2376	-	4664	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	4665	else
2376	-	4666	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	4667
2372	-	4668	//int index = dgvWP.SelectedIndex;
		4669	//Thread t = new Thread(() => _sendWPList(index));
		4670	//t.Start();
2354	-	4671
		4672	Dispatcher.Invoke(() => {
		4673	DataGridRow row;
2368	-	4674	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	4675	{
2368	-	4676	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	4677	row.Background = new SolidColorBrush(Colors.Transparent);
		4678	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4679	row.BorderThickness = new Thickness(0);
2376	-	4680	dgvWP.UpdateLayout();
2354	-	4681	}
2376	-	4682	//_wpEdit = dgvWP.SelectedIndex;
		4683	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4684	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		4685	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		4686	//row.BorderThickness = new Thickness(2);
2354	-	4687	});
2340	-	4688	}
		4689	}
2385	-	4690	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		4691	{
		4692	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4693	{
		4694
		4695	object[] o = new object[16];
		4696	o[0] = dgvWP.SelectedIndex + 1;
		4697	o[1] = cbWPEditType.SelectedIndex;
		4698	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4699	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4700	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2437	-	4701	o[5] = lblWPEditAlt.Content;
2385	-	4702	switch (cbWPEditHeading.SelectedIndex)
		4703	{
		4704	case 0:
		4705	o[6] = "0";
		4706	break;
		4707	case 1:
2437	-	4708	o[6] = "-" + lblWPEditHeading.Content;
2385	-	4709	break;
		4710	case 2:
2437	-	4711	o[6] = lblWPEditHeading.Content;
2385	-	4712	break;
		4713	}
		4714	switch (cbWPEditSpeed.SelectedIndex)
		4715	{
		4716	case 0:
		4717	o[7] = "0";
		4718	break;
		4719	case 1:
2437	-	4720	o[7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0");
2385	-	4721	break;
		4722	case 2:
2437	-	4723	o[7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString();
2385	-	4724	break;
		4725	}
		4726	switch (cbWPEditClimbrate.SelectedIndex)
		4727	{
		4728	case 0:
		4729	o[8] = "255";
		4730	break;
		4731	case 1:
2437	-	4732	o[8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10).ToString("0");
2385	-	4733	break;
		4734	}
2437	-	4735	o[9] = lblWPEditRadius.Content;
		4736	o[10] = lblWPEditHoldtime.Content;
		4737	o[11] = lblWPEditAutoTrigger.Content;
2385	-	4738	switch (cbWPEditCamAngle.SelectedIndex)
		4739	{
		4740	case 0:
		4741	o[12] = "0";
		4742	break;
		4743	case 1:
		4744	o[12] = "255";
		4745	break;
		4746	case 2:
2437	-	4747	o[12] = lblWPEditCamAngle.Content;
2385	-	4748	break;
		4749	}
		4750	o[13] = 0;
2437	-	4751	o[14] = lblWPEditOut1.Content;
2385	-	4752	DataRow dr = dtWaypoints.NewRow();
		4753	dr.ItemArray = o;
		4754
		4755	if (_wpCount > 0)
		4756	_sendWayPoint(dr, -1, 'w', false);
		4757	else
		4758	_sendWayPoint(dr, 1, 'w', false);
2399	-	4759
2429	-	4760	if (_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		4761	_sendWayPoint(dtWaypoints.Rows[wpOffset[_wpIndex]], _wpIndex+1, 's', false);
2385	-	4762	}
		4763	}
2376	-	4764	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		4765	{
		4766	_Simulate = !_Simulate;
		4767	if (dtWaypoints.Rows.Count > 0)
		4768	{
		4769	DataRow dr = dtWaypoints.Rows[0];
		4770	dr[13] = _Simulate ? 3 : 0;
2379	-	4771	_sendWayPoint(dr, 0, 's', true);
2381	-	4772	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	4773	}
		4774	}
2428	-	4775
2355	-	4776	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		4777	{
2359	-	4778	_dgvWPselectEditRow();
		4779	}
		4780	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		4781	{
		4782	}
		4783	void _dgvWPselectEditRow()
		4784	{
2355	-	4785	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4786	{
2368	-	4787	Dispatcher.Invoke(() => {
2355	-	4788	DataGridRow row;
2432	-	4789	dgvWP.Items.Refresh();
2421	-	4790	dgvWP.UpdateLayout();
2368	-	4791	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	4792	{
		4793	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2432	-	4794	if (row != null)
		4795	{
		4796	row.Background = new SolidColorBrush(Colors.Transparent);
		4797	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4798	row.BorderThickness = new Thickness(0);
		4799	}
2355	-	4800	}
		4801	_wpEdit = dgvWP.SelectedIndex;
		4802	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2432	-	4803	if (row != null)
		4804	{
