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

Rev	Author	Line No.	Line
2450	-	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;
		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;
		78	using System.Globalization;
		79	using System.Xml;
		80	using System.Xml.Linq;
		81	using Touchless.Vision.Camera;
		82
		83	namespace MKLiveView
		84	{
		85	/// <summary>
		86	/// Interaktionslogik für MainWindow.xaml
		87	/// </summary>
		88	public partial class MainWindow : Window
		89	{
		90	#region declarations
		91	object lockObj = new Object();
		92	MediaPlayer.MediaPlayer mediaPlayer = new MediaPlayer.MediaPlayer();
		93
		94	GMapMarker copter;
		95	GMapMarker home;
		96	PointLatLng start;
		97	PointLatLng end;
		98	PointLatLng pHome;
		99	GMapRoute mRouteWP;
		100	GMapMarker wpActiveMarker;
		101	List<PointLatLng> wpList = new List<PointLatLng>();
		102	List<int> wpOffset = new List<int>();
		103	Circle cWPBound = new Circle();
		104	double dWPMaxRange = 0;
		105
		106	#region NC-Errors
		107	String[] NC_Error = new string[44]
		108	{
		109	"No Error",
		110	"FC not compatible",
		111	"MK3Mag not compatible",
		112	"no FC communication",
		113	"no compass communication",
		114	"no GPS communication",
		115	"bad compass value",
		116	"RC Signal lost",
		117	"FC spi rx error",
		118	"ERR: no NC communication",
		119	"ERR: FC Nick Gyro",
		120	"ERR: FC Roll Gyro",
		121	"ERR: FC Yaw Gyro",
		122	"ERR: FC Nick ACC",
		123	"ERR: FC Roll ACC",
		124	"ERR: FC Z-ACC",
		125	"ERR: Pressure sensor",
		126	"ERR: FC I2C",
		127	"ERR: Bl Missing",
		128	"Mixer Error",
		129	"FC: Carefree Error",
		130	"ERR: GPS lost",
		131	"ERR: Magnet Error",
		132	"Motor restart",
		133	"BL Limitation",
		134	"Waypoint range",
		135	"ERR:No SD-Card",
		136	"ERR:SD Logging aborted",
		137	"ERR:Flying range!",
		138	"ERR:Max Altitude",
		139	"No GPS Fix",
		140	"compass not calibrated",
		141	"ERR:BL selftest",
		142	"no ext. compass",
		143	"compass sensor",
		144	"FAILSAFE pos.!",
		145	"ERR:Redundancy",
		146	"Redundancy test",
		147	"GPS Update rate",
		148	"ERR:Canbus",
		149	"ERR: 5V RC-Supply",
		150	"ERR:Power-Supply",
		151	"ACC not calibr.",
		152	"ERR:Parachute!"
		153	};
		154	String[] NC_Error_Link = new string[44]
		155	{
		156	"",
		157	"http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		158	"http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		159	"http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		160	"http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		161	"http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		162	"http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		163	"http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		164	"http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		165	"http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		166	"http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		167	"http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		168	"http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		169	"http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		170	"http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		171	"http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		172	"http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		173	"http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		174	"http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		175	"http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		176	"http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		177	"http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		178	"http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		179	"http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		180	"http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		181	"http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		182	"http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		183	"http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		184	"http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		185	"http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		186	"http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		187	"http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		188	"http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		189	"http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		190	"http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		191	"http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		192	"http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		193	"http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		194	"http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		195	"http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		196	"http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		197	"http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		198	"http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		199	"http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		200	};
		201
		202	#endregion NC-Errors
		203	[FlagsAttribute]
		204	enum NC_HWError0 : short
		205	{
		206	None = 0,
		207	SPI_RX = 1,
		208	COMPASS_RX = 2,
		209	FC_INCOMPATIBLE = 4,
		210	COMPASS_INCOMPATIBLE = 8,
		211	GPS_RX = 16,
		212	COMPASS_VALUE = 32
		213	};
		214	[FlagsAttribute]
		215	enum FC_HWError0 : short
		216	{
		217	None = 0,
		218	GYRO_NICK = 1,
		219	GYRO_ROLL = 2,
		220	GYRO_YAW = 4,
		221	ACC_NICK = 8,
		222	ACC_ROLL = 16,
		223	ACC_TOP = 32,
		224	PRESSURE = 64,
		225	CAREFREE = 128
		226	};
		227	[FlagsAttribute]
		228	enum FC_HWError1 : short
		229	{
		230	None = 0,
		231	I2C = 1,
		232	BL_MISSING = 2,
		233	SPI_RX = 4,
		234	PPM = 8,
		235	MIXER = 16,
		236	RC_VOLTAGE = 32,
		237	ACC_NOT_CAL = 64,
		238	RES3 = 128
		239	};
		240	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		241	// Various colors for logging info
		242	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		243
		244	bool _bCBInit = true;
		245	bool _init = true;
		246	bool check_HWError = false;
		247
		248	string filePath = Directory.GetCurrentDirectory();
		249	bool bReadContinously = false;
		250	bool _debugDataAutorefresh = true;
		251	bool _navCtrlDataAutorefresh = true;
		252	bool _blctrlDataAutorefresh = true;
		253	bool _OSDAutorefresh = true;
		254	bool _bErrorLog = false;
		255	bool _bConnErr = false;
		256	bool _bFollowCopter = false;
		257	bool _bGPXLog = false;
		258	bool _Simulate = false;
		259
		260	bool _bSaveWinStateNormal = true;
		261	bool _bSaveWinStateFull = true;
		262
		263	double scaleNormalAll = 1;
		264	double scaleNormalTopBar = 1;
		265	double scaleNormalMotors = 1;
		266	double scaleNormalOSD = 1;
		267	double scaleNormalLOG = 1;
		268	double scaleNormalHorizon = 1;
		269
		270	double scaleFullAll = 1;
		271	double scaleFullTopBar = 1;
		272	double scaleFullMotors = 1;
		273	double scaleFullOSD = 1;
		274	double scaleFullLOG = 1;
		275	double scaleFullHorizon = 1;
		276
		277	int _iCtrlAct = 0;
		278	int iOSDPage = 0;
		279	int iOSDMax = 0;
		280	int _iLifeCounter = 0;
		281	int crcError = 0;
		282
		283	bool _bSatFix = false;
		284	Storyboard stbSatFixLostAnim;
		285	bool _bAnimSatFixActive = false;
		286	bool _bVoiceSatFixActive = false;
		287	bool _bVoiceSatFixPlay = false;
		288	int _iSatsLast = 0;
		289	int _iSatsJitter = 0;
		290
		291	bool _bMagneticFieldOK = false;
		292	Storyboard stbMagneticFieldAnim;
		293	bool _bAnimMagneticFieldActive = false;
		294	bool _bVoiceMagneticFieldActive = false;
		295	bool _bVoiceMagneticFieldPlay = false;
		296	int _iMagneticFieldLast = 0;
		297	int _iMagneticFieldJitter = 0;
		298
		299	bool _bRCLevelOK = false;
		300	Storyboard stbRCLevelAnim;
		301	bool _bAnimRCLevelActive = false;
		302	bool _bVoiceRCLevelActive = false;
		303	bool _bVoiceRCLevelPlay = false;
		304	int _iRCLevelLast = 0;
		305	int _iRCLevelJitter = 0;
		306
		307	int _iMotors = 4;
		308	int _LipoCells = 4;
		309
		310	double _dLipoVMax = 16.88;
		311	double _dLipoVMin = 12;
		312	double _dThresholdVoltageWarn = 0;
		313	double _dThresholdVoltageCrit = 0;
		314	Storyboard stbVoltageCritAnim;
		315	bool _bCritAnimVoltActive = false;
		316	bool _bCritVoiceVoltActive = false;
		317	bool _bWarnVoiceVoltActive = false;
		318	bool _bVoiceVoltPlay = false;
		319	double _dVoltLast = 0;
		320	int _iVoltJitter = 0;
		321
		322	double _dThresholdDistanceWarn = 100;
		323	Storyboard stbDistanceWarnAnim;
		324	bool _bAnimDistanceActive = false;
		325	bool _bVoiceDistanceActive = false;
		326	bool _bVoiceDistancePlay = false;
		327	double _dDistanceLast = 0;
		328	int _iDistanceJitter = 0;
		329
		330	double _dThresholdDistanceMax = 1000;
		331	int _iThresholdRC = 160;
		332	int _iThresholdMagField = 15;
		333
		334	bool _bAutoHome = false;
		335	bool _bFirstSatFix = false;
		336	int _iFirstSatFix = 0;
		337
		338	double _dTopHeight = 36;
		339
		340	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		341	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		342	string[] serChanTitle = new string[12];
		343
		344	string[] sAnalogLabel = new string[32];
		345	string[] sAnalogData = new string[32];
		346	int[] iAnalogData = new int[32];
		347
		348	int[] iTimings = new int[] { 100, 150, 200, 250, 300, 350, 400, 450, 500, 550, 600, 650, 700, 750, 800, 850, 900, 950, 1000, 1100, 1200, 1300, 1400, 1500, 1600, 1700, 1800, 1900, 2000 };
		349	int[] iMotors = new int[] { 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 };
		350	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		351	/// <summary>
		352	/// interval for sending debugdata (multiplied by 10ms)
		353	/// </summary>
		354	byte debugInterval = 10; //(=> 100ms)
		355	/// <summary>
		356	/// interval for sending BL-CTRL status (multiplied by 10ms)
		357	/// </summary>
		358	byte blctrlInterval = 75;
		359	/// <summary>
		360	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		361	/// </summary>
		362	byte navctrlInterval = 20;
		363	/// <summary>
		364	/// interval for sending OSD page update (multiplied by 10ms)
		365	/// </summary>
		366	byte OSDInterval = 85;
		367	/// <summary>
		368	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		369	/// </summary>
		370	DataTable dtAnalog = new DataTable();
		371	/// <summary>
		372	/// datatable for motordata (current,temp)
		373	/// </summary>
		374	DataTable dtMotors = new DataTable();
		375
		376	DataTable dtWaypoints = new DataTable();
		377	static volatile int _iWPCount = -1;
		378	static volatile int _iWPIndex = -1;
		379	int _iWPTimeout = 1000;
		380	bool _bGetWP = false;
		381	bool _bShowWPRoute = false;
		382	bool _bAutoWPEdit = true;
		383	static volatile bool _bGetWPCount = false;
		384	DataTable dtGPX = new DataTable();
		385	DataRow drGPX;
		386	bool _bAirborne = false;
		387	int _wpIndex = -1, _wpCount = 0, _wpEdit = -1;
		388
		389	string _wpDefPrefix = "P";
		390	int _wpDefAltitude = 20;
		391	int _wpDefHeading = 0;
		392	int _wpDefCBoxHeading = 0;
		393	int _wpDefSpeed = 10;
		394	int _wpDefCBoxSpeed = 0;
		395	int _wpDefClimb = 10;
		396	int _wpDefCBoxClimb = 0;
		397	int _wpDefRadius = 5;
		398	int _wpDefHoldtime = 5;
		399	int _wpDefAutotrig = 0;
		400	int _wpDefCamangle = 0;
		401	int _wpDefCBoxCamangle = 0;
		402	int _wpDefOut1 = 0;
		403
		404	bool _wpAddCopterHeight = true;
		405	bool _wpAddCopterHeading = true;
		406
		407	DispatcherTimer timer = new DispatcherTimer();
		408	DispatcherTimer camTimer = new DispatcherTimer();
		409	BitmapSource _camImageSource;
		410	Storyboard stbCamActiveAnim;
		411	bool _bCamAnim;
		412	/// <summary>
		413	/// stuff for enabeling touch zoom for the map
		414	/// </summary>
		415	Point pTouch1 = new Point(0, 0), pTouch2 = new Point(0, 0);
		416	int iFirstStylusID = -1;
		417
		418	public string connectButtonText
		419	{
		420	get
		421	{
		422	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		423	}
		424	}
		425
		426	WinState winState = new WinState();
		427
		428	#endregion declarations
		429	public MainWindow()
		430	{
		431	InitializeComponent();
		432	_initForm();
		433	_dataTablesInit();
		434	_setupMap();
		435	_init = false;
		436	timer.Tick += new EventHandler(timerEvent);
		437	timer.Interval = new TimeSpan(0, 0, 1);
		438	timer.Start();
		439	camTimer.Tick += new EventHandler(camTimer_Tick);
		440	camTimer.Interval = new TimeSpan(0, 0, 0, 0, 5);
		441	camTimer.Start();
		442	}
		443
		444	#region init
		445	void _initForm()
		446	{
		447	_readIni();
		448	if (_bSaveWinStateNormal)
		449	_setScaleSliders(false);
		450	cBoxTimingsDebug.ItemsSource =
		451	cBoxTimingsNav.ItemsSource =
		452	cBoxTimingsBl.ItemsSource =
		453	cBoxTimingsOSD.ItemsSource =
		454	iTimings;
		455	cBoxLiPoCells.ItemsSource = sLiPoCells;
		456	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		457	_LipoMinMax();
		458	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		459	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		460	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
		461	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		462	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		463	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		464	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		465	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
		466
		467	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		468
		469	cBoxMotors.ItemsSource = iMotors;
		470	cBoxMotors.SelectedItem = _iMotors;
		471
		472	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		473	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		474	serialPortCtrl.DataReceived += processMessage;
		475
		476	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		477	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		478	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		479	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		480
		481	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		482	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		483	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		484	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
		485	checkBoxAutoSetHP.IsChecked = _bAutoHome;
		486	checkBoxFollowCopter.IsChecked = _bFollowCopter;
		487	checkBoxGPXLog.IsChecked = _bGPXLog;
		488	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
		489	checkBoxAutoShowWPEdit.IsChecked = _bAutoWPEdit;
		490	checkBoxWPAddUseCopterHeight.IsChecked = _wpAddCopterHeight;
		491	checkBoxWPAddUseCopterHeading.IsChecked = _wpAddCopterHeading;
		492	GridSettings.Visibility = Visibility.Visible;
		493	GridCam.Visibility = GridData.Visibility = GridWP.Visibility = GridWPEdit.Visibility = Visibility.Collapsed;
		494	_initSerialCtrl();
		495	}
		496	/// <summary>
		497	/// initialize the datatables
		498	/// with columnnames etc
		499	/// </summary>
		500	void _dataTablesInit()
		501	{
		502	dtMotors.Columns.Add("#");
		503	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
		504	dtMotors.Columns.Add("Strom");
		505	else
		506	dtMotors.Columns.Add("Current");
		507	dtMotors.Columns.Add("Temp");
		508	dgvMotors1.DataContext = dtMotors.DefaultView;
		509	_initDTMotors();
		510
		511	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5, 0, 5, 0));
		512	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		513	style.Setters.Add(setter);
		514	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		515	style.Setters.Add(setter);
		516	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		517	style.Setters.Add(setter);
		518
		519	dtWaypoints.Columns.Add("Index", typeof(int));
		520	dtWaypoints.Columns.Add("Type", typeof(int));
		521	dtWaypoints.Columns.Add("Name", typeof(string));
		522	dtWaypoints.Columns.Add("Latitude", typeof(double));
		523	dtWaypoints.Columns.Add("Longitude", typeof(double));
		524	dtWaypoints.Columns.Add("Altitude", typeof(string));
		525	dtWaypoints.Columns.Add("Heading", typeof(string));
		526	dtWaypoints.Columns.Add("Speed", typeof(string));
		527	dtWaypoints.Columns.Add("ClimbRate", typeof(string));
		528	dtWaypoints.Columns.Add("Radius", typeof(string));
		529	dtWaypoints.Columns.Add("HoldTime", typeof(string));
		530	dtWaypoints.Columns.Add("AutoTrigger", typeof(string));
		531	dtWaypoints.Columns.Add("CamAngle", typeof(string));
		532	dtWaypoints.Columns.Add("Event", typeof(string));
		533	dtWaypoints.Columns.Add("Out1Timer", typeof(string));
		534	dtWaypoints.Columns.Add("Status", typeof(string));
		535	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		536	dgvWP.ItemsSource = dtWaypoints.DefaultView;
		537	dgvWP.ColumnHeaderStyle = new Style();
		538	dgvWP.ColumnHeaderStyle = style;
		539
		540	dtGPX.Columns.Add("Index", typeof(int));
		541	dtGPX.Columns.Add("Latitude", typeof(double));
		542	dtGPX.Columns.Add("Longitude", typeof(double));
		543	dtGPX.Columns.Add("Elevation", typeof(int));
		544	dtGPX.Columns.Add("Time", typeof(string));
		545	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		546	drGPX = dtGPX.NewRow();
		547
		548	}
		549	/// <summary>
		550	/// initialize the datatable dtMotors for motor values
		551	/// DataGridView dgvMotors1 is bound to dtMotors1
		552	/// </summary>
		553	void _initDTMotors()
		554	{
		555	for (int i = 0; i < 12; i++)
		556	{
		557	if (dtMotors.Rows.Count < 12)
		558	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
		559	else
		560	{
		561	dtMotors.Rows[i].SetField(1, "NA");
		562	dtMotors.Rows[i].SetField(2, "NA");
		563	}
		564	}
		565	}
		566
		567	#endregion init
		568
		569	#region events
		570	private void serialPortCtrl_PortOpened()
		571	{
		572	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		573	_getVersion();
		574	Thread.Sleep(100);
		575	_getLic();
		576	//_OSDMenue(0);
		577	//Thread.Sleep(200);
		578	//_sendSerialData();
		579	_readCont(true);
		580	}
		581	private void serialPortCtrl_PortClosed()
		582	{
		583	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		584	_readCont(false);
		585	}
		586	bool _bToggle = false;
		587	void timerEvent(object sender, EventArgs e)
		588	{
		589	if (bReadContinously)
		590	{
		591	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		592
		593	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		594
		595	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		596	check_HWError = true;
		597	_getVersion();
		598	Thread.Sleep(10);
		599	if (_OSDAutorefresh)
		600	{
		601	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		602	_initOSDCB();
		603	_OSDMenueAutoRefresh();
		604	}
		605	if (_iLifeCounter > 0)
		606	{
		607	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		608	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		609	_iLifeCounter = 0;
		610	_bConnErr = false;
		611	if (_bAirborne && _bGPXLog)
		612	{
		613	drGPX[0] = dtGPX.Rows.Count;
		614	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		615	}
		616	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		617	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		618	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		619	_bToggle = !_bToggle;
		620	}
		621	else
		622	{
		623	if (!_bConnErr)
		624	{
		625	Log(LogMsgType.Error, "No communication to NC/FC!");
		626	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		627	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		628	_bConnErr = true;
		629	}
		630	}
		631	}
		632	}
		633	private void camTimer_Tick(object sender, EventArgs e)
		634	{
		635	if (_camImageSource != null && _frameSource != null && _camImage.Visibility == Visibility.Visible)
		636	_camImage.Source = _camImageSource;
		637	// camTimer.IsEnabled = false;
		638	}
		639
		640	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		641	{
		642	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		643	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		644	}
		645	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		646	{
		647	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		648	if (GridMotors.IsVisible)
		649	_setMotorGridSize();
		650	}
		651	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		652	{
		653	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		654	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		655	}
		656	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		657	{
		658	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		659	}
		660	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		661	{
		662	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		663	}
		664	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		665	{
		666	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		667	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		668	}
		669	private void labelWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		670	{
		671	GridWPEdit.Visibility = GridWPEdit.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		672	}
		673	private void labelCamera_MouseDown(object sender, MouseButtonEventArgs e)
		674	{
		675	GridCam.Visibility = GridCam.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		676	}
		677
		678	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		679	{
		680	Thread t = new Thread(new ThreadStart(_getWP));
		681	t.Start();
		682	}
		683	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		684	{
		685	Thread t = new Thread(new ThreadStart(_sendWPList));
		686	t.Start();
		687	}
		688
		689	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		690	{
		691	if (!serialPortCtrl.Port.IsOpen)
		692	serialPortCtrl.Connect(true);
		693	else
		694	_readCont(!bReadContinously);
		695	}
		696	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		697	{
		698	_setHomePos();
		699	}
		700	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		701	{
		702	_clearHomePos();
		703	}
		704	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		705	{
		706	if (home != null && MainMap.Markers.Contains(home))
		707	MainMap.Position = home.Position;
		708	}
		709	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		710	{
		711	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		712	}
		713	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		714	{
		715	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		716	}
		717	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		718	{
		719	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		720	}
		721
		722	#region thresholds
		723	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		724	{
