From 3cdecf870387a06f3e1aa587ffe6f87f510fa54a Mon Sep 17 00:00:00 2001
From: zxd <zxdaa217@qq.com>
Date: Mon, 1 Jul 2019 21:45:44 +0800
Subject: [PATCH] =?UTF-8?q?Revert=20"=E9=80=9A=E4=BF=A1=E6=A8=A1=E5=9D=97?=
 =?UTF-8?q?=E5=8D=8F=E8=AE=AE=E7=9A=84=E6=B7=BB=E5=8A=A0=E5=92=8C=E4=BF=AE?=
 =?UTF-8?q?=E6=94=B9"=20=E6=8F=90=E4=BA=A4=E4=BA=86=E5=89=8D=E9=9D=A2?=
 =?UTF-8?q?=E7=89=88=E6=9C=AC=E6=9C=AAadd=E7=9A=84=E6=96=87=E4=BB=B6=20?=
 =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E4=BA=86=E5=8D=83=E5=AF=BBRtk=E5=8F=91?=
 =?UTF-8?q?=E9=80=81:NTRIP=20=E6=B7=BB=E5=8A=A0=E7=BC=BA=E5=8F=B7=E7=BB=9F?=
 =?UTF-8?q?=E8=AE=A1=20=E6=B7=BB=E5=8A=A0GPS=E7=B1=BB=E5=9E=8B=E7=BB=9F?=
 =?UTF-8?q?=E8=AE=A1=20=E9=99=90=E5=88=B6=E5=B0=8F=E6=AD=A6=E5=86=85?=
 =?UTF-8?q?=E8=92=99=E5=9C=B0=E5=8C=BA=E9=83=A8=E5=88=86=E5=9C=B0=E5=8C=BA?=
 =?UTF-8?q?=E4=BD=BF=E7=94=A8(=E7=9B=B8=E5=85=B3=E4=BB=A3=E7=A0=81?=
 =?UTF-8?q?=E5=B7=B2=E6=B3=A8=E9=87=8A)=20This=20reverts=20commit=20725c4b?=
 =?UTF-8?q?6d718336630680f32040165ee19379bcbd.?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Plane.FormationCreator/App.xaml.cs            |    5 +-
 Plane.FormationCreator/Formation/Copter.cs    |    2 +
 .../Formation/CopterManager.cs                |    8 +-
 .../Formation/FlightTaskManager.cs            |   12 +-
 .../Formation/FlightTask_FlyTo.cs             |   11 +-
 .../Formation/GroupManager.cs                 |  174 ++
 Plane.FormationCreator/MainWindow.xaml        |    4 +-
 .../Plane.FormationCreator.csproj             |    3 +
 Plane.FormationCreator/Util/CommNTRIP.cs      |  277 ++
 Plane.FormationCreator/Util/ICorrections.cs   |   24 +
 Plane.FormationCreator/Util/rtcm3.cs          | 2283 +++++++++++++++++
 .../ViewModels/ConnectViewModel.cs            |   74 +-
 .../ViewModels/ControlPanelViewModel.cs       |  126 +-
 .../ViewModels/CopterListViewModel.cs         |   39 +
 .../ViewModels/GroupsViewModel.cs             |   26 +
 .../Views/ConnectWindow.xaml                  |   34 +-
 .../Views/ControlPanelView.xaml               |   20 +-
 .../Views/CopterAttributeView.xaml            |   32 +
 .../Views/CopterAttributeView.xaml.cs         |   31 +
 .../Views/CopterGroupsView.xaml               |   61 +
 .../Views/CopterGroupsView.xaml.cs            |   32 +
 .../Views/CopterListView.xaml                 |    5 +-
 .../Views/ModifyTaskView.xaml                 |    4 +-
 23 files changed, 3134 insertions(+), 153 deletions(-)
 create mode 100644 Plane.FormationCreator/Formation/GroupManager.cs
 create mode 100644 Plane.FormationCreator/Util/CommNTRIP.cs
 create mode 100644 Plane.FormationCreator/Util/ICorrections.cs
 create mode 100644 Plane.FormationCreator/Util/rtcm3.cs
 create mode 100644 Plane.FormationCreator/ViewModels/GroupsViewModel.cs
 create mode 100644 Plane.FormationCreator/Views/CopterAttributeView.xaml
 create mode 100644 Plane.FormationCreator/Views/CopterAttributeView.xaml.cs
 create mode 100644 Plane.FormationCreator/Views/CopterGroupsView.xaml
 create mode 100644 Plane.FormationCreator/Views/CopterGroupsView.xaml.cs

diff --git a/Plane.FormationCreator/App.xaml.cs b/Plane.FormationCreator/App.xaml.cs
index 996f9f2..1682c13 100644
--- a/Plane.FormationCreator/App.xaml.cs
+++ b/Plane.FormationCreator/App.xaml.cs
@@ -140,13 +140,12 @@ namespace Plane.FormationCreator
                  UdpServerConnectionManager.Instance.StartReceiving();
                  */
 
+                //初始化地面站连接
                 CommModuleManager.Instance.CommunicationReceived += CommtionReceivedCopterInfo;
                 CommModuleManager.Instance.CommunicationCopterDisconnect += CommCopterDisconnect;
                 CommModuleManager.Instance.CommunicationConnected += CommCopterconnected;
-
-
                 CommModuleManager.Instance.Connect();
-                //CommModuleManager.Instance.test();
+
             }
             catch (Exception ex)
             {
diff --git a/Plane.FormationCreator/Formation/Copter.cs b/Plane.FormationCreator/Formation/Copter.cs
index 8c8d5be..c16fd4e 100644
--- a/Plane.FormationCreator/Formation/Copter.cs
+++ b/Plane.FormationCreator/Formation/Copter.cs
@@ -23,6 +23,8 @@ namespace Plane.FormationCreator.Formation
             Brush = _brushes[NextBrushIndex()];
             RecordLat = lat;
             RecordLng = lng;
+            Latitude = lat;
+            Longitude = lng;
             //RaiseLocationChangedIfNeeded();
         }
 
diff --git a/Plane.FormationCreator/Formation/CopterManager.cs b/Plane.FormationCreator/Formation/CopterManager.cs
index 2c9c860..474ce82 100644
--- a/Plane.FormationCreator/Formation/CopterManager.cs
+++ b/Plane.FormationCreator/Formation/CopterManager.cs
@@ -20,9 +20,13 @@ namespace Plane.FormationCreator.Formation
         /// <param name="baseSemObjects"></param>  
         public int AddCopter(ICopter entityObject)
         {
-
             ////给第三方时候限制数量和时间用
-            DateTime dateTime2019 = DateTime.Parse("2019-06-20");
+            DateTime dateTime2019 = DateTime.Parse("2019-09-20");
+
+            //新增飞机区域限制：内蒙
+//              if (entityObject.Latitude < 37.4307185218 || entityObject.Latitude > 45.6754821756
+//                || entityObject.Longitude < 97.3493089056 || entityObject.Longitude > 115.8006783856)
+//                  return 0;
 
             if (DateTime.UtcNow > dateTime2019)
             {
diff --git a/Plane.FormationCreator/Formation/FlightTaskManager.cs b/Plane.FormationCreator/Formation/FlightTaskManager.cs
index 6787b79..9042eb9 100644
--- a/Plane.FormationCreator/Formation/FlightTaskManager.cs
+++ b/Plane.FormationCreator/Formation/FlightTaskManager.cs
@@ -1374,13 +1374,19 @@ namespace Plane.FormationCreator.Formation
             }
         }
 
+        TimeSpan timeSpan;
+        DateTime taskStartTime;
         public async Task RunTaskAsync()
-
         {
-            Message.Show("任务开始");
+            taskStartTime = DateTime.Now;
+            Message.Show($"{DateTime.Now.ToString("HH:mm:ss")}:任务开始");
             await RunAsync();
             if ((IsPaused ?? false) == false)
-                Message.Show("任务完成");
+            {
+                timeSpan = DateTime.Now - taskStartTime;
+                Message.Show($"{DateTime.Now.ToString("HH:mm:ss")}:任务完成");
+                Message.Show($"总时长 = {timeSpan.Minutes}分{timeSpan.Seconds}秒");
+            }  
         }
 
         public async Task RunAsync()
diff --git a/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs b/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
index ecd4079..fc01eb5 100644
--- a/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
+++ b/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
@@ -169,7 +169,7 @@ namespace Plane.FormationCreator.Formation
                 if (prevTask.TaskType == FlightTaskType.FlyTo && prevTask.LoiterTime == 0)
                     flyToTime += prevTask.RuningTaskRemaining;
             }
-            int LEDIndex = 0;
+
                 //while (!info.Copter.ArrivedTarget(info.TargetLat, info.TargetLng, info.TargetAlt))    //按航点飞  ：所有Copter到达目标点开始飞下个航点
             while (ts.TotalMilliseconds < (flyToTime + loiterTime))                                         //按时间轴飞：当前任务时间到达后自动飞往下个航点
             {
@@ -212,21 +212,20 @@ namespace Plane.FormationCreator.Formation
                     double time = 0;
                     for (int i = 0; i < LedControl.Count; i++)
                     {
+                      
                         var led = LedControl[i];
                         time += led.Delay * 1000;
                         if (ts.TotalMilliseconds >= time)
-                        {
                             LEDRGB = info.LEDInfos[i].LEDRGB;
-                            LEDIndex = i;
-                            
-                        }  
                         else
