WebSVN - Projects - Diff - Rev 2265 and 2274 - /MKLiveView/Source/MainForm.cs


﻿///============================================================================
/// MKLiveView 
/// Copyright © 2016 Steph
/// 
///This file is part of MKLiveView.
///
///MKLiveView is free software: you can redistribute it and/or modify
///it under the terms of the GNU General Public License as published by
///the Free Software Foundation, either version 3 of the License, or
///(at your option) any later version.
///
///MKLiveView is distributed in the hope that it will be useful,
///but WITHOUT ANY WARRANTY; without even the implied warranty of
///MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
///GNU General Public License for more details.
///
///You should have received a copy of the GNU General Public License
///along with cssRcon.  If not, see <http://www.gnu.org/licenses/>.
///
///============================================================================
///Credits:
///Chootair (http://www.codeproject.com/script/Membership/View.aspx?mid=3941737)
///for his "C# Avionic Instrument Controls" (http://www.codeproject.com/Articles/27411/C-Avionic-Instrument-Controls)
///I used some of his code for displaying the compass 
///
///Tom Pyke (http://tom.pycke.be)
///for his "Artifical horizon" (http://tom.pycke.be/mav/100/artificial-horizon)
///Great job!
///
/// and last but most of all to JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology
/// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747)
/// and the sourcecode (http://hdl.lib.byu.edu/1877/2748)
/// By his work I finally managed to get the communication with the Mikrokopter controllers to run
/// Some of his code was used in this programm like the SimpelSerialPort class (with some changes)
/// and the FilghtControllerMessage class
/// 
///============================================================================
/// DISCLAIMER
/// ===========
/// 
/// I created this software with my best knowledge and belief.
/// 
/// IN NO EVENT, UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING, 
/// SHALL I, OR ANY PERSON BE LIABLE FOR ANY LOSS, EXPENSE OR DAMAGE, 
/// OF ANY TYPE OR NATURE ARISING OUT OF THE USE OF, 
/// OR INABILITY TO USE THIS SOFTWARE OR PROGRAM, 
/// INCLUDING, BUT NOT LIMITED TO, CLAIMS, SUITS OR CAUSES OF ACTION 
/// INVOLVING ALLEGED INFRINGEMENT OF COPYRIGHTS, 
/// PATENTS, TRADEMARKS, TRADE SECRETS, OR UNFAIR COMPETITION.
/// 
/// This means: use it & have fun (but @ Your own risk...)
/// ===========================================================================
 
using System;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using System.IO;
using System.Threading;
using System.Diagnostics;
using System.Runtime.InteropServices;
 
namespace MKLiveView
{
    public partial class MainForm : Form
    {
        String[] NC_Error = new string[44]
        {
            "No Error",
            "FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
            "MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
            "no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
            "no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
            "no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
            "bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
            "RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
            "FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
            "ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
            "ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
            "ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
            "ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
            "ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
            "ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
            "ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
            "ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
            "ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
            "ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
            "Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
            "FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
            "ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
            "ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
            "Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
            "BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
            "Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
            "ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
            "ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
            "ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
            "ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
            "No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
            "compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
            "ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
            "no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
            "compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
            "FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
            "ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
            "Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
            "GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
            "ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
            "ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
            "ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
            "ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
            "ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
        };
 
        [FlagsAttribute]
        enum NC_HWError0 : short
        {
            None = 0,
            SPI_RX = 1,
            COMPASS_RX = 2,
            FC_INCOMPATIBLE = 4,
            COMPASS_INCOMPATIBLE = 8,
            GPS_RX = 16,
            COMPASS_VALUE = 32
        };
        [FlagsAttribute]
        enum FC_HWError0 : short
        {
            None = 0,
            GYRO_NICK = 1,
            GYRO_ROLL = 2,
            GYRO_YAW = 4,
            ACC_NICK = 8,
            ACC_ROLL = 16,
            ACC_TOP = 32,
            PRESSURE = 64,
            CAREFREE = 128
        };
        [FlagsAttribute]
        enum FC_HWError1 : short
        {
            None = 0,
            I2C = 1,
            BL_MISSING = 2,
            SPI_RX = 4,
            PPM = 8,
            MIXER = 16,
            RC_VOLTAGE = 32,
            ACC_NOT_CAL = 64,
            RES3 = 128
        };
        public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
        // Various colors for logging info
        private Color[] LogMsgTypeColor = { Color.FromArgb(43, 145, 175), Color.Green, Color.Black, Color.Orange, Color.Red };
 
        string[] sAnalogLabel = new string[32];
        string[] sAnalogData = new string[32];
        bool bReadContinously = false;
        bool check_HWError = false;
        bool _bCBInit = true;
        bool _init = true;
        bool _debugDataAutorefresh = true;
        bool _navCtrlDataAutorefresh = true;
        bool _blctrlDataAutorefresh = true;
        bool _OSDAutorefresh = true;
        bool _bErrorLog = false;
        int crcError = 0;
        int iLableIndex = 0;
        string filePath = Directory.GetCurrentDirectory();
        string fileName = "NCLabelTexts.txt";
        int _iCtrlAct = 0;
        int _iLifeCounter = 0;
        int iOSDPage = 0;
        int iOSDMax = 0;
        int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
        string[] serChanTitle = new string[12];
        /// <summary>
        /// interval for sending debugdata (multiplied by 10ms)
        /// </summary>
        byte debugInterval = 10; //(=> 100ms)
        /// <summary>
        /// interval for sending BL-CTRL status (multiplied by 10ms)
        /// </summary>
        byte blctrlInterval = 75;
        /// <summary>
        /// interval for sending NAV-CTRL status (multiplied by 10ms)
        /// </summary>
        byte navctrlInterval = 80;
        /// <summary>
        /// interval for sending OSD page update (multiplied by 10ms)
        /// </summary>
        byte OSDInterval = 85;
        /// <summary>
        /// datatable for the debug data array - displayed on settings tabpage in datagridview
        /// </summary>
        DataTable dtAnalog = new DataTable();
        /// <summary>
        /// datatable for motordata (current,temp)
        /// </summary>
        DataTable dtMotors1 = new DataTable();
        DataTable dtMotors2 = new DataTable();
 
        DataTable dtWaypoints = new DataTable();
 
        public MainForm()
        {
            InitializeComponent();
            _initForm();
        }
        void _initForm()
        {
            serChanTitle.Initialize();
 
            _readIni();
 
            _dataTablesInit();
 
            simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
            simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
            simpleSerialPort.DataReceived += processMessage;
 
            chkbAutoBL.Checked = _blctrlDataAutorefresh;
            chkbAutoDbg.Checked = _debugDataAutorefresh;
            chkbAutoNav.Checked = _navCtrlDataAutorefresh;
            chkbAutoOSD.Checked = _OSDAutorefresh;
 
            labelTimingDebug.Text = (debugInterval * 10).ToString();
            labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
            labelTimingNAV.Text = (navctrlInterval * 10).ToString();
            labelTimingOSD.Text = (OSDInterval * 10).ToString();
 
            TabControl1.TabPages.Remove(tabPageTesting); //a testing page
        }
 
        #region events
        private void MainForm_Shown(object sender, EventArgs e)
        {
            _loadLabelNames();
            _initSerialCtrl();
            _init = false;
            splitContainer1.SplitterDistance = 510;
        }
        private void MainForm_FormClosed(object sender, FormClosedEventArgs e)
        {
            _writeIni();
            // after adding a second language the programm didn't close properly anymore
            // so this is kinda workaround...
            Dispose(true);
            Environment.Exit(0);
        }
        private void SimpleSerialPort_PortOpened()
        {
            btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192)));
            if(Thread.CurrentThread.CurrentUICulture.Name== "")
                btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port"));
            else
                btnConn.Invoke((Action)(() => btnConn.Text = "COM-Port" + Environment.NewLine + "schliessen"));
            _getVersion();
            Thread.Sleep(100);
            _OSDMenue(0);
            Thread.Sleep(200);
            _sendSerialData();
           // _readCont(true);
        }
        private void SimpleSerialPort_PortClosed()
        {
            btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224)));
            if (Thread.CurrentThread.CurrentUICulture.Name == "")
                btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port"));
            else
                btnConn.Invoke((Action)(() => btnConn.Text = "COM-Port" + Environment.NewLine + "öffnen"));
            _readCont(false);
        }
        /// <summary>
        /// timer for refreshing subscription of subscribed data
        /// query lifecounter for connection failure
        /// </summary>
        private void timer1_Tick(object sender, EventArgs e)
        {
            if(bReadContinously)
            {
                if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
 
                if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
               
                if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
                check_HWError = true;
                _getVersion();
                Thread.Sleep(10);
                if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); }
                if (_iLifeCounter > 0)
                {
                    lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0);
                    _iLifeCounter = 0;
                }
                else
                {
                    Log(LogMsgType.Error, "No communication to NC/FC!");
                    lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0);
                }
            }
        }
        private void cbOSD_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (!_bCBInit && cbOSD.SelectedIndex > -1)
                _OSDMenue(cbOSD.SelectedIndex);
        }
        private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e)
        {
            if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked;
        }
        private void chkbAutoNav_CheckedChanged(object sender, EventArgs e)
        {
            if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked;
        }
        private void chkbAutoBL_CheckedChanged(object sender, EventArgs e)
        {
            if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked;
        }
        private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e)
        {
            if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked;
        }
        private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cbTimingDebug.SelectedIndex > -1)
            {
                debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10);
                labelTimingDebug.Text = (debugInterval * 10).ToString();
            }
        }
        private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cbTimingNAV.SelectedIndex > -1)
            {
                navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10);
                labelTimingNAV.Text = (navctrlInterval * 10).ToString();
            }
        }
        private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cbTimingBLCTRL.SelectedIndex > -1)
            {
                blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10);
                labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
            }
        }
        private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cbTimingOSD.SelectedIndex > -1)
            {
                OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10);
                labelTimingOSD.Text = (OSDInterval * 10).ToString();
            }
        }
        private void rtfError_LinkClicked(object sender, LinkClickedEventArgs e)
        {
            System.Diagnostics.Process.Start(e.LinkText);
        }
        /// <summary>
        /// Combobox for selecting UI language
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void cbLanguage_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cbLanguage.SelectedIndex == 1)
                Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("de-DE");
            else
                Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("");
            updateStringRessource();
        }
        /// <summary>
        /// the form has to be recreated when changing the language of the UI
        /// </summary>
        private void updateStringRessource()
        {
            try
            {
                Point pt = this.Location;// memorize location of form
                Size sz = this.Size;// memorize size of form
 
                if (simpleSerialPort.Port.IsOpen)
                {
                    simpleSerialPort.Port.Close();
                    Thread.Sleep(200);
                    _readCont(false);
                    Thread.Sleep(100);
                    while (simpleSerialPort.Port.IsOpen | bReadContinously)
                        Thread.Sleep(100);
                }
 
                this.Controls.Clear();// clear all controls of form
                components.Dispose();// dispose all components and release resources
                // delete all events to avoid double instances when calling  InitializeComponent(); 
                this.Events.Dispose();
                if (timer1 != null)
                {
                    timer1.Dispose();
                    timer1 = null;
                }
                _init = true;
                timer1 = new System.Windows.Forms.Timer();
 
                dtAnalog = new DataTable();
                dtMotors1 = new DataTable();
                dtMotors2 = new DataTable();
                dtWaypoints = new DataTable();
 