		725	if (!_init)
		726	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		727	}
		728	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		729	{
		730	if (!_init)
		731	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		732	}
		733	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		734	{
		735	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		736	}
		737
		738	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		739	{
		740	if (!_init)
		741	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		742	}
		743	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		744	{
		745	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		746	}
		747
		748	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		749	{
		750	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		751	}
		752	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		753	{
		754	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		755	}
		756	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		757	{
		758	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		759	}
		760	#endregion thresholds
		761
		762	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		763	{
		764	_switchToNC();
		765	}
		766
		767	private void Window_Loaded(object sender, RoutedEventArgs e)
		768	{
		769	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
		770	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		771	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		772	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		773	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
		774	stbCamActiveAnim = TryFindResource("CamActiveAnim") as Storyboard;
		775	_setMotorGridSize();
		776	// Refresh the list of available cameras
		777	comboBoxCameras.Items.Clear();
		778	foreach (Camera cam in CameraService.AvailableCameras)
		779	comboBoxCameras.Items.Add(cam);
		780
		781	if (comboBoxCameras.Items.Count > 0)
		782	comboBoxCameras.SelectedIndex = 0;
		783	}
		784	private void Window_Closing(object sender, CancelEventArgs e)
		785	{
		786	_writeIni();
		787	if (_bGPXLog && dtGPX.Rows.Count > 0)
		788	_saveGPXLog();
		789	thrashOldCamera();
		790	}
		791	private void Window_Closed(object sender, EventArgs e)
		792	{
		793	Application.Current.Shutdown();
		794	}
		795
		796	Point pWPAdd;
		797	private void GridGMapControl_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
		798	{
		799	if(e.ClickCount == 2)
		800	{
		801	double x = 0, y = 0;
		802	var titleHeight = SystemParameters.WindowCaptionHeight + SystemParameters.ResizeFrameHorizontalBorderHeight;
		803
		804	pWPAdd = new Point(e.GetPosition(this).X, e.GetPosition(this).Y);
		805	if (pWPAdd.X + canvasAddPoint.Width > Width)
		806	x = pWPAdd.X - canvasAddPoint.Width;
		807	else
		808	x = pWPAdd.X;
		809	if (pWPAdd.Y + canvasAddPoint.Height > Height - titleHeight)
		810	y = pWPAdd.Y - canvasAddPoint.Height;
		811	else
		812	y = pWPAdd.Y;
		813
		814	canvasAddPoint.Margin = new Thickness(x, y, canvasAddPoint.Margin.Left, canvasAddPoint.Margin.Bottom);
		815	canvasAddPoint.Visibility = Visibility.Visible;
		816	}
		817
		818	}
		819	private void canvasAddPoint_LostFocus(object sender, RoutedEventArgs e)
		820	{
		821	canvasAddPoint.Visibility = Visibility.Collapsed;
		822	}
		823	private void canvasAddPoint_MouseLeave(object sender, MouseEventArgs e)
		824	{
		825	canvasAddPoint.Visibility = Visibility.Collapsed;
		826	}
		827	private void btnCmAddWP_Click(object sender, RoutedEventArgs e)
		828	{
		829	if (pWPAdd != null)
		830	{
		831	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		832	_addWP(p,0);
		833	canvasAddPoint.Visibility = Visibility.Collapsed;
		834	}
		835	}
		836	private void btnCmAddPOI_Click(object sender, RoutedEventArgs e)
		837	{
		838	if (pWPAdd != null)
		839	{
		840	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		841	_addWP(p,1);
		842	canvasAddPoint.Visibility = Visibility.Collapsed;
		843	}
		844	}
		845	private void btnCmAddFailsave_Click(object sender, RoutedEventArgs e)
		846	{
		847	if (pWPAdd != null)
		848	{
		849	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		850	_addWP(p,2);
		851	canvasAddPoint.Visibility = Visibility.Collapsed;
		852	}
		853	}
		854	private void btnCmAddLanding_Click(object sender, RoutedEventArgs e)
		855	{
		856	if (pWPAdd != null)
		857	{
		858	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		859	_addWP(p,3);
		860	canvasAddPoint.Visibility = Visibility.Collapsed;
		861	}
		862	}
		863
		864	#endregion events
		865
		866	#region cam
		867	private CameraFrameSource _frameSource;
		868
		869	private void btnCamStart_Click(object sender, RoutedEventArgs e)
		870	{
		871	if (_frameSource != null && _frameSource.Camera == comboBoxCameras.SelectedItem)
		872	return;
		873
		874	thrashOldCamera();
		875	startCapturing();
		876	}
		877	private void btnCamStop_Click(object sender, RoutedEventArgs e)
		878	{
		879	thrashOldCamera();
		880	_camImage.Visibility = Visibility.Collapsed;
		881	if (stbCamActiveAnim != null && _bCamAnim)
		882	{
		883	Dispatcher.Invoke(() => stbCamActiveAnim.Stop());
		884	_bCamAnim = false;
		885	rectCamStart.Visibility = Visibility.Collapsed;
		886	}
		887	}
		888	private void btnCamSettings_Click(object sender, RoutedEventArgs e)
		889	{
		890	if (_frameSource != null && _frameSource.Camera != null)
		891	{
		892	_frameSource.Camera.ShowPropertiesDialog();
		893	}
		894	}
		895	private void btnCamListRefresh_Click(object sender, RoutedEventArgs e)
		896	{
		897	comboBoxCameras.Items.Clear();
		898	CameraService.ClearCameraList();
		899	foreach (Camera cam in CameraService.AvailableCameras)
		900	comboBoxCameras.Items.Add(cam);
		901
		902	if (comboBoxCameras.Items.Count > 0)
		903	comboBoxCameras.SelectedIndex = 0;
		904	if (_frameSource != null && comboBoxCameras.Items.Count > 0 && comboBoxCameras.Items.Contains(_frameSource.Camera.ToString()))
		905	comboBoxCameras.SelectedItem = (Camera)_frameSource.Camera;
		906
		907	}
		908
		909	private void lblCam_Click(object sender, RoutedEventArgs e)
		910	{
		911	if (_frameSource != null && _frameSource.Camera != null)
		912	{
		913	_camImage.Visibility = _camImage.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		914	}
		915	}
		916
		917	void _setCamPicStretch(Stretch type)
		918	{
		919	if(_camImage.Stretch == Stretch.None)
		920	_camImageMargin = _camImage.Margin;
		921	if(type != Stretch.None)
		922	_camImage.Margin = new Thickness(0);
		923	_camImage.Stretch = type;
		924	}
		925	private void btnCamPicStretchNone_Click(object sender, RoutedEventArgs e)
		926	{
		927	_setCamPicStretch(Stretch.None);
		928	_camImage.Margin = _camImageMargin;
		929	}
		930	private void btnCamResetZoom_Click(object sender, RoutedEventArgs e)
		931	{
		932	_setCamPicStretch(Stretch.None);
		933	_camImage.Margin = _camImageMargin = new Thickness(0);
		934	SliderCamZoom.Value = 1;
		935	}
		936	private void btnCamPicStretchFill_Click(object sender, RoutedEventArgs e)
		937	{
		938	_setCamPicStretch(Stretch.Fill);
		939	}
		940	private void btnCamPicStretchUniform_Click(object sender, RoutedEventArgs e)
		941	{
		942	_setCamPicStretch(Stretch.Uniform);
		943	}
		944	private void btnCamPicStretchUFill_Click(object sender, RoutedEventArgs e)
		945	{
		946	_setCamPicStretch(Stretch.UniformToFill);
		947	}
		948	private Camera CurrentCamera
		949	{
		950	get
		951	{
		952	return comboBoxCameras.SelectedItem as Camera;
		953	}
		954	}
		955	private void startCapturing()
		956	{
		957	try
		958	{
		959	Camera c = (Camera)comboBoxCameras.SelectedItem;
		960	setFrameSource(new CameraFrameSource(c));
		961	_frameSource.Camera.CaptureWidth = 640;
		962	_frameSource.Camera.CaptureHeight = 480;
		963	_frameSource.Camera.Fps = 25;
		964	_frameSource.NewFrame += OnImageCaptured;
		965	_frameSource.StartFrameCapture();
		966	_camImage.Visibility = Visibility.Visible;
		967
		968	if (stbCamActiveAnim != null && !_bCamAnim)
		969	{
		970	Dispatcher.Invoke(() => stbCamActiveAnim.Begin());
		971	_bCamAnim = true;
		972	rectCamStart.Visibility = Visibility.Visible;
		973	}
		974	}
		975	catch (Exception ex)
		976	{
		977	comboBoxCameras.Text = "Select A Camera";
		978	MessageBox.Show(ex.Message);
		979	}
		980	}
		981
		982	public void OnImageCaptured(Touchless.Vision.Contracts.IFrameSource frameSource, Touchless.Vision.Contracts.Frame frame, double fps)
		983	{
		984	_camImageSource = BitmapConversion.ToWpfBitmap(frame.Image);
		985	// camTimer.IsEnabled = true;
		986	}
		987	private void setFrameSource(CameraFrameSource cameraFrameSource)
		988	{
		989	if (_frameSource == cameraFrameSource)
		990	return;
		991
		992	_frameSource = cameraFrameSource;
		993	}
		994	private void thrashOldCamera()
		995	{
		996
		997	// Trash the old camera
		998	if (_frameSource != null)
		999	{
		1000	_frameSource.NewFrame -= OnImageCaptured;
		1001	Dispatcher.Invoke(() => {
		1002	_camImage.Source = null;
		1003	_camImage.InvalidateVisual();
		1004	});
		1005	using (Dispatcher.DisableProcessing())
		1006	{
		1007	_frameSource.StopFrameCapture();
		1008	setFrameSource(null);
		1009	Thread.Sleep(10);
		1010	}
		1011	}
		1012	}
		1013
		1014	Point pOffset,mouse_pos;
		1015	Thickness _camImageMargin = new Thickness(0);
		1016	private void _CamImage_MouseMove(object sender, System.Windows.Input.MouseEventArgs e)
		1017	{
		1018	if (e.LeftButton == System.Windows.Input.MouseButtonState.Pressed && _camImage.Stretch == Stretch.None)
		1019	{
		1020	mouse_pos = Mouse.GetPosition(this);
		1021	mouse_pos.Offset(-pOffset.X, -pOffset.Y);
		1022	pOffset = Mouse.GetPosition(this);
		1023	_camImage.Margin = new Thickness(_camImage.Margin.Left+ mouse_pos.X + mouse_pos.X * (0.5/ SliderCamZoom.Value), _camImage.Margin.Top + mouse_pos.Y + mouse_pos.Y* (0.5 / SliderCamZoom.Value), _camImage.Margin.Right, _camImage.Margin.Bottom);
		1024	}
		1025	}
		1026	private void _CamImage_MouseDown(object sender, MouseButtonEventArgs e)
		1027	{
		1028	if (e.LeftButton == System.Windows.Input.MouseButtonState.Pressed && _camImage.Stretch == Stretch.None)
		1029	pOffset = Mouse.GetPosition(this);
		1030	}
		1031
		1032	#endregion cam
		1033
		1034	#region GMap
		1035
		1036	void _setupMap()
		1037	{
		1038	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		1039	MainMap.MapProvider = GMapProviders.BingHybridMap;
		1040	MainMap.SetPositionByKeywords("Landshut");
		1041	MainMap.MinZoom = 0;
		1042	MainMap.MaxZoom = 24;
		1043	MainMap.Zoom = 16;
		1044	MainMap.ShowCenter = true;
		1045	MainMap.ShowTileGridLines = false;
		1046	sliderMapZoom.Value = 16;
		1047	comboBoxMapType.ItemsSource = providerList;
		1048	comboBoxMapType.DisplayMemberPath = "Name";
		1049	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		1050
		1051	// acccess mode
		1052	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		1053	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		1054
		1055	}
		1056
		1057	/// <summary>
		1058	/// selection of relevant map providers --> if You need more, You can change the line:
		1059	/// comboBoxMapType.ItemsSource = providerList;
		1060	/// to:
		1061	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		1062	/// in _setupMap()
		1063	/// or add items here:
		1064	/// </summary>
		1065	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		1066	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		1067	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		1068	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		1069	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		1070
		1071	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		1072	{
		1073	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		1074	copter = new GMapMarker(MainMap.Position);
		1075
		1076	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"), "red");
		1077	if (comboBoxCopterColor.SelectionBoxItem != null)
		1078	{
		1079	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		1080	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
		1081	}
		1082	Dispatcher.Invoke(() => {
		1083	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		1084	{
		1085	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		1086	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		1087	}
		1088	});
		1089	copter.Offset = new System.Windows.Point(-26, -26);
		1090	copter.ZIndex = int.MaxValue;
		1091	MainMap.Markers.Add(copter);
		1092	copter.Position = MainMap.Position;
		1093	}
		1094	void _setHomePos()
		1095	{
		1096	pHome = MainMap.Position;
		1097	if (!MainMap.Markers.Contains(home))
		1098	{
		1099	home = new GMapMarker(MainMap.Position);
		1100	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		1101	home.Offset = new System.Windows.Point(-16.5, -16.5);
		1102	// home.ZIndex = int.MaxValue;
		1103	MainMap.Markers.Add(home);
		1104	}
		1105	home.Position = MainMap.Position;
		1106	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		1107
		1108	if (checkBoxShowWPMaxRange.IsChecked == true)
		1109	{
		1110	if (cWPBound != null && cWPBound.Tag != null)
		1111	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		1112
		1113	createCircle(home.Position, dWPMaxRange);
		1114	Dispatcher.Invoke(() =>
		1115	{
		1116	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		1117	{
		1118	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		1119	cWPBound.setColor(s);
		1120	}
		1121	});
		1122	}
		1123
		1124	}
		1125	void _setActiveWP(int iIndex)
		1126	{
		1127	if (iIndex < wpList.Count)
		1128	{
		1129	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		1130	{
		1131	Dispatcher.Invoke(() =>
		1132	{
		1133	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		1134	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		1135	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		1136	MainMap.Markers.Add(wpActiveMarker);
		1137	});
		1138	}
		1139	else
		1140	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		1141	}
		1142
		1143	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
		1144	}
		1145	void _clearHomePos()
		1146	{
		1147	MainMap.Markers.Remove(home);
		1148	if (cWPBound != null && cWPBound.Tag != null)
		1149	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		1150	}
		1151	void _clearMapMarkers(Type markerType)
		1152	{
		1153	for (int k = 0; k < MainMap.Markers.Count;)
		1154	{
		1155	GMapMarker p = MainMap.Markers[k];
		1156	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
		1157	MainMap.Markers.Remove(p);
		1158	else
		1159	k++;
		1160	}
		1161	_WPisMouseCaptured = false;
		1162	}
		1163
		1164	GMapMarker _findWPMarker(string name)
		1165	{
		1166	for (int k = 0; k < MainMap.Markers.Count;)
		1167	{
		1168	GMapMarker p = MainMap.Markers[k];
		1169	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
		1170	if (((CustomMarkerWP)p.Shape).WPText == name)
		1171	return p;
		1172	else
		1173	k++;
		1174	else
		1175	k++;
		1176	}
		1177	return null;
		1178	}
		1179	void _clearWPMarker(string name)
		1180	{
		1181	GMapMarker p = _findWPMarker(name);
		1182	if (p != null)
		1183	MainMap.Markers.Remove(p);
		1184	}
		1185	void _renameWPMarker(string s1, string s2)
		1186	{
		1187	GMapMarker p = _findWPMarker(s1);
		1188	if (p != null)
		1189	((CustomMarkerWP)p.Shape).WPText = s2;
		1190	}
		1191	void _WPMarkerSetType(string text, int type)
		1192	{
		1193	GMapMarker p = _findWPMarker(text);
		1194	if (p != null)
		1195	((CustomMarkerWP)p.Shape).WPType = type;
		1196	}
		1197	void _repositionWPMarker(PointLatLng point, string name)
		1198	{
		1199	GMapMarker p = _findWPMarker(name);
		1200	if (p != null)
		1201	p.Position = point;
		1202	}
		1203
		1204	void createCircle(PointLatLng center, double distance)
		1205	{
		1206
		1207	GMapMarker it = new GMapMarker(center);
		1208	it.ZIndex = -1;
		1209
		1210	cWPBound.Center = center;
		1211	cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance);
		1212	cWPBound.Tag = it;
		1213	cWPBound.IsHitTestVisible = false;
		1214	UpdateCircle(cWPBound);
		1215	it.Shape = cWPBound;
		1216	MainMap.Markers.Add(it);
		1217	}
		1218	// calculates circle radius
		1219	void UpdateCircle(Circle c)
		1220	{
		1221	var pxCenter = MainMap.FromLatLngToLocal(c.Center);
		1222	var pxBounds = MainMap.FromLatLngToLocal(c.Bound);
		1223
		1224	double a = (double)(pxBounds.X - pxCenter.X);
		1225	double b = (double)(pxBounds.Y - pxCenter.Y);
		1226	var pxCircleRadius = Math.Sqrt(a * a + b * b);
		1227
		1228	c.Width = c.Height = pxCircleRadius * 2;
		1229	//c.Width = 55 + pxCircleRadius * 2;
		1230	//c.Height = 55 + pxCircleRadius * 2;
		1231	(c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2);
		1232	}
		1233
		1234	// access mode
		1235	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		1236	{
		1237	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		1238	MainMap.ReloadMap();
		1239	}
		1240	// zoom up
		1241	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		1242	{
		1243	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		1244	}
		1245
		1246	// zoom down
		1247	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		1248	{
		1249	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		1250	}
		1251
		1252	// prefetch
		1253	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		1254	{
		1255	RectLatLng area = MainMap.SelectedArea;
		1256	if (!area.IsEmpty)
		1257	{
		1258	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		1259	{
		1260	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		1261
		1262	if (res == MessageBoxResult.Yes)
		1263	{
		1264	TilePrefetcher obj = new TilePrefetcher();
		1265	obj.Owner = this;
		1266	obj.ShowCompleteMessage = true;
		1267	obj.Start(area, i, MainMap.MapProvider, 100);
		1268	}
		1269	else if (res == MessageBoxResult.No)
		1270	{
		1271	continue;
		1272	}
		1273	else if (res == MessageBoxResult.Cancel)
		1274	{
		1275	break;
		1276	}
		1277	}
		1278	}
		1279	else
		1280	{
		1281	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1282	}
		1283	}
		1284
		1285	// goto by geocoder
		1286	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		1287	{
		1288	_goto_byGeoCoder();
		1289	}
		1290	// goto by geocoder
		1291	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		1292	{
		1293	if (e.Key == System.Windows.Input.Key.Enter)
		1294	_goto_byGeoCoder();
		1295	}
		1296	void _goto_byGeoCoder()
		1297	{
		1298	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		1299	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		1300	{
		1301	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1302	}
		1303	}
		1304	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		1305	{
		1306	try
		1307	{
		1308	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		1309	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		1310
		1311	MainMap.Position = new PointLatLng(lat, lng);
		1312	}
		1313	catch (Exception ex)
		1314	{
		1315	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		1316	}
		1317
		1318	}
		1319
		1320	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		1321	{
		1322	MainMap.ReloadMap();
		1323	}
		1324
		1325	private void MainMap_OnPositionChanged(PointLatLng point)
		1326	{
		1327	if (_bFollowCopter)
		1328	_setCopterData(MainMap.Position);
		1329	}
		1330
		1331	private void MainMap_OnMapZoomChanged()
		1332	{
		1333	if (_bFollowCopter)
		1334	_setCopterData(MainMap.Position);
		1335	if ((int)sliderMapZoom.Value != MainMap.Zoom)
		1336	sliderMapZoom.Value = MainMap.Zoom;
		1337	if (cWPBound != null && cWPBound.Tag != null)
		1338	UpdateCircle(cWPBound);
		1339	}
		1340
		1341	void _setCopterData(PointLatLng p)
		1342	{
		1343	Dispatcher.Invoke(() =>
		1344	{
		1345	copter.Position = p;
		1346	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		1347	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		1348	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		1349	});
		1350	if (home != null && MainMap.Markers.Contains(home))
		1351	{
		1352	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		1353	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		1354	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
		1355
		1356	if (d * 1000 < _dThresholdDistanceWarn)
		1357	{
		1358	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		1359	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		1360	{
		1361	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		1362	_bAnimDistanceActive = false;
		1363	}
		1364	}
		1365	else
		1366	{
		1367	if (_iDistanceJitter < 20)
		1368	{ _iDistanceJitter++; }
		1369	if (_iDistanceJitter == 20)
		1370	{
		1371	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		1372	{
		1373	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		1374	_bAnimDistanceActive = true;
		1375	}
		1376	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		1377	{
		1378	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		1379	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		1380	//t.Start();
		1381	_bVoiceDistanceActive = true;
		1382	}
		1383	_iDistanceJitter++;
		1384	}
		1385	}
		1386	}
		1387	}
		1388
		1389	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		1390	{
		1391	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		1392	}
		1393
		1394	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1395	{
		1396	if (MainMap.Zoom != sliderMapZoom.Value)
		1397	MainMap.Zoom = (int)sliderMapZoom.Value;
		1398	}
		1399	#region Touch zooming hackattack ;)
		1400	/// <summary>
		1401	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1402	/// </summary>
		1403	bool bFirstAccess = true;
		1404	double dDistance = 0;
		1405	int iZoom;
		1406	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1407	{
		1408	if (!_WPisMouseCaptured)
		1409	{
		1410	var id = e.StylusDevice.Id;
		1411	e.StylusDevice.Capture(MainMap);
		1412	if (iFirstStylusID == -1)
		1413	{
		1414	iFirstStylusID = id;
		1415	}
		1416	else
		1417	{
		1418
		1419	MainMap.CanDragMap = false;
		1420	}
		1421	}
		1422	}
		1423	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1424	{
		1425	MainMap.ReleaseStylusCapture();
		1426	iFirstStylusID = -1;
		1427	bFirstAccess = true;
		1428	MainMap.CanDragMap = true;
		1429	iZoom = 0;
		1430	}
		1431	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1432	{
		1433	var id = e.StylusDevice.Id;
		1434	var tp = e.GetPosition(MainMap);
		1435
		1436	// This is the first Stylus point; just record its position.