                             break;
                     }
-                    Message.Show(LEDIndex.ToString());
                     info.Copter.LEDColor = LEDRGB;
+
                 }
 
+
+
                 if (ts.TotalMilliseconds / 10 > sendFlyToTimes)   // 每500ms发送一遍指点坐标
                 {
                     sendFlyToTimes++;
diff --git a/Plane.FormationCreator/Formation/GroupManager.cs b/Plane.FormationCreator/Formation/GroupManager.cs
new file mode 100644
index 0000000..b1e10e1
--- /dev/null
+++ b/Plane.FormationCreator/Formation/GroupManager.cs
@@ -0,0 +1,174 @@
+using Plane.Copters;
+using GalaSoft.MvvmLight;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using Plane.FormationCreator.Util;
+using System.Windows.Input;
+using GalaSoft.MvvmLight.Command;
+using Microsoft.Practices.ServiceLocation;
+
+namespace Plane.FormationCreator.Formation
+{
+    public class GroupManager: ObservableObject
+    {
+        public ObservableCollection<CopterGroup> copterGroups { get; } = new ObservableCollection<CopterGroup>();
+        private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
+        private string _LastSelectedGroup;
+        public string LastSelectedGroup
+        {
+            get { return _LastSelectedGroup; }
+            set { Set(nameof(LastSelectedGroup), ref _LastSelectedGroup, value); }
+        }
+        public GroupManager()
+        {
+        }
+
+        public void AddGroup(string name = "")
+        {
+            CopterGroup group = new CopterGroup(name);
+            copterGroups.Add(group);
+            group.RemoveGroupEvent += new CopterGroup.RemoveGroupEventHandler(GroupRemove);
+            group.SelectedGroupEvent += new CopterGroup.SelectedGroupEventHandler(SelectedGroup);
+        }
+
+        public void SelectedGroup(object sender)
+        {
+            CopterGroup groups = sender as CopterGroup;
+            LastSelectedGroup = groups.groupName;
+        }
+
+        public void GroupRemove(object sender)
+        {
+            CopterGroup groups = sender as CopterGroup;
+            copterGroups.Remove(groups);
+        }
+
+
+        public IEnumerable<object> ExportGroups()
+        {
+            return copterGroups;
+        }
+
+        public void ImportGroupsInfo(dynamic groupsInfo)
+        {
+            copterGroups.Clear();
+            foreach (var group in groupsInfo)
+            {
+                string name = group.groupName;
+                CopterGroup copterGroup = new CopterGroup(name);
+                foreach (var index in group.copterIndexList)
+                {
+                    copterGroup.copterIndexList.Add(Convert.ToInt32(index));
+                }
+                copterGroups.Add(copterGroup);
+                copterGroup.RemoveGroupEvent += new CopterGroup.RemoveGroupEventHandler(GroupRemove);
+                copterGroup.SelectedGroupEvent += new CopterGroup.SelectedGroupEventHandler(SelectedGroup);
+            }
+        }
+
+
+        private ICommand _AddGroupsCommand;
+        public ICommand AddGroupsCommand
+        {
+            get
+            {
+                return _AddGroupsCommand ?? (_AddGroupsCommand = new RelayCommand<double>(async =>
+                {
+                    AddGroup();
+                }));
+            }
+        }
+
+
+
+    }
+
+    public class CopterGroup : ObservableObject
+    {
+        private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
+        public CopterGroup(string name = "")
+        {
+            groupName = name != "" ? name : "新分组";
+            
+        }
+        public string groupName { get; set; }
+        public List<int> copterIndexList { get; } = new List<int>();
+
+        public delegate void RemoveGroupEventHandler(object sender);
+        public event RemoveGroupEventHandler RemoveGroupEvent;
+        private ICommand _RemoveGroupCommand;
+        [Newtonsoft.Json.JsonIgnore]
+        public ICommand RemoveGroupCommand
+        {
+            get
+            {
+                return _RemoveGroupCommand ?? (_RemoveGroupCommand = new RelayCommand<double>(async =>
+                {
+                    RemoveGroupEvent(this);
+                }));
+            }
+        }
+
+
+        public delegate void SelectedGroupEventHandler(object sender);
+        public event SelectedGroupEventHandler SelectedGroupEvent;
+        private ICommand _SelectCoptersCommand;
+        [Newtonsoft.Json.JsonIgnore]
+        public ICommand SelectCoptersCommand
+        {
+            get
+            {
+                return _SelectCoptersCommand ?? (_SelectCoptersCommand = new RelayCommand<double>(async =>
+                {
+                    _copterManager.Select(null);
+                    _copterManager.shiftkeydown = true;
+                    foreach (var copterIndex in copterIndexList)
+                    {
+                        //if (_copterManager.Copters.Count > copterIndex)
+                       // {
+                            //_copterManager.Select(_copterManager.Copters[copterIndex]);
+                            ICopter copter = null;
+//                             try
+//                             {
+//                                 copter = _copterManager.Copters.First(o => o.Name == (copterIndex + 1).ToString());
+//                             }
+//                             catch (Exception)
+//                             {
+//                                 continue;
+//                             }
+                            copter = _copterManager.Copters.FirstOrDefault(o => o.Name == (copterIndex + 1).ToString());
+                            if (copter != null)
+                            {
+                                _copterManager.Select(copter);
+                            }
+                        //}
+                    }
+                    _copterManager.shiftkeydown = false;
+                    SelectedGroupEvent(this);
+                }));
+            }
+        }
+
+        private ICommand _SetGroupCoptersCommand;
+        [Newtonsoft.Json.JsonIgnore]
+        public ICommand SetGroupCoptersCommand
+        {
+            get
+            {
+                return _SetGroupCoptersCommand ?? (_SetGroupCoptersCommand = new RelayCommand<double>(async =>
+                {
+                    copterIndexList.Clear();
+                    foreach (var copter in _copterManager.SelectedCopters)
+                    {
+                        copterIndexList.Add(_copterManager.Copters.IndexOf(copter));
+                    }
+                }));
+            }
+        }
+    }
+}
diff --git a/Plane.FormationCreator/MainWindow.xaml b/Plane.FormationCreator/MainWindow.xaml
index f3618a1..99688e1 100644
--- a/Plane.FormationCreator/MainWindow.xaml
+++ b/Plane.FormationCreator/MainWindow.xaml
@@ -92,7 +92,7 @@
                         <Button BorderThickness="1" Content="导出任务" Margin="0,8,0,8"
                                 Command="{Binding ExportTasksCommand}"/>
                         <CheckBox Content="只导出航点" Grid.Column="1"  Margin="0,8,0,8" Foreground="#969696"
-                                  IsChecked="{Binding OnlyImpotWaypointS}"/>
+                                  IsChecked="{Binding OnlyImpotWaypointS}" Visibility="Collapsed"/>
                         <Button BorderThickness="1" BorderBrush="#FFFFFF" Content="导入任务" Margin="0,8,0,8" Grid.Row="1"
                                 Command="{Binding ImportTasksCommand}"/>
                         <StackPanel VerticalAlignment="Center" Margin="0,8,0,8" Grid.Row="1"  Grid.Column="1" Orientation="Horizontal">
@@ -109,7 +109,7 @@
                 </MenuItem>
             </Menu>
 
-            <Menu Name="otherWindows" Background="Transparent" VerticalAlignment="Center">
