private void mainloop()
{
run = true;
DateTime tracklast = DateTime.Now.AddSeconds(0);
List <PointLatLng> trackPoints = new List <PointLatLng>();
DateTime waypoints = DateTime.Now.AddSeconds(0);
DateTime mapupdate = DateTime.Now.AddSeconds(0);
while (run)
{
try
{
Thread.Sleep(50);
Forms.Device.BeginInvokeOnMainThread(() =>
{
var start = DateTime.Now;
Hud.airspeed = MainV2.comPort.MAV.cs.airspeed;
Hud.alt = MainV2.comPort.MAV.cs.alt;
Hud.batterylevel = (float)MainV2.comPort.MAV.cs.battery_voltage;
Hud.batteryremaining = MainV2.comPort.MAV.cs.battery_remaining;
Hud.connected = MainV2.comPort.MAV.cs.connected;
Hud.current = (float)MainV2.comPort.MAV.cs.current;
Hud.datetime = MainV2.comPort.MAV.cs.datetime;
Hud.disttowp = MainV2.comPort.MAV.cs.wp_dist;
Hud.ekfstatus = MainV2.comPort.MAV.cs.ekfstatus;
Hud.failsafe = MainV2.comPort.MAV.cs.failsafe;
Hud.gpsfix = MainV2.comPort.MAV.cs.gpsstatus;
Hud.gpsfix2 = MainV2.comPort.MAV.cs.gpsstatus2;
Hud.gpshdop = MainV2.comPort.MAV.cs.gpshdop;
Hud.gpshdop2 = MainV2.comPort.MAV.cs.gpshdop2;
Hud.groundalt = (float)MainV2.comPort.MAV.cs.HomeAlt;
Hud.groundcourse = MainV2.comPort.MAV.cs.groundcourse;
Hud.groundspeed = MainV2.comPort.MAV.cs.groundspeed;
Hud.heading = MainV2.comPort.MAV.cs.yaw;
Hud.linkqualitygcs = MainV2.comPort.MAV.cs.linkqualitygcs;
Hud.message = MainV2.comPort.MAV.cs.messageHigh;
Hud.messagetime = MainV2.comPort.MAV.cs.messageHighTime;
Hud.mode = MainV2.comPort.MAV.cs.mode;
Hud.navpitch = MainV2.comPort.MAV.cs.nav_pitch;
Hud.navroll = MainV2.comPort.MAV.cs.nav_roll;
Hud.pitch = MainV2.comPort.MAV.cs.pitch;
Hud.roll = MainV2.comPort.MAV.cs.roll;
Hud.status = MainV2.comPort.MAV.cs.armed;
Hud.targetalt = MainV2.comPort.MAV.cs.targetalt;
Hud.targetheading = MainV2.comPort.MAV.cs.nav_bearing;
Hud.targetspeed = MainV2.comPort.MAV.cs.targetairspeed;
Hud.turnrate = MainV2.comPort.MAV.cs.turnrate;
Hud.verticalspeed = MainV2.comPort.MAV.cs.verticalspeed;
Hud.vibex = MainV2.comPort.MAV.cs.vibex;
Hud.vibey = MainV2.comPort.MAV.cs.vibey;
Hud.vibez = MainV2.comPort.MAV.cs.vibez;
Hud.wpno = (int)MainV2.comPort.MAV.cs.wpno;
Hud.xtrack_error = MainV2.comPort.MAV.cs.xtrack_error;
Hud.AOA = MainV2.comPort.MAV.cs.AOA;
Hud.SSA = MainV2.comPort.MAV.cs.SSA;
Hud.critAOA = MainV2.comPort.MAV.cs.crit_AOA;
// update map
if (tracklast.AddSeconds(Settings.Instance.GetDouble("FD_MapUpdateDelay", 1.2)) < DateTime.Now)
{
adsb.CurrentPosition = MainV2.comPort.MAV.cs.HomeLocation;
// show proximity screen
if (MainV2.comPort.MAV?.Proximity != null && MainV2.comPort.MAV.Proximity.DataAvailable)
{
//this.BeginInvoke((MethodInvoker)delegate { new ProximityControl(MainV2.comPort.MAV).Show(); });
}
if (Settings.Instance.GetBoolean("CHK_maprotation"))
{
// dont holdinvalidation here
setMapBearing();
}
if (route == null)
{
route = new GMapRoute(trackPoints, "track");
routes.Routes.Add(route);
}
PointLatLng currentloc = new PointLatLng(MainV2.comPort.MAV.cs.lat, MainV2.comPort.MAV.cs.lng);
gMapControl1.HoldInvalidation = true;
int numTrackLength = Settings.Instance.GetInt32("NUM_tracklength", 200);
// maintain route history length