		4805	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		4806	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		4807	row.BorderThickness = new Thickness(2);
		4808	dgvWP.UpdateLayout();
2440	-	4809	}
		4810	if (GridWPEdit.Visibility == Visibility.Collapsed && _bAutoWPEdit)
		4811	GridWPEdit.Visibility = Visibility.Visible;
2340	-	4812
2440	-	4813	_setWPEditFields(_wpEdit);
2355	-	4814	});
		4815	}
		4816	}
		4817	void _setWPEditFields(int index)
		4818	{
2440	-	4819	if (GridWPEdit.Visibility == Visibility.Collapsed && _bAutoWPEdit)
		4820	GridWPEdit.Visibility = Visibility.Visible;
		4821
2355	-	4822	int iVal;
2421	-	4823	lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString();
2355	-	4824	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		4825	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		4826	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		4827	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
2437	-	4828
		4829	SliderAlt.Value = Convert.ToInt16(dtWaypoints.Rows[index][5]);
		4830
2355	-	4831	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
2437	-	4832	SliderHeading.Value = Math.Abs(iVal);
2355	-	4833	if (iVal == 0)
		4834	{
		4835	cbWPEditHeading.SelectedIndex = 0;
2437	-	4836	// lblWPEditHeading.Content = " - - -";
2355	-	4837	}
		4838	if (iVal > 0 && iVal < 360)
		4839	{
		4840	cbWPEditHeading.SelectedIndex = 2;
2437	-	4841	// lblWPEditHeading.Content = iVal.ToString();
2355	-	4842	}
		4843	if (iVal < 0)
		4844	{
		4845	cbWPEditHeading.SelectedIndex = 1;
2437	-	4846	// lblWPEditHeading.Content = (Math.Abs(iVal).ToString());
2355	-	4847	}
		4848	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
2437	-	4849	SliderSpeed.Value = (double)iVal * 0.1; //------------!!!!!!!!
2355	-	4850	if (iVal == 0)
		4851	{
		4852	cbWPEditSpeed.SelectedIndex = 0;
2437	-	4853	// lblWPEditSpeed.Content = "MAX";
2355	-	4854	}
		4855	if (iVal > 0 && iVal < 248)
		4856	{
		4857	cbWPEditSpeed.SelectedIndex = 1;
2437	-	4858	// lblWPEditSpeed.Content = ((double)iVal * 0.1).ToString();
2355	-	4859	}
		4860	if (iVal > 247)
		4861	{
		4862	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
2437	-	4863	// lblWPEditSpeed.Content = "";
2355	-	4864	}
		4865	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
2437	-	4866	SliderClimbrate.Value = (System.Convert.ToDouble(iVal) / 10); //------------!!!!!!!!
2355	-	4867	if (iVal == 255)
		4868	{
		4869	cbWPEditClimbrate.SelectedIndex = 0;
2437	-	4870	// lblWPEditClimbrate.Content = "AUTO";
2355	-	4871	}
		4872	else
		4873	{
		4874	cbWPEditClimbrate.SelectedIndex = 1;
2437	-	4875	// lblWPEditClimbrate.Content = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
2355	-	4876	}
		4877	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
2437	-	4878	SliderRadius.Value = iVal;
2355	-	4879	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
2437	-	4880	SliderHoldTime.Value = iVal;
2355	-	4881	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
2437	-	4882	SliderAutoTrigger.Value = iVal;
2355	-	4883	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
2437	-	4884	SliderCamAngle.Value = iVal;
2355	-	4885	if (iVal == 0)
		4886	{
		4887	cbWPEditCamAngle.SelectedIndex = 0;
2437	-	4888	// lblWPEditCamAngle.Content = " - - - ";
2355	-	4889	}
		4890	if (iVal < 0 \| iVal == 255)
		4891	{
		4892	cbWPEditCamAngle.SelectedIndex = 1;
2437	-	4893	// lblWPEditCamAngle.Content = "AUTO";
2355	-	4894	}
		4895	if (iVal > 0 & iVal < 255)
		4896	{
		4897	cbWPEditCamAngle.SelectedIndex = 2;
2437	-	4898	// lblWPEditCamAngle.Content = iVal.ToString();
2355	-	4899	}
		4900	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
2437	-	4901	SliderOut1.Value = iVal;
2355	-	4902	}
2361	-	4903	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		4904	{
2363	-	4905	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4906	{
2369	-	4907	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	4908	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		4909	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		4910	int i = wpList.IndexOf(pOld);
2363	-	4911	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		4912	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4913	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4914	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	4915	if (i > -1)
		4916	{
2425	-	4917	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
2372	-	4918	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4919	else
2425	-	4920	{
2372	-	4921	wpList.Remove(pOld);
2425	-	4922	wpOffset.Remove(wpOffset[i]);
		4923	}
2372	-	4924	}
		4925	else