                InitializeComponent(); // reload UI
 
                _dataTablesInit();
 
                simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
                simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
                simpleSerialPort.DataReceived += processMessage;
 
                chkbAutoBL.Checked = _blctrlDataAutorefresh;
                chkbAutoDbg.Checked = _debugDataAutorefresh;
                chkbAutoNav.Checked = _navCtrlDataAutorefresh;
                chkbAutoOSD.Checked = _OSDAutorefresh;
 
                labelTimingDebug.Text = (debugInterval * 10).ToString();
                labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
                labelTimingNAV.Text = (navctrlInterval * 10).ToString();
                labelTimingOSD.Text = (OSDInterval * 10).ToString();
 
                TabControl1.TabPages.Remove(tabPageTesting); //a testing page
 
                this.Size = sz;// set size
                this.Location = pt;// position form
                _loadLabelNames();
                _initSerialCtrl();
                _init = false;
 
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }
 
        #endregion events
 
        /// <summary> Log data to the terminal window. </summary>
        /// <param name="msgtype"> The type of message to be written. </param>
        /// <param name="msg"> The string containing the message to be shown. </param>
        private void Log(LogMsgType msgtype, string msg)
        {
            rtfTerminal.Invoke(new EventHandler(delegate
            {
                if (rtfTerminal.Lines.Length >= 1000)   //Wenn Terminal mehr als 1000 Zeilen hat
                    rtfTerminal.Select(42, (500 * 129));     //500 löschen
                rtfTerminal.Select(rtfTerminal.Text.Length, 0);
                rtfTerminal.SelectedText = string.Empty;
                rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular);
                rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype];
                rtfTerminal.AppendText(msg + Environment.NewLine);
                rtfTerminal.ScrollToCaret();
            }));
        }
        /// <summary> display the OSD text in 4 lines à 20 chars </summary>
        /// <param name="msgtype"> The type of message to be written. </param>
        /// <param name="msg"> The string containing the message to be shown. </param>
        private void OSD(LogMsgType msgtype, string msg)
        {
            rtfOSD.Invoke(new EventHandler(delegate
            {
                if (rtfOSD.Lines.Length > 4)
                    rtfOSD.Clear();
                rtfOSD.Select(rtfOSD.Text.Length,0);
                rtfOSD.SelectedText = string.Empty;
                rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular);
                rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype];
                rtfOSD.AppendText(msg + Environment.NewLine);
                if (rtfOSD.Text.IndexOf("ERR") > 0)
                {
                    rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40);
                    rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error];
                }
            }));
        }
        private void ErrorLog(LogMsgType msgtype, string msg)
        {
            rtfError.Invoke(new EventHandler(delegate
            {
                if (rtfError.Lines.Length > 4)
                    rtfError.Clear();
                rtfError.Focus();
                rtfError.Select(rtfError.Text.Length, 0);
                rtfError.SelectedText = string.Empty;
                rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular);
                rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype];
                rtfError.AppendText(msg + Environment.NewLine);
               
            }));
            _bErrorLog = true;
        }
 
        #region functions        
 
        #region processing received data
        /// <summary> Processing the messages and displaying them in the according form controls 
        /// function called by simpleSerialPort.DataReceived event
        /// </summary>
        /// <param name="message"> message bytearray recieved by SimpleSerialPort class </param>
        private void processMessage(byte[] message)
        {
            if (message.Length > 0)
            {
                _iLifeCounter++;
                //Log(LogMsgType.Incoming, BitConverter.ToString(message));
                //Log(LogMsgType.Incoming, message.Length.ToString());
                string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
                char cmdID;
                byte adr;
                byte[] data;
                byte[] tmp = null;
                if (message[0] != '#')
                {
                    int iFound = -1;
                    for(int i=0;i<message.Length;i++)   //Sometimes the FC/NC sends strings without termination (like WP messages)
                    {                                   //so this is a workaround to not spam the log box
                        if (message[i] == 35)
                        {
                            iFound = i;
                            break;
                        }                          
                    }
                    if(iFound>0)
                    {
                        s = new string(ASCIIEncoding.ASCII.GetChars(message, 0,iFound));
                        tmp = new byte[message.Length - iFound];
                        Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
                    }
                    s = s.Trim('\0', '\n', '\r');
                    if(s.Length > 0)
                        Log(LogMsgType.Normal, s);
                    if (tmp != null)
                    {
                        s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
                        processMessage(tmp);
                    }
                }
                //Debug.Print(s);
                else
                {
                    FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
 
                    if (adr == 255) { crcError++; }
                    else crcError = 0;
                    lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString()));
                    //display the active controller (FC / NC) 
                    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...???
                    {
                        _iCtrlAct = adr;
                        switch (adr)
                        {
                            case 1:
                                lblCtrl.Invoke((Action)(() => lblCtrl.Text = "FC"));
                                lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "FC"));
                                _setFieldsNA(); //display fields NA for FC 
                                break;
                            case 2:
                                lblCtrl.Invoke((Action)(() => lblCtrl.Text = "NC"));
                                lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "NC"));
                                break;
                            case 3:
                                lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
                                break;
                            case 4:
                                lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
                                break;
                            default:
                                lblCtrl.Invoke((Action)(() => lblCtrl.Text = "...."));
                                break;
                        }
                        _loadLabelNames();
                    }
                    // else
                    //     Debug.Print("Address == 0?");
 
                    if (data != null && data.Length > 0)
                    {
                        s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
                        s = s.Trim('\0', '\n');
 
                        switch (cmdID)
                        {
                            case 'A': //Label names
                                _processLabelNames(s);
                                break;
 
                            case 'D': //Debug data
                                _processDebugVals(adr, data);
                                break;
 
                            case 'V': //Version
                                _processVersion(adr, data);
                                break;
 
                            case 'K'://BL-CTRL data
                                _processBLCtrl(data);
                                break;
 
                            case 'O': //NC Data
                                _processNCData(data);
                                break;
 
                            case 'E': //NC error-string
                                ErrorLog(LogMsgType.Error, "NC Error: " + s);
                                break;
 
                            case 'L': //OSD Menue (called by pagenumber)
                                _processOSDSingle(data);
                                break;
 
                            case 'H': //OSD Menue (with autoupdate - called by Key)
                                _processOSDAuto(data);
                                break;
 
                            case 'X': //Waypoint data
                                _processWPData(data);
                                break;
 
                            //default:
                            //    Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
                            //    Log(LogMsgType.Incoming, BitConverter.ToString(data));
                            //    break;
                        }
                    }
                    //else
                    //{
                    //    Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
                    //    Log(LogMsgType.Incoming, BitConverter.ToString(data));
                    //}
                }
            }
        }
        /// <summary>
        /// Analog label names 'A'
        /// each label name is returned as a single string 
        /// and added to string array sAnalogLabel[]
        /// and the datatable dtAnalog
        /// </summary>
        /// <param name="s">the label name</param>
        void _processLabelNames(string s)
        {
            if (iLableIndex < 32)
            {
                sAnalogLabel[iLableIndex] = s;
                if (dtAnalog.Rows.Count < 32)
                    dtAnalog.Rows.Add(s, "");
                else
                    dtAnalog.Rows[iLableIndex].SetField(0, s);
 
                _getAnalogLabels(iLableIndex + 1);
            }
            Debug.Print(s);
        }
        /// <summary>
        /// Debug values 'D'
        /// </summary>
        /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
        /// <param name="data">the received byte array to process</param>
        void _processDebugVals(byte adr,byte[] data)
        {
            if (data.Length == 66)
            {
                int[] iAnalogData = new int[32];
 
                int index = 0;
                Int16 i16 = 0;
                double dTemp = 0;
                for (int i = 2; i < 66; i += 2)
                {
                    i16 = data[i + 1];
                    i16 = (Int16)(i16 << 8);
                    iAnalogData[index] = data[i] + i16;
                    sAnalogData[index] = (data[i] + i16).ToString();
                    dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
 
                    if (adr == 2) //NC
                    {
                        switch (index)
                        {
                            case 0: //pitch (German: nick)
                                artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
                                lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
                                break;
                            case 1: //roll
                                artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
                                lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
                                break;
                            case 4: //altitude
                                lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
                                break;
                            case 7: //Voltage
                                lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
                                break;
                            case 8: // Current
                                lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
                                break;
                            case 10: //heading
                                lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
                                headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
                                break;
                            case 12: // SPI error
                                lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
                                break;
                            case 14: //i2c error
                                lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
                                break;
                            case 20: //Earthmagnet field
                                lblNCMF.Invoke((Action)(() => lblNCMF.Text = sAnalogData[index] + "%"));
                                break;
                            case 21: //GroundSpeed
                                lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
                                break;
                            case 28: //Distance East from saved home position -> calculate distance with distance N + height
                                dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
                                dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
                                                                       //  lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
                                dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
                                dTemp = Math.Sqrt(dTemp) / (double)10;
                                lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = dTemp.ToString("0.0 m")));
                                break;
                            case 31: //Sats used
                                lblNCSat.Invoke((Action)(() => lblNCSat.Text = sAnalogData[index]));
                                break;
                        }
                    }
                    if (adr == 1) //FC
                    {
                        switch (index)
                        {
                            case 0: //pitch (German: nick)
                                artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
                                lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
                                break;
                            case 1: //roll
                                artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
                                lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
                                break;
                            case 5: //altitude
                                lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
                                break;
                            case 8: //heading
                                lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
                                headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
                                break;
                            case 9: //Voltage
                                lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
                                break;
                            case 10: //Receiver quality
                                lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index]));
                                break;
                            case 22: // Current
                                lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
                                break;
                            case 23: //capacity used
                                lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh")));
                                break;
                            case 27: // SPI error
                                lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
                                break;
                            case 28: //i2c error
                                lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
                                break;
                        }
                    }
                    index++;
                }
            }
            else
                Debug.Print("wrong data-length (66): " + data.Length.ToString());
        }
        /// <summary>
        /// Version string 'V'
        /// </summary>
        /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
        /// <param name="data">the received byte array to process</param>
        void _processVersion(byte adr,byte[] data)
        {
            if (data.Length == 12)
            {
                if (!check_HWError)
                {
                    string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
                    string sVersion = "";
                    //sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
                    Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
                    sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
                    Log(LogMsgType.Incoming, sVersion);
                    sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
                    Log(LogMsgType.Incoming, sVersion);
                    Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
                }
                if (data[5] > 0) //error0 
                {
                    if (adr == 1)
                        ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
                    if (adr == 2)
                        ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
                }
                if (data[6] > 0) //error1 
                {
                    if (adr == 1)
                        ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
                    if (adr == 2)
                        ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
                }
                if((data[5] + data[6] == 0) && _bErrorLog)
                    _clearErrorLog(adr==1 ? "FC - HW-Error" : "FC - HW-Error");
 