if (route.Points.Count > numTrackLength)
{
route.Points.RemoveRange(0,
route.Points.Count - numTrackLength);
}
// add new route point
if (MainV2.comPort.MAV.cs.lat != 0 && MainV2.comPort.MAV.cs.lng != 0)
{
route.Points.Add(currentloc);
}
updateRoutePosition();
// update programed wp course
if (waypoints.AddSeconds(5) < DateTime.Now)
{
//Console.WriteLine("Doing FD WP's");
updateClearMissionRouteMarkers();
var wps = MainV2.comPort.MAV.wps.Values.ToList();
if (wps.Count >= 1)
{
var homeplla = new PointLatLngAlt(MainV2.comPort.MAV.cs.HomeLocation.Lat,
MainV2.comPort.MAV.cs.HomeLocation.Lng,
MainV2.comPort.MAV.cs.HomeLocation.Alt / CurrentState.multiplieralt, "H");
var overlay = new WPOverlay();
{
List <Locationwp> mission_items;
mission_items = MainV2.comPort.MAV.wps.Values.Select(a => (Locationwp)a).ToList();
mission_items.RemoveAt(0);
if (wps.Count == 1)
{
overlay.CreateOverlay((MAVLink.MAV_FRAME)wps[0].frame, homeplla,
mission_items,
0 / CurrentState.multiplieralt, 0 / CurrentState.multiplieralt);
}
else
{
overlay.CreateOverlay((MAVLink.MAV_FRAME)wps[1].frame, homeplla,
mission_items,
0 / CurrentState.multiplieralt, 0 / CurrentState.multiplieralt);
}
}
var existing = gMapControl1.Overlays.Where(a => a.Id == overlay.overlay.Id).ToList();
foreach (var b in existing)
{
gMapControl1.Overlays.Remove(b);
}
gMapControl1.Overlays.Insert(1, overlay.overlay);
overlay.overlay.ForceUpdate();
//distanceBar1.ClearWPDist();
var i = -1;
var travdist = 0.0;
var lastplla = overlay.pointlist.First();
foreach (var plla in overlay.pointlist)
{
i++;
if (plla == null)
{
continue;
}
var dist = lastplla.GetDistance(plla);
//distanceBar1.AddWPDist((float)dist);
if (i <= MainV2.comPort.MAV.cs.wpno)
{
travdist += dist;
}
}
travdist -= MainV2.comPort.MAV.cs.wp_dist;
//if (MainV2.comPort.MAV.cs.mode.ToUpper() == "AUTO")
//distanceBar1.traveleddist = (float)travdist;
}
RegeneratePolygon();
// update rally points
rallypointoverlay.Markers.Clear();
foreach (var mark in MainV2.comPort.MAV.rallypoints.Values)
{
rallypointoverlay.Markers.Add(new GMapMarkerRallyPt(mark));
}
// optional on Flight data
if (MainV2.ShowAirports)
{
// airports
foreach (var item in Airports.getAirports(gMapControl1.Position).ToArray())
{
try
{
rallypointoverlay.Markers.Add(new GMapMarkerAirport(item)
{
ToolTipText = item.Tag,
ToolTipMode = MarkerTooltipMode.OnMouseOver
});
}
catch (Exception e)
{
log.Error(e);
}
}
}
waypoints = DateTime.Now;
}
updateClearRoutesMarkers();
// add this after the mav icons are drawn
if (MainV2.comPort.MAV.cs.MovingBase != null && MainV2.comPort.MAV.cs.MovingBase == PointLatLngAlt.Zero)
{
addMissionRouteMarker(new GMarkerGoogle(currentloc, GMarkerGoogleType.blue_dot)
{
Position = MainV2.comPort.MAV.cs.MovingBase,
ToolTipText = "Moving Base",
ToolTipMode = MarkerTooltipMode.OnMouseOver
});
}
// add gimbal point center
try
{
if (MainV2.comPort.MAV.param.ContainsKey("MNT_STAB_TILT") &&
MainV2.comPort.MAV.param.ContainsKey("MNT_STAB_ROLL") &&
MainV2.comPort.MAV.param.ContainsKey("MNT_TYPE"))
{
float temp1 = (float)MainV2.comPort.MAV.param["MNT_STAB_TILT"];