		4926	{
		4927	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4928	{
		4929	int found = 0;
		4930	for (int k = 0; k < dgvWP.SelectedIndex; k++)
2425	-	4931	{
		4932	if ((int)dtWaypoints.Rows[k][1] == 0 \|\| (int)dtWaypoints.Rows[k][1] == 3)
		4933	{
2372	-	4934	found++;
2425	-	4935	}
		4936	}
2372	-	4937	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
2425	-	4938	wpOffset.Insert(found, dgvWP.SelectedIndex);
2372	-	4939	}
		4940	}
2437	-	4941	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = lblWPEditAlt.Content;
2363	-	4942	switch (cbWPEditHeading.SelectedIndex)
		4943	{
		4944	case 0:
		4945	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		4946	break;
		4947	case 1:
2437	-	4948	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + lblWPEditHeading.Content;
2363	-	4949	break;
		4950	case 2:
2437	-	4951	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = lblWPEditHeading.Content;
2363	-	4952	break;
		4953	}
		4954	switch (cbWPEditSpeed.SelectedIndex)
		4955	{
		4956	case 0:
		4957	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		4958	break;
		4959	case 1:
2437	-	4960	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0");
2363	-	4961	break;
		4962	case 2:
2437	-	4963	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString();
2363	-	4964	break;
		4965	}
		4966	switch (cbWPEditClimbrate.SelectedIndex)
		4967	{
		4968	case 0:
		4969	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		4970	break;
		4971	case 1:
2437	-	4972	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.',',')) * 10).ToString("0");
2363	-	4973	break;
		4974	}
2437	-	4975	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = lblWPEditRadius.Content;
		4976	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = lblWPEditHoldtime.Content;
		4977	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = lblWPEditAutoTrigger.Content;
2363	-	4978	switch (cbWPEditCamAngle.SelectedIndex)
		4979	{
		4980	case 0:
		4981	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		4982	break;
		4983	case 1:
		4984	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		4985	break;
		4986	case 2:
2437	-	4987	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = lblWPEditCamAngle.Content;
2363	-	4988	break;
		4989	}
2437	-	4990	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = lblWPEditOut1.Content;
2361	-	4991
2369	-	4992	// _clearMapMarkers(typeof(CustomMarkerWP));
		4993	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		4994	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	4995	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4996	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4997	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4998	// wpList.Clear();
2363	-	4999	if (mRouteWP != null)
		5000	MainMap.Markers.Remove(mRouteWP);
		5001
2369	-	5002	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		5003	//{
		5004	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		5005	//}
2363	-	5006	_routeUpdate();
		5007	dgvWP.Items.Refresh();
		5008
		5009	}
		5010
2361	-	5011	}
2432	-	5012	private void btnEditWPAdd_Click(object sender, RoutedEventArgs e)
		5013	{
		5014	DataRow dr = dtWaypoints.NewRow();
		5015	dr[0] = dtWaypoints.Rows.Count+1;
		5016	dr[1] = cbWPEditType.SelectedIndex;
		5017	dr[2] = tbWPEditPrefix.Text + dr[0].ToString();
		5018	dr[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')) + 0.00000001;
		5019	dr[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')) + 0.00000001;
2437	-	5020	dr[5] = lblWPEditAlt.Content;
2432	-	5021	switch (cbWPEditHeading.SelectedIndex)
		5022	{
		5023	case 0:
		5024	dr[6] = "0";
		5025	break;
		5026	case 1:
2437	-	5027	dr[6] = "-" + lblWPEditHeading.Content;
2432	-	5028	break;
		5029	case 2:
2437	-	5030	dr[6] = lblWPEditHeading.Content;
2432	-	5031	break;
		5032	}
		5033	switch (cbWPEditSpeed.SelectedIndex)
		5034	{
		5035	case 0:
		5036	dr[7] = "0";
		5037	break;
		5038	case 1:
2437	-	5039	dr[7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0");
2432	-	5040	break;
		5041	case 2:
2437	-	5042	dr[7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString();
2432	-	5043	break;
		5044	}
		5045	switch (cbWPEditClimbrate.SelectedIndex)
		5046	{
		5047	case 0:
		5048	dr[8] = "255";
		5049	break;
		5050	case 1:
2437	-	5051	dr[8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10).ToString("0");
2432	-	5052	break;
		5053	}
2437	-	5054	dr[9] = lblWPEditRadius.Content;
		5055	dr[10] = lblWPEditHoldtime.Content;
		5056	dr[11] = lblWPEditAutoTrigger.Content;
2432	-	5057	switch (cbWPEditCamAngle.SelectedIndex)