            }
            check_HWError = false;
        }
        /// <summary>
        /// BL-Ctrl data 'K'
        /// for FC you have to use a customized firmware
        /// </summary>
        /// <param name="data">the received byte array to process</param>
        void _processBLCtrl(byte[] data)
        {
            if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
            {
                bool bAvailable = false;
                for (int i = 0; i < data.Length && data[i] < 8; i += 6) // data[i] < 8 --> at moment there are 8 display fields for motors
                {
 
                    if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
                        bAvailable = true;
                    else
                        bAvailable = false;
 
                    if (data[i] < 4)
                    {
                        if (bAvailable)
                        {
                            dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
                            dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
                        }
                        else
                        {
                            dtMotors1.Rows[data[i]].SetField(1, "NA");
                            dtMotors1.Rows[data[i]].SetField(2, "NA");
                        }
                    }
                    if (data[i] > 3 && data[i] < 8)
                    {
                        if (bAvailable)
                        {
                            dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
                            dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
                        }
                        else
                        {
                            dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
                            dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
                        }
                    }
                }
            }
 
        }
        /// <summary>
        /// Navi-Ctrl data 'O'
        /// GPS-Position, capacatiy, flying time...
        /// </summary>
        /// <param name="data">the received byte array to process</param>
        void _processNCData(byte[] data)
        {
            int i_32, i_16, iVal;
            double d;
            i_32 = data[4];
            iVal = i_32 << 24;
            i_32 = data[3];
            iVal += i_32 << 16;
            i_32 = data[2];
            iVal += i_32 << 8;
            iVal += data[1];
            d = (double)iVal / Math.Pow(10, 7);
            lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
            //lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
 
            i_32 = data[8];
            iVal = i_32 << 24;
            i_32 = data[7];
            iVal += i_32 << 16;
            i_32 = data[6];
            iVal += i_32 << 8;
            iVal += data[5];
            d = (double)iVal / Math.Pow(10, 7);
            lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
                                                                                            //lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
 
            i_16 = data[28];
            i_16 = (Int16)(i_16 << 8);
            iVal = data[27] + i_16;
            lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
 
            i_16 = data[45];
            i_16 = (Int16)(i_16 << 8);
            iVal = data[44] + i_16;
            lblNCDistHP1.Invoke((Action)(() => lblNCDistHP1.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
 
            lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = data[48].ToString())); //Waypoint index
            lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = data[49].ToString())); //Waypoints count
 
            i_16 = data[81];
            i_16 = (Int16)(i_16 << 8);
            iVal = data[80] + i_16;
            lblNCCap.Invoke((Action)(() => lblNCCap.Text = iVal.ToString() + " mAh")); //Capacity used
 
            i_16 = data[56];
            i_16 = (Int16)(i_16 << 8);
            iVal = data[55] + i_16;
            TimeSpan t = TimeSpan.FromSeconds(iVal);
            string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
            lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = Text.ToString())); //Flying time
 
            lblNCRC.Invoke((Action)(() => lblNCRC.Text = data[66].ToString())); //RC quality
            lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = data[69].ToString()));   //NC Errornumber
            //if (data[69] > 0)
            //    _readNCError();
            //break;
            if (data[69] > 0 & data[69] < 44)
                ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
            else
                if(_bErrorLog) _clearErrorLog("NC Error");
 
        }
        /// <summary>
        /// Navi-Ctrl WP data struct 'X'
        /// called by index
        /// </summary>
        /// <param name="data">the received byte array to process</param>
        void _processWPData(byte[] data)
        {
            if (data.Length >= 28)
            {
                int count = data[0];
                int index = data[1];
                cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear()));
                for (int i = 0; i < count; i++)
                    cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1)));
                cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index));
                DataRow dr = dtWaypoints.NewRow();
                dr = Waypoints.toDataRow(data, dr);
                dtWaypoints.Rows.Add(dr);
                dgvWP.Invoke((Action)(() => dgvWP.Update()));
            }
            else
                Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length)));
        }
        /// <summary>
        /// OSD Menue 'L'
        /// single page called by pagenumber
        /// no autoupdate
        /// </summary>
        /// <param name="data">the received byte array to process</param>
        void _processOSDSingle(byte[] data)
        {
            if (data.Length == 84)
            {
                string sMessage = "";
                iOSDPage = data[0];
                iOSDMax = data[1];
                if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
                sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
                OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
                OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
                OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
                OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
                lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
 
            }
            else
                OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
 
        }
        /// <summary>
        /// OSD Menue 'H'
        /// called by keys (0x01,0x02,0x03,0x04)
        /// autoupdate
        /// </summary>
        /// <param name="data">the received byte array to process</param>
        void _processOSDAuto(byte[] data)
        {
            if (data.Length == 81)
            {
                string sMessage = "";
                sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
                OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
                OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
                OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
                OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
 
            }
            else
                OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
        }
        #endregion processing received data
 
        /// <summary> send message to controller to request data
        /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
        /// </summary>
        /// <param name="CMDID"> the command ID </param>
        /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
        private void _sendControllerMessage(char CMDID, byte address)
        {
            if (simpleSerialPort.Port.IsOpen)
            {
                Stream serialStream = simpleSerialPort.Port.BaseStream;
                byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
                serialStream.Write(bytes, 0, bytes.Length);
 
            }
            else
                Log(LogMsgType.Error, "NOT CONNECTED!");
        }
        /// <summary> send message to controller to request data
        /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
        /// </summary>
        /// <param name="CMDID"> the command ID </param>
        /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
        /// <param name="data"> additional data for the request</param>
        private void _sendControllerMessage(char CMDID, byte address, byte[]data)
        {
            if (simpleSerialPort.Port.IsOpen)
            {
                Stream serialStream = simpleSerialPort.Port.BaseStream;
                byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address,data);
                serialStream.Write(bytes, 0, bytes.Length);
 
            }
            else
                Log(LogMsgType.Error, "NOT CONNECTED!");
        }
 
        /// <summary>
        /// read the analog-label names for the actual controller
        /// and load it into listbox
        /// </summary>
        void _loadLabelNames()
        {
            if (_iCtrlAct > 0 && _iCtrlAct < 3)
            {
                switch (_iCtrlAct)
                {
                    case 1:
                        sAnalogLabel = Properties.Resources.FCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
                        break;
                    case 2:
                        sAnalogLabel = Properties.Resources.NCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
                        break;
                }
                for (int i = 0; i < 32; i++)
                {
                    if (dtAnalog.Rows.Count < 32)
                        dtAnalog.Rows.Add(sAnalogLabel[i], "");
                    else
                        dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
                }
                dataGridView1.Invoke((Action)(()=>dataGridView1.Refresh()));
            }
        }
        /// <summary>
        /// no longer used...
        /// read the analog-label textfile for the actual controller
        /// </summary>
         private void _loadLabelFile()
        {
            switch (_iCtrlAct)
            {
                case 1:
                    fileName = "FCLabelTexts.txt";
                    break;
                case 2:
                    fileName = "NCLabelTexts.txt";
                    break;
                //default:
                //    fileName = "NCLabelTexts.txt";
                //    break;
            }
 
            if (File.Exists(filePath + "\\" + fileName))
            {
                sAnalogLabel.Initialize();
                sAnalogLabel = File.ReadAllLines(filePath + "\\" + fileName);
                lbLabels.Invoke((Action)(() => lbLabels.Items.Clear()));
                lbLabels.Invoke((Action)(() => lbLabels.Update()));
                lbLabels.Invoke((Action)(() => lbLabels.Items.AddRange(sAnalogLabel)));
                Console.WriteLine("Names loaded from file");
                lblFileName.Invoke((Action)(() => lblFileName.Text = fileName));
            }
            else
            {
                _readCont(false);
                Log(LogMsgType.Error, "Label-file not found!");
                Log(LogMsgType.Error, "Please go to settings-tab and load the label texts from the copter control (FC & NC)");
                Log(LogMsgType.Error, "When done, you have to save the label texts with the 'save' button!");
            }
        }
        /// <summary>
        /// no longer used...
        /// assign the analog-label names from the textfile to the datatable
        /// 
        /// </summary>
        private void _assignLabelNames()
        {
            if (lbLabels.Items.Count == 32)
            {
                lbLabels.Items.CopyTo(sAnalogLabel, 0);
                for (int i = 0; i < 32; i++)
                {
                    if (dtAnalog.Rows.Count < 32)
                        dtAnalog.Rows.Add(sAnalogLabel[i], "");
                    else
                        dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
 
                }
            }
        }
        /// <summary>
        /// get the version struct of actual controller
        /// </summary>
        /// <summary>
        /// get the labeltexts for the analog values
        /// </summary>
        private void _getAnalogLabels()
        {
            if (simpleSerialPort.Port.IsOpen)
            {
                iLableIndex = 0;
                for (int i = 0; i < 32; i++)
                {
                    Stream serialStream = simpleSerialPort.Port.BaseStream;
                    byte[] bytes = FlightControllerMessage.CreateMessage('a', 0, new byte[1] { (byte)i });
                    serialStream.Write(bytes, 0, bytes.Length);
                    Thread.Sleep(10);
                }
            }
            else
                Log(LogMsgType.Error, "NOT CONNECTED!");
        }
        /// <summary>
        /// get the labeltext for a single label
        /// </summary>
        /// <param name="iIndex">index of the label</param>
        private void _getAnalogLabels(int iIndex)
        {
            if (simpleSerialPort.Port.IsOpen)
            {
                if (iIndex < 32)
                {
                    iLableIndex = iIndex;
                    _sendControllerMessage('a', 0, new byte[1] { (byte)iLableIndex });
                }
            }
            else
                Log(LogMsgType.Error, "NOT CONNECTED!");
        }
        private void _getVersion()
        {
            _sendControllerMessage('v', 0);
        }
        /// <summary>
        /// get FC version struct via NC
        /// by sending '1' as data (not documented in wiki...)
        /// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
        /// </summary>
        /// <param name="ctrl">controller number 1=FC</param> 
        private void _getVersion(byte ctrl)
        {
            _sendControllerMessage('v', 0, new byte[1] {ctrl});
        }
        /// <summary>
        /// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
        /// </summary>
        private void _switchToNC()
        {
            if (simpleSerialPort.Port.IsOpen)
            {
                Stream serialStream = simpleSerialPort.Port.BaseStream;
                byte[] bytes = new byte[5] { 0x1B,0x1B,0x55,0xAA,0x00 };
                serialStream.Write(bytes, 0, bytes.Length);
 