float temp2 = (float)MainV2.comPort.MAV.param["MNT_STAB_ROLL"];
float temp3 = (float)MainV2.comPort.MAV.param["MNT_TYPE"];
if (MainV2.comPort.MAV.param.ContainsKey("MNT_STAB_PAN") &&
// (float)MainV2.comPort.MAV.param["MNT_STAB_PAN"] == 1 &&
((float)MainV2.comPort.MAV.param["MNT_STAB_TILT"] == 1 &&
(float)MainV2.comPort.MAV.param["MNT_STAB_ROLL"] == 0) ||
(float)MainV2.comPort.MAV.param["MNT_TYPE"] == 4) // storm driver
{
/*
* var marker = GimbalPoint.ProjectPoint();
*
* if (marker != PointLatLngAlt.Zero)
* {
* MainV2.comPort.MAV.cs.GimbalPoint = marker;
*
* addMissionRouteMarker(new GMarkerGoogle(marker, GMarkerGoogleType.blue_dot)
* {
* ToolTipText = "Camera Target\n" + marker,
* ToolTipMode = MarkerTooltipMode.OnMouseOver
* });
* }
*/
}
}
// cleanup old - no markers where added, so remove all old
if (MainV2.comPort.MAV.camerapoints.Count < photosoverlay.Markers.Count)
{
photosoverlay.Markers.Clear();
}
var min_interval = 0.0;
if (MainV2.comPort.MAV.param.ContainsKey("CAM_MIN_INTERVAL"))
{
min_interval = MainV2.comPort.MAV.param["CAM_MIN_INTERVAL"].Value / 1000.0;
}
// set fov's based on last grid calc
if (Settings.Instance["camera_fovh"] != null)
{
GMapMarkerPhoto.hfov = Settings.Instance.GetDouble("camera_fovh");
GMapMarkerPhoto.vfov = Settings.Instance.GetDouble("camera_fovv");
}
// add new - populate camera_feedback to map
double oldtime = double.MinValue;
foreach (var mark in MainV2.comPort.MAV.camerapoints.ToArray())
{
var timesincelastshot = (mark.time_usec / 1000.0) / 1000.0 - oldtime;
MainV2.comPort.MAV.cs.timesincelastshot = timesincelastshot;
bool contains = photosoverlay.Markers.Any(p => p.Tag.Equals(mark.time_usec));
if (!contains)
{
if (timesincelastshot < min_interval)
{
addMissionPhotoMarker(new GMapMarkerPhoto(mark, true));
}
else
{
addMissionPhotoMarker(new GMapMarkerPhoto(mark, false));
}
}
oldtime = (mark.time_usec / 1000.0) / 1000.0;
}
var GMapMarkerOverlapCount = new GMapMarkerOverlapCount(PointLatLng.Empty);
// age current
int camcount = MainV2.comPort.MAV.camerapoints.Count;
int a = 0;
foreach (var mark in photosoverlay.Markers)
{
if (mark is GMapMarkerPhoto)
{
if (CameraOverlap)
{
var marker = ((GMapMarkerPhoto)mark);
// abandon roll higher than 25 degrees
if (Math.Abs(marker.Roll) < 25)
{
GMapMarkerOverlapCount.Add(
((GMapMarkerPhoto)mark).footprintpoly);
}
}
if (a < (camcount - 4))
{
((GMapMarkerPhoto)mark).drawfootprint = false;
}
}
a++;
}
if (CameraOverlap)
{
if (!kmlpolygons.Markers.Contains(GMapMarkerOverlapCount) &&
camcount > 0)
{
kmlpolygons.Markers.Clear();
kmlpolygons.Markers.Add(GMapMarkerOverlapCount);
}
}
else if (kmlpolygons.Markers.Contains(GMapMarkerOverlapCount))
{
kmlpolygons.Markers.Clear();
}
}
catch (Exception ex)
{
log.Error(ex);
}
lock (MainV2.instance.adsblock)
{
foreach (adsb.PointLatLngAltHdg plla in MainV2.instance.adsbPlanes.Values)
{
// 30 seconds history
if (((DateTime)plla.Time) > DateTime.Now.AddSeconds(-30))
{
var adsbplane = new GMapMarkerADSBPlane(plla, plla.Heading)
{
ToolTipText = "ICAO: " + plla.Tag + "\n" +
"Alt: " + plla.Alt.ToString("0") + "\n" +