+            <Menu Name="otherWindows" Background="Transparent" VerticalAlignment="Center" Visibility="Collapsed">
                 <MenuItem Header="窗口" Margin="0,2,0,0" Foreground="#969696">
                     <CheckBox Content="属性设置" Margin="0,8,0,8" IsChecked="False" Click="btnAttribute_Click"/>
                     <CheckBox Content="分组设置" Margin="0,8,0,8" IsChecked="False" Click="btnGroup_Click"/>
diff --git a/Plane.FormationCreator/Plane.FormationCreator.csproj b/Plane.FormationCreator/Plane.FormationCreator.csproj
index a383120..b1264f2 100644
--- a/Plane.FormationCreator/Plane.FormationCreator.csproj
+++ b/Plane.FormationCreator/Plane.FormationCreator.csproj
@@ -191,7 +191,10 @@
     <Compile Include="ServiceLocatorConfigurer.cs" />
     <Compile Include="Test.cs" />
     <Compile Include="CalculationLogLatDistance.cs" />
+    <Compile Include="Util\CommNTRIP.cs" />
+    <Compile Include="Util\ICorrections.cs" />
     <Compile Include="Util\ParamFile.cs" />
+    <Compile Include="Util\rtcm3.cs" />
     <Compile Include="Util\VersionControl.cs" />
     <Compile Include="ViewModels\CalibrationViewModel.cs" />
     <Compile Include="ViewModels\ConnectViewModel.cs" />
diff --git a/Plane.FormationCreator/Util/CommNTRIP.cs b/Plane.FormationCreator/Util/CommNTRIP.cs
new file mode 100644
index 0000000..cb68455
--- /dev/null
+++ b/Plane.FormationCreator/Util/CommNTRIP.cs
@@ -0,0 +1,277 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.IO;
+using System.Linq;
+using System.Net.Sockets;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Plane.Util
+{
+    public class CommNTRIP: IDisposable
+    {
+        public TcpClient client = new TcpClient();
+        private Uri remoteUri;
+        double Lat = 40.0910757034397;
+        double Lng = 116.27734627295;
+        double alt = 0;
+        int retrys = 3;
+        DateTime _lastnmea = DateTime.MinValue;
+        public string Port { get; set; }
+
+        private string host;
+
+        
+
+        private static int bytes = 0;
+        private static int bps = 0;
+        public int ReadTimeout
+        {
+            get; 
+            set; 
+        }
+
+        public CommNTRIP(string url, double lat, double lng)
+        {
+            remoteUri = new Uri(url);
+            this.Lat = lat;
+            this.Lng = lng;
+            ReadTimeout = 500;
+        }
+
+        public void doConnect()
+        {
+            string usernamePassword = remoteUri.UserInfo;
+            string userpass2 = Uri.UnescapeDataString(usernamePassword);
+            string auth = "Authorization: Basic " +
+                          Convert.ToBase64String(new ASCIIEncoding().GetBytes(userpass2)) + "\r\n";
+
+            if (usernamePassword == "")
+                auth = "";
+
+            host = remoteUri.Host;
+            Port = remoteUri.Port.ToString();
+
+            client = new TcpClient(host, int.Parse(Port));
+            client.Client.IOControl(IOControlCode.KeepAliveValues, TcpKeepAlive(true, 36000000, 3000), null);
+
+            NetworkStream ns = client.GetStream();
+
+            StreamWriter sw = new StreamWriter(ns);
+            StreamReader sr = new StreamReader(ns);
+
+            string line = "GET " + remoteUri.PathAndQuery + " HTTP/1.0\r\n"
+                          + "User-Agent: NTRIP MissionPlanner/1.0\r\n"
+                          + auth
+                          + "Connection: close\r\n\r\n";
+
+            sw.Write(line);
+            sw.Flush();
+
+            line = sr.ReadLine(); 
+
+            Console.WriteLine(line);
+            if (!line.Contains("200"))
+            {
+                client.Dispose();
+                client = new TcpClient();
+                throw new Exception("Bad ntrip Responce\n\n" + line);
+            }
+
+            SendNMEA();
+
+            VerifyConnected();
+        }
+
+        public int Read(byte[] readto, int offset, int length)
+        {
+            VerifyConnected();
+
+            SendNMEA();
+
+            try
+            {
+                if (length < 1) { return 0; }
+
+                return client.Client.Receive(readto, offset, length, SocketFlags.Partial);
+            }
+            catch { throw new Exception("ntrip Socket Closed"); }
+        }
+
+
+        private void SendNMEA()
+        {
+            if (Lat != 0 || Lng != 0)
+            {
+                if (_lastnmea.AddSeconds(30) < DateTime.Now)
+                {
+                    double latdms = (int)Lat + ((Lat - (int)Lat) * .6f);
+                    double lngdms = (int)Lng + ((Lng - (int)Lng) * .6f);
+
+                    var line = string.Format(System.Globalization.CultureInfo.InvariantCulture,
+                        "$GP{0},{1:HHmmss.ff},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14}", "GGA",
+                        DateTime.Now.ToUniversalTime(), Math.Abs(latdms * 100).ToString("0000.00"), Lat < 0 ? "S" : "N",
+                        Math.Abs(lngdms * 100).ToString("00000.00"), Lng < 0 ? "W" : "E", 1, 10,
+                        1, alt.ToString("0.00"), "M", 0, "M", "0.0", "0");
+
+                    string checksum = GetChecksum(line);
+                    WriteLine(line + "*" + checksum);
+
+                    _lastnmea = DateTime.Now;
+                }
+            }
+        }
+
+        public int BytesToRead
+        {
+            get
+            {
+                /*Console.WriteLine(DateTime.Now.Millisecond + " tcp btr " + (client.Available + rbuffer.Length - rbufferread));*/
+                SendNMEA();
+                return (int)client.Available;
+            }
+        }
+
+        void VerifyConnected()
+        {
+            if (!IsOpen)
+            {
+                try
+                {
+                    client.Dispose();
+                    client = new TcpClient();
+                }
+                catch { }
+
+                // this should only happen if we have established a connection in the first place
+                if (client != null && retrys > 0)
+                {
+                    doConnect();
+                    retrys--;
+                }
+
+                throw new Exception("The ntrip is closed");
+            }
+        }
+
+        public bool IsOpen
+        {
+            get
+            {
+                try
+                {
+                    return client.Client.Connected;
+                }
+                catch
+                {
+                    return false;
+                }
+            }
+        }
+
+        public void WriteLine(string line)
+        {
+            VerifyConnected();
+            line = line + "\r\n";
+            Write(line);
+        }
+
+        public void Write(string line)
+        {
+            VerifyConnected();
+            byte[] data = new System.Text.ASCIIEncoding().GetBytes(line);
+            Write(data, 0, data.Length);
+        }
+
+        public void Write(byte[] write, int offset, int length)
+        {
+            VerifyConnected();
+            try
+            {
+                client.Client.Send(write, length, SocketFlags.None);
+            }
+            catch { }//throw new Exception("Comport / Socket Closed"); }
+        }
+
+        string GetChecksum(string sentence)
+        {
+            // Loop through all chars to get a checksum
+            int Checksum = 0;
+            foreach (char Character in sentence.ToCharArray())
+            {
+                switch (Character)
+                {
+                    case '$':
+                        // Ignore the dollar sign
+                        break;
+                    case '*':
+                        // Stop processing before the asterisk
+                        continue;
+                    default:
+                        // Is this the first value for the checksum?