                Thread.Sleep(100);
                _getVersion();
                Thread.Sleep(100);
                _OSDMenue(0);
            }
            else
                Log(LogMsgType.Error, "NOT CONNECTED!");
        }
        /// <summary>
        /// switch to FC
        /// </summary>
        private void _switchToFC()
        {
            _sendControllerMessage('u', 2, new byte[1] { (byte)0 });
            Thread.Sleep(100);
            _getVersion();
            Thread.Sleep(100);
            _OSDMenue(0);
        }
        /// <summary>
        /// send RESET signal to FC
        /// </summary>
        private void _resetCtrl()
        {
            _sendControllerMessage('R', 1);
        }
        /// <summary>
        /// poll the debug data (4sec subscription)
        /// </summary>
        /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
        private void _readDebugData(bool auto)
        {
            byte interval = auto ? debugInterval : (byte)0;
            _sendControllerMessage('d', 0, new byte[1] { debugInterval });
        }
        /// <summary>
        /// poll the BL-CTRL status via NC (4sec subscription)
        /// </summary>
        /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
        private void _readBLCtrl(bool auto)
        {
            byte interval = auto ? blctrlInterval : (byte)0;
            _sendControllerMessage('k', 0, new byte[1] { interval });
        }
        /// <summary>
        /// poll the NC data struct (4sec subscription)
        /// </summary>
        /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
        private void _readNavData(bool auto)
        {
            byte interval = auto ? navctrlInterval : (byte)0;
            _sendControllerMessage('o', 2, new byte[1] { interval });
        }
        /// <summary>
        /// get the errortext for pending NC error
        /// </summary>
        private void _readNCError()
        {
            _sendControllerMessage('e', 2);
        }
        /// <summary>
        /// start/stop continous polling of controller values
        /// </summary>
        /// <param name="b">start/stop switch</param>
        void _readCont(bool b)
        {
            bReadContinously = b;
 
            if (Thread.CurrentThread.CurrentUICulture.Name == "")
                btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "stop automatic" + Environment.NewLine + "data refresh" : "start automatic" + Environment.NewLine + "data refresh"));
            else
                btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "Aktualisierung" + Environment.NewLine + "beenden" : "Aktualisierung" + Environment.NewLine + "starten"));
            btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224)));
            if (bReadContinously)
            {
                if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
                if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
                if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
                if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10);}
                lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0)));
            }
            else
                lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(224, 224, 224)));
            _iLifeCounter = 0;
        }
        /// <summary>
        /// set values to "NA" when not available with FC
        /// </summary>
        void _setFieldsNA()
        {
            Thread.Sleep(100);
            _initDTMotors();
            lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = "NA"));    //FlightTime
            lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = "NA"));  //NC ErrorNr
            lblNCMF.Invoke((Action)(() => lblNCMF.Text = "NA"));            //earth magnet field
            lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = "NA"));    //GroundSpeed
            lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = "NA"));    //Distance to HP
            lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA"));          //Sats used
            lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = "NA"));  //GPS position - longitude
            lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = "NA"));    //GPS position - latitude
            lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = "NA"));    //next WP distance
            lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = "NA"));  //index of actual WP
            lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = "NA"));  //count of items in WP list
        }
        /// <summary>
        /// one time query of the OSD Menue with pagenumber
        /// </summary>
        /// <param name="iMenue">Menue page</param>
        void _OSDMenue(int iMenue)
        {
            if (simpleSerialPort.Port.IsOpen)
            {
                if (iMenue > iOSDMax)
                    iMenue = 0;
                Stream serialStream = simpleSerialPort.Port.BaseStream;
                byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
                serialStream.Write(bytes, 0, bytes.Length);
            }
            else
                Log(LogMsgType.Error, "NOT CONNECTED!");
 
        }
        /// <summary>
        /// call the OSDMenue and start autorefresh
        ///  usually by sending a menuekey
        /// 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)
        /// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
        /// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
        /// </summary>
        void _OSDMenueAutoRefresh()
        {
            _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)),OSDInterval });
        }
        void _OSDMenueAutoRefresh(byte key)
        {
            _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
        }
        /// <summary>
        /// initialize the OSD menue combobox
        /// combox is filled by numbers from 0 to max pagenumber
        /// </summary>
        void _initOSDCB()
        {
            _bCBInit = true;
            if(iOSDMax == 0)
            {
                _OSDMenue(0);
                Thread.Sleep(10);
            }
            cbOSD.Invoke((Action)(()=>cbOSD.Items.Clear()));
            for(int i = 0; i <= iOSDMax;i++)
            {
                cbOSD.Invoke((Action)(() => cbOSD.Items.Add(i)));
            }
            cbOSD.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
            _bCBInit = false;
        }
        /// <summary>
        /// initialize the datatables
        /// with columnnames etc
        /// </summary>
        void _dataTablesInit()
        {
            dtAnalog.Columns.Add("ID");
            dtAnalog.Columns.Add("Value");
            dataGridView1.DataSource = dtAnalog;
 
            dtMotors1.Columns.Add("#");
            if (Thread.CurrentThread.CurrentUICulture.Name == "")
                dtMotors1.Columns.Add("Current");
            else
                dtMotors1.Columns.Add("Strom");
            dtMotors1.Columns.Add("Temp");
            dtMotors2.Columns.Add("#");
            if (Thread.CurrentThread.CurrentUICulture.Name == "")
                dtMotors2.Columns.Add("Current");
            else
                dtMotors2.Columns.Add("Strom");
            dtMotors2.Columns.Add("Temp");
            dgvMotors1.DataSource = dtMotors1;
            dgvMotors2.DataSource = dtMotors2;
            _initDTMotors();
            dgvMotors1.Columns[0].Width = 24;
            dgvMotors1.Columns[1].Width = 74;
            dgvMotors1.Columns[2].Width = 74;
            dgvMotors2.Columns[0].Width = 24;
            dgvMotors2.Columns[1].Width = 74;
            dgvMotors2.Columns[2].Width = 74;
 
            dtWaypoints.Columns.Add("Index");
            dtWaypoints.Columns.Add("Type");
            dtWaypoints.Columns.Add("Name");
            dtWaypoints.Columns.Add("Latitude");
            dtWaypoints.Columns.Add("Longitude");
            dtWaypoints.Columns.Add("Altitude");
            dtWaypoints.Columns.Add("Heading");
            dtWaypoints.Columns.Add("Speed");
            dtWaypoints.Columns.Add("Altitude rate");
            dtWaypoints.Columns.Add("Tol.radius");
            dtWaypoints.Columns.Add("Hold time");
            dtWaypoints.Columns.Add("AutoTrigger");
            dtWaypoints.Columns.Add("Cam angle");
            dtWaypoints.Columns.Add("Event");
            dtWaypoints.Columns.Add("Eventchan. Val.");
            dtWaypoints.Columns.Add("Status");
            dgvWP.DataSource = dtWaypoints;
        }
        /// <summary>
        /// read settings from ini-file
        /// </summary>
        void _readIni()
        {
            if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
                _writeIni();
            IniFile ini = new IniFile("MKLiveViewSettings.ini");
            ini.path = filePath + "\\MKLiveViewSettings.ini";
 
            string sVal = ini.IniReadValue("default", "AutorefreshDebugData");
            _debugDataAutorefresh = Convert.ToBoolean(sVal);
            sVal = ini.IniReadValue("default", "AutorefreshNavCtrlData");
            _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
            sVal = ini.IniReadValue("default", "AutorefreshBLCtrlData");
            _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
            sVal = ini.IniReadValue("default", "AutorefreshOSDData");
            _OSDAutorefresh = Convert.ToBoolean(sVal);
 
            sVal = ini.IniReadValue("default", "IntervalDebugData");
            debugInterval = (byte)Convert.ToInt16(sVal);
            sVal = ini.IniReadValue("default", "IntervalNavCtrlData");
            navctrlInterval = (byte)Convert.ToInt16(sVal);
            sVal = ini.IniReadValue("default", "IntervalBLCtrlData");
            blctrlInterval = (byte)Convert.ToInt16(sVal);
            sVal = ini.IniReadValue("default", "IntervalOSDData");
            OSDInterval = (byte)Convert.ToInt16(sVal);
            for(int i = 0; i < 12; i++)
            {
                sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
                if(sVal != "")
                    serChan[i] = Convert.ToInt16(sVal);
                sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
                if(sVal != "")
                    serChanTitle[i] = sVal;
            }
        }
        /// <summary>
        /// save settings to ini-file
        /// </summary>
        void _writeIni()
        {
 
            IniFile ini = new IniFile("MKLiveViewSettings.ini");
            ini.path = filePath + "\\MKLiveViewSettings.ini";
 
            ini.IniWriteValue("default", "AutorefreshDebugData", _debugDataAutorefresh ? "true":"false");
            ini.IniWriteValue("default", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true":"false");
            ini.IniWriteValue("default", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true":"false");
            ini.IniWriteValue("default", "AutorefreshOSDData", _OSDAutorefresh ? "true":"false");
 
            ini.IniWriteValue("default", "IntervalDebugData", debugInterval.ToString());
            ini.IniWriteValue("default", "IntervalNavCtrlData", navctrlInterval.ToString());
            ini.IniWriteValue("default", "IntervalBLCtrlData", blctrlInterval.ToString());
            ini.IniWriteValue("default", "IntervalOSDData", OSDInterval.ToString());
 
            for (int i = 0; i < 12; i++)
            {
                ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
                ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
            }
 
        }
 
        /// <summary>
        /// initialize the 2 datatables for motor values
        /// dtMotors1 - motor 1 - 4
        /// dtMotors2 - motor 5 - 8
        /// DataGridView dgvMotors1/2 are bound to dtMotors1/2 
        /// </summary>
        void _initDTMotors()
        {
            for(int i = 0; i < 4; i++)
            {
                if (dtMotors1.Rows.Count < 4)
                    dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA");
                else
                {
                    dtMotors1.Rows[i].SetField(1, "NA");
                    dtMotors1.Rows[i].SetField(2, "NA");
                }
                if (dtMotors2.Rows.Count < 4)
                    dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA");
                else
                {
                    dtMotors2.Rows[i].SetField(1, "NA");
                    dtMotors2.Rows[i].SetField(2, "NA");
                }
            }
            dgvMotors1.Invoke((Action)(() => dgvMotors1.Refresh()));
            dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh()));
        }
 
        /// <summary>
        /// Convert decimal degrees to degrees, minutes, seconds, milliseconds 
        /// </summary>
        /// <param name="coord">the degree value as double</param>
        /// <returns>0° 0' 0,0"</returns>
        string _convertDegree(double coord)
        {
            //double minutes = (degree - Math.Floor(degree)) * 60.0;
            //double seconds = (minutes - Math.Floor(minutes)) * 60.0;
            //double tenths = (seconds - Math.Floor(seconds)) * 10.0;
            //// get rid of fractional part
            //minutes = Math.Floor(minutes);
            //seconds = Math.Floor(seconds);
            //tenths = Math.Floor(tenths);
 
 
            //int sec = (int)Math.Round(coord * 3600);
            //int deg = sec / 3600;
            //sec = Math.Abs(sec % 3600);
            //int min = sec / 60;
            //sec %= 60;
 
            var ts = TimeSpan.FromHours(Math.Abs(coord));
            double deg = Math.Sign(coord) * Math.Floor(ts.TotalHours);
            int min = ts.Minutes;
            int sec = ts.Seconds;
            int milli = ts.Milliseconds;
 
            return deg.ToString("0° ") + min.ToString("0") + "' " + sec.ToString("0") + "," + milli.ToString() + "\"";
        }
        /// <summary>
        /// Clear the line in the  errorlog window 
        /// containing the error string when error has ceased
        /// </summary>
        /// <param name="s">substring of errrormessage</param>
        void _clearErrorLog(string s)
        {
            rtfError.Invoke((Action)(() =>
            {
                if (rtfError.Text.Contains(s))
                {
                    int iLength = 0;
                    int iStart = rtfError.Text.IndexOf(s);
                    int iEnd = rtfError.Text.IndexOf('\n', iStart);
                    if (iEnd > 0)
                    {
                        iLength = iEnd + 1;
                        int iHttp = rtfError.Text.IndexOf("http", iEnd);
                        if (iHttp == iLength)
                        {
                            int iEnd2 = rtfError.Text.IndexOf('\n', iLength);
                            if (iEnd2 > iLength)
                            {
                                iLength = iEnd2 + 1;
                                rtfError.Select(iStart, iLength);
                                rtfError.SelectedText = string.Empty;
                                if(rtfError.Text.Length < 2) _bErrorLog = false;
                            }
 