		1437	if (id == iFirstStylusID)
		1438	{
		1439	pTouch1.X = tp.X;
		1440	pTouch1.Y = tp.Y;
		1441	}
		1442	else
		1443	if (iFirstStylusID > -1)
		1444	{
		1445	pTouch2.X = tp.X;
		1446	pTouch2.Y = tp.Y;
		1447	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1448	if (!bFirstAccess)
		1449	{
		1450	if (distance > dDistance)
		1451	iZoom++;
		1452	else
		1453	if (distance < dDistance)
		1454	iZoom--;
		1455	}
		1456	if (iZoom > 30)
		1457	{
		1458	iZoom = 0;
		1459	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1460	}
		1461	if (iZoom < -30)
		1462	{
		1463	iZoom = 0;
		1464	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1465	}
		1466	dDistance = distance;
		1467	bFirstAccess = false;
		1468	}
		1469	}
		1470	#endregion Touch zooming hackattack ;)
		1471
		1472	#endregion GMap
		1473
		1474	#region settings
		1475	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1476	{
		1477	if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1478	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1479	}
		1480	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1481	{
		1482	if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1483	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1484	}
		1485	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1486	{
		1487	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1488	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1489	}
		1490	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1491	{
		1492	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1493	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1494	}
		1495	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1496	{
		1497	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1498	}
		1499	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1500	{
		1501	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1502	}
		1503	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1504	{
		1505	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1506	}
		1507	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1508	{
		1509	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1510	}
		1511
		1512	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1513	{
		1514	if (cBoxLiPoCells.SelectedIndex > -1)
		1515	{
		1516	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1517	_LipoMinMax();
		1518	}
		1519	}
		1520	void _LipoMinMax()
		1521	{
		1522	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1523	_dLipoVMin = (double)_LipoCells * 3;
		1524	pbTopVoltage.Maximum = _dLipoVMax;
		1525	pbTopVoltage.Minimum = _dLipoVMin;
		1526	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1527	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1528	}
		1529	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1530	{
		1531	if (cBoxMotors.SelectedIndex > -1)
		1532	{
		1533	_iMotors = cBoxMotors.SelectedIndex + 3;
		1534	Dispatcher.Invoke(() =>
		1535	{
		1536	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1537	GridMotors.Height = dgvMotors1.Height + 10;
		1538	});
		1539	}
		1540	}
		1541	void _setMotorGridSize()
		1542	{
		1543	if (dgvMotors1.Columns.Count > 2)
		1544	{
		1545	dgvMotors1.Columns[0].Width = 24;
		1546	dgvMotors1.Columns[1].Width = 50;
		1547	dgvMotors1.Columns[2].Width = 50;
		1548	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1549	GridMotors.Height = dgvMotors1.Height + 10;
		1550	}
		1551
		1552	}
		1553	#endregion settings
		1554
		1555	#region functions
		1556
		1557	#region logging
		1558	/// <summary> Log data to the terminal window. </summary>
		1559	/// <param name="msgtype"> The type of message to be written. </param>
		1560	/// <param name="msg"> The string containing the message to be shown. </param>
		1561	private void Log(LogMsgType msgtype, string msg)
		1562	{
		1563	Dispatcher.Invoke(() =>
		1564	{
		1565	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1566	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1567	// rtfTerminal.AppendText(msg + "\r");
		1568	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd);
		1569	tr.Text = msg;
		1570	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1571	rtfTerminal.AppendText("\r");
		1572	rtfTerminal.ScrollToEnd();
		1573	});
		1574	}
		1575	private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName)
		1576	{
		1577
		1578	Dispatcher.Invoke(() =>
		1579	{
		1580	Paragraph para = new Paragraph();
		1581	para.Margin = new Thickness(0); // remove indent between paragraphs
		1582
		1583	Hyperlink link = new Hyperlink();
		1584	if (linkURL != "" && linkName != "")
		1585	{
		1586	link.IsEnabled = true;
		1587	link.Inlines.Add(linkName);
		1588	link.NavigateUri = new Uri(linkURL);
		1589	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1590	}
		1591	//msg = DateTime.Now.ToLongTimeString() + msg;
		1592	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1593	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1594	r.Foreground = new SolidColorBrush(Colors.Black);
		1595	para.Inlines.Add(r);
		1596	para.Inlines.Add(msg);
		1597	para.Inlines.Add(link);
		1598	rtfError.Document.Blocks.Add(para);
		1599	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1600	//tr.Text = msg + link;
		1601	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1602	//rtfError.AppendText("\r");
		1603	rtfError.ScrollToEnd();
		1604
		1605	//_bErrorLog = true;
		1606	});
		1607	}
		1608	/// <summary>
		1609	/// Clear the line in the errorlog window
		1610	/// containing the error string when error has ceased
		1611	/// </summary>
		1612	/// <param name="s">substring of errrormessage</param>
		1613	void _clearErrorLog(string s)
		1614	{
		1615	Dispatcher.Invoke((Action)(() =>
		1616	{
		1617	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1618	TextRange foundRange = FindTextInRange(searchRange, s);
		1619
		1620	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1621
		1622
		1623	if (iStart > -1)
		1624	{
		1625	int iLength = 0;
		1626	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1627	if (iEnd > 0)
		1628	{
		1629	iLength = iEnd + 1;
		1630	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1631	if (iHttp == iLength)
		1632	{
		1633	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1634	if (iEnd2 > iLength)
		1635	{
		1636	iLength = iEnd2 + 1;
		1637	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1638
		1639	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1640	rtfError.Selection.Text = string.Empty;
		1641	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1642	}
		1643
		1644	}
		1645	else
		1646	{
		1647	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1648	rtfError.Selection.Text = string.Empty;
		1649	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1650	}
		1651	}
		1652	}
		1653	}));
		1654
		1655	}
		1656	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1657	{
		1658	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1659	if (offset < 0)
		1660	return null; // Not found
		1661
		1662	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1663	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1664
		1665	return result;
		1666	}
		1667	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1668	{
		1669	while (position != null)
		1670	{
		1671	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1672	{
		1673	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1674	if (characterCount <= count)
		1675	{
		1676	return position.GetPositionAtOffset(characterCount);
		1677	}
		1678
		1679	characterCount -= count;
		1680	}
		1681
		1682	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1683	if (nextContextPosition == null)
		1684	return position;
		1685
		1686	position = nextContextPosition;
		1687	}
		1688
		1689	return position;
		1690	}
		1691	#endregion logging
		1692
		1693	#region processing received data
		1694
		1695	private void processMessage(byte[] message)
		1696	{
		1697	if (message.Length > 0)
		1698	{
		1699	_iLifeCounter++;
		1700	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1701	//Log(LogMsgType.Incoming, message.Length.ToString());
		1702	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1703	char cmdID;
		1704	byte adr;
		1705	byte[] data;
		1706	byte[] tmp = null;
		1707	if (message[0] != '#')
		1708	{
		1709	int iFound = -1;
		1710	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1711	{ //so this is a workaround to not spam the log box
		1712	if (message[i] == 35)
		1713	{
		1714	iFound = i;
		1715	break;
		1716	}
		1717	}
		1718	if (iFound > 0)
		1719	{
		1720	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1721	tmp = new byte[message.Length - iFound];
		1722	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1723	}
		1724	s = s.Trim('\0', '\n', '\r');
		1725	if (s.Length > 0)
		1726	Log(LogMsgType.Normal, s);
		1727	if (tmp != null)
		1728	{
		1729	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1730	processMessage(tmp);
		1731	}
		1732	}
		1733	//Debug.Print(s);
		1734	else
		1735	{
		1736	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1737
		1738	if (adr == 255) { crcError++; }
		1739	else crcError = 0;
		1740	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1741	//display the active controller (FC / NC)
		1742	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...???
		1743	{
		1744	_iCtrlAct = adr;
		1745	switch (adr)
		1746	{
		1747	case 1:
		1748	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
		1749	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1750	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1751	// _setFieldsNA(); //display fields NA for FC
		1752	break;
		1753	case 2:
		1754	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1755	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1756	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1757	break;
		1758	//case 3:
		1759	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1760	// break;
		1761	//case 4:
		1762	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1763	// break;
		1764	default:
		1765	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1766	break;
		1767	}
		1768	// _loadLabelNames();
		1769	}
		1770	// else
		1771	// Debug.Print("Address == 0?");
		1772
		1773	if (data != null && data.Length > 0)
		1774	{
		1775	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1776	s = s.Trim('\0', '\n');
		1777
		1778	switch (cmdID)
		1779	{
		1780	//case 'A': //Label names
		1781	// _processLabelNames(s);
		1782	// break;
		1783
		1784	case 'D': //Debug data
		1785	_processDebugVals(adr, data);
		1786	break;
		1787
		1788	case 'V': //Version
		1789	_processVersion(adr, data);
		1790	break;
		1791
		1792	case 'K'://BL-CTRL data
		1793	_processBLCtrl(data);
		1794	break;
		1795
		1796	case 'M'://License info
		1797	_processLicense(data);
		1798	break;
		1799
		1800	case 'O': //NC Data
		1801	if (data[0] < 10)
		1802	_processNCData(data);
		1803	else
		1804	_processNCDataV2(data);
		1805	break;
		1806
		1807	//case 'E': //NC error-string
		1808	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1809	// break;
		1810
		1811	case 'L': //OSD Menue (called by pagenumber)
		1812	_processOSDSingle(data);
		1813	break;
		1814
		1815	case 'H': //OSD Menue (with autoupdate - called by Key)
		1816	_processOSDAuto(data);
		1817	break;
		1818
		1819	case 'X': //Waypoint data
		1820	_processWPData(data);
		1821	break;
		1822
		1823	case 'W': //return new Waypoint items count after sending waypoint to copter
		1824	_iWPCount = data[0];
		1825	break;
		1826	//default:
		1827	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1828	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1829	// break;
		1830	}
		1831	}
		1832	//else
		1833	//{
		1834	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1835	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1836	//}
		1837	}
		1838	}
		1839	}
		1840	/// <summary>
		1841	/// Analog label names 'A'
		1842	/// each label name is returned as a single string
		1843	/// and added to string array sAnalogLabel[]
		1844	/// and the datatable dtAnalog
		1845	/// </summary>
		1846	/// <param name="s">the label name</param>
		1847	void _processLabelNames(string s)
		1848	{
		1849	//if (iLableIndex < 32)
		1850	//{
		1851	// sAnalogLabel[iLableIndex] = s;
		1852	// if (dtAnalog.Rows.Count < 32)
		1853	// dtAnalog.Rows.Add(s, "");
		1854	// else
		1855	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1856
		1857	// // _getAnalogLabels(iLableIndex + 1);
		1858	//}
		1859	//Debug.Print(s);
		1860	}
		1861	/// <summary>
		1862	/// Debug values 'D'
		1863	/// </summary>
		1864	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1865	/// <param name="data">the received byte array to process</param>
		1866	void _processDebugVals(byte adr, byte[] data)
		1867	{
		1868	if (data.Length == 66)
		1869	{
		1870
		1871	double v;
		1872	int index = 0;
		1873	Int16 i16 = 0;
		1874	double dTemp = 0;
		1875	for (int i = 2; i < 66; i += 2)
		1876	{
		1877	i16 = data[i + 1];
		1878	i16 = (Int16)(i16 << 8);
		1879	iAnalogData[index] = data[i] + i16;
		1880	sAnalogData[index] = (data[i] + i16).ToString();
		1881	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1882
		1883	if (adr == 2) //NC
		1884	{
		1885	switch (index)
		1886	{
		1887	case 0: //pitch (German: nick)
		1888	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1889	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1890	break;
		1891	case 1: //roll
		1892	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1893	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1894	break;
		1895	case 4: //altitude
		1896	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1897	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1898	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
		1899	break;
		1900	case 7: //Voltage
		1901	v = (double)iAnalogData[index] / (double)10;
		1902	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1903	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1904	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1905	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1906	{
		1907	if (v == _dVoltLast)
		1908	if (_iVoltJitter < 20) _iVoltJitter++;
		1909	else
		1910	{
		1911	_iVoltJitter = 0;
		1912	_dVoltLast = v;
		1913	}
		1914	if (_iVoltJitter == 20)
		1915	{
		1916	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1917
		1918	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1919	{
		1920	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1921	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1922	{
		1923	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1924	_bCritAnimVoltActive = true;
		1925	}
		1926	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1927	{
		1928	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1929	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1930	//t.Start();
		1931	_bCritVoiceVoltActive = true;
		1932	}
		1933	}
		1934	else
		1935	{
		1936	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1937	{
		1938	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1939	_bCritAnimVoltActive = false;
		1940	}
		1941	_bCritVoiceVoltActive = false;
		1942
		1943	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
		1944	{
		1945	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1946	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1947	//t.Start();
		1948	_bWarnVoiceVoltActive = true;
		1949	}
		1950	}
		1951	}
		1952	}
		1953	else
		1954	{
		1955	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1956	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1957	{
		1958	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1959	_bCritAnimVoltActive = false;
		1960	}
		1961	_bCritVoiceVoltActive = false;
		1962	_bWarnVoiceVoltActive = false;
		1963	_iVoltJitter = 0;
		1964	}
		1965	break;
		1966	case 8: // Current
		1967	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1968	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1969	break;
		1970	case 10: //heading
		1971	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
		1972	if (!_Simulate) //use NavData for simulation
		1973	{
		1974	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1975	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1976	}
		1977	break;
		1978	case 12: // SPI error
		1979	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
		1980	break;
		1981	case 14: //i2c error
		1982	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
		1983	break;
		1984	case 20: //Earthmagnet field
		1985	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1986	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1987
		1988	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1989	{
		1990	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1991	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1992	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1993	{
		1994	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1995	_bAnimMagneticFieldActive = false;
		1996	}
		1997	}
		1998	else
		1999	{
		2000	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		2001	if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		2002	{
		2003	if (_iMagneticFieldJitter < 20)
		2004	_iMagneticFieldJitter++;
		2005	}
		2006	else
		2007	{
		2008	_iMagneticFieldJitter = 0;
		2009	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		2010	}
		2011	if (_iMagneticFieldJitter == 20)
		2012	{
		2013	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		2014	{
		2015	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		2016	_bAnimMagneticFieldActive = true;
		2017	}
		2018	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		2019	{
		2020	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2021	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		2022	//t.Start();
		2023	_bVoiceMagneticFieldActive = true;
		2024	}
		2025	}
		2026	}
		2027	break;
		2028	case 21: //GroundSpeed
		2029	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		2030	if (!_Simulate)
		2031	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		2032	break;
		2033
		2034	///******** needs testing --> not sure what position this is *************
		2035	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		2036	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		2037	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		2038	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		2039	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		2040	dTemp = Math.Sqrt(dTemp) / (double)10;
		2041	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		2042	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		2043	break;
		2044
		2045	case 31: //Sats used
		2046	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		2047	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		2048	break;
		2049	}
		2050	}
		2051	index++;
		2052	}
		2053	}
		2054	else
		2055	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		2056	}
		2057	/// <summary>
		2058	/// Version string 'V'
		2059	/// </summary>
		2060	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		2061	/// <param name="data">the received byte array to process</param>
		2062	void _processVersion(byte adr, byte[] data)
		2063	{
		2064	if (data.Length == 12)
		2065	{
		2066	if (!check_HWError)
		2067	{
		2068	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		2069	string sVersion = "";
		2070	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		2071	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		2072	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		2073	Log(LogMsgType.Incoming, sVersion);
		2074	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		2075	Log(LogMsgType.Incoming, sVersion);
		2076	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		2077	}
		2078	if (data[5] > 0) //error0
		2079	{
		2080	if (adr == 1)
		2081	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", "");
		2082	if (adr == 2)
		2083	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", "");
		2084	}
		2085	if (data[6] > 0) //error1
		2086	{
		2087	if (adr == 1)
		2088	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", "");
		2089	if (adr == 2)
		2090	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field
		2091	}
		2092	//if ((data[5] + data[6] == 0) && _bErrorLog)
		2093	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		2094
		2095	}
		2096	check_HWError = false;
		2097	}
		2098
		2099	void _processLicense(byte[] data)
		2100	{
		2101	if (data.Length > 480)
		2102	{
		2103	Dispatcher.Invoke(() => {
		2104	tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127));
		2105	tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127));
		2106	tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127));
		2107	tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11));
		2108	tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16));
		2109	});
		2110	}
		2111	}
		2112	/// <summary>
		2113	/// BL-Ctrl data 'K'
		2114	/// for FC you have to use a customized firmware
		2115	/// </summary>
		2116	/// <param name="data">the received byte array to process</param>
		2117	void _processBLCtrl(byte[] data)
		2118	{
		2119	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		2120	{
		2121	bool bAvailable = false;
		2122	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		2123	{
		2124
		2125	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		2126	bAvailable = true;
		2127	else
		2128	bAvailable = false;
		2129
		2130	if (data[i] < _iMotors)
		2131	{
		2132	if (bAvailable)
		2133	{
		2134	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		2135	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
		2136	}
		2137	else
		2138	{
		2139	dtMotors.Rows[data[i]].SetField(1, "NA");
		2140	dtMotors.Rows[data[i]].SetField(2, "NA");
		2141	}
		2142	}
		2143	//if (data[i] > 3 && data[i] < 8)
		2144	//{
		2145	// if (bAvailable)
		2146	// {
		2147	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		2148	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		2149	// }
		2150	// else
		2151	// {
		2152	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		2153	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		2154	// }
		2155	//}
		2156	}
		2157	}
		2158	}
		2159	/// <summary>
		2160	/// Navi-Ctrl data 'O'
		2161	/// GPS-Position, capacatiy, flying time...