"Speed: " + plla.Speed.ToString("0") + "\n" +
"Heading: " + plla.Heading.ToString("0")
,
ToolTipMode = MarkerTooltipMode.OnMouseOver,
Tag = plla
};
if (plla.DisplayICAO)
{
adsbplane.ToolTipMode = MarkerTooltipMode.Always;
}
switch (plla.ThreatLevel)
{
case MAVLink.MAV_COLLISION_THREAT_LEVEL.NONE:
adsbplane.AlertLevel = GMapMarkerADSBPlane.AlertLevelOptions.Green;
break;
case MAVLink.MAV_COLLISION_THREAT_LEVEL.LOW:
adsbplane.AlertLevel = GMapMarkerADSBPlane.AlertLevelOptions.Orange;
break;
case MAVLink.MAV_COLLISION_THREAT_LEVEL.HIGH:
adsbplane.AlertLevel = GMapMarkerADSBPlane.AlertLevelOptions.Red;
break;
}
addMissionRouteMarker(adsbplane);
}
}
}
if (route.Points.Count > 0)
{
// add primary route icon
// draw guide mode point for only main mav
if (MainV2.comPort.MAV.cs.mode.ToLower() == "guided" && MainV2.comPort.MAV.GuidedMode.x != 0)
{
addpolygonmarker("Guided Mode", MainV2.comPort.MAV.GuidedMode.y / 1e7,
MainV2.comPort.MAV.GuidedMode.x / 1e7, (int)MainV2.comPort.MAV.GuidedMode.z,
Color.Blue,
routes);
}
// draw all icons for all connected mavs
foreach (var port in MainV2.Comports.ToArray())
{
// draw the mavs seen on this port
foreach (var MAV in port.MAVlist)
{
var marker = Common.getMAVMarker(MAV);
if (marker.Position.Lat == 0 && marker.Position.Lng == 0)
{
continue;
}
addMissionRouteMarker(marker);
}
}
if (route.Points.Count == 0 || route.Points[route.Points.Count - 1].Lat != 0 &&
(mapupdate.AddSeconds(3) < DateTime.Now) && CHK_autopan.IsToggled)
{
updateMapPosition(currentloc);
mapupdate = DateTime.Now;
}
if (route.Points.Count == 1 && gMapControl1.Zoom == 3) // 3 is the default load zoom
{
updateMapPosition(currentloc);
updateMapZoom(17);
}
}
prop.Update(MainV2.comPort.MAV.cs.HomeLocation, MainV2.comPort.MAV.cs.Location,
MainV2.comPort.MAV.cs.battery_kmleft);
prop.alt = MainV2.comPort.MAV.cs.alt;
prop.altasl = MainV2.comPort.MAV.cs.altasl;
prop.center = gMapControl1.Position;
gMapControl1.HoldInvalidation = false;
if (gMapControl1.Visible)
{
gMapControl1.Invalidate();
}
tracklast = DateTime.Now;
}
var ts = (DateTime.Now - start);
//Console.WriteLine("Hud update {0}", ts.TotalSeconds);
});
}
catch
{
}
}
}
private void domainUpDown1_ValueChanged(object sender, EventArgs e)
{
if (loading)
{
return;
}
if (CMB_camera.Text != "")
{
doCalc();
}
// new grid system test
grid = Grid.CreateGrid(list, CurrentState.fromDistDisplayUnit((double)NUM_altitude.Value),
(double)NUM_Distance, (double)NUM_spacing, (double)NUM_angle.Value,
(double)NUM_overshoot, (double)NUM_overshoot2,
(Grid.StartPosition)Enum.Parse(typeof(Grid.StartPosition), CMB_startfrom.Text), false,
(float)NUM_Lane_Dist, (float)NUM_leadin);
map.HoldInvalidation = true;
routesOverlay.Routes.Clear();
routesOverlay.Polygons.Clear();
routesOverlay.Markers.Clear();
GMapMarkerOverlap.Clear();
if (grid.Count == 0)
{
return;
}
if (chk_crossgrid.Checked)
{
// add crossover
Grid.StartPointLatLngAlt = grid[grid.Count - 1];
grid.AddRange(Grid.CreateGrid(list, CurrentState.fromDistDisplayUnit((double)NUM_altitude.Value),
(double)NUM_Distance, (double)NUM_spacing, (double)NUM_angle.Value + 90.0,