                        }
                        else
                        {
                            rtfError.Select(iStart, iLength);
                            rtfError.SelectedText = string.Empty;
                            if(rtfError.Text.Length < 2) _bErrorLog = false;
                        }
                    }
                }
            }));
 
        }
        /// <summary>
        /// request the Waypoint at index
        /// </summary>
        /// <param name="index"></param>
        void _getpWP(int index)
        {
            if (simpleSerialPort.Port.IsOpen)
            {
                Stream serialStream = simpleSerialPort.Port.BaseStream;
                byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
                serialStream.Write(bytes, 0, bytes.Length);
            }
            else
                Log(LogMsgType.Error, "NOT CONNECTED!");
 
        }
        /// <summary>
        /// Sending the serial channel values
        /// </summary>
        void _sendSerialData()
        {
            byte[] serData = new byte[12];
            for(int i = 0; i < 12; i++)
            {
                serData[i] = unchecked((byte)(serChan[i] - 127));
            }
            _sendControllerMessage('y', 1, serData);
        }
        /// <summary>
        /// init the controls for displaying
        /// and setting serial control channels
        /// </summary>
        void _initSerialCtrl()
        {
            trckbarSerial1.Value = serChan[0];
            textBoxSerial1.Text = serChanTitle[0];
            lblTbSerial1.Text = serChan[0].ToString();
            trckbarSerial2.Value = serChan[1];
            textBoxSerial2.Text = serChanTitle[1];
            lblTbSerial2.Text = serChan[1].ToString();
            trckbarSerial3.Value = serChan[2];
            textBoxSerial3.Text = serChanTitle[2];
            lblTbSerial3.Text = serChan[2].ToString();
            trckbarSerial4.Value = serChan[3];
            textBoxSerial4.Text = serChanTitle[3];
            lblTbSerial4.Text = serChan[3].ToString();
            trckbarSerial5.Value = serChan[4];
            textBoxSerial5.Text = serChanTitle[4];
            lblTbSerial5.Text = serChan[4].ToString();
            trckbarSerial6.Value = serChan[5];
            textBoxSerial6.Text = serChanTitle[5];
            lblTbSerial6.Text = serChan[5].ToString();
            trckbarSerial7.Value = serChan[6];
            textBoxSerial7.Text = serChanTitle[6];
            lblTbSerial7.Text = serChan[6].ToString();
            trckbarSerial8.Value = serChan[7];
            textBoxSerial8.Text = serChanTitle[7];
            lblTbSerial8.Text = serChan[7].ToString();
        }
        #endregion functions
 
        #region buttons
        private void buttonReset_Click(object sender, EventArgs e)
        {
            _resetCtrl();
        }
        private void btnVersion_Click(object sender, EventArgs e)
        {
            _getVersion();
        }
        private void btnAnalogLabels_Click(object sender, EventArgs e)
        {
            _getAnalogLabels(0);
        }
        private void btnDbgData_Click(object sender, EventArgs e)
        {
            _readDebugData(false); //onetime reading of debug data --> subscription lasts 4sec - this means you will receive data for 4 seconds
        }
        private void btnSaveLabels_Click(object sender, EventArgs e)
        {
            switch (_iCtrlAct)
            {
                case 1:
                    fileName = "FCLabelTexts.txt";
                    break;
                case 2:
                    fileName = "NCLabelTexts.txt";
                    break;
                default:
                    fileName = "NCLabelTexts.txt";
                    break;
            }
            if (sAnalogLabel[0] != null)
            {
                File.WriteAllLines(filePath + "\\" + fileName, sAnalogLabel);
                Console.WriteLine("Names saved to file");
                _loadLabelFile();
            }
            else
                Log(LogMsgType.Warning, "there's no data -> read first from fc/nc!");
        }
        private void btnLoadLabels_Click(object sender, EventArgs e)
        {
            _assignLabelNames();
        }
        private void btnReadLabelFile_Click(object sender, EventArgs e)
        {
            _loadLabelFile();
        }
        private void btnSwitchFC_Click(object sender, EventArgs e)
        {
            _switchToFC();
        }
        private void btnSwitchNC_Click(object sender, EventArgs e)
        {
            _switchToNC();
        }
        private void btnReadDbgCont_Click(object sender, EventArgs e)
        {
            _readCont(!bReadContinously);
        }
        private void btnReadBLCtrl_Click(object sender, EventArgs e)
        {
 
            if (_iCtrlAct == 2) _readBLCtrl(false);
            else Log(LogMsgType.Warning, "only available when connected to NC");
        }
        private void btnGetNaviData_Click(object sender, EventArgs e)
        {
            if (_iCtrlAct == 2) _readNavData(false);
            else Log(LogMsgType.Warning, "only available when connected to NC");
        }
        private void btnConn_Click(object sender, EventArgs e)
        {
            simpleSerialPort.Connect(!simpleSerialPort.Port.IsOpen);
        }
        private void button3_Click(object sender, EventArgs e)
        {
            _getVersion(1);
        }
        private void button4_Click(object sender, EventArgs e)
        {
            _getVersion(2);
        }
        private void btnOSD_Click(object sender, EventArgs e)
        {
            if (iOSDPage > iOSDMax)
                iOSDPage = 0;
            _OSDMenue(iOSDPage);
        }
        private void btnOSDForward_Click(object sender, EventArgs e)
        {
            iOSDPage++;
            if (iOSDPage > iOSDMax)
                iOSDPage = 0;
 
            _OSDMenue(iOSDPage);
        }
        private void btnOSDBackward_Click(object sender, EventArgs e)
        {
            iOSDPage--;
            if (iOSDPage < 0)
                iOSDPage = iOSDMax;
 
            _OSDMenue(iOSDPage);
        }
        private void btnOSDAuto_Click(object sender, EventArgs e)
        {
            _OSDMenueAutoRefresh();
        }
        /// call the OSDMenue with Key 0x8
        private void btnOSDLeave_Click(object sender, EventArgs e)
        {
            _OSDMenueAutoRefresh(8);
        }
        /// call the OSDMenue with Key 0x4
        private void btnOSDEnter_Click(object sender, EventArgs e)
        {
            _OSDMenueAutoRefresh(4);
        }
        private void btnGetWP_Click(object sender, EventArgs e)
        {
            if(cbWPIndex.Items.Count >0)
            _getpWP((int)cbWPIndex.SelectedItem);
            else
                _getpWP(1);
        }
        #endregion buttons
        #region serial control channels - buttons & events
        private void tbSerial1_Scroll(object sender, EventArgs e)
        {
            lblTbSerial1.Text = trckbarSerial1.Value.ToString();
            serChan[0] = trckbarSerial1.Value;
            if (!_init) _sendSerialData();
        }
        private void textBoxSerial1_TextChanged(object sender, EventArgs e)
        {
            serChanTitle[0] = textBoxSerial1.Text;
        }
        private void btnSer1_0_Click(object sender, EventArgs e)
        {
            trckbarSerial1.Value = 0;
        }
        private void btnSer1_127_Click(object sender, EventArgs e)
        {
            trckbarSerial1.Value = 127;
        }
        private void btnSer1_254_Click(object sender, EventArgs e)
        {
            trckbarSerial1.Value = 254;
        }
        private void trckbarSerial1_ValueChanged(object sender, EventArgs e)
        {
            lblTbSerial1.Text = trckbarSerial1.Value.ToString();
            serChan[0] = trckbarSerial1.Value;
            if (!_init) _sendSerialData();
        }
        private void textBoxSerial2_TextChanged(object sender, EventArgs e)
        {
            serChanTitle[1] = textBoxSerial2.Text;
        }
        private void trckbarSerial2_ValueChanged(object sender, EventArgs e)
        {
            lblTbSerial2.Text = trckbarSerial2.Value.ToString();
            serChan[1] = trckbarSerial2.Value;
            if (!_init) _sendSerialData();
        }
        private void btnSer2_0_Click(object sender, EventArgs e)
        {
            trckbarSerial2.Value = 0;
        }
        private void btnSer2_127_Click(object sender, EventArgs e)
        {
            trckbarSerial2.Value = 127;
        }
        private void btnSer2_254_Click(object sender, EventArgs e)
        {
            trckbarSerial2.Value = 254;
        }
        private void textBoxSerial3_TextChanged(object sender, EventArgs e)
        {
            serChanTitle[2] = textBoxSerial3.Text;
        }
        private void trckbarSerial3_ValueChanged(object sender, EventArgs e)
        {
            lblTbSerial3.Text = trckbarSerial3.Value.ToString();
            serChan[2] = trckbarSerial3.Value;
            if (!_init) _sendSerialData();
        }
        private void btnSer3_0_Click(object sender, EventArgs e)
        {
            trckbarSerial3.Value = 0;
        }
        private void btnSer3_127_Click(object sender, EventArgs e)
        {
            trckbarSerial3.Value = 127;
        }
        private void btnSer3_254_Click(object sender, EventArgs e)
        {
            trckbarSerial3.Value = 254;
        }
        private void textBoxSerial4_TextChanged(object sender, EventArgs e)
        {
            serChanTitle[3] = textBoxSerial4.Text;
        }
        private void trckbarSerial4_ValueChanged(object sender, EventArgs e)
        {
            lblTbSerial4.Text = trckbarSerial4.Value.ToString();
            serChan[3] = trckbarSerial4.Value;
            if (!_init) _sendSerialData();
        }
        private void btnSer4_0_Click(object sender, EventArgs e)
        {
            trckbarSerial4.Value = 0;
        }
        private void btnSer4_127_Click(object sender, EventArgs e)
        {
            trckbarSerial4.Value = 127;
        }
        private void btnSer4_254_Click(object sender, EventArgs e)
        {
            trckbarSerial4.Value = 254;
        }
        private void tbSerial5_Scroll(object sender, EventArgs e)
        {
            lblTbSerial5.Text = trckbarSerial5.Value.ToString();
            serChan[4] = trckbarSerial5.Value;
            if (!_init) _sendSerialData();
        }
        private void textBoxSerial5_TextChanged(object sender, EventArgs e)
        {
            serChanTitle[4] = textBoxSerial5.Text;
        }
        private void btnSer5_0_Click(object sender, EventArgs e)
        {
            trckbarSerial5.Value = 0;
        }
        private void btnSer5_127_Click(object sender, EventArgs e)
        {
            trckbarSerial5.Value = 127;
        }
        private void btnSer5_254_Click(object sender, EventArgs e)
        {
            trckbarSerial5.Value = 254;
        }
        private void trckbarSerial5_ValueChanged(object sender, EventArgs e)
        {
            lblTbSerial5.Text = trckbarSerial5.Value.ToString();
            serChan[4] = trckbarSerial5.Value;
            if (!_init) _sendSerialData();
        }
        private void tbSerial6_Scroll(object sender, EventArgs e)
        {
            lblTbSerial6.Text = trckbarSerial6.Value.ToString();
            serChan[5] = trckbarSerial6.Value;
            if (!_init) _sendSerialData();
        }
        private void textBoxSerial6_TextChanged(object sender, EventArgs e)
        {
            serChanTitle[5] = textBoxSerial6.Text;
        }
        private void btnSer6_0_Click(object sender, EventArgs e)
        {
            trckbarSerial6.Value = 0;
        }
        private void btnSer6_127_Click(object sender, EventArgs e)
        {
            trckbarSerial6.Value = 127;
        }
        private void btnSer6_254_Click(object sender, EventArgs e)
        {
            trckbarSerial6.Value = 254;
        }
        private void trckbarSerial6_ValueChanged(object sender, EventArgs e)
        {
            lblTbSerial6.Text = trckbarSerial6.Value.ToString();
            serChan[5] = trckbarSerial6.Value;
            if (!_init) _sendSerialData();
        }
        private void tbSerial7_Scroll(object sender, EventArgs e)
        {
            lblTbSerial7.Text = trckbarSerial7.Value.ToString();
            serChan[6] = trckbarSerial7.Value;
            if (!_init) _sendSerialData();
        }
        private void textBoxSerial7_TextChanged(object sender, EventArgs e)
        {
            serChanTitle[6] = textBoxSerial7.Text;
        }
        private void btnSer7_0_Click(object sender, EventArgs e)
        {
            trckbarSerial7.Value = 0;
        }
        private void btnSer7_127_Click(object sender, EventArgs e)
        {
            trckbarSerial7.Value = 127;
        }
        private void btnSer7_254_Click(object sender, EventArgs e)
        {
            trckbarSerial7.Value = 254;
        }
        private void trckbarSerial7_ValueChanged(object sender, EventArgs e)
        {
            lblTbSerial7.Text = trckbarSerial7.Value.ToString();
            serChan[6] = trckbarSerial7.Value;
            if (!_init) _sendSerialData();
        }
        private void tbSerial8_Scroll(object sender, EventArgs e)
        {
            lblTbSerial8.Text = trckbarSerial8.Value.ToString();
            serChan[7] = trckbarSerial8.Value;
            if (!_init) _sendSerialData();
        }
        private void textBoxSerial8_TextChanged(object sender, EventArgs e)
        {
            serChanTitle[7] = textBoxSerial8.Text;
        }
        private void btnSer8_0_Click(object sender, EventArgs e)
        {
            trckbarSerial8.Value = 0;
        }
        private void btnSer8_127_Click(object sender, EventArgs e)
        {
            trckbarSerial8.Value = 127;
        }
        private void btnSer8_254_Click(object sender, EventArgs e)
        {
            trckbarSerial8.Value = 254;
        }
        private void trckbarSerial8_ValueChanged(object sender, EventArgs e)
        {
            lblTbSerial8.Text = trckbarSerial8.Value.ToString();
            serChan[7] = trckbarSerial8.Value;
            if (!_init) _sendSerialData();
        }
        #endregion serial control channels
 