		2162	/// </summary>
		2163	/// <param name="data">the received byte array to process</param>
		2164
		2165
		2166	byte OSDSTATUSFLAGS1 = 0;
		2167	byte OSDSTATUSFLAGS2 = 0;
		2168	void _processNCDataV2(byte[] data)
		2169	{
		2170	if ((int)data[0] < 17)
		2171	{
		2172	int i_32, i_16, iVal;
		2173	double d;
		2174	OSD_Base_Data_t osd = new OSD_Base_Data_t(data);
		2175	OSDSTATUSFLAGS1 = osd.OSDSTATUSFLAGS1();
		2176	Dispatcher.Invoke(() => { drGPX[2] = osd.Pos().Lng; });
		2177	Dispatcher.Invoke(() => { drGPX[1] = osd.Pos().Lat; });
		2178	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		2179	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		2180	if (_Simulate)
		2181	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		2182
		2183	switch ((int)data[0])
		2184	{
		2185	case 10:
		2186	char[] c = Encoding.ASCII.GetChars(new byte[] { data[13] });
		2187	Dispatcher.Invoke((Action)(() => tbCamCtrl.Text = c[0].ToString()));
		2188	break;
		2189	case 11:
		2190	OSDSTATUSFLAGS2 = osd.OSDSTATUSFLAGS2();
		2191	//---------------NC-Flags--------------------------
		2192	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[14] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2193	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[14] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2194	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[14] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2195	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[14] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2196	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[14] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2197	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[14] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2198	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[14] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
		2199
		2200	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[14] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		2201	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
		2202	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
		2203	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
		2204
		2205	//--------------- NC Error ------------------------
		2206	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[16].ToString())); //NC Errornumber
		2207	if (data[16] > 0)
		2208	_readNCError();
		2209	if (data[16] > 0 & data[16] < 44)
		2210	ErrorLog(LogMsgType.Error, " NC Error [" + data[16].ToString() + "]: ", NC_Error_Link[data[16]], NC_Error[data[16]]);
		2211
		2212	break;
		2213	case 12:
		2214	//--------------- RC quality ------------------------
		2215	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[23].ToString()));
		2216	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[23].ToString()));
		2217
		2218	if (data[23] > _iThresholdRC)
		2219	{
		2220	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2221	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2222	{
		2223	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2224	_bAnimRCLevelActive = false;
		2225	}
		2226	}
		2227	else
		2228	{
		2229	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2230	if (_iRCLevelJitter == 20)
		2231	{
		2232	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2233	{
		2234	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2235	_bAnimRCLevelActive = true;
		2236	}
		2237	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2238	{
		2239	_bVoiceRCLevelActive = true;
		2240	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2241	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2242	//th.Start();
		2243	}
		2244	_iRCLevelJitter++;
		2245	}
		2246	}
		2247	break;
		2248	case 13:
		2249	//-------------------------Waypoint max range (by license)------------------------------
		2250	i_32 = data[24];
		2251	iVal = i_32 << 8;
		2252	iVal += data[23];
		2253
		2254	if (dWPMaxRange != iVal)
		2255	{
		2256	dWPMaxRange = iVal;
		2257	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2258	{
		2259	if (cWPBound != null && cWPBound.Tag != null)
		2260	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2261
		2262	createCircle(home.Position, dWPMaxRange);
		2263	Dispatcher.Invoke(() =>
		2264	{
		2265	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2266	{
		2267	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2268	cWPBound.setColor(s);
		2269	}
		2270	});
		2271	}
		2272	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = iVal.ToString() + " m"));
		2273	}
		2274	//--------------- LiPoCell count ------------------------
		2275	Dispatcher.Invoke((Action)(() => tbLiPoCells.Text = data[25].ToString()));
		2276
		2277	break;
		2278
		2279	case 14:
		2280	//--------------- Flying time ------------------------
		2281	i_16 = data[14];
		2282	i_16 = (Int16)(i_16 << 8);
		2283	iVal = data[13] + i_16;
		2284	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2285	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2286	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2287	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2288
		2289	//--------------------------------Distance HP------------------------------------
		2290	i_16 = data[16];
		2291	i_16 = (Int16)(i_16 << 8);
		2292	iVal = data[15] + i_16;
		2293	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2294
		2295	//--------------------------Distance to next WP--------------------------------
		2296	i_16 = data[19];
		2297	i_16 = (Int16)(i_16 << 8);
		2298	iVal = data[18] + i_16;
		2299	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2300	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		2301	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2302
		2303	//-------------------Satellites----------------------------------
		2304	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[23].ToString()));
		2305
		2306	if (data[23] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2307	{
		2308	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		2309	if (_bAutoHome && !_bFirstSatFix)
		2310	{
		2311	if (_iFirstSatFix < 3)
		2312	_iFirstSatFix++;
		2313	else
		2314	{
		2315	_bFirstSatFix = true;
		2316	Dispatcher.Invoke(() => _setHomePos());
		2317	}
		2318	}
		2319	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2320	{
		2321	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2322	_bAnimSatFixActive = false;
		2323	}
		2324	if (!_bFollowCopter)
		2325	{
		2326	_setCopterData(osd.Pos());
		2327	if (!MainMap.ViewArea.Contains(osd.Pos()))
		2328	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2329
		2330	}
		2331	else
		2332	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2333	}
		2334	else
		2335	{
		2336	if (_bSatFix)
		2337	{
		2338	if (data[23] == _iSatsLast)
		2339	{
		2340	if (_iSatsJitter < 20) _iSatsJitter++;
		2341	}
		2342	else
		2343	{
		2344	_iSatsJitter = 0;
		2345	_iSatsLast = data[23];
		2346	}
		2347
		2348	if (_iSatsJitter == 20)
		2349	{
		2350	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2351	{
		2352	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2353	_bAnimSatFixActive = true;
		2354	}
		2355	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2356	{
		2357	_bVoiceSatFixActive = true;
		2358	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2359	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2360	//th.Start();
		2361	}
		2362
		2363	_bSatFix = false;
		2364	}
		2365	}
		2366	}
		2367
		2368	break;
		2369
		2370	case 15:
		2371	//--------------------------------Waypoint index------------------------------------
		2372	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[13].ToString()));
		2373	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[13].ToString()));
		2374	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[13].ToString()));
		2375	if (data[13] > 0 && _wpIndex != data[13] - 1 && wpList.Count > data[13] - 1)
		2376	{
		2377	_setActiveWP(data[13] - 1);
		2378	if ((OSDSTATUSFLAGS2 & 2) == 2)
		2379	Dispatcher.Invoke(() =>
		2380	{
		2381	DataGridRow row;
		2382	if (_wpIndex > -1)
		2383	{
		2384	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2385	row.Background = new SolidColorBrush(Colors.Transparent);
		2386	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2387	row.BorderThickness = new Thickness(0);
		2388	}
		2389
		2390	_wpIndex = data[13] - 1;
		2391	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2392	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2393	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2394	row.BorderThickness = new Thickness(2);
		2395	dgvWP.UpdateLayout();
		2396	});
		2397	_wpIndex = data[13] - 1;
		2398	}
		2399	else
		2400	{
		2401	if ((data[13] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
		2402	{
		2403	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2404	Dispatcher.Invoke(() =>
		2405	{
		2406	DataGridRow row;
		2407	if (_wpIndex > -1 && data[13] == 0 && wpList.Count > _wpIndex)
		2408	{
		2409	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2410	row.Background = new SolidColorBrush(Colors.Transparent);
		2411	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2412	row.BorderThickness = new Thickness(0);
		2413	_wpIndex = -1;
		2414	}
		2415	});
		2416
		2417	}
		2418	}
		2419	//----------------Waypoints count----------------------
		2420	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[14].ToString())); //Waypoints count
		2421	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[14].ToString())); //Waypoints count
		2422	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[14].ToString())); //Waypoints count
		2423	_wpCount = data[14];
		2424	if(_wpCount > dtWaypoints.Rows.Count)
		2425	{
		2426	Log(LogMsgType.Warning, "The copter reports more waypoints than there are in the local list!");
		2427	}
		2428
		2429	//---------------------------------Target hold time------------------------------
		2430	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[15].ToString() + " s"));
		2431	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[15].ToString() + " s"));
		2432
		2433	break;
		2434
		2435	case 16:
		2436	//--------------- Capacity used ------------------------
		2437	i_16 = data[18];
		2438	i_16 = (Int16)(i_16 << 8);
		2439	iVal = data[17] + i_16;
		2440	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2441	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2442
		2443	//--------------- Heading compass ------------------------
		2444	i_16 = data[21];
		2445	iVal = 2 * i_16;
		2446	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2447	if (_Simulate)
		2448	{
		2449	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2450	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2451	}
		2452
		2453	break;
		2454	case 17:
		2455
		2456	break;
		2457	case 18:
		2458
		2459	break;
		2460	default:
		2461	break;
		2462	}
		2463	//--------------------------------------------------------------------------------
		2464	//-----------------------------FC Status Flags-------------------------------
		2465	//--------------------------------------------------------------------------------
		2466	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2467	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((OSDSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2468	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((OSDSTATUSFLAGS1 & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2469	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((OSDSTATUSFLAGS2 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2470	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2471	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((OSDSTATUSFLAGS1 & 32) == 32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2472
		2473	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2474	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2475	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((OSDSTATUSFLAGS2 & 4) == 4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2476	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((OSDSTATUSFLAGS1 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2477	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((OSDSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2478	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
		2479	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((OSDSTATUSFLAGS2 & 64) == 64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2480	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((OSDSTATUSFLAGS2 & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2481
		2482	//Sidebar StatusSymbols
		2483	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2484	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
		2485	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
		2486
		2487	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2488	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2489	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.BorderBrush = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2490
		2491	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2492	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
		2493	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
		2494
		2495	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2496	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
		2497	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
		2498
		2499	_bAirborne = (OSDSTATUSFLAGS2 & 2) == 2 ? true : false;
		2500	}
		2501	}
		2502	public class OSD_Base_Data_t
		2503	{
		2504	byte[] data;
		2505
		2506	public OSD_Base_Data_t(byte [] _data)
		2507	{
		2508	data = _data;
		2509	}
		2510
		2511	public PointLatLng Pos()
		2512	{
		2513	PointLatLng p = new PointLatLng();
		2514	int i_32, iVal;
		2515	double d;
		2516
		2517	i_32 = data[4];
		2518	iVal = i_32 << 24;
		2519	i_32 = data[3];
		2520	iVal += i_32 << 16;
		2521	i_32 = data[2];
		2522	iVal += i_32 << 8;
		2523	iVal += data[1];
		2524	d = (double)iVal / Math.Pow(10, 7);
		2525	p.Lng = d;
		2526
		2527	i_32 = data[8];
		2528	iVal = i_32 << 24;
		2529	i_32 = data[7];
		2530	iVal += i_32 << 16;
		2531	i_32 = data[6];
		2532	iVal += i_32 << 8;
		2533	iVal += data[5];
		2534	d = (double)iVal / Math.Pow(10, 7);
		2535	p.Lat = d;
		2536
		2537	return p;
		2538
		2539	}
		2540
		2541	public int Height()
		2542	{
		2543	int i_32, iVal;
		2544	i_32 = data[10];
		2545	iVal = i_32 << 8;
		2546	iVal += data[9];
		2547
		2548	return iVal;
		2549	}
		2550
		2551	public double Speed()
		2552	{
		2553	if (data.Length > 11)
		2554	return (double)data[11]/10;
		2555	else return 0;
		2556	}
		2557
		2558	public byte OSDSTATUSFLAGS1()
		2559	{
		2560	if (data.Length > 12)
		2561	return data[12];
		2562	else return 0;
		2563	}
		2564	public byte OSDSTATUSFLAGS2()
		2565	{
		2566	if (data.Length > 13)
		2567	return data[13];
		2568	else return 0;
		2569	}
		2570	}
		2571	void _processNCData(byte[] data)
		2572	{
		2573	int i_32, i_16, iVal;
		2574	double d;
		2575
		2576	//----------------------------POSITION------------------------------------
		2577	i_32 = data[4];
		2578	iVal = i_32 << 24;
		2579	i_32 = data[3];
		2580	iVal += i_32 << 16;
		2581	i_32 = data[2];
		2582	iVal += i_32 << 8;
		2583	iVal += data[1];
		2584	d = (double)iVal / Math.Pow(10, 7);
		2585	Dispatcher.Invoke(() => { drGPX[2] = d; });
		2586
		2587	PointLatLng p = new PointLatLng();
		2588
		2589	p.Lng = d;
		2590	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		2591	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		2592
		2593	i_32 = data[8];
		2594	iVal = i_32 << 24;
		2595	i_32 = data[7];
		2596	iVal += i_32 << 16;
		2597	i_32 = data[6];
		2598	iVal += i_32 << 8;
		2599	iVal += data[5];
		2600	d = (double)iVal / Math.Pow(10, 7);
		2601	Dispatcher.Invoke(() => { drGPX[1] = d; });
		2602	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		2603	p.Lat = d;
		2604
		2605	//---------------------------SATS-------------------------------------------------
		2606	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2607	{
		2608	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		2609	if(_bAutoHome && !_bFirstSatFix)
		2610	{
		2611	if (_iFirstSatFix < 3)
		2612	_iFirstSatFix++;
		2613	else
		2614	{
		2615	_bFirstSatFix = true;
		2616	Dispatcher.Invoke(() => _setHomePos());
		2617	}
		2618	}
		2619	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2620	{
		2621	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2622	_bAnimSatFixActive = false;
		2623	}
		2624	if (!_bFollowCopter)
		2625	{
		2626	_setCopterData(p);
		2627	if (!MainMap.ViewArea.Contains(p))
		2628	Dispatcher.Invoke(() => MainMap.Position = p);
		2629
		2630	}
		2631	else
		2632	Dispatcher.Invoke(() => MainMap.Position = p);
		2633	}
		2634	else
		2635	{
		2636	if(_bSatFix)
		2637	{
		2638	if (data[50] == _iSatsLast)
		2639	{
		2640	if (_iSatsJitter < 20) _iSatsJitter++;
		2641	}
		2642	else
		2643	{
		2644	_iSatsJitter = 0;
		2645	_iSatsLast = data[50];
		2646	}
		2647
		2648	if (_iSatsJitter == 20)
		2649	{
		2650	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2651	{
		2652	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2653	_bAnimSatFixActive = true;
		2654	}
		2655	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2656	{
		2657	_bVoiceSatFixActive = true;
		2658	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2659	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2660	//th.Start();
		2661	}
		2662
		2663	_bSatFix = false;
		2664	}
		2665	}
		2666	}
		2667
		2668	//--------------------------Distance to next WP--------------------------------
		2669	i_16 = data[28];
		2670	i_16 = (Int16)(i_16 << 8);
		2671	iVal = data[27] + i_16;
		2672	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2673	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		2674	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2675
		2676	//-------------------------Distance to HP set by GPS on----------------------------------
		2677	i_16 = data[45];
		2678	i_16 = (Int16)(i_16 << 8);
		2679	iVal = data[44] + i_16;
		2680	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2681
		2682	//--------------------------------Waypoint index------------------------------------
		2683	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString()));
		2684	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
		2685	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
		2686	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
		2687	{
		2688	_setActiveWP(data[48]- 1);
		2689	if((data[67] & 2) == 2)
		2690	Dispatcher.Invoke(() => {
		2691	DataGridRow row;
		2692	if (_wpIndex > -1)
		2693	{
		2694	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2695	row.Background = new SolidColorBrush(Colors.Transparent);
		2696	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2697	row.BorderThickness = new Thickness(0);
		2698	}
		2699
		2700	_wpIndex = data[48] - 1;
		2701	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2702	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2703	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2704	row.BorderThickness = new Thickness(2);
		2705	dgvWP.UpdateLayout();
		2706	});
		2707	_wpIndex = data[48]- 1;
		2708	}
		2709	else
		2710	{
		2711	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
		2712	{
		2713	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2714	Dispatcher.Invoke(() =>
		2715	{
		2716	DataGridRow row;
		2717	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
		2718	{
		2719	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2720	row.Background = new SolidColorBrush(Colors.Transparent);
		2721	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2722	row.BorderThickness = new Thickness(0);
		2723	_wpIndex = -1;
		2724	}
		2725	});
		2726
		2727	}
		2728	}
		2729	//----------------Waypoints count----------------------
		2730	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
		2731	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
		2732	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
		2733	_wpCount = data[49];
		2734	//-------------------Satellites----------------------------------
		2735	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString()));
		2736
		2737	//--------------- Capacity used ------------------------
		2738	i_16 = data[81];
		2739	i_16 = (Int16)(i_16 << 8);
		2740	iVal = data[80] + i_16;
		2741	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2742	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2743
		2744	//--------------- Ground speed ------------------------
		2745	i_16 = data[59];
		2746	i_16 = (Int16)(i_16 << 8);
		2747	iVal = data[58] + i_16;
		2748	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2749	if(_Simulate)
		2750	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2751
		2752	//--------------- Heading north ------------------------
		2753	//i_16 = data[61];
		2754	//i_16 = (Int16)(i_16 << 8);
		2755	//iVal = data[60] + i_16;
		2756	//Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
		2757
		2758	//--------------- Heading compass ------------------------
		2759	i_16 = data[63];
		2760	i_16 = (Int16)(i_16 << 8);
		2761	iVal = data[62] + i_16;
		2762	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2763	if (_Simulate)
		2764	{
		2765	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2766	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2767	}
		2768	//--------------- Flying time ------------------------
		2769	i_16 = data[56];
		2770	i_16 = (Int16)(i_16 << 8);
		2771	iVal = data[55] + i_16;
		2772	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2773	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2774	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2775	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2776
		2777	//--------------- RC quality ------------------------
		2778	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		2779	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		2780
		2781	if(data[66] > _iThresholdRC)
		2782	{
		2783	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2784	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2785	{
		2786	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2787	_bAnimRCLevelActive = false;
		2788	}
		2789	}
		2790	else
		2791	{
		2792	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2793	if (_iRCLevelJitter == 20)
		2794	{
		2795	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2796	{
		2797	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2798	_bAnimRCLevelActive = true;
		2799	}
		2800	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2801	{
		2802	_bVoiceRCLevelActive = true;
		2803	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2804	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2805	//th.Start();
		2806	}
		2807	_iRCLevelJitter++;
		2808	}
		2809	}
		2810
		2811	//-------------------------Waypoint max range (by license)------------------------------
		2812	if(dWPMaxRange != (double)data[70])
		2813	{
		2814	dWPMaxRange = (double)data[70];
		2815	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2816	{
		2817	if (cWPBound != null && cWPBound.Tag != null)
		2818	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2819
		2820	createCircle(home.Position, dWPMaxRange);
		2821	Dispatcher.Invoke(() =>
		2822	{
		2823	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2824	{
		2825	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2826	cWPBound.setColor(s);
		2827	}
		2828	});
		2829	}
		2830	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		2831	}
		2832	//---------------------------------Target hold time------------------------------
		2833	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
		2834	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
		2835
		2836	//--------------- NC Error ------------------------
		2837	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		2838	if (data[69] > 0)
		2839	_readNCError();
		2840	if (data[69] > 0 & data[69] < 44)
		2841	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		2842	//else
		2843	// if (_bErrorLog) _clearErrorLog("NC Error");
		2844
		2845	//--------------------------------------------------------------------------------
		2846	//-----------------------------FC / NC Status Flags-------------------------------
		2847	//--------------------------------------------------------------------------------
		2848	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2849	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2850	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2851	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2852	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2853	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2854
		2855	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2856	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2857	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2858	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2859	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2860	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
		2861	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2862	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2863
		2864	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2865	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2866	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2867	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2868	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2869	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2870	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
		2871
		2872	//Sidebar StatusSymbols
		2873	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2874	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
		2875	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
		2876
		2877	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2878	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
		2879	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
		2880
		2881	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2882	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
		2883	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
		2884
		2885	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2886	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
		2887	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
		2888
		2889	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		2890	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
		2891	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
		2892	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
		2893
		2894	_bAirborne = (data[67] & 2) == 2 ? true : false;
		2895	}
		2896	/// <summary>
		2897	/// Navi-Ctrl WP data struct 'X'
		2898	/// called by index
		2899	/// </summary>
		2900	/// <param name="data">the received byte array to process</param>
		2901	void _processWPData(byte[] data)
		2902	{
		2903	_iWPCount = data[0];
		2904	_bGetWPCount = false;
		2905	if (data.Length >= 28)
		2906	{
		2907	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2908	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2909	if (_bGetWP)
		2910	{
		2911	if (data[1] == 1)
		2912	{
		2913	Dispatcher.Invoke(() =>
		2914	{
		2915	wpList.Clear();
		2916	_clearMapMarkers(typeof(CustomMarkerWP));
		2917	if (mRouteWP != null)
		2918	MainMap.Markers.Remove(mRouteWP);
		2919	if (wpActiveMarker != null)
		2920	MainMap.Markers.Remove(wpActiveMarker);
		2921	lblWPRouteDistance.Content = "0 m";
		2922	dtWaypoints.Rows.Clear();
		2923	_wpEdit = -1;_wpIndex = -1;
		2924	wpOffset.Clear();
		2925	});
		2926	}
		2927	DataRow dr = dtWaypoints.NewRow();
		2928	dr = Waypoints.toDataRow(data, dr);
		2929	dtWaypoints.Rows.Add(dr);
		2930	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1],(int)data[1]-1);
		2931	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2932	Dispatcher.Invoke(() => _iWPIndex = data[1]);
		2933	if (data[1] == data[0])
		2934	{
		2935	_bGetWP = false;
		2936	_routeUpdate();
		2937	}
		2938
		2939	}
		2940	}
		2941	else
		2942	{
		2943	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2944	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2945	}
		2946	}
		2947	/// <summary>
		2948	/// OSD Menue 'L'
		2949	/// single page called by pagenumber
		2950	/// no autoupdate
		2951	/// </summary>
		2952	/// <param name="data">the received byte array to process</param>
		2953	void _processOSDSingle(byte[] data)
		2954	{
		2955	if (data.Length == 84)
		2956	{
		2957	string sMessage = "";
		2958	iOSDPage = data[0];
		2959	iOSDMax = data[1];
		2960	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2961	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2962	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2963	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2964	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2965	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2966	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2967	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2968
		2969	}
		2970	//else
		2971	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2972
		2973	}
		2974	/// <summary>
		2975	/// OSD Menue 'H'
		2976	/// called by keys (0x01,0x02,0x03,0x04)
		2977	/// autoupdate
		2978	/// </summary>
		2979	/// <param name="data">the received byte array to process</param>
		2980	void _processOSDAuto(byte[] data)
		2981	{
		2982	if (data.Length == 81)
		2983	{
		2984	string sMessage = "";
		2985	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2986	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2987	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2988	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2989	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2990
		2991	}
		2992	//else
		2993	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2994	}
		2995
		2996	#endregion processing received data
		2997
		2998	#region controller messages
		2999	/// <summary> send message to controller to request data
		3000	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		3001	/// </summary>
		3002	/// <param name="CMDID"> the command ID </param>
		3003	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		3004	private void _sendControllerMessage(char CMDID, byte address)
		3005	{
		3006	if (serialPortCtrl.Port.IsOpen)
		3007	{
		3008	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3009	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		3010	serialStream.Write(bytes, 0, bytes.Length);
		3011
		3012	}
		3013	else
		3014	Log(LogMsgType.Error, "NOT CONNECTED!");
		3015	}
		3016	/// <summary> send message to controller to request data
		3017	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		3018	/// </summary>
		3019	/// <param name="CMDID"> the command ID </param>
		3020	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		3021	/// <param name="data"> additional data for the request</param>
		3022	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		3023	{
		3024	if (serialPortCtrl.Port.IsOpen)
		3025	{
		3026	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3027	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		3028	serialStream.Write(bytes, 0, bytes.Length);
		3029
		3030	}
		3031	else
		3032	Log(LogMsgType.Error, "NOT CONNECTED!");
		3033	}
		3034
		3035	/// <summary>
		3036	/// start/stop continous polling of controller values
		3037	/// </summary>
		3038	/// <param name="b">start/stop switch</param>
		3039	void _readCont(bool b)
		3040	{
		3041	bReadContinously = b;
		3042	if (bReadContinously)
		3043	{
		3044	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		3045	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		3046	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		3047	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		3048	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		3049	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		3050	}
		3051	else
		3052	{
		3053	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		3054	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		3055	_bConnErr = false;
		3056	}
		3057	_iLifeCounter = 0;
		3058	}
		3059
		3060	private void _getVersion()
		3061	{
		3062	_sendControllerMessage('v', 0);
		3063	}
		3064	/// <summary>
		3065	/// get FC version struct via NC
		3066	/// by sending '1' as data (not documented in wiki...)
		3067	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		3068	/// </summary>
		3069	/// <param name="ctrl">controller number 1=FC</param>
		3070	private void _getVersion(byte ctrl)
		3071	{
		3072	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		3073	}
		3074	/// <summary>
		3075	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		3076	/// </summary>
		3077	private void _switchToNC()
		3078	{
		3079	if (serialPortCtrl.Port.IsOpen)
		3080	{
		3081	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3082	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		3083	serialStream.Write(bytes, 0, bytes.Length);
		3084
		3085	Thread.Sleep(100);
		3086	_getVersion();
		3087	Thread.Sleep(100);
		3088	_getLic();
		3089	// _OSDMenue(0);
		3090	}
		3091	else
		3092	Log(LogMsgType.Error, "NOT CONNECTED!");
		3093	}
		3094	/// <summary>
		3095	/// switch to FC
		3096	/// </summary>
		3097	private void _switchToFC()
		3098	{
		3099	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		3100	Thread.Sleep(100);
		3101	_getVersion();
		3102	Thread.Sleep(100);
		3103	// _OSDMenue(0);
		3104	}
		3105	/// <summary>
		3106	/// send RESET signal to FC
		3107	/// </summary>
		3108	private void _resetCtrl()
		3109	{
		3110	_sendControllerMessage('R', 1);
		3111	}
		3112	/// <summary>
		3113	/// poll the debug data (4sec subscription)
		3114	/// </summary>
		3115	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		3116	private void _readDebugData(bool auto)
		3117	{
		3118	byte interval = auto ? debugInterval : (byte)0;
		3119	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		3120	}
		3121	/// <summary>
		3122	/// poll the BL-CTRL status via NC (4sec subscription)
		3123	/// </summary>
		3124	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		3125	private void _readBLCtrl(bool auto)
		3126	{
		3127	byte interval = auto ? blctrlInterval : (byte)0;
		3128	_sendControllerMessage('k', 0, new byte[1] { interval });
		3129	}
		3130	/// <summary>
		3131	/// poll the NC data struct (4sec subscription)
		3132	/// </summary>
		3133	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		3134	private void _readNavData(bool auto)
		3135	{
		3136	byte interval = auto ? navctrlInterval : (byte)0;
		3137	// _sendControllerMessage('o', 2, new byte[1] { interval });
		3138	_sendControllerMessage('o', 2, new byte[3] { interval,4,0 });
		3139	}
		3140	/// <summary>
		3141	/// request the license info
		3142	/// </summary>
		3143	void _getLic()
		3144	{
		3145	if (serialPortCtrl.Port.IsOpen)
		3146	{
		3147	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3148	byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 });
		3149	serialStream.Write(bytes, 0, bytes.Length);
		3150	}
		3151	else
		3152	Log(LogMsgType.Error, "NOT CONNECTED!");
		3153
		3154	}
		3155	/// <summary>
		3156	/// get the errortext for pending NC error
		3157	/// </summary>
		3158	private void _readNCError()
		3159	{
		3160	_sendControllerMessage('e', 2);
		3161	}
		3162	/// <summary>
		3163	/// request the Waypoint at index
		3164	/// </summary>
		3165	/// <param name="index"></param>
		3166	void _getpWP(int index)
		3167	{
		3168	if (serialPortCtrl.Port.IsOpen)
		3169	{
		3170	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3171	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		3172	serialStream.Write(bytes, 0, bytes.Length);
		3173	}
		3174	else
		3175	Log(LogMsgType.Error, "NOT CONNECTED!");
		3176
		3177	}
		3178	void _getWP()
		3179	{
		3180	int iTimeout = 0;
		3181	_bGetWPCount = true;
		3182	_getpWP(1); //get the itemscount of wp
		3183	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		3184	{
		3185	Thread.Sleep(10);
		3186	iTimeout++;
		3187	}
		3188	if (_iWPCount > 0 & !_bGetWPCount)
		3189	_getWPList();
		3190	}
		3191	void _getWPList()
		3192	{
		3193	_bGetWP = true;
		3194	int iTimeout=0;
		3195	for (int j = 0; j < _iWPCount; j++)
		3196	{
		3197	_getpWP(j + 1);
		3198	iTimeout = 0;
		3199	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		3200	{
		3201	Thread.Sleep(1);
		3202	iTimeout++;
		3203	}
		3204	}
		3205	Dispatcher.Invoke(() =>
		3206	{
		3207	// MainMap.ZoomAndCenterMarkers(null);
		3208	MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]);
		3209	MainMap.Zoom = 19;
		3210	});
		3211	}
		3212	/// <summary>
		3213	/// Wrapper for _clearCopterWPList()
		3214	/// necessary, cause it is called by threadnew which does not like return values...