+                        if (Checksum == 0)
+                        {
+                            // Yes. Set the checksum to the value
+                            Checksum = Convert.ToByte(Character);
+                        }
+                        else
+                        {
+                            // No. XOR the checksum with this character's value
+                            Checksum = Checksum ^ Convert.ToByte(Character);
+                        }
+                        break;
+                }
+            }
+            // Return the checksum formatted as a two-character hexadecimal
+            return Checksum.ToString("X2");
+        }
+
+        private byte[] TcpKeepAlive(bool On_Off, uint KeepaLiveTime, uint KeepaLiveInterval)
+        {
+            byte[] InValue = new byte[12];
+
+            Array.ConstrainedCopy(BitConverter.GetBytes(Convert.ToUInt32(On_Off)), 0, InValue, 0, 4);
+            Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveTime), 0, InValue, 4, 4);
+            Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveInterval), 0, InValue, 8, 4);
+
+            return InValue;
+        }
+
+        protected virtual void Dispose(bool disposing)
+        {
+            if (disposing)
+            {
+                this.Close();
+                client = null;
+            }
+        }
+
+        public void Dispose()
+        {
+            Dispose(true);
+            GC.SuppressFinalize(this);
+        }
+
+        public void Close()
+        {
+            try
+            {
+                if (client.Client != null && client.Client.Connected)
+                {
+                    client.Client.Dispose();
+                    client.Dispose();
+                }
+            }
+            catch { }
+
+            try
+            {
+                client.Dispose();
+            }
+            catch { }
+
+            client = new TcpClient();
+        }   
+    }
+}
diff --git a/Plane.FormationCreator/Util/ICorrections.cs b/Plane.FormationCreator/Util/ICorrections.cs
new file mode 100644
index 0000000..267cc56
--- /dev/null
+++ b/Plane.FormationCreator/Util/ICorrections.cs
@@ -0,0 +1,24 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace Plane.Util
+{
+    public interface ICorrections
+    {
+        /// <summary>
+        /// overall packet length (use for sending forward)
+        /// </summary>
+        int length { get; }
+        /// <summary>
+        /// raw packet data 
+        /// </summary>
+        byte[] packet { get; }
+        /// <summary>
+        /// reset the parser to the initial state
+        /// </summary>
+        /// <returns></returns>
+        bool resetParser();
+    }
+}
diff --git a/Plane.FormationCreator/Util/rtcm3.cs b/Plane.FormationCreator/Util/rtcm3.cs
new file mode 100644
index 0000000..9476f93
--- /dev/null
+++ b/Plane.FormationCreator/Util/rtcm3.cs
@@ -0,0 +1,2283 @@
+using System;
+using System.Collections.Generic;
+using u8 = System.Byte;
+using u16 = System.UInt16;
+using s32 = System.Int32;
+using u32 = System.UInt32;
+using gps_time_t = System.UInt64;
+
+namespace Plane.Util
+{
+    public class rtcm3 : ICorrections
+    {
+        private const byte RTCM3PREAMB = 0xD3;
+        private const double PRUNIT_GPS = 299792.458; /* rtcm ver.3 unit of gps pseudorange (m) */
+        private const double PRUNIT_GLO = 599584.916; /* rtcm 3 unit of glo pseudorange (m) */
+        private const double CLIGHT = 299792458.0; /* speed of light (m/s) */
+        private const double SC2RAD = 3.1415926535898; /* semi-circle to radian (IS-GPS) */
+        private const double FREQ1 = 1.57542E9; /* L1/E1  frequency (Hz) */
+        private const double FREQ2 = 1.22760E9; /* L2     frequency (Hz) */
+        private const double RANGE_MS = CLIGHT*0.001; /* range in 1 ms */
+        private const double P2_5 = 0.03125; /* 2^-5 */
+        private const double P2_6 = 0.015625; /* 2^-6 */
+        private const double P2_10 = 0.0009765625; /* 2^-10 */
+        private const double P2_11 = 4.882812500000000E-04; /* 2^-11 */
+        private const double P2_15 = 3.051757812500000E-05; /* 2^-15 */
+        private const double P2_17 = 7.629394531250000E-06; /* 2^-17 */
+        private const double P2_19 = 1.907348632812500E-06; /* 2^-19 */
+        private const double P2_20 = 9.536743164062500E-07; /* 2^-20 */
+        private const double P2_21 = 4.768371582031250E-07; /* 2^-21 */
+        private const double P2_23 = 1.192092895507810E-07; /* 2^-23 */
+        private const double P2_24 = 5.960464477539063E-08; /* 2^-24 */
+        private const double P2_27 = 7.450580596923828E-09; /* 2^-27 */
+        private const double P2_29 = 1.862645149230957E-09; /* 2^-29 */
+        private const double P2_30 = 9.313225746154785E-10; /* 2^-30 */
+        private const double P2_31 = 4.656612873077393E-10; /* 2^-31 */
+        private const double P2_32 = 2.328306436538696E-10; /* 2^-32 */
+        private const double P2_33 = 1.164153218269348E-10; /* 2^-33 */
+        private const double P2_35 = 2.910383045673370E-11; /* 2^-35 */
+        private const double P2_38 = 3.637978807091710E-12; /* 2^-38 */
+        private const double P2_39 = 1.818989403545856E-12; /* 2^-39 */
+        private const double P2_40 = 9.094947017729280E-13; /* 2^-40 */
+        private const double P2_43 = 1.136868377216160E-13; /* 2^-43 */
+        private const double P2_48 = 3.552713678800501E-15; /* 2^-48 */
+        private const double P2_50 = 8.881784197001252E-16; /* 2^-50 */
+        private const double P2_55 = 2.775557561562891E-17; /* 2^-55 */
+        private const double RE_WGS84 = 6378137.0; /* earth semimajor axis (WGS84) (m) */
+        private const double FE_WGS84 = (1.0/298.257223563); /* earth flattening (WGS84) */
+        private const double PI = Math.PI; /* pi */
+        public const double D2R = (PI/180.0); /* deg to rad */
+        public const double R2D = (180.0/PI); /* rad to deg */
+        private int msglencount;
+        private uint payloadlen;
+        private rtcmpreamble pre;
+        private int step;
+
+        public event EventHandler ObsMessage;
+        public event EventHandler BasePosMessage;
+        public event EventHandler EphMessage;
+
+        public int length
+        {
+            get { return (int) (payloadlen + 2 + 1); }
+        }
+
+        public byte[] packet { get; } = new byte[1024*4];
+
+        public bool resetParser()
+        {
+            step = 0;
+            return true;
+        }
+
+        public int Read(byte data)
+        {
+            switch (step)
+            {
+                default:
+                case 0:
+                    if (data == RTCM3PREAMB)
+                    {
+                        step = 1;
+                        packet[0] = data;
+                    }
+                    break;
+                case 1:
+                    packet[1] = data;
+                    step++;
+                    break;
+                case 2:
+                    packet[2] = data;
+                    step++;
+                    pre = new rtcmpreamble();
+                    pre.Read(packet);
+                    payloadlen = pre.length;
+                    msglencount = 0;
+                    // reset on oversize packet
+                    if (payloadlen > packet.Length)
+                        step = 0;
+                    break;
+                case 3:
+                    if (msglencount < (payloadlen))
+                    {
+                        packet[msglencount + 3] = data;
+                        msglencount++;
+                    }