    }
    public class IniFile
    {
        public string path;
 
        [DllImport("kernel32")]
        private static extern long WritePrivateProfileString(string section,
          string key, string val, string filePath);
 
        [DllImport("kernel32.dll", CharSet = CharSet.Auto)]
        static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
               uint nSize, string lpFileName);
 
        [DllImport("kernel32")]
        private static extern int GetPrivateProfileString(string section,
          string key, string def, StringBuilder retVal,
          int size, string filePath);
 
        public IniFile(string INIPath)
        {
            path = INIPath;
        }
 
        public void IniWriteValue(string Section, string Key, string Value)
        {
            WritePrivateProfileString(Section, Key, Value, this.path);
        }
 
        public string IniReadValue(string Section, string Key)
        {
            StringBuilder temp = new StringBuilder(255);
            int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
            return temp.ToString();
        }
        //Ini_sections auslesen in String-Array
        public string[] IniSectionNames()
        {
 
            //  uint MAX_BUFFER = 32767;
            uint MAX_BUFFER = 8388608;
            IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
            uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
            if (bytesReturned == 0)
            {
                Marshal.FreeCoTaskMem(pReturnedString);
                return null;
            }
            string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
            Marshal.FreeCoTaskMem(pReturnedString);
            //use of Substring below removes terminating null for split
            return local.Substring(0, local.Length - 1).Split('\0');
 
 
        }
    }
    public static class ControlExtensions
    {
        /// <summary> 
        /// Execute a threadsafe operation, when accessing a control via another thread 
        /// action is a lamdaexpression
        /// e.g. comboBox1.ExecuteThreadSafe(() => comboBox1.Enabled = true);
        /// </summary>
        /// <param name="control"> The control </param>
        /// <param name="action"> The 'action' to perform </param>
        public static void ExecuteThreadSafe(this Control control, Action action)
        {
            if (control.InvokeRequired)
            {
                control.BeginInvoke(action); //"BeginInvoke" is an async call -> threadsafety error when called to many times successively -> then take "Invoke"
            }
            else
            {
                action.Invoke();
            }
        }
    }
 