(double)NUM_overshoot, (double)NUM_overshoot2,
Grid.StartPosition.Point, false,
(float)NUM_Lane_Dist, (float)NUM_leadin));
}
//if (CHK_boundary.Checked)
AddDrawPolygon();
int strips = 0;
int images = 0;
int a = 1;
PointLatLngAlt prevpoint = grid[0];
float routetotal = 0;
List <PointLatLng> segment = new List <PointLatLng>();
double maxgroundelevation = double.MinValue;
double mingroundelevation = double.MaxValue;
double startalt = plugin.Host.cs.HomeAlt;
foreach (var item in grid)
{
double currentalt = srtm.getAltitude(item.Lat, item.Lng).alt;
mingroundelevation = Math.Min(mingroundelevation, currentalt);
maxgroundelevation = Math.Max(maxgroundelevation, currentalt);
if (item.Tag == "M")
{
images++;
//if (CHK_internals.Checked) MP中未直接打勾的就先暂时认为是不用选中
//{
// routesOverlay.Markers.Add(new GMarkerGoogle(item, GMarkerGoogleType.green) { ToolTipText = a.ToString(), ToolTipMode = MarkerTooltipMode.OnMouseOver });
// a++;
// segment.Add(prevpoint);
// segment.Add(item);
// prevpoint = item;
//}
try
{
if (TXT_fovH != "")
{
if (CHK_footprints.Checked)
{
double fovh = double.Parse(TXT_fovH);
double fovv = double.Parse(TXT_fovV);
getFOV(item.Alt + startalt - currentalt, ref fovh, ref fovv);
double startangle = 0;
//if (!CHK_camdirection.Checked) MP中直接打勾的视为必选项
//{
startangle = 90;
//}
double angle1 = startangle - (Math.Sin((fovh / 2.0) / (fovv / 2.0)) * rad2deg);
double dist1 = Math.Sqrt(Math.Pow(fovh / 2.0, 2) + Math.Pow(fovv / 2.0, 2));
double bearing = (double)NUM_angle.Value;
//if (CHK_copter_headinghold.Checked)
//{
// bearing = Convert.ToInt32(TXT_headinghold);
//}
double fovha = 0;
double fovva = 0;
getFOVangle(ref fovha, ref fovva);
var itemcopy = new PointLatLngAlt(item);
itemcopy.Alt += startalt;
var temp = ImageProjection.calc(itemcopy, 0, 0, bearing + startangle, fovha, fovva);
List <PointLatLng> footprint = new List <PointLatLng>();
footprint.Add(temp[0]);
footprint.Add(temp[1]);
footprint.Add(temp[2]);
footprint.Add(temp[3]);
GMapPolygon poly = new GMapPolygon(footprint, a.ToString());
poly.Stroke =
new Pen(Color.FromArgb(250 - ((a * 5) % 240), 250 - ((a * 3) % 240), 250 - ((a * 9) % 240)), 1);
poly.Fill = new SolidBrush(Color.Transparent);
GMapMarkerOverlap.Add(poly);
routesOverlay.Polygons.Add(poly);
a++;
}
}
}
catch { }
}
else
{
if (item.Tag != "SM" && item.Tag != "ME")
{
strips++;
}
if (CHK_markers.Checked)
{
var marker = new GMapMarkerWP(item, a.ToString())
{
ToolTipText = a.ToString(), ToolTipMode = MarkerTooltipMode.OnMouseOver
};
routesOverlay.Markers.Add(marker);
}
segment.Add(prevpoint);
segment.Add(item);
prevpoint = item;
a++;
}
GMapRoute seg = new GMapRoute(segment, "segment" + a.ToString());
seg.Stroke = new Pen(Color.Yellow, 4);
seg.Stroke.DashStyle = System.Drawing.Drawing2D.DashStyle.Custom;
seg.IsHitTestVisible = true;
routetotal = routetotal + (float)seg.Distance;
//if (CHK_grid)
//{
routesOverlay.Routes.Add(seg);
//}
//else
//{
// seg.Dispose();
//}
segment.Clear();
}
if (CHK_footprints.Checked)
{
routesOverlay.Markers.Add(GMapMarkerOverlap);
}
/* Old way of drawing route, incase something breaks using segments