		5058	{
		5059	case 0:
		5060	dr[12] = "0";
		5061	break;
		5062	case 1:
		5063	dr[12] = "255";
		5064	break;
		5065	case 2:
2437	-	5066	dr[12] = lblWPEditCamAngle.Content;
2432	-	5067	break;
		5068	}
		5069	dr[13] = "";
2437	-	5070	dr[14] = lblWPEditOut1.Content;
2432	-	5071	dr[15] = "";
		5072	_createWP(new PointLatLng((double)dr[3], (double)dr[4]),(string) dr[2], (int)dr[1], (int)dr[0]);
		5073	if (mRouteWP != null)
		5074	MainMap.Markers.Remove(mRouteWP);
		5075	_routeUpdate();
		5076	dtWaypoints.Rows.Add(dr);
		5077	dgvWP.Items.Refresh();
		5078	}
2361	-	5079	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		5080	{
2368	-	5081	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5082	{
		5083	int index = dgvWP.SelectedIndex;
		5084	Dispatcher.Invoke(() => {
		5085	DataGridRow row;
		5086	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		5087	{
		5088	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		5089	row.Background = new SolidColorBrush(Colors.Transparent);
		5090	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		5091	row.BorderThickness = new Thickness(0);
		5092	}
2372	-	5093	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	5094	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
2425	-	5095	else
		5096	wpOffset.Remove((int)dtWaypoints.Rows[index][0] + 1);
2368	-	5097	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	5098	if (wpActiveMarker != null)
		5099	MainMap.Markers.Remove(wpActiveMarker);
2368	-	5100	dtWaypoints.Rows[index].Delete();
		5101	_wpIndex = -1;
		5102	_wpEdit = -1;
		5103	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		5104	{
		5105	dtWaypoints.Rows[i][0] = i + 1;
		5106	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		5107	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		5108	_renameWPMarker(s1, s2);
		5109	dtWaypoints.Rows[i][2] = s2;
		5110	}
		5111	lblWPCount.Content = dtWaypoints.Rows.Count;
		5112	if (mRouteWP != null)
		5113	MainMap.Markers.Remove(mRouteWP);
		5114	_routeUpdate();
2361	-	5115
2368	-	5116	dgvWP.UpdateLayout();
		5117	});
		5118	}
2361	-	5119	}
2366	-	5120	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		5121	{
		5122	_wpWEdit(sender);
		5123	}
2361	-	5124	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		5125	{
2366	-	5126	_wpWEdit(sender);
		5127	}
2369	-	5128	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		5129	{
		5130	_wpWEdit(sender);
		5131	}
2366	-	5132	void _wpWEdit(object sender)
		5133	{
2369	-	5134	// if (!((TextBox)sender).IsReadOnly)
2361	-	5135	{
		5136	KeyPad.Keypad k = new KeyPad.Keypad(this);
		5137
2363	-	5138	switch (((TextBox)sender).Name)
		5139	{
		5140	case "tbWPEditLat":
		5141	k.Title = "Latitude";
		5142	k.LENGTH = 17;
		5143	k.MAX = 359.9;
		5144	break;
		5145	case "tbWPEditLon":
		5146	k.Title = "Longitude";
		5147	k.LENGTH = 17;
		5148	k.MAX = 359.9;
		5149	break;
		5150	case "tbWPEditAlt":
		5151	k.Title = "Altitude";
		5152	k.LENGTH = 3;
		5153	k.MAX = 254;
		5154	k.disableDecimal();
		5155	break;
		5156	case "tbWPEditHeading":
		5157	k.Title = "Heading";
		5158	k.LENGTH = 3;
		5159	k.MAX = 359;
		5160	k.MIN = 1;
		5161	k.disableDecimal();
		5162	break;
		5163	case "tbWPEditSpeed":
		5164	k.Title = "Speed";
		5165	k.LENGTH = 4;
		5166	k.MAX = 24.7;
		5167	k.MIN = 0.1;
		5168	break;
		5169	case "tbWPEditClimbrate":
		5170	k.Title = "Climbrate";
		5171	k.LENGTH = 4;
		5172	k.MAX = 25.4;
		5173	k.MIN = 0.1;
		5174	break;
		5175	case "tbWPEditRadius":
		5176	k.Title = "Radius";
		5177	k.LENGTH = 3;
		5178	k.MAX = 254;
		5179	k.disableDecimal();
		5180	break;
		5181	case "tbWPEditHoldtime":
		5182	k.Title = "Holdtime";
		5183	k.LENGTH = 3;
		5184	k.MAX = 254;
		5185	break;
		5186	case "tbWPEditAutoTrigger":
		5187	k.Title = "Autotrigger";
		5188	k.LENGTH = 3;
		5189	k.MAX = 254;
		5190	k.disableDecimal();
		5191	break;
		5192	case "tbWPEditCamAngle":
		5193	k.Title = "Camera angle";
		5194	k.LENGTH = 3;
		5195	k.MAX = 254;
		5196	k.MIN = 1;
		5197	k.disableDecimal();
		5198	break;
		5199	case "tbWPEditOut1":
		5200	k.Title = "OUT1 timer interval";
		5201	k.LENGTH = 3;
		5202	k.MAX = 254;
		5203	k.disableDecimal();
		5204	break;
		5205	}
		5206	k.Result = ((TextBox)sender).Text;
2366	-	5207	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	5208	((TextBox)sender).Text = k.Result;
2361	-	5209	}
2366	-	5210
2361	-	5211	}
		5212	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	5213	{
2432	-	5214	_addWP(new PointLatLng(copter.Position.Lat, copter.Position.Lng),0);
2356	-	5215	}