+                    else
+                    {
+                        step++;
+                        goto case 4;
+                    }
+                    break;
+                case 4:
+                    packet[payloadlen + 3] = data;
+                    step++;
+                    break;
+                case 5:
+                    packet[payloadlen + 3 + 1] = data;
+                    step++;
+                    break;
+                case 6:
+                    packet[payloadlen + 3 + 2] = data;
+
+                    payloadlen = payloadlen + 3;
+                    var crc = crc24.crc24q(packet, payloadlen, 0);
+                    var crcpacket = getbitu(packet, payloadlen*8, 24);
+
+                    if (crc == crcpacket)
+                    {
+                        var head = new rtcmheader();
+                        head.Read(packet);
+
+                        step = 0;
+
+                        if (head.messageno == 1002)
+                        {
+                            var tp = new type1002();
+
+                            tp.Read(packet);
+
+                            if (ObsMessage != null)
+                                ObsMessage(tp.obs, null);
+                        }
+                        else if (head.messageno == 1004)
+                        {
+                            var tp = new type1004();
+
+                            tp.Read(packet);
+
+                            if (ObsMessage != null)
+                                ObsMessage(tp.obs, null);
+                        }
+                        else if (head.messageno == 1012)
+                        {
+                            var tp = new type1012();
+
+                            tp.Read(packet);
+
+                            if (ObsMessage != null)
+                                ObsMessage(tp.obs, null);
+                        }
+                        else if (head.messageno == 1074)
+                        {
+                            var tp = new type1074();
+
+                            tp.Read(packet);
+
+                            if (ObsMessage != null)
+                                ObsMessage(tp.obs, null);
+                        }
+                        else if (head.messageno == 1077)
+                        {
+                            var tp = new type1077();
+
+                            tp.Read(packet);
+
+                            if (ObsMessage != null)
+                                ObsMessage(tp.obs, null);
+                        }
+                        else if (head.messageno == 1084)
+                        {
+                            var tp = new type1084();
+
+                            tp.Read(packet);
+
+                            if (ObsMessage != null)
+                                ObsMessage(tp.obs, null);
+                        }
+                        else if (head.messageno == 1087)
+                        {
+                            var tp = new type1087();
+
+                            tp.Read(packet);
+
+                            if (ObsMessage != null)
+                                ObsMessage(tp.obs, null);
+                        }
+                        else if (head.messageno == 1124)
+                        {
+                            var tp = new type1124();
+
+                            tp.Read(packet);
+
+                            if (ObsMessage != null)
+                                ObsMessage(tp.obs, null);
+                        }
+                        else if (head.messageno == 1127)
+                        {
+                            var tp = new type1127();
+
+                            tp.Read(packet);
+
+                            if (ObsMessage != null)
+                                ObsMessage(tp.obs, null);
+                        }
+                        else if (head.messageno == 1005)
+                        {
+                            var tp = new type1005();
+
+                            tp.Read(packet);
+
+                            if (BasePosMessage != null)
+                                BasePosMessage(tp, null);
+                        }
+                        else if (head.messageno == 1006)
+                        {
+                            var tp = new type1006();
+
+                            tp.Read(packet);
+
+                            if (BasePosMessage != null)
+                                BasePosMessage(tp, null);
+                        }
+                        /*
+                        else if (head.messageno == 1019)
+                        {
+                            var tp = new type1019();
+
+                            tp.Read(packet);
+
+                            if (EphMessage != null)
+                                EphMessage(tp, null);
+                        }*/
+
+                        return head.messageno;
+                    }
+                    step = 0;
+                    break;
+            }
+
+            return -1;
+        }
+
+        private static uint getbitu(byte[] buff, uint pos, uint len)
+        {
+            uint bits = 0;
+            uint i;
+            for (i = pos; i < pos + len; i++)
+                bits = (uint) ((bits << 1) + ((buff[i/8] >> (int) (7 - i%8)) & 1u));
+            return bits;
+        }
+
+        private static void setbitu(byte[] buff, uint pos, uint len, uint data)
+        {
+            var mask = 1u << (int) (len - 1);
+
+            if (len <= 0 || 32 < len) return;
+
+            for (var i = pos; i < pos + len; i++, mask >>= 1)
+            {
+                if ((data & mask) > 0)
+                    buff[i/8] |= (byte) (1u << (int) (7 - i%8));
+                else
+                    buff[i/8] &= (byte) (~(1u << (int) (7 - i%8)));
+            }
+        }
+
+        private static double ROUND(double x)
+        {
+            return (int) Math.Floor(x + 0.5);
+        }
+
+        /* carrier-phase - pseudorange in cycle --------------------------------------*/
+
+        private static double cp_pr(double cp, double pr_cyc)
+        {
+            var x = (cp - pr_cyc + 1500.0)%3000.0;
+            if (x < 0)
+                x += 3000;
+            x -= 1500.0;
+            return x;
+        }
+
+        private static double getbits_38(byte[] buff, uint pos)
+        {
+            return getbits(buff, pos, 32)*64.0 + getbitu(buff, pos + 32, 6);
+        }
+
+        private static int getbits(byte[] buff, uint pos, uint len)
+        {
+            var bits = getbitu(buff, pos, len);
+            if (len <= 0 || 32 <= len || !((bits & (1u << (int) (len - 1))) != 0))
+                return (int) bits;
+            return (int) (bits | (~0u << (int) len)); /* extend sign */
+        }
+
+        private static void set38bits(byte[] buff, uint pos, double value)
+        {
+            var word_h = (int) Math.Floor(value/64.0);
+            var word_l = (uint) (value - word_h*64.0);
+            setbits(buff, pos, 32, word_h);
+            setbitu(buff, pos + 32, 6, word_l);
+        }
+
+        private static void setbits(byte[] buff, uint pos, uint len, int data)
+        {
+            if (data < 0)
+                data |= 1 << (int) (len - 1);
+            else
+                data &= ~(1 << (int) (len - 1)); /* set sign bit */
+            setbitu(buff, pos, len, (uint) data);
+        }
+
+        public static void ecef2pos(double[] r, ref double[] pos)
+        {
+            double e2 = FE_WGS84*(2.0 - FE_WGS84), r2 = dot(r, r, 2), z, zk, v = RE_WGS84, sinp;
+