}
 

Rev 2265	Rev 2274
1	///============================================================================	1	///============================================================================
2	/// MKLiveView	2	/// MKLiveView
3	/// Copyright © 2016 Steph	3	/// Copyright © 2016 Steph
4	///	4	///
5	///This file is part of MKLiveView.	5	///This file is part of MKLiveView.
6	///	6	///
7	///MKLiveView is free software: you can redistribute it and/or modify	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	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	9	///the Free Software Foundation, either version 3 of the License, or
10	///(at your option) any later version.	10	///(at your option) any later version.
11	///	11	///
12	///MKLiveView is distributed in the hope that it will be useful,	12	///MKLiveView is distributed in the hope that it will be useful,
13	///but WITHOUT ANY WARRANTY; without even the implied warranty of	13	///but WITHOUT ANY WARRANTY; without even the implied warranty of
14	///MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the	14	///MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15	///GNU General Public License for more details.	15	///GNU General Public License for more details.
16	///	16	///
17	///You should have received a copy of the GNU General Public License	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/>.	18	///along with cssRcon. If not, see <http://www.gnu.org/licenses/>.
19	///	19	///
20	///============================================================================	20	///============================================================================
21	///Credits:	21	///Credits:
22	///Chootair (http://www.codeproject.com/script/Membership/View.aspx?mid=3941737)	22	///Chootair (http://www.codeproject.com/script/Membership/View.aspx?mid=3941737)
23	///for his "C# Avionic Instrument Controls" (http://www.codeproject.com/Articles/27411/C-Avionic-Instrument-Controls)	23	///for his "C# Avionic Instrument Controls" (http://www.codeproject.com/Articles/27411/C-Avionic-Instrument-Controls)
24	///I used some of his code for displaying the compass	24	///I used some of his code for displaying the compass
25	///	25	///
26	///Tom Pyke (http://tom.pycke.be)	26	///Tom Pyke (http://tom.pycke.be)
27	///for his "Artifical horizon" (http://tom.pycke.be/mav/100/artificial-horizon)	27	///for his "Artifical horizon" (http://tom.pycke.be/mav/100/artificial-horizon)
28	///Great job!	28	///Great job!
29	///	29	///
30	/// and last but most of all to JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology	30	/// and last but most of all to JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology
31	/// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747)	31	/// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747)
32	/// and the sourcecode (http://hdl.lib.byu.edu/1877/2748)	32	/// and the sourcecode (http://hdl.lib.byu.edu/1877/2748)
33	/// By his work I finally managed to get the communication with the Mikrokopter controllers to run	33	/// By his work I finally managed to get the communication with the Mikrokopter controllers to run
34	/// Some of his code was used in this programm like the SimpelSerialPort class (with some changes)	34	/// Some of his code was used in this programm like the SimpelSerialPort class (with some changes)
35	/// and the FilghtControllerMessage class	35	/// and the FilghtControllerMessage class
36	///	36	///
37	///============================================================================	37	///============================================================================
38	/// DISCLAIMER	38	/// DISCLAIMER
39	/// ===========	39	/// ===========
40	///	40	///
41	/// I created this software with my best knowledge and belief.	41	/// I created this software with my best knowledge and belief.
42	///	42	///
43	/// IN NO EVENT, UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING,	43	/// IN NO EVENT, UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING,
44	/// SHALL I, OR ANY PERSON BE LIABLE FOR ANY LOSS, EXPENSE OR DAMAGE,	44	/// SHALL I, OR ANY PERSON BE LIABLE FOR ANY LOSS, EXPENSE OR DAMAGE,
45	/// OF ANY TYPE OR NATURE ARISING OUT OF THE USE OF,	45	/// OF ANY TYPE OR NATURE ARISING OUT OF THE USE OF,
46	/// OR INABILITY TO USE THIS SOFTWARE OR PROGRAM,	46	/// OR INABILITY TO USE THIS SOFTWARE OR PROGRAM,
47	/// INCLUDING, BUT NOT LIMITED TO, CLAIMS, SUITS OR CAUSES OF ACTION	47	/// INCLUDING, BUT NOT LIMITED TO, CLAIMS, SUITS OR CAUSES OF ACTION
48	/// INVOLVING ALLEGED INFRINGEMENT OF COPYRIGHTS,	48	/// INVOLVING ALLEGED INFRINGEMENT OF COPYRIGHTS,
49	/// PATENTS, TRADEMARKS, TRADE SECRETS, OR UNFAIR COMPETITION.	49	/// PATENTS, TRADEMARKS, TRADE SECRETS, OR UNFAIR COMPETITION.
50	///	50	///
51	/// This means: use it & have fun (but @ Your own risk...)	51	/// This means: use it & have fun (but @ Your own risk...)
52	/// ===========================================================================	52	/// ===========================================================================
53		53
54	using System;	54	using System;
55	using System.Data;	55	using System.Data;
56	using System.Drawing;	56	using System.Drawing;
57	using System.Text;	57	using System.Text;
58	using System.Windows.Forms;	58	using System.Windows.Forms;
59	using System.IO;	59	using System.IO;
60	using System.Threading;	60	using System.Threading;
61	using System.Diagnostics;	61	using System.Diagnostics;
62	using System.Runtime.InteropServices;	62	using System.Runtime.InteropServices;
63		63
64	namespace MKLiveView	64	namespace MKLiveView
65	{	65	{
66	public partial class MainForm : Form	66	public partial class MainForm : Form
67	{	67	{
68	String[] NC_Error = new string[44]	68	String[] NC_Error = new string[44]
69	{	69	{
70	"No Error",	70	"No Error",
71	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",	71	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
72	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",	72	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
73	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",	73	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
74	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",	74	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
75	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",	75	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
76	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",	76	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
77	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",	77	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
78	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",	78	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
79	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",	79	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
80	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",	80	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
81	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",	81	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
82	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",	82	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
83	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",	83	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
84	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",	84	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
85	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",	85	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
86	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",	86	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
87	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",	87	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
88	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",	88	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
89	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",	89	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
90	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",	90	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
91	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",	91	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
92	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",	92	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
93	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",	93	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
94	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",	94	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
95	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",	95	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
96	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",	96	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
97	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",	97	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
98	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",	98	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
99	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",	99	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
100	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",	100	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
101	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",	101	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
102	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",	102	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
103	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",	103	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
104	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",	104	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
105	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",	105	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
106	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",	106	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
107	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",	107	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
108	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",	108	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
109	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",	109	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
110	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",	110	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
111	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",	111	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
112	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",	112	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
113	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"	113	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
114	};	114	};
115		115
116	[FlagsAttribute]	116	[FlagsAttribute]
117	enum NC_HWError0 : short	117	enum NC_HWError0 : short
118	{	118	{
119	None = 0,	119	None = 0,
120	SPI_RX = 1,	120	SPI_RX = 1,
121	COMPASS_RX = 2,	121	COMPASS_RX = 2,
122	FC_INCOMPATIBLE = 4,	122	FC_INCOMPATIBLE = 4,
123	COMPASS_INCOMPATIBLE = 8,	123	COMPASS_INCOMPATIBLE = 8,
124	GPS_RX = 16,	124	GPS_RX = 16,
125	COMPASS_VALUE = 32	125	COMPASS_VALUE = 32
126	};	126	};
127	[FlagsAttribute]	127	[FlagsAttribute]
128	enum FC_HWError0 : short	128	enum FC_HWError0 : short
129	{	129	{
130	None = 0,	130	None = 0,
131	GYRO_NICK = 1,	131	GYRO_NICK = 1,
132	GYRO_ROLL = 2,	132	GYRO_ROLL = 2,
133	GYRO_YAW = 4,	133	GYRO_YAW = 4,
134	ACC_NICK = 8,	134	ACC_NICK = 8,
135	ACC_ROLL = 16,	135	ACC_ROLL = 16,
136	ACC_TOP = 32,	136	ACC_TOP = 32,
137	PRESSURE = 64,	137	PRESSURE = 64,
138	CAREFREE = 128	138	CAREFREE = 128
139	};	139	};
140	[FlagsAttribute]	140	[FlagsAttribute]
141	enum FC_HWError1 : short	141	enum FC_HWError1 : short
142	{	142	{
143	None = 0,	143	None = 0,
144	I2C = 1,	144	I2C = 1,
145	BL_MISSING = 2,	145	BL_MISSING = 2,
146	SPI_RX = 4,	146	SPI_RX = 4,
147	PPM = 8,	147	PPM = 8,
148	MIXER = 16,	148	MIXER = 16,
149	RC_VOLTAGE = 32,	149	RC_VOLTAGE = 32,
150	ACC_NOT_CAL = 64,	150	ACC_NOT_CAL = 64,
151	RES3 = 128	151	RES3 = 128
152	};	152	};
153	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };	153	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
154	// Various colors for logging info	154	// Various colors for logging info
155	private Color[] LogMsgTypeColor = { Color.FromArgb(43, 145, 175), Color.Green, Color.Black, Color.Orange, Color.Red };	155	private Color[] LogMsgTypeColor = { Color.FromArgb(43, 145, 175), Color.Green, Color.Black, Color.Orange, Color.Red };
156		156
157	string[] sAnalogLabel = new string[32];	157	string[] sAnalogLabel = new string[32];
158	string[] sAnalogData = new string[32];	158	string[] sAnalogData = new string[32];
159	bool bReadContinously = false;	159	bool bReadContinously = false;
160	bool check_HWError = false;	160	bool check_HWError = false;
161	bool _bCBInit = true;	161	bool _bCBInit = true;
162	bool _init = true;	162	bool _init = true;
163	bool _debugDataAutorefresh = true;	163	bool _debugDataAutorefresh = true;
164	bool _navCtrlDataAutorefresh = true;	164	bool _navCtrlDataAutorefresh = true;
165	bool _blctrlDataAutorefresh = true;	165	bool _blctrlDataAutorefresh = true;
166	bool _OSDAutorefresh = true;	166	bool _OSDAutorefresh = true;
167	bool _bErrorLog = false;	167	bool _bErrorLog = false;
168	int crcError = 0;	168	int crcError = 0;
169	int iLableIndex = 0;	169	int iLableIndex = 0;
170	string filePath = Directory.GetCurrentDirectory();	170	string filePath = Directory.GetCurrentDirectory();
171	string fileName = "NCLabelTexts.txt";	171	string fileName = "NCLabelTexts.txt";
172	int _iCtrlAct = 0;	172	int _iCtrlAct = 0;
173	int _iLifeCounter = 0;	173	int _iLifeCounter = 0;
174	int iOSDPage = 0;	174	int iOSDPage = 0;
175	int iOSDMax = 0;	175	int iOSDMax = 0;
176	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };	176	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
177	string[] serChanTitle = new string[12];	177	string[] serChanTitle = new string[12];
178	/// <summary>	178	/// <summary>
179	/// interval for sending debugdata (multiplied by 10ms)	179	/// interval for sending debugdata (multiplied by 10ms)
180	/// </summary>	180	/// </summary>
181	byte debugInterval = 10; //(=> 100ms)	181	byte debugInterval = 10; //(=> 100ms)
182	/// <summary>	182	/// <summary>
183	/// interval for sending BL-CTRL status (multiplied by 10ms)	183	/// interval for sending BL-CTRL status (multiplied by 10ms)
184	/// </summary>	184	/// </summary>
185	byte blctrlInterval = 75;	185	byte blctrlInterval = 75;
186	/// <summary>	186	/// <summary>
187	/// interval for sending NAV-CTRL status (multiplied by 10ms)	187	/// interval for sending NAV-CTRL status (multiplied by 10ms)
188	/// </summary>	188	/// </summary>
189	byte navctrlInterval = 80;	189	byte navctrlInterval = 80;
190	/// <summary>	190	/// <summary>
191	/// interval for sending OSD page update (multiplied by 10ms)	191	/// interval for sending OSD page update (multiplied by 10ms)
192	/// </summary>	192	/// </summary>
193	byte OSDInterval = 85;	193	byte OSDInterval = 85;
194	/// <summary>	194	/// <summary>
195	/// datatable for the debug data array - displayed on settings tabpage in datagridview	195	/// datatable for the debug data array - displayed on settings tabpage in datagridview
196	/// </summary>	196	/// </summary>
197	DataTable dtAnalog = new DataTable();	197	DataTable dtAnalog = new DataTable();
198	/// <summary>	198	/// <summary>
199	/// datatable for motordata (current,temp)	199	/// datatable for motordata (current,temp)
200	/// </summary>	200	/// </summary>
201	DataTable dtMotors1 = new DataTable();	201	DataTable dtMotors1 = new DataTable();
202	DataTable dtMotors2 = new DataTable();	202	DataTable dtMotors2 = new DataTable();
203		203
204	DataTable dtWaypoints = new DataTable();	204	DataTable dtWaypoints = new DataTable();
205		205
206	public MainForm()	206	public MainForm()
207	{	207	{
208	InitializeComponent();	208	InitializeComponent();
-		209	_initForm();
-		210	}
-		211	void _initForm()
-		212	{
209	serChanTitle.Initialize();	213	serChanTitle.Initialize();
210		214
211	_readIni();	215	_readIni();
212		216
213	_dataTablesInit();	217	_dataTablesInit();
214		218