2437	-	5216	private void checkBoxWPAddUseCopterHeading_Click(object sender, RoutedEventArgs e)
		5217	{
		5218	_wpAddCopterHeading = (bool)checkBoxWPAddUseCopterHeading.IsChecked;
		5219	}
		5220	private void checkBoxWPAddUseCopterHeight_Click(object sender, RoutedEventArgs e)
		5221	{
		5222	_wpAddCopterHeight = (bool)checkBoxWPAddUseCopterHeight.IsChecked;
		5223	}
		5224	private void btnSaveDefault_Click(object sender, RoutedEventArgs e)
		5225	{
		5226	_wpDefPrefix = tbWPEditPrefix.Text;
		5227	_wpDefAltitude = Convert.ToInt16(lblWPEditAlt.Content);
		5228	switch (cbWPEditHeading.SelectedIndex)
		5229	{
		5230	case 0:
		5231	_wpDefHeading = 0;
		5232	break;
		5233	case 1:
		5234	_wpDefHeading = -Convert.ToInt16(lblWPEditHeading.Content);
		5235	break;
		5236	case 2:
		5237	_wpDefHeading = Convert.ToInt16(lblWPEditHeading.Content);
		5238	break;
		5239	}
		5240	_wpDefCBoxHeading = cbWPEditHeading.SelectedIndex;
		5241	switch (cbWPEditSpeed.SelectedIndex)
		5242	{
		5243	case 0:
		5244	_wpDefSpeed = 0;
		5245	break;
		5246	case 1:
		5247	_wpDefSpeed = (int)(System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10);
		5248	break;
		5249	case 2:
		5250	_wpDefSpeed = 256 - Convert.ToInt16(lblWPEditSpeed.Content);
		5251	break;
		5252	}
		5253	_wpDefCBoxSpeed = cbWPEditSpeed.SelectedIndex;
		5254	switch (cbWPEditClimbrate.SelectedIndex)
		5255	{
		5256	case 0:
		5257	_wpDefClimb = 255;
		5258	break;
		5259	case 1:
		5260	_wpDefClimb = (int)(System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10);
		5261	break;
		5262	}
		5263	_wpDefCBoxClimb = cbWPEditClimbrate.SelectedIndex;
		5264	_wpDefRadius = Convert.ToInt16(lblWPEditRadius.Content);
		5265	_wpDefHoldtime = Convert.ToInt16(lblWPEditHoldtime.Content);
		5266	_wpDefAutotrig = Convert.ToInt16(lblWPEditAutoTrigger.Content);
		5267	switch (cbWPEditCamAngle.SelectedIndex)
		5268	{
		5269	case 0:
		5270	_wpDefCamangle = 0;
		5271	break;
		5272	case 1:
		5273	_wpDefCamangle = 255;
		5274	break;
		5275	case 2:
		5276	_wpDefCamangle = Convert.ToInt16(lblWPEditCamAngle.Content);
		5277	break;
		5278	}
		5279	_wpDefCBoxCamangle = cbWPEditCamAngle.SelectedIndex;
		5280	_wpDefOut1 = Convert.ToInt16(lblWPEditOut1.Content);
		5281	}
2428	-	5282
		5283	private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e)
		5284	{
		5285	if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5286	{
		5287	int index = dgvWP.SelectedIndex;
		5288	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)
		5289	{
		5290	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5291	int wpListIndex = wpList.IndexOf(x);
		5292	if (wpListIndex > 0)
		5293	{
		5294	wpList.RemoveAt(wpListIndex);
		5295	wpList.Insert(wpListIndex - 1, x);
		5296	MainMap.Markers.Remove(mRouteWP);
		5297	_routeUpdate();
		5298	}
		5299	}
		5300	DataRow dr = dtWaypoints.Rows[index];
		5301	DataRow newRow = dtWaypoints.NewRow();
		5302	newRow.ItemArray = dr.ItemArray;
		5303	dtWaypoints.Rows.Remove(dr);
		5304	dtWaypoints.Rows.InsertAt(newRow, index - 1);
		5305	dtWaypoints.Rows[index][0] = 100;
		5306	dtWaypoints.Rows[index - 1][0] = index;
		5307	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString());
		5308	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5309	dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString();
		5310	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString();
		5311	dtWaypoints.Rows[index][0] = index + 1;
		5312	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5313	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5314	dgvWP.Items.Refresh();
		5315	dgvWP.SelectedIndex = index - 1;
		5316	_dgvWPselectEditRow();
		5317	if (wpOffset.Contains(index)) // calculating offset for wpList (index is 0-based - offset starts with index 1)
		5318	{
		5319	int iOffset = wpOffset.IndexOf(index);
		5320	if (iOffset > 0) // if not first element
		5321	{
		5322	if (wpOffset[iOffset - 1] < index-1) //if previous element is not immediately before actual offset
		5323	wpOffset[iOffset] = index-1; //then decrease offset value by one
		5324	}
		5325	else
		5326	wpOffset[iOffset] = index-1; //if first element, decrease offset by one
		5327	}
		5328	else //selected line is POI
		5329	{
		5330	if (wpOffset.Contains(index - 1)) // if next point is WP
		5331	{
		5332	int iOffset = wpOffset.IndexOf(index - 1);
		5333	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5334	}
		5335	}
		5336
		5337	}
		5338	}
		5339	private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e)
		5340	{
		5341	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1)