		3215	/// </summary>
		3216	void clearCopterWPList()
		3217	{
		3218	_clearCopterWPList();
		3219	}
		3220	/// <summary>
		3221	/// clear the WP list of the copter
		3222	/// by sending 'invalid' and index '0'
		3223	/// </summary>
		3224	/// <returns></returns>
		3225	bool _clearCopterWPList()
		3226	{
		3227	int iTimeout = 0;
		3228	if (serialPortCtrl.Port.IsOpen)
		3229	{
		3230	byte[] bData = new byte[30];
		3231	for (int i = 0; i < 30; i++)
		3232	bData[i] = 0;
		3233	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3234	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		3235	serialStream.Write(bytes, 0, bytes.Length);
		3236
		3237	_iWPCount = -1;
		3238	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
		3239	{
		3240	Thread.Sleep(10);
		3241	iTimeout++;
		3242	}
		3243	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		3244	if (_iWPCount > -1)
		3245	return true;
		3246	else
		3247	Log(LogMsgType.Error, "Timeout while sending list!");
		3248	}
		3249	else
		3250	Log(LogMsgType.Error, "NOT CONNECTED!");
		3251
		3252	return false;
		3253	}
		3254	void _sendWPList()
		3255	{
		3256	_sendWPList(0);
		3257	}
		3258	void _sendWPList(int iStart)
		3259	{
		3260	int iTimeout = 0;
		3261	if (serialPortCtrl.Port.IsOpen)
		3262	{
		3263	if (_clearCopterWPList())
		3264	{
		3265	int k = 1;
		3266	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
		3267	{
		3268	k = iStart > 0 ? k : -1;
		3269	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
		3270
		3271	_iWPCount = -1;
		3272	iTimeout = 0;
		3273	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		3274	{
		3275	Thread.Sleep(10);
		3276	iTimeout++;
		3277	}
		3278	if (_iWPCount == -1)
		3279	{
		3280	Log(LogMsgType.Error, "Timeout while sending list!");
		3281	break;
		3282	}
		3283	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		3284	k++;
		3285	}
		3286	}
		3287	}
		3288	else
		3289	Log(LogMsgType.Error, "NOT CONNECTED!");
		3290
		3291	}
		3292	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
		3293	{
		3294
		3295	if (serialPortCtrl.Port.IsOpen)
		3296	{
		3297	byte[] bData = new byte[30];
		3298	for (int i = 0; i < 30; i++)
		3299	bData[i] = 0;
		3300	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3301	byte[] bytes;
		3302	int iVal;
		3303	double dVal;
		3304	NumberFormatInfo nfi = new NumberFormatInfo();
		3305	nfi.NumberDecimalSeparator = ",";
		3306
		3307	//longitude
		3308	dVal = Convert.ToDouble(dr[4], nfi);
		3309	iVal = (int)(dVal * Math.Pow(10, 7));
		3310	bData[0] = (byte)(iVal & 0xff);
		3311	bData[1] = (byte)((iVal >> 8) & 0xff);
		3312	bData[2] = (byte)((iVal >> 16) & 0xff);
		3313	bData[3] = (byte)(iVal >> 24);
		3314	//latitude
		3315	dVal = Convert.ToDouble(dr[3], nfi);
		3316	iVal = (int)(dVal * Math.Pow(10, 7));
		3317	bData[4] = (byte)(iVal & 0xff);
		3318	bData[5] = (byte)((iVal >> 8) & 0xff);
		3319	bData[6] = (byte)((iVal >> 16) & 0xff);
		3320	bData[7] = (byte)(iVal >> 24);
		3321	//altitude
		3322	dVal = Convert.ToDouble(dr[5], nfi);
		3323	iVal = (int)(dVal * 10);
		3324	bData[8] = (byte)(iVal & 0xff);
		3325	bData[9] = (byte)((iVal >> 8) & 0xff);
		3326	bData[10] = (byte)((iVal >> 16) & 0xff);
		3327	bData[11] = (byte)(iVal >> 24);
		3328	if(bSim)
		3329	bData[12] = 3; //Status 'SIMULATE'
		3330	//Status 'NEWDATA'
		3331	else
		3332	bData[12] = 1;
		3333	//heading
		3334	iVal = Convert.ToInt16(dr[6]);
		3335	bData[13] = (byte)(iVal & 0xff);
		3336	bData[14] = (byte)((iVal >> 8) & 0xff);
		3337	//ToleranceRadius
		3338	bData[15] = Convert.ToByte(dr[9]);
		3339	//HoldTime
		3340	bData[16] = Convert.ToByte(dr[10]);
		3341	//Event_Flag
		3342	bData[17] = Convert.ToByte(dr[13]);
		3343	//Index
		3344	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
		3345	//Type
		3346	bData[19] = Convert.ToByte(dr[1]);
		3347	//WP_EventChannelValue
		3348	bData[20] = Convert.ToByte(dr[14]);
		3349	//AltitudeRate
		3350	bData[21] = Convert.ToByte(dr[8]);
		3351	//Speed
		3352	bData[22] = Convert.ToByte(dr[7]);
		3353	//CamAngle
		3354	bData[23] = (byte)Convert.ToInt16(dr[12]);
		3355	//Name
		3356	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		3357	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
		3358	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		3359	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		3360	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		3361	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		3362	//Autotrigger
		3363	bData[28] = Convert.ToByte(dr[11]);
		3364
		3365	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
		3366	serialStream.Write(bytes, 0, bytes.Length);
		3367
		3368	return true;
		3369	}
		3370
		3371	return false;
		3372	}
		3373	#region OSD-Menue
		3374
		3375	/// <summary>
		3376	/// one time query of the OSD Menue with pagenumber
		3377	/// </summary>
		3378	/// <param name="iMenue">Menue page</param>
		3379	void _OSDMenue(int iMenue)
		3380	{
		3381	if (serialPortCtrl.Port.IsOpen)
		3382	{
		3383	if (iMenue > iOSDMax)
		3384	iMenue = 0;
		3385	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3386	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		3387	serialStream.Write(bytes, 0, bytes.Length);
		3388	}
		3389	else
		3390	Log(LogMsgType.Error, "NOT CONNECTED!");
		3391
		3392	}
		3393	/// <summary>
		3394	/// call the OSDMenue and start autorefresh
		3395	/// usually by sending a menuekey
		3396	/// 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)
		3397	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		3398	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		3399	/// </summary>
		3400	void _OSDMenueAutoRefresh()
		3401	{
		3402	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		3403	}
		3404	void _OSDMenueAutoRefresh(byte key)
		3405	{
		3406	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		3407	}
		3408	/// <summary>
		3409	/// initialize the OSD menue combobox
		3410	/// combox is filled by numbers from 0 to max pagenumber
		3411	/// </summary>
		3412	void _initOSDCB()
		3413	{
		3414	_bCBInit = true;
		3415	if (iOSDMax == 0)
		3416	{
		3417	_OSDMenue(0);
		3418	Thread.Sleep(10);
		3419	}
		3420	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		3421	for (int i = 0; i <= iOSDMax; i++)
		3422	{
		3423	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		3424	}
		3425	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		3426	_bCBInit = false;
		3427	}
		3428	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		3429	{
		3430	iOSDPage++;
		3431	if (iOSDPage > iOSDMax)
		3432	iOSDPage = 0;
		3433
		3434	_OSDMenue(iOSDPage);
		3435	}
		3436	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		3437	{
		3438	iOSDPage--;
		3439	if (iOSDPage < 0)
		3440	iOSDPage = iOSDMax;
		3441
		3442	_OSDMenue(iOSDPage);
		3443	}
		3444	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		3445	{
		3446	_OSDMenueAutoRefresh(8);
		3447	}
		3448	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		3449	{
		3450	_OSDMenueAutoRefresh(4);
		3451	}
		3452	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		3453	{
		3454	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		3455	_OSDMenue(cbOSD.SelectedIndex);
		3456	}
		3457	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		3458	{
		3459	Dispatcher.Invoke(() =>
		3460	{
		3461	TextRange tr;
		3462	if (bNew)
		3463	{
		3464	rtfOSD.SelectAll();
		3465	rtfOSD.Selection.Text = string.Empty;
		3466	}
		3467	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		3468	tr.Text = msg;
		3469	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		3470	// rtfOSD.AppendText("\r");
		3471	rtfOSD.ScrollToEnd();
		3472
		3473	});
		3474	}
		3475
		3476	#endregion OSD-Menue
		3477
		3478	#endregion controller messages
		3479
		3480	void _mediaPlayer(object file)
		3481	{
		3482	Monitor.TryEnter(lockObj);
		3483	try
		3484	{
		3485	if (File.Exists((string)file))
		3486	{
		3487
		3488	mediaPlayer.Open((string)file);
		3489	mediaPlayer.Play();
		3490	}
		3491
		3492	}
		3493	finally
		3494	{
		3495	Monitor.Exit(lockObj);
		3496	}
		3497	}
		3498
		3499	#region ui
		3500	/// <summary>
		3501	/// Switch between fullscreen and normal window mode
		3502	/// save & restore scaling settings
		3503	/// </summary>
		3504	/// <param name="sender"></param>
		3505	/// <param name="e"></param>
		3506	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		3507	{
		3508	if (winState.isMaximized)
		3509	{
		3510	winState.Restore(this);
		3511	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		3512	if(_bSaveWinStateFull)
		3513	_saveScaleSliders(true);
		3514	if(_bSaveWinStateNormal)
		3515	_setScaleSliders(false);
		3516	}
		3517	else
		3518	{
		3519	winState.Maximize(this);
		3520	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		3521	if(_bSaveWinStateNormal)
		3522	_saveScaleSliders(false);
		3523	if(_bSaveWinStateFull)
		3524	_setScaleSliders(true);
		3525	}
		3526	}
		3527
		3528	/// <summary>
		3529	/// reset the scaling of all UI elements to default
		3530	/// </summary>
		3531	/// <param name="sender"></param>
		3532	/// <param name="e"></param>
		3533	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		3534	{
		3535	UIScaleHorizonSlider.Value =
		3536	UIScaleLOGSlider.Value =
		3537	UIScaleMotorsSlider.Value =
		3538	UIScaleOSDSlider.Value =
		3539	UIScaleSlider.Value =
		3540	UIScaleTopSlider.Value = 1;
		3541	}
		3542	/// <summary>
		3543	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		3544	/// </summary>
		3545	/// <param name="sender"></param>
		3546	/// <param name="e"></param>
		3547	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3548	{
		3549	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		3550	if (GridMotors != null)
		3551	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		3552	if (GridSideBar != null)
		3553	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		3554	if (WPStatus != null)
		3555	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
		3556	if (GridOSD != null)
		3557	{
		3558	if(WPStatus.Visibility == Visibility.Visible)
		3559	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3560	else
		3561	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3562	}
		3563	if (GridData != null)
		3564	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		3565	if (GridWP != null)
		3566	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		3567	}
		3568	private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3569	{
		3570	if (!_init)
		3571	{
		3572	if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible))
		3573	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3574	else
		3575	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3576	}
		3577	}
		3578
		3579	/// <summary>
		3580	/// restore the saved scalings for the fullscreen/normal window mode
		3581	/// </summary>
		3582	/// <param name="bFull">the mode the window is set to</param>
		3583	void _setScaleSliders(bool bFull)
		3584	{
		3585	if(bFull)
		3586	{
		3587	UIScaleSlider.Value = scaleFullAll;
		3588	UIScaleTopSlider.Value = scaleFullTopBar;
		3589	UIScaleMotorsSlider.Value = scaleFullMotors;
		3590	UIScaleOSDSlider.Value = scaleFullOSD;
		3591	UIScaleLOGSlider.Value = scaleFullLOG;
		3592	UIScaleHorizonSlider.Value = scaleFullHorizon;
		3593	}
		3594	else
		3595	{
		3596	UIScaleSlider.Value = scaleNormalAll;
		3597	UIScaleTopSlider.Value = scaleNormalTopBar;
		3598	UIScaleMotorsSlider.Value = scaleNormalMotors;
		3599	UIScaleOSDSlider.Value = scaleNormalOSD;
		3600	UIScaleLOGSlider.Value = scaleNormalLOG;
		3601	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		3602	}
		3603	}
		3604
		3605	/// <summary>
		3606	/// save the scalings for the actual window mode
		3607	/// </summary>
		3608	/// <param name="bFull">the actual window mode</param>
		3609	void _saveScaleSliders(bool bFull)
		3610	{
		3611
		3612	if (bFull)
		3613	{
		3614	scaleFullAll = UIScaleSlider.Value;
		3615	scaleFullTopBar = UIScaleTopSlider.Value;
		3616	scaleFullMotors = UIScaleMotorsSlider.Value;
		3617	scaleFullOSD = UIScaleOSDSlider.Value;
		3618	scaleFullLOG = UIScaleLOGSlider.Value;
		3619	scaleFullHorizon = UIScaleHorizonSlider.Value;
		3620	}
		3621	else
		3622	{
		3623	scaleNormalAll = UIScaleSlider.Value;
		3624	scaleNormalTopBar = UIScaleTopSlider.Value;
		3625	scaleNormalMotors = UIScaleMotorsSlider.Value;
		3626	scaleNormalOSD = UIScaleOSDSlider.Value;
		3627	scaleNormalLOG = UIScaleLOGSlider.Value;
		3628	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		3629	}
		3630	}
		3631	#endregion ui
		3632
		3633	/// <summary>
		3634	/// read settings from ini-file
		3635	/// </summary>
		3636	void _readIni()
		3637	{
		3638	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		3639	_writeIni();
		3640	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3641	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3642	try
		3643	{
		3644
		3645	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		3646	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		3647	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		3648	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		3649	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		3650	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		3651	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		3652	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
		3653
		3654	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		3655	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		3656	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		3657	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		3658	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		3659	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		3660	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		3661	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
		3662
		3663	sVal = ini.IniReadValue("topBar", "voltage");
		3664	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		3665	sVal = ini.IniReadValue("topBar", "capacity");
		3666	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		3667	sVal = ini.IniReadValue("topBar", "current");
		3668	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		3669	sVal = ini.IniReadValue("topBar", "flightTime");
		3670	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		3671	sVal = ini.IniReadValue("topBar", "distanceHP");
		3672	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		3673	sVal = ini.IniReadValue("topBar", "height");
		3674	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		3675	sVal = ini.IniReadValue("topBar", "speed");
		3676	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		3677	sVal = ini.IniReadValue("topBar", "magneticField");
		3678	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		3679	sVal = ini.IniReadValue("topBar", "satellites");
		3680	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		3681	sVal = ini.IniReadValue("topBar", "rc");
		3682	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
		3683
		3684	sVal = ini.IniReadValue("style", "saveFullScreen");
		3685	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		3686	sVal = ini.IniReadValue("style", "saveNormalState");
		3687	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
		3688
		3689	sVal = ini.IniReadValue("style", "scaleNormalAll");
		3690	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		3691	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		3692	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		3693	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		3694	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		3695	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		3696	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		3697	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		3698	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		3699	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		3700	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
		3701
		3702	sVal = ini.IniReadValue("style", "scaleFullAll");
		3703	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		3704	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		3705	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		3706	sVal = ini.IniReadValue("style", "scaleFullMotors");
		3707	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		3708	sVal = ini.IniReadValue("style", "scaleFullOSD");
		3709	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		3710	sVal = ini.IniReadValue("style", "scaleFullLOG");
		3711	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		3712	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		3713	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
		3714
		3715	sVal = ini.IniReadValue("general", "LiPoCells");
		3716	_LipoCells = Convert.ToInt16(sVal);
		3717	sVal = ini.IniReadValue("general", "Motors");
		3718	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
		3719
		3720	sVal = ini.IniReadValue("map", "followMe");
		3721	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		3722	sVal = ini.IniReadValue("map", "AutoSetHome");
		3723	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
		3724	sVal = ini.IniReadValue("map", "GPXLog");
		3725	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
		3726
		3727	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		3728	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		3729	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		3730	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		3731	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		3732	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		3733	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		3734	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		3735	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		3736	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		3737	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		3738	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		3739	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		3740	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		3741	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		3742	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		3743	sVal = ini.IniReadValue("threshold", "MaxDistance");
		3744	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		3745	sVal = ini.IniReadValue("threshold", "RCThreshold");
		3746	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		3747	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		3748	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
		3749
		3750	sVal = ini.IniReadValue("waypoints", "wpcolor");
		3751	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		3752	sVal = ini.IniReadValue("waypoints", "poicolor");
		3753	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		3754	sVal = ini.IniReadValue("waypoints", "fscolor");
		3755	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		3756	sVal = ini.IniReadValue("waypoints", "coptercolor");
		3757	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
		3758	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		3759	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
		3760	sVal = ini.IniReadValue("waypoints", "landingcolor");
		3761	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
		3762	sVal = ini.IniReadValue("waypoints", "routecolor");
		3763	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		3764	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		3765	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
		3766	sVal = ini.IniReadValue("waypoints", "autoShowWPEdit");
		3767	if(sVal != "") _bAutoWPEdit = Convert.ToBoolean(sVal);
		3768	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		3769	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		3770	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		3771	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
		3772	sVal = ini.IniReadValue("waypoints", "WPDefPrefix");
		3773	if(sVal != "") _wpDefPrefix = sVal;
		3774	sVal = ini.IniReadValue("waypoints", "WPDefAltitude");
		3775	if(sVal != "") _wpDefAltitude = Convert.ToInt32(sVal);
		3776	sVal = ini.IniReadValue("waypoints", "WPDefHeading");
		3777	if(sVal != "") _wpDefHeading = Convert.ToInt32(sVal);
		3778	sVal = ini.IniReadValue("waypoints", "WPDefCBoxHeading");
		3779	if(sVal != "") _wpDefCBoxHeading = Convert.ToInt32(sVal);
		3780	sVal = ini.IniReadValue("waypoints", "WPDefSpeed");
		3781	if(sVal != "") _wpDefSpeed = Convert.ToInt32(sVal);
		3782	sVal = ini.IniReadValue("waypoints", "WPDefCBoxSpeed");
		3783	if(sVal != "") _wpDefCBoxSpeed = Convert.ToInt32(sVal);
		3784	sVal = ini.IniReadValue("waypoints", "WPDefClimb");
		3785	if(sVal != "") _wpDefClimb = Convert.ToInt32(sVal);
		3786	sVal = ini.IniReadValue("waypoints", "WPDefCBoxClimb");
		3787	if(sVal != "") _wpDefCBoxClimb = Convert.ToInt32(sVal);
		3788	sVal = ini.IniReadValue("waypoints", "WPDefRadius");
		3789	if(sVal != "") _wpDefRadius = Convert.ToInt32(sVal);
		3790	sVal = ini.IniReadValue("waypoints", "WPDefHoldtime");
		3791	if(sVal != "") _wpDefHoldtime = Convert.ToInt32(sVal);
		3792	sVal = ini.IniReadValue("waypoints", "WPDefAutotrig");
		3793	if(sVal != "") _wpDefAutotrig = Convert.ToInt32(sVal);
		3794	sVal = ini.IniReadValue("waypoints", "WPDefCamangle");
		3795	if(sVal != "") _wpDefCamangle = Convert.ToInt32(sVal);
		3796	sVal = ini.IniReadValue("waypoints", "WPDefCBoxCamangle");
		3797	if(sVal != "") _wpDefCBoxCamangle = Convert.ToInt32(sVal);
		3798	sVal = ini.IniReadValue("waypoints", "WPDefOut1");
		3799	if(sVal != "") _wpDefOut1 = Convert.ToInt32(sVal);
		3800	sVal = ini.IniReadValue("waypoints", "WPAddCopterHeight");
		3801	if (sVal != "") _wpAddCopterHeight = Convert.ToBoolean(sVal);
		3802	sVal = ini.IniReadValue("waypoints", "WPAddCopterHeading");
		3803	if (sVal != "") _wpAddCopterHeading = Convert.ToBoolean(sVal);
		3804
		3805	for (int i = 0; i < 12; i++)
		3806	{
		3807	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		3808	if (sVal != "")
		3809	serChan[i] = Convert.ToInt16(sVal);
		3810	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		3811	if (sVal != "")
		3812	serChanTitle[i] = sVal;
		3813	for (int y = 0; i < 4 && y < 3; y++)
		3814	{
		3815	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		3816	if (sVal != "")
		3817	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		3818	}
		3819	}
		3820
		3821	}
		3822	catch (Exception e)
		3823	{
		3824
		3825	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		3826	}
		3827
		3828	}
		3829
		3830	/// <summary>
		3831	/// save settings to ini-file
		3832	/// </summary>
		3833	void _writeIni()
		3834	{
		3835
		3836	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3837	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3838
		3839	try
		3840	{
		3841
		3842	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		3843	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		3844	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		3845	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
		3846
		3847	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		3848	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		3849	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		3850	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
		3851