+            for (z = r[2], zk = 0.0; Math.Abs(z - zk) >= 1E-4;)
+            {
+                zk = z;
+                sinp = z/Math.Sqrt(r2 + z*z);
+                v = RE_WGS84/Math.Sqrt(1.0 - e2*sinp*sinp);
+                z = r[2] + v*e2*sinp;
+            }
+            pos[0] = r2 > 1E-12 ? Math.Atan(z/Math.Sqrt(r2)) : (r[2] > 0.0 ? PI/2.0 : -PI/2.0);
+            pos[1] = r2 > 1E-12 ? Math.Atan2(r[1], r[0]) : 0.0;
+            pos[2] = Math.Sqrt(r2 + z*z) - v;
+        }
+
+        public static void pos2ecef(double[] pos, ref double[] r)
+        {
+            double sinp = Math.Sin(pos[0]),
+                cosp = Math.Cos(pos[0]),
+                sinl = Math.Sin(pos[1]),
+                cosl = Math.Cos(pos[1]);
+            double e2 = FE_WGS84 * (2.0 - FE_WGS84), v = RE_WGS84 / Math.Sqrt(1.0 - e2 * sinp * sinp);
+
+            r[0] = (v + pos[2]) * cosp * cosl;
+            r[1] = (v + pos[2]) * cosp * sinl;
+            r[2] = (v * (1.0 - e2) + pos[2]) * sinp;
+        }
+
+        private static double dot(double[] a, double[] b, int n)
+        {
+            var c = 0.0;
+
+            while (--n >= 0) c += a[n]*b[n];
+            return c;
+        }
+
+        public class rtcmpreamble
+        {
+            public ushort length;
+            public byte preamble = RTCM3PREAMB;
+            public byte resv1;
+
+            public void Read(byte[] buffer)
+            {
+                uint i = 0;
+
+                preamble = (byte) getbitu(buffer, i, 8);
+                i += 8;
+                resv1 = (byte) getbitu(buffer, i, 6);
+                i += 6;
+                length = (ushort) getbitu(buffer, i, 10);
+                i += 10;
+            }
+
+            public byte[] Write(byte[] buffer)
+            {
+                uint i = 0;
+
+                setbitu(buffer, i, 8, RTCM3PREAMB);
+                i += 8;
+                setbitu(buffer, i, 6, resv1);
+                i += 6;
+                setbitu(buffer, i, 10, length);
+                i += 10;
+
+                return buffer;
+            }
+        }
+
+        public class rtcmheader
+        {
+            public uint epoch;
+            public ushort messageno;
+            public byte nsat;
+            public ushort refstationid;
+            public byte smoothind;
+            public byte smoothint;
+            public byte sync;
+
+            public void Read(byte[] buffer)
+            {
+                uint i = 24;
+
+                messageno = (ushort) getbitu(buffer, i, 12);
+                i += 12; /* message no */
+                refstationid = (ushort) getbitu(buffer, i, 12);
+                i += 12; /* ref station id */
+                if (messageno < 1009 || messageno > 1012)
+                {
+                    epoch = getbitu(buffer, i, 30);
+                    i += 30; /* gps epoch time */
+                }
+                else
+                {
+                    epoch = getbitu(buffer, i, 27);
+                    i += 27; /* glonass epoch time */
+                }
+                sync = (byte) getbitu(buffer, i, 1);
+                i += 1; /* synchronous gnss flag */
+                nsat = (byte) getbitu(buffer, i, 5);
+                i += 5; /* no of satellites */
+                smoothind = (byte) getbitu(buffer, i, 1);
+                i += 1; /* smoothing indicator */
+                smoothint = (byte) getbitu(buffer, i, 3);
+                i += 3; /* smoothing interval */
+            }
+
+            public byte[] Write(byte[] buffer)
+            {
+                uint i = 24;
+
+                setbitu(buffer, i, 12, messageno);
+                i += 12; /* message no */
+                setbitu(buffer, i, 12, refstationid);
+                i += 12; /* ref station id */
+                setbitu(buffer, i, 30, epoch);
+                i += 30; /* gps epoch time */
+                setbitu(buffer, i, 1, sync);
+                i += 1; /* synchronous gnss flag */
+                setbitu(buffer, i, 5, nsat);
+                i += 5; /* no of satellites */
+                setbitu(buffer, i, 1, smoothind);
+                i += 1; /* smoothing indicator */
+                setbitu(buffer, i, 3, smoothint);
+                i += 3; /* smoothing interval */
+                return buffer;
+            }
+        }
+
+        public class crc24
+        {
+            private static readonly uint[] crc24qtab =
+            {
+                0x000000, 0x864CFB, 0x8AD50D, 0x0C99F6, 0x93E6E1, 0x15AA1A, 0x1933EC, 0x9F7F17,
+                0xA18139, 0x27CDC2, 0x2B5434, 0xAD18CF, 0x3267D8, 0xB42B23, 0xB8B2D5, 0x3EFE2E,
+                0xC54E89, 0x430272, 0x4F9B84, 0xC9D77F, 0x56A868, 0xD0E493, 0xDC7D65, 0x5A319E,
+                0x64CFB0, 0xE2834B, 0xEE1ABD, 0x685646, 0xF72951, 0x7165AA, 0x7DFC5C, 0xFBB0A7,
+                0x0CD1E9, 0x8A9D12, 0x8604E4, 0x00481F, 0x9F3708, 0x197BF3, 0x15E205, 0x93AEFE,
+                0xAD50D0, 0x2B1C2B, 0x2785DD, 0xA1C926, 0x3EB631, 0xB8FACA, 0xB4633C, 0x322FC7,
+                0xC99F60, 0x4FD39B, 0x434A6D, 0xC50696, 0x5A7981, 0xDC357A, 0xD0AC8C, 0x56E077,
+                0x681E59, 0xEE52A2, 0xE2CB54, 0x6487AF, 0xFBF8B8, 0x7DB443, 0x712DB5, 0xF7614E,
+                0x19A3D2, 0x9FEF29, 0x9376DF, 0x153A24, 0x8A4533, 0x0C09C8, 0x00903E, 0x86DCC5,
+                0xB822EB, 0x3E6E10, 0x32F7E6, 0xB4BB1D, 0x2BC40A, 0xAD88F1, 0xA11107, 0x275DFC,
+                0xDCED5B, 0x5AA1A0, 0x563856, 0xD074AD, 0x4F0BBA, 0xC94741, 0xC5DEB7, 0x43924C,
+                0x7D6C62, 0xFB2099, 0xF7B96F, 0x71F594, 0xEE8A83, 0x68C678, 0x645F8E, 0xE21375,
+                0x15723B, 0x933EC0, 0x9FA736, 0x19EBCD, 0x8694DA, 0x00D821, 0x0C41D7, 0x8A0D2C,
+                0xB4F302, 0x32BFF9, 0x3E260F, 0xB86AF4, 0x2715E3, 0xA15918, 0xADC0EE, 0x2B8C15,
+                0xD03CB2, 0x567049, 0x5AE9BF, 0xDCA544, 0x43DA53, 0xC596A8, 0xC90F5E, 0x4F43A5,
+                0x71BD8B, 0xF7F170, 0xFB6886, 0x7D247D, 0xE25B6A, 0x641791, 0x688E67, 0xEEC29C,
+                0x3347A4, 0xB50B5F, 0xB992A9, 0x3FDE52, 0xA0A145, 0x26EDBE, 0x2A7448, 0xAC38B3,
+                0x92C69D, 0x148A66, 0x181390, 0x9E5F6B, 0x01207C, 0x876C87, 0x8BF571, 0x0DB98A,
+                0xF6092D, 0x7045D6, 0x7CDC20, 0xFA90DB, 0x65EFCC, 0xE3A337, 0xEF3AC1, 0x69763A,
+                0x578814, 0xD1C4EF, 0xDD5D19, 0x5B11E2, 0xC46EF5, 0x42220E, 0x4EBBF8, 0xC8F703,
+                0x3F964D, 0xB9DAB6, 0xB54340, 0x330FBB, 0xAC70AC, 0x2A3C57, 0x26A5A1, 0xA0E95A,
+                0x9E1774, 0x185B8F, 0x14C279, 0x928E82, 0x0DF195, 0x8BBD6E, 0x872498, 0x016863,
+                0xFAD8C4, 0x7C943F, 0x700DC9, 0xF64132, 0x693E25, 0xEF72DE, 0xE3EB28, 0x65A7D3,
+                0x5B59FD, 0xDD1506, 0xD18CF0, 0x57C00B, 0xC8BF1C, 0x4EF3E7, 0x426A11, 0xC426EA,
+                0x2AE476, 0xACA88D, 0xA0317B, 0x267D80, 0xB90297, 0x3F4E6C, 0x33D79A, 0xB59B61,
+                0x8B654F, 0x0D29B4, 0x01B042, 0x87FCB9, 0x1883AE, 0x9ECF55, 0x9256A3, 0x141A58,
+                0xEFAAFF, 0x69E604, 0x657FF2, 0xE33309, 0x7C4C1E, 0xFA00E5, 0xF69913, 0x70D5E8,
+                0x4E2BC6, 0xC8673D, 0xC4FECB, 0x42B230, 0xDDCD27, 0x5B81DC, 0x57182A, 0xD154D1,
+                0x26359F, 0xA07964, 0xACE092, 0x2AAC69, 0xB5D37E, 0x339F85, 0x3F0673, 0xB94A88,
+                0x87B4A6, 0x01F85D, 0x0D61AB, 0x8B2D50, 0x145247, 0x921EBC, 0x9E874A, 0x18CBB1,
+                0xE37B16, 0x6537ED, 0x69AE1B, 0xEFE2E0, 0x709DF7, 0xF6D10C, 0xFA48FA, 0x7C0401,
+                0x42FA2F, 0xC4B6D4, 0xC82F22, 0x4E63D9, 0xD11CCE, 0x575035, 0x5BC9C3, 0xDD8538
+            };
+
+            /** Calculate Qualcomm 24-bit Cyclical Redundancy Check (CRC-24Q).