		5342	{
		5343	int index = dgvWP.SelectedIndex;
		5344	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)
		5345	{
		5346	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5347	int wpListIndex = wpList.IndexOf(x);
		5348	if (wpListIndex > -1)
		5349	{
		5350	wpList.RemoveAt(wpListIndex);
		5351	if (wpList.Count > wpListIndex)
		5352	wpList.Insert(wpListIndex + 1, x);
		5353	else
		5354	wpList.Add(x);
		5355	MainMap.Markers.Remove(mRouteWP);
		5356	_routeUpdate();
		5357	}
		5358	}
		5359	DataRow dr = dtWaypoints.Rows[index];
		5360	DataRow newRow = dtWaypoints.NewRow();
		5361	newRow.ItemArray = dr.ItemArray;
		5362	dtWaypoints.Rows.Remove(dr);
		5363	dtWaypoints.Rows.InsertAt(newRow, index + 1);
		5364	dtWaypoints.Rows[index][0] = 100;
		5365	dtWaypoints.Rows[index + 1][0] = index + 2;
		5366	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString());
		5367	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5368	dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString();
		5369	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString();
		5370	dtWaypoints.Rows[index][0] = index + 1;
		5371	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5372	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5373	dgvWP.Items.Refresh();
		5374	dgvWP.SelectedIndex = index + 1;
		5375	_dgvWPselectEditRow();
		5376	if(wpOffset.Contains(index)) // If selected line is WP
		5377	{
		5378	int iOffset = wpOffset.IndexOf(index);
		5379	if(iOffset < wpOffset.Count -1) // if not last element
		5380	{
		5381	if (wpOffset[iOffset + 1] > index + 1) //if next element is not immediately after actual offset
		5382	wpOffset[iOffset] = index + 1; //then increase offset value by one
		5383	}
		5384	else
		5385	wpOffset[iOffset] = index + 1; //if last element increase offset by one
		5386	}
		5387	else //selected line is POI
		5388	{
		5389	if (wpOffset.Contains(index + 1)) // if next point is WP
		5390	{
		5391	int iOffset = wpOffset.IndexOf(index + 1);
		5392	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5393	}
		5394	}
		5395	}
		5396
		5397	}
		5398
2405	-	5399	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		5400	{
		5401	if (WPStatus.Visibility == Visibility.Visible)
		5402	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5403	else
		5404	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5405	}
		5406	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		5407	{
		5408	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		5409	{
		5410	if (cWPBound != null && cWPBound.Tag != null)
		5411	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2356	-	5412
2408	-	5413	createCircle(home.Position, dWPMaxRange);
2419	-	5414	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		5415	{
		5416	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		5417	cWPBound.setColor(s);
		5418	}
2405	-	5419	}
2408	-	5420
2405	-	5421	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		5422	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		5423	}
2437	-	5424	private void checkBoxAutoShowWPEdit_Click(object sender, RoutedEventArgs e)
		5425	{
		5426	_bAutoWPEdit = (bool)checkBoxAutoShowWPEdit.IsChecked;
		5427	}
		5428
2315	-	5429	#endregion WP
2324	-	5430	#region GPX
		5431	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		5432	{
		5433	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		5434	}
		5435	void _gpxAdd(double lat,double lon, int elevation)
		5436	{
		5437	DataRow dr = dtGPX.NewRow();
		5438	dr[0] = dtGPX.Rows.Count - 1;
		5439	dr[1] = lat;
		5440	dr[2] = lon;
		5441	dr[3] = elevation;
		5442	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		5443	dtGPX.Rows.Add(dr);
		5444	}
		5445	void _saveGPXLog()
		5446	{
		5447	if (!Directory.Exists("GPXLog"))
		5448	Directory.CreateDirectory("GPXLog");
		5449	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		5450	XmlTextWriter myXmlTextWriter = null;
		5451	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		5452	NumberFormatInfo nfi = new NumberFormatInfo();
		5453	nfi.NumberDecimalSeparator = ".";
2315	-	5454
2324	-	5455	try
		5456	{
		5457	myXmlTextWriter.Formatting = Formatting.Indented;
		5458
		5459	myXmlTextWriter.WriteStartDocument();
		5460
		5461	myXmlTextWriter.WriteStartElement("gpx");
		5462
		5463	myXmlTextWriter.WriteAttributeString("version", "1.0");
		5464	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		5465	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		5466	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		5467	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		5468