		3852	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		3853	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
		3854
		3855	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		3856	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
		3857	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
		3858
		3859	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		3860	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		3861	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		3862	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		3863	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		3864	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		3865	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		3866	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		3867	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		3868	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
		3869
		3870	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		3871	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
		3872
		3873	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		3874	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		3875	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		3876	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		3877	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		3878	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
		3879
		3880	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		3881	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		3882	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		3883	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		3884	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		3885	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
		3886
		3887	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		3888
		3889	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		3890	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		3891	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		3892	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		3893	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		3894	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		3895	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		3896	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		3897	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		3898	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		3899	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
		3900
		3901	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		3902	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		3903	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		3904	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
		3905	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
		3906	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
		3907	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		3908	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
		3909	ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString());
		3910	ini.IniWriteValue("waypoints", "autoShowWPEdit", ((bool)checkBoxAutoShowWPEdit.IsChecked).ToString());
		3911	ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString());
		3912	ini.IniWriteValue("waypoints", "WPDefPrefix", _wpDefPrefix);
		3913	ini.IniWriteValue("waypoints", "WPDefAltitude", _wpDefAltitude.ToString());
		3914	ini.IniWriteValue("waypoints", "WPDefHeading", _wpDefHeading.ToString());
		3915	ini.IniWriteValue("waypoints", "WPDefCBoxHeading", _wpDefCBoxHeading.ToString());
		3916	ini.IniWriteValue("waypoints", "WPDefSpeed", _wpDefSpeed.ToString());
		3917	ini.IniWriteValue("waypoints", "WPDefCBoxSpeed", _wpDefCBoxSpeed.ToString());
		3918	ini.IniWriteValue("waypoints", "WPDefClimb", _wpDefClimb.ToString());
		3919	ini.IniWriteValue("waypoints", "WPDefCBoxClimb", _wpDefCBoxClimb.ToString());
		3920	ini.IniWriteValue("waypoints", "WPDefRadius", _wpDefRadius.ToString());
		3921	ini.IniWriteValue("waypoints", "WPDefHoldtime", _wpDefHoldtime.ToString());
		3922	ini.IniWriteValue("waypoints", "WPDefAutotrig", _wpDefAutotrig.ToString());
		3923	ini.IniWriteValue("waypoints", "WPDefCamangle", _wpDefCamangle.ToString());
		3924	ini.IniWriteValue("waypoints", "WPDefCBoxCamangle", _wpDefCBoxCamangle.ToString());
		3925	ini.IniWriteValue("waypoints", "WPDefOut1", _wpDefOut1.ToString());
		3926	ini.IniWriteValue("waypoints", "WPAddCopterHeight", _wpAddCopterHeight.ToString());
		3927	ini.IniWriteValue("waypoints", "WPAddCopterHeading", _wpAddCopterHeading.ToString());
		3928
		3929
		3930	for (int i = 0; i < 12; i++)
		3931	{
		3932	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		3933	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		3934	for (int y = 0; i < 4 && y < 3; y++)
		3935	{
		3936	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		3937	}
		3938	}
		3939
		3940	}
		3941	catch (Exception e)
		3942	{
		3943
		3944	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);
		3945	}
		3946	}
		3947
		3948	#region serial channels
		3949	/// <summary>
		3950	/// Sending the serial channel values
		3951	/// </summary>
		3952	void _sendSerialData()
		3953	{
		3954	byte[] serData = new byte[12];
		3955	for (int i = 0; i < 12; i++)
		3956	{
		3957	serData[i] = unchecked((byte)(serChan[i] - 127));
		3958	}
		3959	_sendControllerMessage('y', 1, serData);
		3960	}
		3961	/// <summary>
		3962	/// init the controls for displaying
		3963	/// and setting serial control channels
		3964	/// </summary>
		3965	void _initSerialCtrl()
		3966	{
		3967	SerChan1ScaleSlider.Value = serChan[0];
		3968	textBoxSerial1.Text = serChanTitle[0];
		3969	SerChan2ScaleSlider.Value = serChan[1];
		3970	textBoxSerial2.Text = serChanTitle[1];
		3971	SerChan3ScaleSlider.Value = serChan[2];
		3972	textBoxSerial3.Text = serChanTitle[2];
		3973	//SerChan4ScaleSlider.Value = serChan[3];
		3974	//textBoxSerial4.Text = serChanTitle[3];
		3975	//trckbarSerial5.Value = serChan[4];
		3976	//textBoxSerial5.Text = serChanTitle[4];
		3977	//trckbarSerial6.Value = serChan[5];
		3978	//textBoxSerial6.Text = serChanTitle[5];
		3979	//trckbarSerial7.Value = serChan[6];
		3980	//textBoxSerial7.Text = serChanTitle[6];
		3981	//trckbarSerial8.Value = serChan[7];
		3982	//textBoxSerial8.Text = serChanTitle[7];
		3983
		3984	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3985	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3986	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3987	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3988	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3989	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
		3990	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3991	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3992	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
		3993	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3994	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3995	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3996	}
		3997	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3998	{
		3999	if (!_init)
		4000	{
		4001	serChan[0] = (int)SerChan1ScaleSlider.Value;
		4002	_sendSerialData();
		4003	}
		4004	}
		4005	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		4006	{
		4007	if (!_init)
		4008	{
		4009	serChanTitle[0] = textBoxSerial1.Text;
		4010	}
		4011	}
		4012	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		4013	{
		4014	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		4015	{
		4016	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		4017	}
		4018	}
		4019	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		4020	{
		4021	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		4022	{
		4023	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		4024	}
		4025	}
		4026	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		4027	{
		4028	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		4029	{
		4030	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		4031	}
		4032	}
		4033	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		4034	{
		4035	if (textBoxSerial1_val1.Text.Length > 0)
		4036	{
		4037	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		4038	}
		4039	}
		4040	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		4041	{
		4042	SerChan1ScaleSlider.Value = 0;
		4043	}
		4044	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		4045	{
		4046	SerChan1ScaleSlider.Value = 127;
		4047	}
		4048	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		4049	{
		4050	SerChan1ScaleSlider.Value = 254;
		4051	}
		4052	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		4053	{
		4054	if (textBoxSerial1_val2.Text.Length > 0)
		4055	{
		4056	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		4057	}
		4058	}
		4059	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		4060	{
		4061	if (textBoxSerial1_val3.Text.Length > 0)
		4062	{
		4063	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		4064	}
		4065	}
		4066
		4067	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		4068	{
		4069	if (!_init)
		4070	{
		4071	serChan[1] = (int)SerChan2ScaleSlider.Value;
		4072	_sendSerialData();
		4073	}
		4074	}
		4075	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		4076	{
		4077	if (!_init)
		4078	{
		4079	serChanTitle[1] = textBoxSerial2.Text;
		4080	}
		4081	}
		4082	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		4083	{
		4084	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		4085	{
		4086	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		4087	}
		4088	}
		4089	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		4090	{
		4091	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		4092	{
		4093	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		4094	}
		4095	}
		4096	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		4097	{
		4098	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		4099	{
		4100	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		4101	}
		4102	}
		4103	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		4104	{
		4105	SerChan2ScaleSlider.Value = 0;
		4106	}
		4107	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		4108	{
		4109	SerChan2ScaleSlider.Value = 127;
		4110	}
		4111	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		4112	{
		4113	SerChan2ScaleSlider.Value = 254;
		4114	}
		4115	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		4116	{
		4117	if (textBoxSerial2_val1.Text.Length > 0)
		4118	{
		4119	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		4120	}
		4121	}
		4122	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		4123	{
		4124	if (textBoxSerial2_val2.Text.Length > 0)
		4125	{
		4126	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		4127	}
		4128	}
		4129	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		4130	{
		4131	if (textBoxSerial2_val3.Text.Length > 0)
		4132	{
		4133	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		4134	}
		4135	}
		4136
		4137	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		4138	{
		4139	if (!_init)
		4140	{
		4141	serChan[2] = (int)SerChan3ScaleSlider.Value;
		4142	_sendSerialData();
		4143	}
		4144	}
		4145	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		4146	{
		4147	if (!_init)
		4148	{
		4149	serChanTitle[2] = textBoxSerial3.Text;
		4150	}
		4151	}
		4152	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		4153	{
		4154	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		4155	{
		4156	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		4157	}
		4158	}
		4159	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		4160	{
		4161	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		4162	{
		4163	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		4164	}
		4165	}
		4166	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		4167	{
		4168	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		4169	{
		4170	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		4171	}
		4172	}
		4173	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		4174	{
		4175	SerChan3ScaleSlider.Value = 0;
		4176	}
		4177	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		4178	{
		4179	SerChan3ScaleSlider.Value = 127;
		4180	}
		4181	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		4182	{
		4183	SerChan3ScaleSlider.Value = 254;
		4184	}
		4185	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		4186	{
		4187	if (textBoxSerial3_val1.Text.Length > 0)
		4188	{
		4189	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		4190	}
		4191	}
		4192	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		4193	{
		4194	if (textBoxSerial3_val2.Text.Length > 0)
		4195	{
		4196	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		4197	}
		4198	}
		4199	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		4200	{
		4201	if (textBoxSerial3_val3.Text.Length > 0)
		4202	{
		4203	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		4204	}
		4205	}
		4206	/// <summary>
		4207	/// checks the input of a textbox
		4208	/// for valid data
		4209	/// in this case values 0-254
		4210	/// </summary>
		4211	/// <param name="sender"></param>
		4212	/// <param name="e"></param>
		4213	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		4214	{
		4215	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		4216	e.Handled = true;
		4217	else
		4218	if ("\b".IndexOf(e.Key.ToString()) < 0)
		4219	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		4220	e.Handled = true;
		4221	else
		4222	{
		4223	int i = -1;
		4224	switch (((TextBox)sender).Name)
		4225	{
		4226	case "textBoxSerial1_val1":
		4227	i = 0;
		4228	break;
		4229	case "textBoxSerial1_val2":
		4230	i = 1;
		4231	break;
		4232	case "textBoxSerial1_val3":
		4233	i = 2;
		4234	break;
		4235	case "textBoxSerial2_val1":
		4236	i = 3;
		4237	break;
		4238	case "textBoxSerial2_val2":
		4239	i = 4;
		4240	break;
		4241	case "textBoxSerial2_val3":
		4242	i = 5;
		4243	break;
		4244	case "textBoxSerial3_val1":
		4245	i = 6;
		4246	break;
		4247	case "textBoxSerial3_val2":
		4248	i = 7;
		4249	break;
		4250	case "textBoxSerial3_val3":
		4251	i = 8;
		4252	break;
		4253	case "textBoxSerial4_val1":
		4254	i = 9;
		4255	break;
		4256	case "textBoxSerial4_val2":
		4257	i = 10;
		4258	break;
		4259	case "textBoxSerial4_val3":
		4260	i = 11;
		4261	break;
		4262	}
		4263	if (i > -1)
		4264	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		4265	}
		4266	}
		4267
		4268	#endregion serial channels
		4269	#region WP
		4270	void _readWPLFile()
		4271	{
		4272	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4273	fd.Filter = "Waypointlists \| *.wpl";
		4274	fd.Multiselect = false;
		4275	if (fd.ShowDialog().Value)
		4276	{
		4277	string file = fd.SafeFileName;
		4278	IniFile ini = new IniFile(fd.SafeFileName);
		4279	ini.path = fd.FileName;
		4280
		4281	try
		4282	{
		4283	string sVal = ini.IniReadValue("General", "FileVersion");
		4284	if (sVal == "")
		4285	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4286	else
		4287	{
		4288	if (Convert.ToInt16(sVal) < 3)
		4289	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4290	else
		4291	{
		4292	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		4293	if (sVal == "")
		4294	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4295	else
		4296	{
		4297	int wpnum = Convert.ToInt16(sVal);
		4298	string wp;
		4299	int i;
		4300	NumberFormatInfo nfi = new NumberFormatInfo();
		4301	nfi.NumberDecimalSeparator = ".";
		4302	dtWaypoints.Rows.Clear();
		4303	_wpEdit = -1;_wpIndex = -1;
		4304	wpOffset.Clear();
		4305	_clearMapMarkers(typeof(CustomMarkerWP));
		4306	_clearMapMarkers(typeof(CustomMarkerWPActive));
		4307	wpList.Clear();
		4308	if (mRouteWP != null)
		4309	MainMap.Markers.Remove(mRouteWP);
		4310	//if (wpActiveMarker != null)
		4311	// MainMap.Markers.Remove(wpActiveMarker);
		4312	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4313
		4314	for (int k = 1; k <= wpnum; k++)
		4315	{
		4316	DataRow dr = dtWaypoints.NewRow();
		4317	dr.ItemArray = new object[16];
		4318	object[] o = new object[16];
		4319	i = 0;
		4320	wp = "Point" + k.ToString();
		4321	o[i] = k;
		4322	i++;
		4323	sVal = ini.IniReadValue(wp, "Type");
		4324	if (sVal != "")
		4325	o[i] = Convert.ToInt16(sVal) - 1;
		4326	i++;
		4327	sVal = ini.IniReadValue(wp, "Prefix");
		4328	if (sVal != "")
		4329	o[i] = sVal + k.ToString();
		4330	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
		4331	i++;
		4332	sVal = ini.IniReadValue(wp, "Latitude");
		4333	if (sVal != "")
		4334	o[i] = Convert.ToDouble(sVal, nfi);
		4335	i++;
		4336	sVal = ini.IniReadValue(wp, "Longitude");
		4337	if (sVal != "")
		4338	o[i] = Convert.ToDouble(sVal, nfi);
		4339	i++;
		4340	sVal = ini.IniReadValue(wp, "Altitude");
		4341	if (sVal != "")
		4342	o[i] = Convert.ToDouble(sVal, nfi);
		4343	i++;
		4344	sVal = ini.IniReadValue(wp, "Heading");
		4345	if (sVal != "")
		4346	o[i] = Convert.ToInt16(sVal);
		4347	i++;
		4348	sVal = ini.IniReadValue(wp, "Speed");
		4349	if (sVal != "")
		4350	o[i] = Convert.ToInt16(sVal);
		4351	i++;
		4352	sVal = ini.IniReadValue(wp, "ClimbRate");
		4353	if (sVal != "")
		4354	o[i] = Convert.ToInt16(sVal);
		4355	i++;
		4356	sVal = ini.IniReadValue(wp, "Radius");
		4357	if (sVal != "")
		4358	o[i] = Convert.ToInt16(sVal);
		4359	i++;
		4360	sVal = ini.IniReadValue(wp, "DelayTime");
		4361	if (sVal != "")
		4362	o[i] = Convert.ToInt16(sVal);
		4363	i++;
		4364	sVal = ini.IniReadValue(wp, "AutoTrigger");
		4365	if (sVal != "")
		4366	o[i] = Convert.ToInt16(sVal); ;
		4367	i++;
		4368	sVal = ini.IniReadValue(wp, "CAM-Nick");
		4369	if (sVal != "")
		4370	o[i] = Convert.ToInt16(sVal);
		4371	i++;
		4372	o[i] = 0;
		4373	i++;
		4374	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		4375	if (sVal != "")
		4376	o[i] = Convert.ToInt16(sVal);
		4377	i++;
		4378	o[i] = "New";
		4379
		4380	dr.ItemArray = o;
		4381	dtWaypoints.Rows.Add(dr);
		4382	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1], (int)o[0]-1);
		4383
		4384	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		4385	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		4386	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4387	Thread.Sleep(1);
		4388	}
		4389	Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]));
		4390	Dispatcher.Invoke(() => MainMap.Zoom = 19);
		4391	// Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null));
		4392	Dispatcher.Invoke(() => _routeUpdate());
		4393	}
		4394	}
		4395	}
		4396
		4397	}
		4398	catch (Exception e)
		4399	{
		4400
		4401	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		4402	}
		4403
		4404	}
		4405	}
		4406	void _saveWPLFile()
		4407	{
		4408	if (dtWaypoints.Rows.Count > 0)
		4409	{
		4410	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		4411	fd.Filter = "Waypointlists \| *.wpl";
		4412	fd.AddExtension = true;
		4413	if (fd.ShowDialog().Value)
		4414	{
		4415	string file = fd.SafeFileName;
		4416	IniFile ini = new IniFile(fd.SafeFileName);
		4417	ini.path = fd.FileName;
		4418	NumberFormatInfo nfi = new NumberFormatInfo();
		4419	nfi.NumberDecimalSeparator = ".";
		4420
		4421	try
		4422	{
		4423	ini.IniWriteValue("General", "FileVersion", "3");
		4424	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		4425	ini.IniWriteValue("General", "Mapfile", "");
		4426	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		4427	{
		4428	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		4429	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		4430	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		4431	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		4432	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		4433	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		4434	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		4435	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		4436	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		4437	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		4438	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		4439	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));
		4440	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		4441	}
		4442	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		4443	}
		4444	catch { }
		4445	}
		4446	}
		4447	else
		4448	MessageBox.Show("Nothing to save...");
		4449	}
		4450	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		4451	{
		4452	_saveWPLFile();
		4453	}
		4454	/// <summary>
		4455	/// set the selected color for the route
		4456	/// </summary>
		4457	/// <param name="color"></param>
		4458	/// <returns></returns>
		4459	Brush _getBrush(string color)
		4460	{
		4461	switch (color)
		4462	{
		4463	case "red":
		4464	return Brushes.Red;
		4465	case "green":
		4466	return Brushes.Lime;
		4467	case "blue":
		4468	return Brushes.Aqua;
		4469	case "pink":
		4470	return Brushes.Magenta;
		4471	case "yellow":
		4472	return Brushes.Yellow;
		4473	default:
		4474	return Brushes.Magenta;
		4475	}
		4476	}
		4477	void _routeUpdate()
		4478	{
		4479	Dispatcher.Invoke(() =>
		4480	{
		4481	if (comboBoxRouteColor.SelectionBoxItem != null)
		4482	{
		4483	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4484	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4485	}
		4486	else
		4487	mRouteWP = new GMapRoute(wpList, null);
		4488
		4489	if (_bShowWPRoute)
		4490	MainMap.Markers.Add(mRouteWP);
		4491	});
		4492
		4493	MapRoute mr = new MapRoute(wpList, "WPList");
		4494	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		4495	}
		4496	GMapMarker _createWP(PointLatLng p, string name, int type, int index)
		4497	{
		4498	GMapMarker wpMarker = new GMapMarker(p);
		4499	Dispatcher.Invoke(()=>
		4500	{
		4501	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		4502	wpMarker.Tag = name;
		4503	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		4504	wpMarker.ZIndex = 100;
		4505	_setMarkerColor(wpMarker, type);
		4506	MainMap.Markers.Add(wpMarker);
		4507	if (type == 0 \|\| type == 3)
		4508	{
		4509	wpList.Add(p);
		4510	wpOffset.Add(index);
		4511	}
		4512	((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos;
		4513	((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin;
		4514	((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured;
		4515	});
		4516	return wpMarker;
		4517	}
		4518	bool _WPisMouseCaptured = false;
		4519	void _WPMouseCaptured(bool isCaptured)
		4520	{
		4521	_WPisMouseCaptured = isCaptured;
		4522	MainMap.CanDragMap = !isCaptured;
		4523	}
		4524	void _updateDTWPPos(CustomMarkerWP wp)
		4525	{
		4526	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4527	int index = Convert.ToInt16(sIndex) -1;
		4528	GMapMarker p = ((GMapMarker)wp.DataContext);
		4529	if (p != null && index < dtWaypoints.Rows.Count)
		4530	{
		4531	//Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4532	if(wp.WPType == 0 \| wp.WPType == 3)
		4533	{
		4534	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4535	int wpListIndex = wpList.IndexOf(x);
		4536	if (wpListIndex > -1)
		4537	{
		4538	wpList[wpListIndex] = p.Position;
		4539	MainMap.Markers.Remove(mRouteWP);
		4540	_routeUpdate();
		4541	}
		4542	}
		4543	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4544	dtWaypoints.Rows[index][4] = p.Position.Lng;
		4545	}
		4546	}