215	simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;	219	simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
216	simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;	220	simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
217	simpleSerialPort.DataReceived += processMessage;	221	simpleSerialPort.DataReceived += processMessage;
218		222
219	chkbAutoBL.Checked = _blctrlDataAutorefresh;	223	chkbAutoBL.Checked = _blctrlDataAutorefresh;
220	chkbAutoDbg.Checked = _debugDataAutorefresh;	224	chkbAutoDbg.Checked = _debugDataAutorefresh;
221	chkbAutoNav.Checked = _navCtrlDataAutorefresh;	225	chkbAutoNav.Checked = _navCtrlDataAutorefresh;
222	chkbAutoOSD.Checked = _OSDAutorefresh;	226	chkbAutoOSD.Checked = _OSDAutorefresh;
223		227
224	labelTimingDebug.Text = (debugInterval * 10).ToString();	228	labelTimingDebug.Text = (debugInterval * 10).ToString();
225	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();	229	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
226	labelTimingNAV.Text = (navctrlInterval * 10).ToString();	230	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
227	labelTimingOSD.Text = (OSDInterval * 10).ToString();	231	labelTimingOSD.Text = (OSDInterval * 10).ToString();
228		232
229	TabControl1.TabPages.Remove(tabPageTesting); //a testing page	233	TabControl1.TabPages.Remove(tabPageTesting); //a testing page
230	}	234	}
231		-
232	#region events	235	#region events
233	private void MainForm_Shown(object sender, EventArgs e)	236	private void MainForm_Shown(object sender, EventArgs e)
234	{	237	{
235	_loadLabelNames();	238	_loadLabelNames();
236	_initSerialCtrl();	239	_initSerialCtrl();
237	_init = false;	240	_init = false;
238	splitContainer1.SplitterDistance = 510;	241	splitContainer1.SplitterDistance = 510;
239	}	242	}
240	private void MainForm_FormClosed(object sender, FormClosedEventArgs e)	243	private void MainForm_FormClosed(object sender, FormClosedEventArgs e)
241	{	244	{
242	_writeIni();	245	_writeIni();
-		246	// after adding a second language the programm didn't close properly anymore
-		247	// so this is kinda workaround...
-		248	Dispose(true);
-		249	Environment.Exit(0);
243	}	250	}
244	private void SimpleSerialPort_PortOpened()	251	private void SimpleSerialPort_PortOpened()
245	{	252	{
246	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192)));	253	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192)));
-		254	if(Thread.CurrentThread.CurrentUICulture.Name== "")
247	btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port"));	255	btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port"));
-		256	else
-		257	btnConn.Invoke((Action)(() => btnConn.Text = "COM-Port" + Environment.NewLine + "schliessen"));
248	_getVersion();	258	_getVersion();
249	Thread.Sleep(100);	259	Thread.Sleep(100);
250	_OSDMenue(0);	260	_OSDMenue(0);
251	Thread.Sleep(200);	261	Thread.Sleep(200);
252	_sendSerialData();	262	_sendSerialData();
253	// _readCont(true);	263	// _readCont(true);
254	}	264	}
255	private void SimpleSerialPort_PortClosed()	265	private void SimpleSerialPort_PortClosed()
256	{	266	{
257	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224)));	267	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224)));
-		268	if (Thread.CurrentThread.CurrentUICulture.Name == "")
258	btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port"));	269	btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port"));
-		270	else
-		271	btnConn.Invoke((Action)(() => btnConn.Text = "COM-Port" + Environment.NewLine + "öffnen"));
259	_readCont(false);	272	_readCont(false);
260	}	273	}
261	/// <summary>	274	/// <summary>
262	/// timer for refreshing subscription of subscribed data	275	/// timer for refreshing subscription of subscribed data
263	/// query lifecounter for connection failure	276	/// query lifecounter for connection failure
264	/// </summary>	277	/// </summary>
265	private void timer1_Tick(object sender, EventArgs e)	278	private void timer1_Tick(object sender, EventArgs e)
266	{	279	{
267	if(bReadContinously)	280	if(bReadContinously)
268	{	281	{
269	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }	282	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
270		283
271	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }	284	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
272		285
273	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }	286	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
274	check_HWError = true;	287	check_HWError = true;
275	_getVersion();	288	_getVersion();
276	Thread.Sleep(10);	289	Thread.Sleep(10);
277	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); }	290	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); }
278	if (_iLifeCounter > 0)	291	if (_iLifeCounter > 0)
279	{	292	{
280	lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0);	293	lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0);
281	_iLifeCounter = 0;	294	_iLifeCounter = 0;
282	}	295	}
283	else	296	else
284	{	297	{
285	Log(LogMsgType.Error, "No communication to NC/FC!");	298	Log(LogMsgType.Error, "No communication to NC/FC!");
286	lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0);	299	lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0);
287	}	300	}
288	}	301	}
289	}	302	}
290	private void cbOSD_SelectedIndexChanged(object sender, EventArgs e)	303	private void cbOSD_SelectedIndexChanged(object sender, EventArgs e)
291	{	304	{
292	if (!_bCBInit && cbOSD.SelectedIndex > -1)	305	if (!_bCBInit && cbOSD.SelectedIndex > -1)
293	_OSDMenue(cbOSD.SelectedIndex);	306	_OSDMenue(cbOSD.SelectedIndex);
294	}	307	}
295	private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e)	308	private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e)
296	{	309	{
297	if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked;	310	if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked;
298	}	311	}
299	private void chkbAutoNav_CheckedChanged(object sender, EventArgs e)	312	private void chkbAutoNav_CheckedChanged(object sender, EventArgs e)
300	{	313	{
301	if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked;	314	if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked;
302	}	315	}
303	private void chkbAutoBL_CheckedChanged(object sender, EventArgs e)	316	private void chkbAutoBL_CheckedChanged(object sender, EventArgs e)
304	{	317	{
305	if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked;	318	if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked;
306	}	319	}
307	private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e)	320	private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e)
308	{	321	{
309	if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked;	322	if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked;
310	}	323	}
311	private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e)	324	private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e)
312	{	325	{
313	if (cbTimingDebug.SelectedIndex > -1)	326	if (cbTimingDebug.SelectedIndex > -1)
314	{	327	{
315	debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10);	328	debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10);
316	labelTimingDebug.Text = (debugInterval * 10).ToString();	329	labelTimingDebug.Text = (debugInterval * 10).ToString();
317	}	330	}
318	}	331	}
319	private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e)	332	private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e)
320	{	333	{
321	if (cbTimingNAV.SelectedIndex > -1)	334	if (cbTimingNAV.SelectedIndex > -1)
322	{	335	{
323	navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10);	336	navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10);
324	labelTimingNAV.Text = (navctrlInterval * 10).ToString();	337	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
325	}	338	}
326	}	339	}
327	private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e)	340	private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e)
328	{	341	{
329	if (cbTimingBLCTRL.SelectedIndex > -1)	342	if (cbTimingBLCTRL.SelectedIndex > -1)
330	{	343	{
331	blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10);	344	blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10);
332	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();	345	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
333	}	346	}
334	}	347	}
335	private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e)	348	private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e)
336	{	349	{
337	if (cbTimingOSD.SelectedIndex > -1)	350	if (cbTimingOSD.SelectedIndex > -1)
338	{	351	{
339	OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10);	352	OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10);
340	labelTimingOSD.Text = (OSDInterval * 10).ToString();	353	labelTimingOSD.Text = (OSDInterval * 10).ToString();
341	}	354	}
342	}	355	}
343	private void rtfError_LinkClicked(object sender, LinkClickedEventArgs e)	356	private void rtfError_LinkClicked(object sender, LinkClickedEventArgs e)
344	{	357	{
345	System.Diagnostics.Process.Start(e.LinkText);	358	System.Diagnostics.Process.Start(e.LinkText);
346	}	359	}
-		360	/// <summary>
-		361	/// Combobox for selecting UI language
-		362	/// </summary>
-		363	/// <param name="sender"></param>
-		364	/// <param name="e"></param>
-		365	private void cbLanguage_SelectedIndexChanged(object sender, EventArgs e)
-		366	{
-		367	if (cbLanguage.SelectedIndex == 1)
-		368	Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("de-DE");
-		369	else
-		370	Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("");
-		371	updateStringRessource();
-		372	}
-		373	/// <summary>
-		374	/// the form has to be recreated when changing the language of the UI
-		375	/// </summary>
-		376	private void updateStringRessource()
-		377	{
-		378	try
-		379	{
-		380	Point pt = this.Location;// memorize location of form
-		381	Size sz = this.Size;// memorize size of form
-		382
-		383	if (simpleSerialPort.Port.IsOpen)
-		384	{
-		385	simpleSerialPort.Port.Close();
-		386	Thread.Sleep(200);
-		387	_readCont(false);
-		388	Thread.Sleep(100);
-		389	while (simpleSerialPort.Port.IsOpen \| bReadContinously)
-		390	Thread.Sleep(100);
-		391	}
-		392
-		393	this.Controls.Clear();// clear all controls of form
-		394	components.Dispose();// dispose all components and release resources
-		395	// delete all events to avoid double instances when calling InitializeComponent();
-		396	this.Events.Dispose();
-		397	if (timer1 != null)
-		398	{
-		399	timer1.Dispose();
-		400	timer1 = null;
-		401	}
-		402	_init = true;
-		403	timer1 = new System.Windows.Forms.Timer();
-		404
-		405	dtAnalog = new DataTable();
-		406	dtMotors1 = new DataTable();
-		407	dtMotors2 = new DataTable();
-		408	dtWaypoints = new DataTable();
-		409
-		410	InitializeComponent(); // reload UI
-		411
-		412	_dataTablesInit();
-		413
-		414	simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
-		415	simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
-		416	simpleSerialPort.DataReceived += processMessage;
-		417
-		418	chkbAutoBL.Checked = _blctrlDataAutorefresh;
-		419	chkbAutoDbg.Checked = _debugDataAutorefresh;
-		420	chkbAutoNav.Checked = _navCtrlDataAutorefresh;
-		421	chkbAutoOSD.Checked = _OSDAutorefresh;
-		422
-		423	labelTimingDebug.Text = (debugInterval * 10).ToString();
-		424	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
-		425	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
-		426	labelTimingOSD.Text = (OSDInterval * 10).ToString();
-		427
-		428	TabControl1.TabPages.Remove(tabPageTesting); //a testing page
-		429
-		430	this.Size = sz;// set size
-		431	this.Location = pt;// position form
-		432	_loadLabelNames();
-		433	_initSerialCtrl();
-		434	_init = false;
-		435
-		436	}
-		437	catch (Exception ex)
-		438	{
-		439	MessageBox.Show(ex.Message);
-		440	}
-		441	}
347		442
348	#endregion events	443	#endregion events
349		444
350	/// <summary> Log data to the terminal window. </summary>	445	/// <summary> Log data to the terminal window. </summary>
351	/// <param name="msgtype"> The type of message to be written. </param>	446	/// <param name="msgtype"> The type of message to be written. </param>
352	/// <param name="msg"> The string containing the message to be shown. </param>	447	/// <param name="msg"> The string containing the message to be shown. </param>
353	private void Log(LogMsgType msgtype, string msg)	448	private void Log(LogMsgType msgtype, string msg)
354	{	449	{
355	rtfTerminal.Invoke(new EventHandler(delegate	450	rtfTerminal.Invoke(new EventHandler(delegate
356	{	451	{
357	if (rtfTerminal.Lines.Length >= 1000) //Wenn Terminal mehr als 1000 Zeilen hat	452	if (rtfTerminal.Lines.Length >= 1000) //Wenn Terminal mehr als 1000 Zeilen hat
358	rtfTerminal.Select(42, (500 * 129)); //500 löschen	453	rtfTerminal.Select(42, (500 * 129)); //500 löschen
359	rtfTerminal.Select(rtfTerminal.Text.Length, 0);	454	rtfTerminal.Select(rtfTerminal.Text.Length, 0);
360	rtfTerminal.SelectedText = string.Empty;	455	rtfTerminal.SelectedText = string.Empty;
361	rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular);	456	rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular);
362	rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype];	457	rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype];
363	rtfTerminal.AppendText(msg + Environment.NewLine);	458	rtfTerminal.AppendText(msg + Environment.NewLine);
364	rtfTerminal.ScrollToCaret();	459	rtfTerminal.ScrollToCaret();
365	}));	460	}));
366	}	461	}
367	/// <summary> display the OSD text in 4 lines à 20 chars </summary>	462	/// <summary> display the OSD text in 4 lines à 20 chars </summary>
368	/// <param name="msgtype"> The type of message to be written. </param>	463	/// <param name="msgtype"> The type of message to be written. </param>
369	/// <param name="msg"> The string containing the message to be shown. </param>	464	/// <param name="msg"> The string containing the message to be shown. </param>
370	private void OSD(LogMsgType msgtype, string msg)	465	private void OSD(LogMsgType msgtype, string msg)
371	{	466	{
372	rtfOSD.Invoke(new EventHandler(delegate	467	rtfOSD.Invoke(new EventHandler(delegate
373	{	468	{
374	if (rtfOSD.Lines.Length > 4)	469	if (rtfOSD.Lines.Length > 4)
375	rtfOSD.Clear();	470	rtfOSD.Clear();
376	rtfOSD.Select(rtfOSD.Text.Length,0);	471	rtfOSD.Select(rtfOSD.Text.Length,0);
377	rtfOSD.SelectedText = string.Empty;	472	rtfOSD.SelectedText = string.Empty;
378	rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular);	473	rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular);
379	rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype];	474	rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype];
380	rtfOSD.AppendText(msg + Environment.NewLine);	475	rtfOSD.AppendText(msg + Environment.NewLine);
381	if (rtfOSD.Text.IndexOf("ERR") > 0)	476	if (rtfOSD.Text.IndexOf("ERR") > 0)
382	{	477	{
383	rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40);	478	rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40);
384	rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error];	479	rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error];
385	}	480	}
386	}));	481	}));
387	}	482	}
388	private void ErrorLog(LogMsgType msgtype, string msg)	483	private void ErrorLog(LogMsgType msgtype, string msg)
389	{	484	{
390	rtfError.Invoke(new EventHandler(delegate	485	rtfError.Invoke(new EventHandler(delegate
391	{	486	{
392	if (rtfError.Lines.Length > 4)	487	if (rtfError.Lines.Length > 4)
393	rtfError.Clear();	488	rtfError.Clear();
394	rtfError.Focus();	489	rtfError.Focus();
395	rtfError.Select(rtfError.Text.Length, 0);	490	rtfError.Select(rtfError.Text.Length, 0);
396	rtfError.SelectedText = string.Empty;	491	rtfError.SelectedText = string.Empty;
397	rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular);	492	rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular);
398	rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype];	493	rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype];
399	rtfError.AppendText(msg + Environment.NewLine);	494	rtfError.AppendText(msg + Environment.NewLine);
400		495
401	}));	496	}));
402	_bErrorLog = true;	497	_bErrorLog = true;
403	}	498	}
404		499

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(root)/MKLiveView/Source/MainForm.cs - Rev 2265 → 2274