		5469	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		5470
		5471	myXmlTextWriter.WriteStartElement("trk");
		5472	myXmlTextWriter.WriteStartElement("trkseg");
		5473	for(int i = 0; i< dtGPX.Rows.Count;i++)
		5474	{
		5475	myXmlTextWriter.WriteStartElement("trkpt");
		5476	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		5477	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		5478	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		5479	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		5480	myXmlTextWriter.WriteEndElement();
		5481	}
		5482	myXmlTextWriter.WriteEndElement();
		5483	myXmlTextWriter.WriteEndElement();
		5484	myXmlTextWriter.WriteEndElement();
		5485	}
		5486	catch (Exception e)
		5487	{
		5488	Console.WriteLine("Exception: {0}", e.ToString());
		5489	}
		5490	finally
		5491	{
		5492	if (myXmlTextWriter != null)
		5493	{
		5494	myXmlTextWriter.Close();
		5495	}
		5496	}
		5497	}
2425	-	5498
2324	-	5499	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		5500	{
		5501	_loadGPXLog();
		5502	}
2327	-	5503	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		5504	{
		5505	_clearMapMarkers(typeof(GMapRoute));
		5506	}
2324	-	5507	void _loadGPXLog()
		5508	{
		5509
		5510	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		5511	fd.Filter = "GPX-Logfile \| *.gpx";
		5512	fd.Multiselect = false;
		5513	if (fd.ShowDialog().Value)
		5514	{
		5515	string file = fd.FileName;
		5516	try
		5517	{
		5518	XDocument gpxDoc = XDocument.Load(file);
		5519	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		5520
		5521	NumberFormatInfo nfi = new NumberFormatInfo();
		5522	nfi.NumberDecimalSeparator = ".";
		5523
		5524	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		5525	select new
		5526	{
		5527	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		5528	Segs = (
		5529	from trackpoint in track.Descendants(gpx + "trkpt")
		5530	select new
		5531	{
		5532	Latitude = trackpoint.Attribute("lat").Value,
		5533	Longitude = trackpoint.Attribute("lon").Value,
		5534	Elevation = trackpoint.Element(gpx + "ele") != null ?
		5535	trackpoint.Element(gpx + "ele").Value : null,
		5536	Time = trackpoint.Element(gpx + "time") != null ?
		5537	trackpoint.Element(gpx + "time").Value : null
		5538	}
		5539	)
		5540	};
		5541
		5542	List<PointLatLng> wpl = new List<PointLatLng>();
		5543	foreach(var trk in tracks)
		5544	{
		5545	foreach(var trkseg in trk.Segs)
		5546	{
		5547	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		5548	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		5549	}
		5550
		5551	}
		5552	if(wpl.Count() > 0)
		5553	{
2327	-	5554	_clearMapMarkers(typeof(GMapRoute));
2324	-	5555	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	5556	Dispatcher.Invoke(() =>
		5557	{
		5558	GMapRoute mRoute;
		5559	if (comboBoxRouteColor.SelectionBoxItem != null)
		5560	{
		5561	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	5562	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	5563	}
		5564	else
2366	-	5565	mRoute = new GMapRoute(wpl, null);
2324	-	5566
2328	-	5567	MainMap.Markers.Add(mRoute);
		5568	});
2324	-	5569	}
		5570
		5571	}
		5572	catch (Exception e)
		5573	{
		5574	Console.WriteLine("Exception: {0}", e.ToString());
		5575	}
		5576	}
		5577	}
		5578	#endregion GPX
2315	-	5579	#endregion functions
2287	-	5580	}
2425	-	5581
		5582	/// <summary>
2315	-	5583	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		5584	/// </summary>
2313	-	5585	public class waypointsConverter : IValueConverter
		5586	{
		5587	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		5588	{
		5589	if (value != null)
		5590	{
		5591	switch ((string)parameter)
		5592	{
		5593	case "Latitude":
		5594	return value.ToString() + " °";
		5595	case "Longitude":
		5596	return value.ToString() + " °";
		5597	case "Radius":
		5598	return value.ToString() + " m";
		5599	case "Altitude":
		5600	return value.ToString() + " m";
		5601	case "ClimbRate":
		5602	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		5603	case "DelayTime":
		5604	return value.ToString() + " s";
		5605	case "Heading":
		5606	return Waypoints.Heading(System.Convert.ToInt32(value));
		5607	case "Speed":
		5608	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		5609	case "CamAngle":
		5610	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		5611	case "Type":
		5612	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		5613	case "AutoTrigger":
		5614	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		5615	case "Status":