		4547	void _updateDTWPPosFin(CustomMarkerWP wp)
		4548	{
		4549	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4550	int index = Convert.ToInt16(sIndex) -1;
		4551	GMapMarker p = ((GMapMarker)wp.DataContext);
		4552	if (p != null && index < dtWaypoints.Rows.Count)
		4553	{
		4554	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4555	dtWaypoints.Rows[index][4] = p.Position.Lng;
		4556	Dispatcher.Invoke(() =>
		4557	{
		4558	dgvWP.Items.Refresh();
		4559	dgvWP.SelectedIndex = index;
		4560	_dgvWPselectEditRow();
		4561	});
		4562
		4563	}
		4564
		4565	}
		4566	void _addWP(PointLatLng p,int type)
		4567	{
		4568	object[] o = new object[16];
		4569
		4570	o[0] = dgvWP.ItemContainerGenerator.Items.Count + 1;
		4571	o[1] = type;
		4572	// cbWPEditType.SelectedIndex = 0;
		4573	// tbWPEditPrefix.Text = "P";
		4574	o[2] = _wpDefPrefix + o[0].ToString();
		4575	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4576	o[3] = p.Lat;
		4577	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4578	o[4] = p.Lng;
		4579	// lblWPEditAlt.Content = ((double)iAnalogData[4] / (double)10).ToString();
		4580	o[5] = _wpAddCopterHeight ? iAnalogData[4].ToString(): _wpDefAltitude.ToString();
		4581
		4582	cbWPEditHeading.SelectedIndex = _wpDefCBoxHeading;
		4583	o[6] = _wpAddCopterHeading ? iAnalogData[10].ToString(): _wpDefHeading.ToString();
		4584	//lblWPEditHeading.Content = iAnalogData[10].ToString();
		4585	// tbWPEditHeading.IsReadOnly = false;
		4586
		4587	cbWPEditSpeed.SelectedIndex = _wpDefCBoxSpeed;
		4588	// tbWPEditSpeed.Text = "5.0";
		4589	// tbWPEditSpeed.IsReadOnly = false;
		4590	o[7] = _wpDefSpeed.ToString();
		4591
		4592	cbWPEditClimbrate.SelectedIndex = _wpDefCBoxClimb;
		4593	// lblWPEditClimbrate.Content = "5.0";
		4594	// tbWPEditClimbrate.IsReadOnly = false;
		4595	o[8] = _wpDefClimb.ToString();
		4596
		4597	// lblWPEditRadius.Content = "10";
		4598	o[9] = _wpDefRadius.ToString();
		4599	// lblWPEditHoldtime.Content = "5";
		4600	o[10] = _wpDefHoldtime.ToString();
		4601	// lblWPEditAutoTrigger.Content = "0";
		4602	o[11] = _wpDefAutotrig.ToString();
		4603	cbWPEditCamAngle.SelectedIndex = _wpDefCBoxCamangle;
		4604	// lblWPEditCamAngle.Content = "AUTO";
		4605	// tbWPEditCamAngle.IsReadOnly = true;
		4606	o[12] = _wpDefCamangle.ToString();
		4607
		4608	o[13] = "0";
		4609	// lblWPEditOut1.Content = "0";
		4610	o[14] = _wpDefOut1.ToString();
		4611	o[15] = "0";
		4612
		4613	dtWaypoints.Rows.Add(o);
		4614	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1], (int)o[0] - 1);
		4615	// Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4616	if (mRouteWP != null)
		4617	MainMap.Markers.Remove(mRouteWP);
		4618	_routeUpdate();
		4619	Dispatcher.Invoke(() =>
		4620	{
		4621	dgvWP.Items.Refresh();
		4622	dgvWP.UpdateLayout();
		4623	dgvWP.SelectedIndex = (int)o[0] - 1;
		4624	_dgvWPselectEditRow();
		4625	});
		4626	}
		4627	/// <summary>
		4628	/// find the index of of a wp from datatable in the waypointlist wpList
		4629	/// </summary>
		4630	/// <param name="dtIndex">the index of wp in datatable (0-based)</param>
		4631	/// <returns></returns>
		4632	int _getWPIndexfromList(int dtIndex)
		4633	{
		4634	if ((int)dtWaypoints.Rows[dtIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dtIndex][1] == 3)
		4635	{
		4636	GMapMarker wp = _findWPMarker((string)dtWaypoints.Rows[dtIndex][2]);
		4637	if (wp != null)
		4638	return wpList.IndexOf(wp.Position);
		4639	}
		4640	return -1;
		4641	}
		4642	/// <summary>
		4643	/// find the index of of a wp from datatable in the waypointlist wpList
		4644	/// </summary>
		4645	/// <param name="name">the name of the wp</param>
		4646	/// <returns></returns>
		4647	int _getWPIndexfromList(string name)
		4648	{
		4649	GMapMarker wp = _findWPMarker(name);
		4650	if ((wp != null && wp.Shape != null) && ((CustomMarkerWP)wp.Shape).WPType == 0 \| ((CustomMarkerWP)wp.Shape).WPType == 3)
		4651	return wpList.IndexOf(wp.Position);
		4652	else
		4653	return -1;
		4654	}
		4655	int _getWPListOffset(int index)
		4656	{
		4657	int k = 0;
		4658	for(int i = 0; i < wpOffset.Count;i++)
		4659	{
		4660	if (wpOffset[i] <= index)
		4661	k++;
		4662	}
		4663
		4664	return k;
		4665	}
		4666	void _setMarkerColor(GMapMarker wpMarker,int iType)
		4667	{
		4668	if(wpMarker != null)
		4669	Dispatcher.Invoke(() =>
		4670	{
		4671	switch (iType)
		4672	{
		4673	case 0:
		4674	if (comboBoxWPColor.SelectionBoxItem != null)
		4675	{
		4676	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		4677	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4678	}
		4679	else
		4680	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
		4681	break;
		4682	case 1:
		4683	if (comboBoxPOIColor.SelectionBoxItem != null)
		4684	{
		4685	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		4686	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4687	}
		4688	else
		4689	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
		4690	break;
		4691	case 2:
		4692	if (comboBoxFSColor.SelectionBoxItem != null)
		4693	{
		4694	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		4695	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4696	}
		4697	else
		4698	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4699	break;
		4700	case 3:
		4701	if (comboBoxLandingColor.SelectionBoxItem != null)
		4702	{
		4703	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		4704	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4705	}
		4706	else
		4707	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		4708	break;
		4709	default:
		4710	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4711	break;
		4712	}
		4713	});
		4714
		4715	}
		4716	void _MarkerColorSelection(object sender,int type)
		4717	{
		4718	Dispatcher.Invoke(() =>
		4719	{
		4720	if (((ComboBox)sender).SelectionBoxItem != null)
		4721	{
		4722	for (int k = 0; k < MainMap.Markers.Count; k++)
		4723	{
		4724	GMapMarker p = MainMap.Markers[k];
		4725	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
		4726	{
		4727	if (((CustomMarkerWP)p.Shape).WPType == type)
		4728	{
		4729	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
		4730	((CustomMarkerWP)(p.Shape)).setColor(s);
		4731	}
		4732	}
		4733	}
		4734	}
		4735	});
		4736	}
		4737	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
		4738	{
		4739	_MarkerColorSelection(sender, 0);
		4740	}
		4741	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		4742	{
		4743	_MarkerColorSelection(sender, 1);
		4744	}
		4745	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		4746	{
		4747	_MarkerColorSelection(sender, 2);
		4748	}
		4749	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		4750	{
		4751	_MarkerColorSelection(sender,3);
		4752	}
		4753	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		4754	{
		4755	Dispatcher.Invoke(() => {
		4756	if (comboBoxCopterColor.SelectionBoxItem != null)
		4757	{
		4758	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		4759	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
		4760	}
		4761	else
		4762	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
		4763	});
		4764	}
		4765	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		4766	{
		4767	Dispatcher.Invoke(() => {
		4768	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		4769	{
		4770	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		4771	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		4772	}
		4773	else
		4774	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		4775	});
		4776	}
		4777	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		4778	{
		4779	Dispatcher.Invoke(() =>
		4780	{
		4781	if (comboBoxRouteColor.SelectionBoxItem != null)
		4782	{
		4783	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4784	MainMap.Markers.Remove(mRouteWP);
		4785	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4786	if (_bShowWPRoute)
		4787	MainMap.Markers.Add(mRouteWP);
		4788	}
		4789	});
		4790	}
		4791	private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e)
		4792	{
		4793	Dispatcher.Invoke(() =>
		4794	{
		4795	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		4796	{
		4797	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		4798	{
		4799	if (cWPBound != null && cWPBound.Tag != null)
		4800	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		4801
		4802	createCircle(home.Position, dWPMaxRange);
		4803	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		4804	cWPBound.setColor(s);
		4805
		4806	}
		4807	}
		4808	});
		4809
		4810	}
		4811	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		4812	{
		4813	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		4814	if (_bShowWPRoute)
		4815	{
		4816	if (mRouteWP != null)
		4817	MainMap.Markers.Add(mRouteWP);
		4818	}
		4819	else
		4820	{
		4821	if (mRouteWP != null)
		4822	MainMap.Markers.Remove(mRouteWP);
		4823	}
		4824	}
		4825
		4826	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
		4827	{
		4828	_readWPLFile();
		4829	}
		4830	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		4831	{
		4832	_clearMapMarkers(typeof(CustomMarkerWP));
		4833	_clearMapMarkers(typeof(CustomMarkerWPActive));
		4834	wpList.Clear();
		4835	if (mRouteWP != null)
		4836	MainMap.Markers.Remove(mRouteWP);
		4837	//if (wpActiveMarker != null)
		4838	// MainMap.Markers.Remove(wpActiveMarker);
		4839	dtWaypoints.Rows.Clear();
		4840	_wpEdit = -1;
		4841	_wpIndex = -1;
		4842	wpOffset.Clear();
		4843	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4844	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		4845	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		4846	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4847	}
		4848	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		4849	{
		4850	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		4851	t.Start();
		4852	}
		4853	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
		4854	{
		4855	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4856	{
		4857	if (_wpCount > 0)
		4858	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
		4859	else
		4860	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
		4861
		4862	//int index = dgvWP.SelectedIndex;
		4863	//Thread t = new Thread(() => _sendWPList(index));
		4864	//t.Start();
		4865
		4866	Dispatcher.Invoke(() => {
		4867	DataGridRow row;
		4868	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4869	{
		4870	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4871	row.Background = new SolidColorBrush(Colors.Transparent);
		4872	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4873	row.BorderThickness = new Thickness(0);
		4874	dgvWP.UpdateLayout();
		4875	}
		4876	//_wpEdit = dgvWP.SelectedIndex;
		4877	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4878	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		4879	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		4880	//row.BorderThickness = new Thickness(2);
		4881	});
		4882	}
		4883	}
		4884	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		4885	{
		4886	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4887	{
		4888
		4889	object[] o = new object[16];
		4890	o[0] = dgvWP.SelectedIndex + 1;
		4891	o[1] = cbWPEditType.SelectedIndex;
		4892	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4893	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4894	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		4895	o[5] = lblWPEditAlt.Content;
		4896	switch (cbWPEditHeading.SelectedIndex)
		4897	{
		4898	case 0:
		4899	o[6] = "0";
		4900	break;
		4901	case 1:
		4902	o[6] = "-" + lblWPEditHeading.Content;
		4903	break;
		4904	case 2:
		4905	o[6] = lblWPEditHeading.Content;
		4906	break;
		4907	}
		4908	switch (cbWPEditSpeed.SelectedIndex)
		4909	{
		4910	case 0:
		4911	o[7] = "0";
		4912	break;
		4913	case 1:
		4914	o[7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		4915	break;
		4916	case 2:
		4917	o[7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString();
		4918	break;
		4919	}
		4920	switch (cbWPEditClimbrate.SelectedIndex)
		4921	{
		4922	case 0:
		4923	o[8] = "255";
		4924	break;
		4925	case 1:
		4926	o[8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		4927	break;
		4928	}
		4929	o[9] = lblWPEditRadius.Content;
		4930	o[10] = lblWPEditHoldtime.Content;
		4931	o[11] = lblWPEditAutoTrigger.Content;
		4932	switch (cbWPEditCamAngle.SelectedIndex)
		4933	{
		4934	case 0:
		4935	o[12] = "0";
		4936	break;
		4937	case 1:
		4938	o[12] = "255";
		4939	break;
		4940	case 2:
		4941	o[12] = lblWPEditCamAngle.Content;
		4942	break;
		4943	}
		4944	o[13] = 0;
		4945	o[14] = lblWPEditOut1.Content;
		4946	DataRow dr = dtWaypoints.NewRow();
		4947	dr.ItemArray = o;
		4948
		4949	if (_wpCount > 0)
		4950	_sendWayPoint(dr, -1, 'w', false);
		4951	else
		4952	_sendWayPoint(dr, 1, 'w', false);
		4953
		4954	if (_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		4955	_sendWayPoint(dtWaypoints.Rows[wpOffset[_wpIndex]], _wpIndex+1, 's', false);
		4956	}
		4957	}
		4958	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		4959	{
		4960	_Simulate = !_Simulate;
		4961	if (dtWaypoints.Rows.Count > 0)
		4962	{
		4963	DataRow dr = dtWaypoints.Rows[0];
		4964	dr[13] = _Simulate ? 3 : 0;
		4965	_sendWayPoint(dr, 0, 's', true);
		4966	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
		4967	}
		4968	}
		4969
		4970	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		4971	{
		4972	_dgvWPselectEditRow();
		4973	}
		4974	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		4975	{
		4976	}
		4977	void _dgvWPselectEditRow()
		4978	{
		4979	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4980	{
		4981	Dispatcher.Invoke(() => {
		4982	DataGridRow row;
		4983	dgvWP.Items.Refresh();
		4984	dgvWP.UpdateLayout();
		4985	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4986	{
		4987	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4988	if (row != null)
		4989	{
		4990	row.Background = new SolidColorBrush(Colors.Transparent);
		4991	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4992	row.BorderThickness = new Thickness(0);
		4993	}
		4994	}
		4995	_wpEdit = dgvWP.SelectedIndex;
		4996	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4997	if (row != null)
		4998	{
		4999	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		5000	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		5001	row.BorderThickness = new Thickness(2);
		5002	dgvWP.UpdateLayout();
		5003	}
		5004	if (GridWPEdit.Visibility == Visibility.Collapsed && _bAutoWPEdit)
		5005	GridWPEdit.Visibility = Visibility.Visible;
		5006
		5007	_setWPEditFields(_wpEdit);
		5008	});
		5009	}
		5010	}
		5011	void _setWPEditFields(int index)
		5012	{
		5013	if (GridWPEdit.Visibility == Visibility.Collapsed && _bAutoWPEdit)
		5014	GridWPEdit.Visibility = Visibility.Visible;
		5015
		5016	int iVal;
		5017	lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString();
		5018	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		5019	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		5020	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		5021	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		5022
		5023	SliderAlt.Value = Convert.ToInt16(dtWaypoints.Rows[index][5]);
		5024
		5025	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		5026	SliderHeading.Value = Math.Abs(iVal);
		5027	if (iVal == 0)
		5028	{
		5029	cbWPEditHeading.SelectedIndex = 0;
		5030	// lblWPEditHeading.Content = " - - -";
		5031	}
		5032	if (iVal > 0 && iVal < 360)
		5033	{
		5034	cbWPEditHeading.SelectedIndex = 2;
		5035	// lblWPEditHeading.Content = iVal.ToString();
		5036	}
		5037	if (iVal < 0)
		5038	{
		5039	cbWPEditHeading.SelectedIndex = 1;
		5040	// lblWPEditHeading.Content = (Math.Abs(iVal).ToString());
		5041	}
		5042	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		5043	SliderSpeed.Value = (double)iVal * 0.1; //------------!!!!!!!!
		5044	if (iVal == 0)
		5045	{
		5046	cbWPEditSpeed.SelectedIndex = 0;
		5047	// lblWPEditSpeed.Content = "MAX";
		5048	}
		5049	if (iVal > 0 && iVal < 248)
		5050	{
		5051	cbWPEditSpeed.SelectedIndex = 1;
		5052	// lblWPEditSpeed.Content = ((double)iVal * 0.1).ToString();
		5053	}
		5054	if (iVal > 247)
		5055	{
		5056	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		5057	// lblWPEditSpeed.Content = "";
		5058	}
		5059	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		5060	SliderClimbrate.Value = (System.Convert.ToDouble(iVal) / 10); //------------!!!!!!!!
		5061	if (iVal == 255)
		5062	{
		5063	cbWPEditClimbrate.SelectedIndex = 0;
		5064	// lblWPEditClimbrate.Content = "AUTO";
		5065	}
		5066	else
		5067	{
		5068	cbWPEditClimbrate.SelectedIndex = 1;
		5069	// lblWPEditClimbrate.Content = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		5070	}
		5071	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		5072	SliderRadius.Value = iVal;
		5073	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		5074	SliderHoldTime.Value = iVal;
		5075	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		5076	SliderAutoTrigger.Value = iVal;
		5077	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		5078	SliderCamAngle.Value = iVal;
		5079	if (iVal == 0)
		5080	{
		5081	cbWPEditCamAngle.SelectedIndex = 0;
		5082	// lblWPEditCamAngle.Content = " - - - ";
		5083	}
		5084	if (iVal < 0 \| iVal == 255)
		5085	{
		5086	cbWPEditCamAngle.SelectedIndex = 1;
		5087	// lblWPEditCamAngle.Content = "AUTO";
		5088	}
		5089	if (iVal > 0 & iVal < 255)
		5090	{
		5091	cbWPEditCamAngle.SelectedIndex = 2;
		5092	// lblWPEditCamAngle.Content = iVal.ToString();
		5093	}
		5094	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		5095	SliderOut1.Value = iVal;
		5096	}
		5097	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		5098	{
		5099	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5100	{
		5101	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
		5102	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		5103	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		5104	int i = wpList.IndexOf(pOld);
		5105	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		5106	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		5107	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		5108	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		5109	if (i > -1)
		5110	{
		5111	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		5112	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		5113	else
		5114	{
		5115	wpList.Remove(pOld);
		5116	wpOffset.Remove(wpOffset[i]);
		5117	}
		5118	}
		5119	else
		5120	{
		5121	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		5122	{
		5123	int found = 0;
		5124	for (int k = 0; k < dgvWP.SelectedIndex; k++)
		5125	{
		5126	if ((int)dtWaypoints.Rows[k][1] == 0 \|\| (int)dtWaypoints.Rows[k][1] == 3)
		5127	{
		5128	found++;
		5129	}
		5130	}
		5131	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		5132	wpOffset.Insert(found, dgvWP.SelectedIndex);
		5133	}
		5134	}
		5135	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = lblWPEditAlt.Content;
		5136	switch (cbWPEditHeading.SelectedIndex)
		5137	{
		5138	case 0:
		5139	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		5140	break;
		5141	case 1:
		5142	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + lblWPEditHeading.Content;
		5143	break;
		5144	case 2:
		5145	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = lblWPEditHeading.Content;
		5146	break;
		5147	}
		5148	switch (cbWPEditSpeed.SelectedIndex)
		5149	{
		5150	case 0:
		5151	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		5152	break;
		5153	case 1:
		5154	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		5155	break;
		5156	case 2:
		5157	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString();
		5158	break;
		5159	}
		5160	switch (cbWPEditClimbrate.SelectedIndex)
		5161	{
		5162	case 0:
		5163	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		5164	break;
		5165	case 1:
		5166	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.',',')) * 10).ToString("0");
		5167	break;
		5168	}
		5169	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = lblWPEditRadius.Content;
		5170	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = lblWPEditHoldtime.Content;
		5171	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = lblWPEditAutoTrigger.Content;
		5172	switch (cbWPEditCamAngle.SelectedIndex)
		5173	{
		5174	case 0:
		5175	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		5176	break;
		5177	case 1:
		5178	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		5179	break;
		5180	case 2:
		5181	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = lblWPEditCamAngle.Content;
		5182	break;
		5183	}
		5184	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = lblWPEditOut1.Content;
		5185
		5186	// _clearMapMarkers(typeof(CustomMarkerWP));
		5187	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		5188	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
		5189	_clearMapMarkers(typeof(CustomMarkerWPActive));
		5190	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
		5191	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
		5192	// wpList.Clear();
		5193	if (mRouteWP != null)
		5194	MainMap.Markers.Remove(mRouteWP);
		5195
		5196	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		5197	//{
		5198	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		5199	//}
		5200	_routeUpdate();
		5201	dgvWP.Items.Refresh();
		5202
		5203	}
		5204
		5205	}
		5206	private void btnEditWPAdd_Click(object sender, RoutedEventArgs e)
		5207	{
		5208	DataRow dr = dtWaypoints.NewRow();
		5209	dr[0] = dtWaypoints.Rows.Count+1;
		5210	dr[1] = cbWPEditType.SelectedIndex;
		5211	dr[2] = tbWPEditPrefix.Text + dr[0].ToString();
		5212	dr[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')) + 0.00000001;
		5213	dr[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')) + 0.00000001;
		5214	dr[5] = lblWPEditAlt.Content;
		5215	switch (cbWPEditHeading.SelectedIndex)
		5216	{
		5217	case 0:
		5218	dr[6] = "0";
		5219	break;
		5220	case 1:
		5221	dr[6] = "-" + lblWPEditHeading.Content;
		5222	break;
		5223	case 2:
		5224	dr[6] = lblWPEditHeading.Content;
		5225	break;
		5226	}
		5227	switch (cbWPEditSpeed.SelectedIndex)
		5228	{
		5229	case 0:
		5230	dr[7] = "0";
		5231	break;
		5232	case 1:
		5233	dr[7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		5234	break;
		5235	case 2:
		5236	dr[7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString();
		5237	break;
		5238	}
		5239	switch (cbWPEditClimbrate.SelectedIndex)
		5240	{
		5241	case 0:
		5242	dr[8] = "255";
		5243	break;
		5244	case 1:
		5245	dr[8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		5246	break;
		5247	}
		5248	dr[9] = lblWPEditRadius.Content;
		5249	dr[10] = lblWPEditHoldtime.Content;
		5250	dr[11] = lblWPEditAutoTrigger.Content;
		5251	switch (cbWPEditCamAngle.SelectedIndex)
		5252	{
		5253	case 0:
		5254	dr[12] = "0";
		5255	break;
		5256	case 1:
		5257	dr[12] = "255";
		5258	break;
		5259	case 2:
		5260	dr[12] = lblWPEditCamAngle.Content;
		5261	break;
		5262	}
		5263	dr[13] = "";
		5264	dr[14] = lblWPEditOut1.Content;
		5265	dr[15] = "";
		5266	_createWP(new PointLatLng((double)dr[3], (double)dr[4]),(string) dr[2], (int)dr[1], (int)dr[0]);
		5267	if (mRouteWP != null)
		5268	MainMap.Markers.Remove(mRouteWP);
		5269	_routeUpdate();
		5270	dtWaypoints.Rows.Add(dr);