+             *
+             * The CRC polynomial used is:
+             * \f[
+             *   x^{24} + x^{23} + x^{18} + x^{17} + x^{14} + x^{11} + x^{10} +
+             *   x^7    + x^6    + x^5    + x^4    + x^3    + x+1
+             * \f]
+             * Mask 0x1864CFB, not reversed, not XOR'd
+             *
+             * \param buf Array of data to calculate CRC for
+             * \param len Length of data array
+             * \param crc Initial CRC value
+             *
+             * \return CRC-24Q value
+             */
+
+            public static uint crc24q(byte[] buf, uint len, uint crc)
+            {
+                for (uint i = 0; i < len; i++)
+                    crc = ((crc << 8) & 0xFFFFFF) ^ crc24qtab[(crc >> 16) ^ buf[i]];
+                return crc;
+            }
+        }
+
+        public class type1002
+        {
+            public uint nbits;
+            public List<ob> obs = new List<ob>();
+
+            public void Read(byte[] buffer)
+            {
+                uint i = 24;
+
+                var type = getbitu(buffer, i, 12);
+                i += 12;
+
+                var staid = getbitu(buffer, i, 12);
+                i += 12;
+                var tow = getbitu(buffer, i, 30)*0.001;
+                i += 30;
+                var sync = getbitu(buffer, i, 1);
+                i += 1;
+                var nsat = getbitu(buffer, i, 5);
+
+                i = 24 + 64;
+
+                var week = 0;
+                double seconds = 0;
+
+                // asumes current week
+                StaticUtils.GetFromTime(DateTime.Now, ref week, ref seconds);
+
+                // if tow is larger than the calced curretn time, go back one week
+                if (tow > seconds)
+                    week--;
+
+                var gpstime = StaticUtils.GetFromGps(week, tow);
+
+                //Console.WriteLine("> {0,4} {1,2} {2,2} {3,2} {4,2} {5,10} {6,2} {7,2}", gpstime.Year, gpstime.Month,gpstime.Day, gpstime.Hour, gpstime.Minute, gpstime.Second + gpstime.Millisecond/1000.0, 0, nsat);
+
+                for (var a = 0; a < nsat; a++)
+                {
+                    var ob = new ob();
+                    ob.sys = 'G';
+                    ob.tow = tow;
+                    ob.week = week;
+
+                    ob.raw.prn = (byte) getbitu(buffer, i, 6);
+                    i += 6;
+                    ob.raw.code1 = (byte) getbitu(buffer, i, 1);
+                    i += 1;
+                    ob.raw.pr1 = getbitu(buffer, i, 24);
+                    i += 24;
+                    ob.raw.ppr1 = getbits(buffer, i, 20);
+                    i += 20;
+                    ob.raw.lock1 = (byte) getbitu(buffer, i, 7);
+                    i += 7;
+                    ob.raw.amb = (byte) getbitu(buffer, i, 8);
+                    i += 8;
+                    ob.raw.cnr1 = (byte) getbitu(buffer, i, 8);
+                    i += 8;
+
+                    var pr1 = ob.raw.pr1*0.02 + ob.raw.amb*PRUNIT_GPS;
+
+                    var lam1 = CLIGHT/FREQ1;
+
+                    var cp1 = ob.raw.ppr1*0.0005/lam1;
+
+                    if ((uint) ob.raw.ppr1 != 0xFFF80000)
+                    {
+                        ob.prn = ob.raw.prn;
+                        ob.cp = pr1/lam1 + cp1;
+                        ob.pr = pr1;
+                        ob.snr = (byte) (ob.raw.cnr1*0.25); // *4.0+0.5
+
+                        obs.Add(ob);
+
+                        //Console.WriteLine("G{0,2} {1,13} {2,16} {3,30}", ob.prn, ob.pr.ToString("0.000"),ob.cp.ToString("0.0000"), ob.snr.ToString("0.000"));
+                    }
+                }
+
+                obs.Sort(delegate(ob a, ob b) { return a.prn.CompareTo(b.prn); });
+
+                nbits = i;
+            }
+
+            public uint Write(byte[] buffer)
+            {
+                uint i = 24 + 64;
+
+                foreach (var ob in obs)
+                {
+                    var lam1 = CLIGHT/FREQ1;
+
+                    var amb = (int) Math.Floor(ob.pr/PRUNIT_GPS);
+                    var pr1 = ROUND((ob.pr - amb*PRUNIT_GPS)/0.02);
+                    var pr1c = pr1*0.02 + amb*PRUNIT_GPS;
+
+                    var ppr = cp_pr(ob.cp, pr1c/lam1);
+
+                    var ppr1 = ROUND(ppr*lam1/0.0005);
+
+                    setbitu(buffer, i, 6, ob.prn);
+                    i += 6;
+                    setbitu(buffer, i, 1, 0);
+                    i += 1;
+                    setbitu(buffer, i, 24, (uint) pr1);
+                    i += 24;
+                    setbits(buffer, i, 20, (int) ppr1);
+                    i += 20;
+                    setbitu(buffer, i, 7, ob.raw.lock1);
+                    i += 7;
+                    setbitu(buffer, i, 8, (byte) amb);
+                    i += 8;
+                    setbitu(buffer, i, 8, (byte) (ob.snr*4));
+                    i += 8;
+                }
+
+                nbits = i;
+
+                return i;
+            }
+        }
+
+        internal static class StaticUtils
+        {
+            public static DateTime GetFromGps(int weeknumber, double seconds)
+            {
+                var datum = new DateTime(1980, 1, 6, 0, 0, 0, DateTimeKind.Utc);
+                var week = datum.AddDays(weeknumber*7);
+                var time = week.AddSeconds(seconds);
+                return time;
+            }
+
+            public static void GetFromTime(DateTime time, ref int week, ref double seconds)
+            {
+                var datum = new DateTime(1980, 1, 6, 0, 0, 0, DateTimeKind.Utc);
+
+                var dif = time - datum;
+
+                var weeks = (int) (dif.TotalDays/7);
+
+                week = weeks;
+
+                dif = time - datum.AddDays(weeks*7);
+
+                seconds = dif.TotalSeconds;
+            }
+        }
+
+        public class type1004
+        {
+            public uint nbits;
+            public List<ob> obs = new List<ob>();
+
+            public void Read(byte[] buffer)
+            {
+                uint i = 24;
+
+                var type = getbitu(buffer, i, 12);
+                i += 12;
+
+                var staid = getbitu(buffer, i, 12);
+                i += 12;
+                var tow = getbitu(buffer, i, 30)*0.001;