2355	-	5616	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	5617	}
		5618
		5619	return value.ToString();
		5620	}
		5621	else return value;
		5622	}
		5623
		5624	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		5625	{
		5626	throw new NotImplementedException();
		5627	}
		5628	}
2287	-	5629	public class IniFile
		5630	{
		5631	public string path;
		5632
		5633	[DllImport("kernel32")]
		5634	private static extern long WritePrivateProfileString(string section,
		5635	string key, string val, string filePath);
		5636
		5637	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		5638	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		5639	uint nSize, string lpFileName);
		5640
		5641	[DllImport("kernel32")]
		5642	private static extern int GetPrivateProfileString(string section,
		5643	string key, string def, StringBuilder retVal,
		5644	int size, string filePath);
		5645
		5646	public IniFile(string INIPath)
		5647	{
		5648	path = INIPath;
		5649	}
		5650
		5651	public void IniWriteValue(string Section, string Key, string Value)
		5652	{
		5653	WritePrivateProfileString(Section, Key, Value, this.path);
		5654	}
		5655
		5656	public string IniReadValue(string Section, string Key)
		5657	{
		5658	StringBuilder temp = new StringBuilder(255);
		5659	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		5660	return temp.ToString();
		5661	}
		5662	//Ini_sections auslesen in String-Array
		5663	public string[] IniSectionNames()
		5664	{
		5665
		5666	// uint MAX_BUFFER = 32767;
		5667	uint MAX_BUFFER = 8388608;
		5668	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		5669	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		5670	if (bytesReturned == 0)
		5671	{
		5672	Marshal.FreeCoTaskMem(pReturnedString);
		5673	return null;
		5674	}
		5675	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		5676	Marshal.FreeCoTaskMem(pReturnedString);
		5677	//use of Substring below removes terminating null for split
		5678	return local.Substring(0, local.Length - 1).Split('\0');
		5679
		5680
		5681	}
		5682	}
		5683	/// <summary>
		5684	/// Selected Win AI Function Calls
		5685	/// </summary>
		5686	public class WinApi
		5687	{
		5688	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		5689	public static extern int GetSystemMetrics(int which);
		5690	[DllImport("user32.dll")]
		5691	public static extern void
		5692	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		5693	int X, int Y, int width, int height, uint flags);
		5694
		5695	private const int SM_CXSCREEN = 0;
		5696	private const int SM_CYSCREEN = 1;
		5697	private static IntPtr HWND_TOP = IntPtr.Zero;
		5698	private const int SWP_SHOWWINDOW = 64; // 0x0040
		5699
		5700	public static int ScreenX
		5701	{
		5702	get { return GetSystemMetrics(SM_CXSCREEN); }
		5703	}
		5704
		5705	public static int ScreenY
		5706	{
		5707	get { return GetSystemMetrics(SM_CYSCREEN); }
		5708	}
		5709
		5710	public static void SetWinFullScreen(IntPtr hwnd)
		5711	{
		5712	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		5713	}
		5714	}
		5715	/// <summary>
		5716	/// Class used to preserve / restore state of the window
		5717	/// </summary>
		5718	public class WinState
		5719	{
		5720	private WindowState winState;
		5721	private WindowStyle brdStyle;
		5722	private bool topMost;
		5723	private Rect restore;
		5724	private bool IsMaximized = false;
		5725
		5726	public bool isMaximized
		5727	{
		5728	get { return IsMaximized; }
		5729	}
		5730	public void Maximize(Window targetForm)
		5731	{
		5732	if (!IsMaximized)
		5733	{
		5734	IsMaximized = true;
		5735	Save(targetForm);
		5736	targetForm.WindowState = WindowState.Maximized;
		5737	targetForm.WindowStyle = WindowStyle.None;
		5738	targetForm.Topmost = true;
		5739	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		5740	}
		5741	}
		5742
		5743	public void Save(Window targetForm)
		5744	{
		5745	winState = targetForm.WindowState;
		5746	brdStyle = targetForm.WindowStyle;
		5747	topMost = targetForm.Topmost;
		5748	restore = targetForm.RestoreBounds;
		5749	}
		5750	public void Restore(Window targetForm)
		5751	{
		5752	targetForm.WindowState = winState;
		5753	targetForm.WindowStyle = brdStyle;
		5754	targetForm.Topmost = topMost;
		5755
		5756	targetForm.Left = restore.Left;
		5757	targetForm.Top = restore.Top;
		5758	targetForm.Height = restore.Height;
		5759	targetForm.Width = restore.Width;
		5760	IsMaximized = false;
		5761	}
		5762	}
		5763	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2443 - Rev