		5271	dgvWP.Items.Refresh();
		5272	}
		5273	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		5274	{
		5275	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5276	{
		5277	int index = dgvWP.SelectedIndex;
		5278	Dispatcher.Invoke(() => {
		5279	DataGridRow row;
		5280	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		5281	{
		5282	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		5283	row.Background = new SolidColorBrush(Colors.Transparent);
		5284	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		5285	row.BorderThickness = new Thickness(0);
		5286	}
		5287	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
		5288	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		5289	else
		5290	wpOffset.Remove((int)dtWaypoints.Rows[index][0] + 1);
		5291	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
		5292	if (wpActiveMarker != null)
		5293	MainMap.Markers.Remove(wpActiveMarker);
		5294	dtWaypoints.Rows[index].Delete();
		5295	_wpIndex = -1;
		5296	_wpEdit = -1;
		5297	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		5298	{
		5299	dtWaypoints.Rows[i][0] = i + 1;
		5300	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		5301	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		5302	_renameWPMarker(s1, s2);
		5303	dtWaypoints.Rows[i][2] = s2;
		5304	}
		5305	lblWPCount.Content = dtWaypoints.Rows.Count;
		5306	if (mRouteWP != null)
		5307	MainMap.Markers.Remove(mRouteWP);
		5308	_routeUpdate();
		5309
		5310	dgvWP.UpdateLayout();
		5311	});
		5312	}
		5313	}
		5314	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		5315	{
		5316	_wpWEdit(sender);
		5317	}
		5318	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		5319	{
		5320	_wpWEdit(sender);
		5321	}
		5322	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		5323	{
		5324	_wpWEdit(sender);
		5325	}
		5326	void _wpWEdit(object sender)
		5327	{
		5328	// if (!((TextBox)sender).IsReadOnly)
		5329	{
		5330	KeyPad.Keypad k = new KeyPad.Keypad(this);
		5331
		5332	switch (((TextBox)sender).Name)
		5333	{
		5334	case "tbWPEditLat":
		5335	k.Title = "Latitude";
		5336	k.LENGTH = 17;
		5337	k.MAX = 359.9;
		5338	break;
		5339	case "tbWPEditLon":
		5340	k.Title = "Longitude";
		5341	k.LENGTH = 17;
		5342	k.MAX = 359.9;
		5343	break;
		5344	case "tbWPEditAlt":
		5345	k.Title = "Altitude";
		5346	k.LENGTH = 3;
		5347	k.MAX = 254;
		5348	k.disableDecimal();
		5349	break;
		5350	case "tbWPEditHeading":
		5351	k.Title = "Heading";
		5352	k.LENGTH = 3;
		5353	k.MAX = 359;
		5354	k.MIN = 1;
		5355	k.disableDecimal();
		5356	break;
		5357	case "tbWPEditSpeed":
		5358	k.Title = "Speed";
		5359	k.LENGTH = 4;
		5360	k.MAX = 24.7;
		5361	k.MIN = 0.1;
		5362	break;
		5363	case "tbWPEditClimbrate":
		5364	k.Title = "Climbrate";
		5365	k.LENGTH = 4;
		5366	k.MAX = 25.4;
		5367	k.MIN = 0.1;
		5368	break;
		5369	case "tbWPEditRadius":
		5370	k.Title = "Radius";
		5371	k.LENGTH = 3;
		5372	k.MAX = 254;
		5373	k.disableDecimal();
		5374	break;
		5375	case "tbWPEditHoldtime":
		5376	k.Title = "Holdtime";
		5377	k.LENGTH = 3;
		5378	k.MAX = 254;
		5379	break;
		5380	case "tbWPEditAutoTrigger":
		5381	k.Title = "Autotrigger";
		5382	k.LENGTH = 3;
		5383	k.MAX = 254;
		5384	k.disableDecimal();
		5385	break;
		5386	case "tbWPEditCamAngle":
		5387	k.Title = "Camera angle";
		5388	k.LENGTH = 3;
		5389	k.MAX = 254;
		5390	k.MIN = 1;
		5391	k.disableDecimal();
		5392	break;
		5393	case "tbWPEditOut1":
		5394	k.Title = "OUT1 timer interval";
		5395	k.LENGTH = 3;
		5396	k.MAX = 254;
		5397	k.disableDecimal();
		5398	break;
		5399	}
		5400	k.Result = ((TextBox)sender).Text;
		5401	if (k.ShowDialog() == true && k.Result.Length > 0)
		5402	((TextBox)sender).Text = k.Result;
		5403	}
		5404
		5405	}
		5406	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
		5407	{
		5408	_addWP(new PointLatLng(copter.Position.Lat, copter.Position.Lng),0);
		5409	}
		5410	private void checkBoxWPAddUseCopterHeading_Click(object sender, RoutedEventArgs e)
		5411	{
		5412	_wpAddCopterHeading = (bool)checkBoxWPAddUseCopterHeading.IsChecked;
		5413	}
		5414	private void checkBoxWPAddUseCopterHeight_Click(object sender, RoutedEventArgs e)
		5415	{
		5416	_wpAddCopterHeight = (bool)checkBoxWPAddUseCopterHeight.IsChecked;
		5417	}
		5418	private void btnSaveDefault_Click(object sender, RoutedEventArgs e)
		5419	{
		5420	_wpDefPrefix = tbWPEditPrefix.Text;
		5421	_wpDefAltitude = Convert.ToInt16(lblWPEditAlt.Content);
		5422	switch (cbWPEditHeading.SelectedIndex)
		5423	{
		5424	case 0:
		5425	_wpDefHeading = 0;
		5426	break;
		5427	case 1:
		5428	_wpDefHeading = -Convert.ToInt16(lblWPEditHeading.Content);
		5429	break;
		5430	case 2:
		5431	_wpDefHeading = Convert.ToInt16(lblWPEditHeading.Content);
		5432	break;
		5433	}
		5434	_wpDefCBoxHeading = cbWPEditHeading.SelectedIndex;
		5435	switch (cbWPEditSpeed.SelectedIndex)
		5436	{
		5437	case 0:
		5438	_wpDefSpeed = 0;
		5439	break;
		5440	case 1:
		5441	_wpDefSpeed = (int)(System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10);
		5442	break;
		5443	case 2:
		5444	_wpDefSpeed = 256 - Convert.ToInt16(lblWPEditSpeed.Content);
		5445	break;
		5446	}
		5447	_wpDefCBoxSpeed = cbWPEditSpeed.SelectedIndex;
		5448	switch (cbWPEditClimbrate.SelectedIndex)
		5449	{
		5450	case 0:
		5451	_wpDefClimb = 255;
		5452	break;
		5453	case 1:
		5454	_wpDefClimb = (int)(System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10);
		5455	break;
		5456	}
		5457	_wpDefCBoxClimb = cbWPEditClimbrate.SelectedIndex;
		5458	_wpDefRadius = Convert.ToInt16(lblWPEditRadius.Content);
		5459	_wpDefHoldtime = Convert.ToInt16(lblWPEditHoldtime.Content);
		5460	_wpDefAutotrig = Convert.ToInt16(lblWPEditAutoTrigger.Content);
		5461	switch (cbWPEditCamAngle.SelectedIndex)
		5462	{
		5463	case 0:
		5464	_wpDefCamangle = 0;
		5465	break;
		5466	case 1:
		5467	_wpDefCamangle = 255;
		5468	break;
		5469	case 2:
		5470	_wpDefCamangle = Convert.ToInt16(lblWPEditCamAngle.Content);
		5471	break;
		5472	}
		5473	_wpDefCBoxCamangle = cbWPEditCamAngle.SelectedIndex;
		5474	_wpDefOut1 = Convert.ToInt16(lblWPEditOut1.Content);
		5475	}
		5476
		5477	private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e)
		5478	{
		5479	if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5480	{
		5481	int index = dgvWP.SelectedIndex;
		5482	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)
		5483	{
		5484	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5485	int wpListIndex = wpList.IndexOf(x);
		5486	if (wpListIndex > 0)
		5487	{
		5488	wpList.RemoveAt(wpListIndex);
		5489	wpList.Insert(wpListIndex - 1, x);
		5490	MainMap.Markers.Remove(mRouteWP);
		5491	_routeUpdate();
		5492	}
		5493	}
		5494	DataRow dr = dtWaypoints.Rows[index];
		5495	DataRow newRow = dtWaypoints.NewRow();
		5496	newRow.ItemArray = dr.ItemArray;
		5497	dtWaypoints.Rows.Remove(dr);
		5498	dtWaypoints.Rows.InsertAt(newRow, index - 1);
		5499	dtWaypoints.Rows[index][0] = 100;
		5500	dtWaypoints.Rows[index - 1][0] = index;
		5501	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString());
		5502	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5503	dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString();
		5504	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString();
		5505	dtWaypoints.Rows[index][0] = index + 1;
		5506	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5507	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5508	dgvWP.Items.Refresh();
		5509	dgvWP.SelectedIndex = index - 1;
		5510	_dgvWPselectEditRow();
		5511	if (wpOffset.Contains(index)) // calculating offset for wpList (index is 0-based - offset starts with index 1)
		5512	{
		5513	int iOffset = wpOffset.IndexOf(index);
		5514	if (iOffset > 0) // if not first element
		5515	{
		5516	if (wpOffset[iOffset - 1] < index-1) //if previous element is not immediately before actual offset
		5517	wpOffset[iOffset] = index-1; //then decrease offset value by one
		5518	}
		5519	else
		5520	wpOffset[iOffset] = index-1; //if first element, decrease offset by one
		5521	}
		5522	else //selected line is POI
		5523	{
		5524	if (wpOffset.Contains(index - 1)) // if next point is WP
		5525	{
		5526	int iOffset = wpOffset.IndexOf(index - 1);
		5527	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5528	}
		5529	}
		5530
		5531	}
		5532	}
		5533	private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e)
		5534	{
		5535	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1)
		5536	{
		5537	int index = dgvWP.SelectedIndex;
		5538	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)
		5539	{
		5540	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5541	int wpListIndex = wpList.IndexOf(x);
		5542	if (wpListIndex > -1)
		5543	{
		5544	wpList.RemoveAt(wpListIndex);
		5545	if (wpList.Count > wpListIndex)
		5546	wpList.Insert(wpListIndex + 1, x);
		5547	else
		5548	wpList.Add(x);
		5549	MainMap.Markers.Remove(mRouteWP);
		5550	_routeUpdate();
		5551	}
		5552	}
		5553	DataRow dr = dtWaypoints.Rows[index];
		5554	DataRow newRow = dtWaypoints.NewRow();
		5555	newRow.ItemArray = dr.ItemArray;
		5556	dtWaypoints.Rows.Remove(dr);
		5557	dtWaypoints.Rows.InsertAt(newRow, index + 1);
		5558	dtWaypoints.Rows[index][0] = 100;
		5559	dtWaypoints.Rows[index + 1][0] = index + 2;
		5560	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString());
		5561	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5562	dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString();
		5563	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString();
		5564	dtWaypoints.Rows[index][0] = index + 1;
		5565	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5566	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5567	dgvWP.Items.Refresh();
		5568	dgvWP.SelectedIndex = index + 1;
		5569	_dgvWPselectEditRow();
		5570	if(wpOffset.Contains(index)) // If selected line is WP
		5571	{
		5572	int iOffset = wpOffset.IndexOf(index);
		5573	if(iOffset < wpOffset.Count -1) // if not last element
		5574	{
		5575	if (wpOffset[iOffset + 1] > index + 1) //if next element is not immediately after actual offset
		5576	wpOffset[iOffset] = index + 1; //then increase offset value by one
		5577	}
		5578	else
		5579	wpOffset[iOffset] = index + 1; //if last element increase offset by one
		5580	}
		5581	else //selected line is POI
		5582	{
		5583	if (wpOffset.Contains(index + 1)) // if next point is WP
		5584	{
		5585	int iOffset = wpOffset.IndexOf(index + 1);
		5586	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5587	}
		5588	}
		5589	}
		5590
		5591	}
		5592
		5593	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		5594	{
		5595	if (WPStatus.Visibility == Visibility.Visible)
		5596	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5597	else
		5598	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5599	}
		5600	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		5601	{
		5602	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		5603	{
		5604	if (cWPBound != null && cWPBound.Tag != null)
		5605	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		5606
		5607	createCircle(home.Position, dWPMaxRange);
		5608	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		5609	{
		5610	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		5611	cWPBound.setColor(s);
		5612	}
		5613	}
		5614
		5615	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		5616	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		5617	}
		5618	private void checkBoxAutoShowWPEdit_Click(object sender, RoutedEventArgs e)
		5619	{
		5620	_bAutoWPEdit = (bool)checkBoxAutoShowWPEdit.IsChecked;
		5621	}
		5622
		5623	#endregion WP
		5624	#region GPX
		5625	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		5626	{
		5627	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		5628	}
		5629	void _gpxAdd(double lat,double lon, int elevation)
		5630	{
		5631	DataRow dr = dtGPX.NewRow();
		5632	dr[0] = dtGPX.Rows.Count - 1;
		5633	dr[1] = lat;
		5634	dr[2] = lon;
		5635	dr[3] = elevation;
		5636	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		5637	dtGPX.Rows.Add(dr);
		5638	}
		5639	void _saveGPXLog()
		5640	{
		5641	if (!Directory.Exists("GPXLog"))
		5642	Directory.CreateDirectory("GPXLog");
		5643	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		5644	XmlTextWriter myXmlTextWriter = null;
		5645	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		5646	NumberFormatInfo nfi = new NumberFormatInfo();
		5647	nfi.NumberDecimalSeparator = ".";
		5648
		5649	try
		5650	{
		5651	myXmlTextWriter.Formatting = Formatting.Indented;
		5652
		5653	myXmlTextWriter.WriteStartDocument();
		5654
		5655	myXmlTextWriter.WriteStartElement("gpx");
		5656
		5657	myXmlTextWriter.WriteAttributeString("version", "1.0");
		5658	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		5659	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		5660	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		5661	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		5662
		5663	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		5664
		5665	myXmlTextWriter.WriteStartElement("trk");
		5666	myXmlTextWriter.WriteStartElement("trkseg");
		5667	for(int i = 0; i< dtGPX.Rows.Count;i++)
		5668	{
		5669	myXmlTextWriter.WriteStartElement("trkpt");
		5670	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		5671	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		5672	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		5673	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		5674	myXmlTextWriter.WriteEndElement();
		5675	}
		5676	myXmlTextWriter.WriteEndElement();
		5677	myXmlTextWriter.WriteEndElement();
		5678	myXmlTextWriter.WriteEndElement();
		5679	}
		5680	catch (Exception e)
		5681	{
		5682	Console.WriteLine("Exception: {0}", e.ToString());
		5683	}
		5684	finally
		5685	{
		5686	if (myXmlTextWriter != null)
		5687	{
		5688	myXmlTextWriter.Close();
		5689	}
		5690	}
		5691	}
		5692
		5693	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		5694	{
		5695	_loadGPXLog();
		5696	}
		5697	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		5698	{
		5699	_clearMapMarkers(typeof(GMapRoute));
		5700	}
		5701	void _loadGPXLog()
		5702	{
		5703
		5704	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		5705	fd.Filter = "GPX-Logfile \| *.gpx";
		5706	fd.Multiselect = false;
		5707	if (fd.ShowDialog().Value)
		5708	{
		5709	string file = fd.FileName;
		5710	try
		5711	{
		5712	XDocument gpxDoc = XDocument.Load(file);
		5713	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		5714
		5715	NumberFormatInfo nfi = new NumberFormatInfo();
		5716	nfi.NumberDecimalSeparator = ".";
		5717
		5718	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		5719	select new
		5720	{
		5721	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		5722	Segs = (
		5723	from trackpoint in track.Descendants(gpx + "trkpt")
		5724	select new
		5725	{
		5726	Latitude = trackpoint.Attribute("lat").Value,
		5727	Longitude = trackpoint.Attribute("lon").Value,
		5728	Elevation = trackpoint.Element(gpx + "ele") != null ?
		5729	trackpoint.Element(gpx + "ele").Value : null,
		5730	Time = trackpoint.Element(gpx + "time") != null ?
		5731	trackpoint.Element(gpx + "time").Value : null
		5732	}
		5733	)
		5734	};
		5735
		5736	List<PointLatLng> wpl = new List<PointLatLng>();
		5737	foreach(var trk in tracks)
		5738	{
		5739	foreach(var trkseg in trk.Segs)
		5740	{
		5741	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		5742	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		5743	}
		5744
		5745	}
		5746	if(wpl.Count() > 0)
		5747	{
		5748	_clearMapMarkers(typeof(GMapRoute));
		5749	MapRoute mr = new MapRoute(wpl, "flying");
		5750	Dispatcher.Invoke(() =>
		5751	{
		5752	GMapRoute mRoute;
		5753	if (comboBoxRouteColor.SelectionBoxItem != null)
		5754	{
		5755	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		5756	mRoute = new GMapRoute(wpl, _getBrush(s));
		5757	}
		5758	else
		5759	mRoute = new GMapRoute(wpl, null);
		5760
		5761	MainMap.Markers.Add(mRoute);
		5762	});
		5763	}
		5764
		5765	}
		5766	catch (Exception e)
		5767	{
		5768	Console.WriteLine("Exception: {0}", e.ToString());
		5769	}
		5770	}
		5771	}
		5772	#endregion GPX
		5773	#endregion functions
		5774	}
		5775
		5776	/// <summary>
		5777	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		5778	/// </summary>
		5779	public class waypointsConverter : IValueConverter
		5780	{
		5781	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		5782	{
		5783	if (value != null)
		5784	{
		5785	switch ((string)parameter)
		5786	{
		5787	case "Latitude":
		5788	return value.ToString() + " °";
		5789	case "Longitude":
		5790	return value.ToString() + " °";
		5791	case "Radius":
		5792	return value.ToString() + " m";
		5793	case "Altitude":
		5794	return value.ToString() + " m";
		5795	case "ClimbRate":
		5796	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		5797	case "DelayTime":
		5798	return value.ToString() + " s";
		5799	case "Heading":
		5800	return Waypoints.Heading(System.Convert.ToInt32(value));
		5801	case "Speed":
		5802	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		5803	case "CamAngle":
		5804	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		5805	case "Type":
		5806	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		5807	case "AutoTrigger":
		5808	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		5809	case "Status":
		5810	return (Waypoints.status)(System.Convert.ToInt16(value));
		5811	}
		5812
		5813	return value.ToString();
		5814	}
		5815	else return value;
		5816	}
		5817
		5818	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		5819	{
		5820	throw new NotImplementedException();
		5821	}
		5822	}
		5823	public class IniFile
		5824	{
		5825	public string path;
		5826
		5827	[DllImport("kernel32")]
		5828	private static extern long WritePrivateProfileString(string section,
		5829	string key, string val, string filePath);
		5830
		5831	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		5832	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		5833	uint nSize, string lpFileName);
		5834
		5835	[DllImport("kernel32")]
		5836	private static extern int GetPrivateProfileString(string section,
		5837	string key, string def, StringBuilder retVal,
		5838	int size, string filePath);
		5839
		5840	public IniFile(string INIPath)
		5841	{
		5842	path = INIPath;
		5843	}
		5844
		5845	public void IniWriteValue(string Section, string Key, string Value)
		5846	{
		5847	WritePrivateProfileString(Section, Key, Value, this.path);
		5848	}
		5849
		5850	public string IniReadValue(string Section, string Key)
		5851	{
		5852	StringBuilder temp = new StringBuilder(255);
		5853	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		5854	return temp.ToString();
		5855	}
		5856	//Ini_sections auslesen in String-Array
		5857	public string[] IniSectionNames()
		5858	{
		5859
		5860	// uint MAX_BUFFER = 32767;
		5861	uint MAX_BUFFER = 8388608;
		5862	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		5863	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		5864	if (bytesReturned == 0)
		5865	{
		5866	Marshal.FreeCoTaskMem(pReturnedString);
		5867	return null;
		5868	}
		5869	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		5870	Marshal.FreeCoTaskMem(pReturnedString);
		5871	//use of Substring below removes terminating null for split
		5872	return local.Substring(0, local.Length - 1).Split('\0');
		5873
		5874
		5875	}
		5876	}
		5877	/// <summary>
		5878	/// Selected Win AI Function Calls
		5879	/// </summary>
		5880	public class WinApi
		5881	{
		5882	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		5883	public static extern int GetSystemMetrics(int which);
		5884	[DllImport("user32.dll")]
		5885	public static extern void
		5886	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		5887	int X, int Y, int width, int height, uint flags);
		5888
		5889	private const int SM_CXSCREEN = 0;
		5890	private const int SM_CYSCREEN = 1;
		5891	private static IntPtr HWND_TOP = IntPtr.Zero;
		5892	private const int SWP_SHOWWINDOW = 64; // 0x0040
		5893
		5894	public static int ScreenX
		5895	{
		5896	get { return GetSystemMetrics(SM_CXSCREEN); }
		5897	}
		5898
		5899	public static int ScreenY
		5900	{
		5901	get { return GetSystemMetrics(SM_CYSCREEN); }
		5902	}
		5903
		5904	public static void SetWinFullScreen(IntPtr hwnd)
		5905	{
		5906	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		5907	}
		5908	}
		5909	/// <summary>
		5910	/// Class used to preserve / restore state of the window
		5911	/// </summary>
		5912	public class WinState
		5913	{
		5914	private WindowState winState;
		5915	private WindowStyle brdStyle;
		5916	private bool topMost;
		5917	private Rect restore;
		5918	private bool IsMaximized = false;
		5919
		5920	public bool isMaximized
		5921	{
		5922	get { return IsMaximized; }
		5923	}
		5924	public void Maximize(Window targetForm)
		5925	{
		5926	if (!IsMaximized)
		5927	{
		5928	IsMaximized = true;
		5929	Save(targetForm);
		5930	targetForm.WindowState = WindowState.Maximized;
		5931	targetForm.WindowStyle = WindowStyle.None;
		5932	targetForm.Topmost = true;
		5933	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		5934	}
		5935	}
		5936
		5937	public void Save(Window targetForm)
		5938	{
		5939	winState = targetForm.WindowState;
		5940	brdStyle = targetForm.WindowStyle;
		5941	topMost = targetForm.Topmost;
		5942	restore = targetForm.RestoreBounds;
		5943	}
		5944	public void Restore(Window targetForm)
		5945	{
		5946	targetForm.WindowState = winState;
		5947	targetForm.WindowStyle = brdStyle;
		5948	targetForm.Topmost = topMost;
		5949
		5950	targetForm.Left = restore.Left;
		5951	targetForm.Top = restore.Top;
		5952	targetForm.Height = restore.Height;
		5953	targetForm.Width = restore.Width;
		5954	IsMaximized = false;
		5955	}
		5956	}
		5957
		5958	public static class BitmapConversion
		5959	{
		5960	public static System.Drawing.Bitmap ToWinFormsBitmap(this BitmapSource bitmapsource)
		5961	{
		5962	using (MemoryStream stream = new MemoryStream())
		5963	{
		5964	BitmapEncoder enc = new BmpBitmapEncoder();
		5965	enc.Frames.Add(BitmapFrame.Create(bitmapsource));
		5966	enc.Save(stream);
		5967	using (var tempBitmap = new System.Drawing.Bitmap(stream))
		5968	{
		5969	// According to MSDN, one "must keep the stream open for the lifetime of the Bitmap."
		5970	// So we return a copy of the new bitmap, allowing us to dispose both the bitmap and the stream.
		5971	return new System.Drawing.Bitmap(tempBitmap);
		5972	}
		5973	}
		5974	}
		5975	public static BitmapSource ToWpfBitmap(this System.Drawing.Bitmap bitmap)
		5976	{
		5977	using (MemoryStream stream = new MemoryStream())
		5978	{
		5979	bitmap.Save(stream, System.Drawing.Imaging.ImageFormat.Bmp); stream.Position = 0;
		5980	BitmapImage result = new BitmapImage();
		5981	result.BeginInit();
		5982	// According to MSDN, "The default OnDemand cache option retains access to the stream until the image is needed."
		5983	// Force the bitmap to load right now so we can dispose the stream.
		5984	result.CacheOption = BitmapCacheOption.OnLoad;
		5985	result.StreamSource = stream;
		5986	result.EndInit();
		5987	result.Freeze();
		5988	return result;
		5989	}
		5990	}
		5991	}
		5992
		5993	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2461 - Rev