* GMapRoute wproute = new GMapRoute(list2, "GridRoute");
* wproute.Stroke = new Pen(Color.Yellow, 4);
* if (chk_grid.Checked)
* routesOverlay.Routes.Add(wproute);
*/
// turn radrad = tas^2 / (tan(angle) * G)
// float v_sq = (float)(((float)NUM_UpDownFlySpeed.Value / CurrentState.multiplierspeed) * ((float)NUM_UpDownFlySpeed.Value / CurrentState.multiplierspeed));
// float turnrad = (float)(v_sq / (float)(9.808f * Math.Tan(35 * deg2rad)));
// Update Stats
if (DistUnits == "Feet")
{
// Area
float area = (float)calcpolygonarea(list) * 10.7639f; // Calculate the area in square feet
lbl_area.Text = area.ToString("#") + " ft^2";
if (area < 21780f)
{
lbl_area.Text = area.ToString("#") + " ft^2";
}
else
{
area = area / 43560f;
if (area < 640f)
{
lbl_area.Text = area.ToString("0.##") + " acres";
}
else
{
area = area / 640f;
lbl_area.Text = area.ToString("0.##") + " miles^2";
}
}
// Distance
float distance = routetotal * 3280.84f; // Calculate the distance in feet
if (distance < 5280f)
{
lbl_distance.Text = distance.ToString("#") + " ft";
}
else
{
distance = distance / 5280f;
lbl_distance.Text = distance.ToString("0.##") + " miles";
}
lbl_spacing.Text = (NUM_spacing * 3.2808399m).ToString("#") + " ft";
lbl_grndres.Text = inchpixel;
lbl_distbetweenlines.Text = (NUM_Distance * 3.2808399m).ToString("0.##") + " ft";
lbl_footprint.Text = feet_fovH + " x " + feet_fovV + " ft";
//lbl_turnrad.Text = (turnrad * 2 * 3.2808399).ToString("0") + " ft";
lbl_gndelev.Text = (mingroundelevation * 3.2808399).ToString("0") + "-" + (maxgroundelevation * 3.2808399).ToString("0") + " ft";
}
else
{
// Meters
lbl_area.Text = calcpolygonarea(list).ToString("#") + " m^2";
lbl_distance.Text = routetotal.ToString("0.##") + " km";
lbl_spacing.Text = NUM_spacing.ToString("#") + " m";
lbl_grndres.Text = TXT_cmpixel;
lbl_distbetweenlines.Text = NUM_Distance.ToString("0.##") + " m";
lbl_footprint.Text = TXT_fovH + " x " + TXT_fovV + " m";
//lbl_turnrad.Text = (turnrad * 2).ToString("0") + " m";
lbl_gndelev.Text = mingroundelevation.ToString("0") + "-" + maxgroundelevation.ToString("0") + " m";
}
try
{
// speed m/s
var speed = ((float)NUM_UpDownFlySpeed / CurrentState.multiplierspeed);
// cmpix cm/pixel
var cmpix = float.Parse(TXT_cmpixel.TrimEnd(new[] { 'c', 'm', ' ' }));
// m pix = m/pixel
var mpix = cmpix * 0.01;
// gsd / 2.0
var minmpix = mpix / 2.0;
// min sutter speed
var minshutter = speed / minmpix;
//lbl_minshutter.Text = "1/" + (minshutter - minshutter % 1).ToString();
}
catch { }
double flyspeedms = CurrentState.fromSpeedDisplayUnit((double)NUM_UpDownFlySpeed);
lbl_pictures.Text = images.ToString();
lbl_strips.Text = ((int)(strips / 2)).ToString();
double seconds = ((routetotal * 1000.0) / ((flyspeedms) * 0.8));
// reduce flying speed by 20 %
lbl_flighttime.Text = secondsToNice(seconds);
seconds = ((routetotal * 1000.0) / (flyspeedms));
lbl_photoevery.Text = secondsToNice(((double)NUM_spacing / flyspeedms));
map.HoldInvalidation = false;
if (!isMouseDown && sender != NUM_angle)
{
map.ZoomAndCenterMarkers("routes");
}
CalcHeadingHold();
map.Invalidate();
}