+                i += 30;
+                var sync = getbitu(buffer, i, 1);
+                i += 1;
+                var nsat = getbitu(buffer, i, 5);
+                i += 5;
+
+                i = 24 + 64;
+
+                var week = 0;
+                double seconds = 0;
+
+                // asumes current week
+                StaticUtils.GetFromTime(DateTime.Now, ref week, ref seconds);
+
+                // if tow is larger than the calced curretn time, go back one week
+                if (tow > seconds)
+                    week--;
+
+                var gpstime = StaticUtils.GetFromGps(week, tow);
+
+                //Console.WriteLine("> {0} {1} {2} {3,2} {4} {5} {6} {7}", gpstime.Year, gpstime.Month, gpstime.Day,gpstime.Hour, gpstime.Minute, gpstime.Second + gpstime.Millisecond/1000.0, 0, nsat);
+
+                for (var a = 0; a < nsat; a++)
+                {
+                    var ob = new ob();
+                    ob.sys = 'G';
+                    ob.tow = tow;
+                    ob.week = week;
+
+                    ob.raw.prn = (byte) getbitu(buffer, i, 6);
+                    i += 6;
+                    ob.raw.code1 = (byte) getbitu(buffer, i, 1);
+                    i += 1;
+                    ob.raw.pr1 = getbitu(buffer, i, 24);
+                    i += 24;
+                    ob.raw.ppr1 = getbits(buffer, i, 20);
+                    i += 20;
+                    ob.raw.lock1 = (byte) getbitu(buffer, i, 7);
+                    i += 7;
+                    ob.raw.amb = (byte) getbitu(buffer, i, 8);
+                    i += 8;
+                    ob.raw.cnr1 = (byte) getbitu(buffer, i, 8);
+                    i += 8;
+                    ob.raw.code2 = (byte) getbitu(buffer, i, 2);
+                    i += 2;
+                    ob.raw.pr21 = getbits(buffer, i, 14);
+                    i += 14;
+                    ob.raw.ppr2 = getbits(buffer, i, 20);
+                    i += 20;
+                    ob.raw.lock2 = (byte) getbitu(buffer, i, 7);
+                    i += 7;
+                    ob.raw.cnr2 = (byte) getbitu(buffer, i, 8);
+                    i += 8;
+
+                    var pr1 = ob.raw.pr1*0.02 + ob.raw.amb*PRUNIT_GPS;
+
+                    var lam1 = CLIGHT/FREQ1;
+                    var lam2 = CLIGHT/FREQ2;
+
+                    var cp1 = ob.raw.ppr1*0.0005/lam1;
+
+                    if ((uint) ob.raw.ppr1 != 0xFFF80000)
+                    {
+                        ob.prn = ob.raw.prn;
+                        ob.cp = pr1/lam1 + cp1;
+                        ob.pr = pr1;
+                        ob.snr = (byte) (ob.raw.cnr1*0.25); // *4.0+0.5
+
+                        ob.pr2 = pr1 + ob.raw.pr21*0.02;
+                        ob.cp2 = pr1/lam2 + ob.raw.ppr2*0.0005/lam2;
+
+                        obs.Add(ob);
+
+                        //   Console.WriteLine("G{0,2} {1,13} {2,15}0{3,15} {4,15}0{5,15}", ob.prn, ob.pr.ToString("0.000"), ob.cp.ToString("0.000"), ob.snr.ToString("0.000"),
+                        //       ob.pr2.ToString("0.000"), ob.cp2.ToString("0.000"));
+                    }
+                }
+
+                obs.Sort(delegate(ob a, ob b) { return a.prn.CompareTo(b.prn); });
+
+                nbits = i;
+            }
+
+            public uint Write(byte[] buffer)
+            {
+                uint i = 24 + 64;
+
+                foreach (var ob in obs)
+                {
+                    var lam1 = CLIGHT/FREQ1;
+
+                    var amb = (int) Math.Floor(ob.pr/PRUNIT_GPS);
+                    var pr1 = ROUND((ob.pr - amb*PRUNIT_GPS)/0.02);
+                    var pr1c = pr1*0.02 + amb*PRUNIT_GPS;
+
+                    var ppr = cp_pr(ob.cp, pr1c/lam1);
+                    var ppr1 = ROUND(ppr*lam1/0.0005);
+
+                    setbitu(buffer, i, 6, ob.prn);
+                    i += 6;
+                    setbitu(buffer, i, 1, 0);
+                    i += 1;
+                    setbitu(buffer, i, 24, (uint) pr1);
+                    i += 24;
+                    setbits(buffer, i, 20, (int) ppr1);
+                    i += 20;
+                    setbitu(buffer, i, 7, ob.raw.lock1);
+                    i += 7;
+                    setbitu(buffer, i, 8, (byte) amb);
+                    i += 8;
+                    setbitu(buffer, i, 8, (byte) (ob.snr*4));
+                    i += 8;
+                    // l2 - all 0's
+                    setbitu(buffer, i, 2, ob.raw.code2);
+                    i += 2;
+                    setbits(buffer, i, 14, ob.raw.pr21);
+                    i += 14;
+                    setbits(buffer, i, 20, ob.raw.ppr2);
+                    i += 20;
+                    setbitu(buffer, i, 7, ob.raw.lock2);
+                    i += 7;
+                    setbitu(buffer, i, 8, ob.raw.cnr2);
+                    i += 8;
+                }
+
+                nbits = i;
+
+                return i;
+            }
+        }
+
+        public class type1012
+        {
+            public uint nbits;
+            public List<ob> obs = new List<ob>();
+
+            public void Read(byte[] buffer)
+            {
+                uint i = 24;
+
+                var type = getbitu(buffer, i, 12);
+                i += 12;
+
+                var staid = getbitu(buffer, i, 12);
+                i += 12;
+                var tow = getbitu(buffer, i, 27) * 0.001;
+                i += 27;
+                var sync = getbitu(buffer, i, 1);
+                i += 1;
+                var nsat = getbitu(buffer, i, 5);
+                i += 5;
+                var smoothind = getbitu(buffer, i, 1);
+                i += 1;
+                var smoothint = getbitu(buffer, i, 3);
+                i += 3;
+
+                // WIP
+                int WIP;
+
+                var week = 0;
+                double seconds = 0;
+
+                // asumes current week
+                StaticUtils.GetFromTime(DateTime.Now, ref week, ref seconds);
+
+                // if tow is larger than the calced curretn time, go back one week
+                if (tow > seconds)
+                    week--;
+
+                // 3hrs
+                tow += 10800;
+
+                var gpstime = StaticUtils.GetFromGps(week, tow);
+
+                Console.WriteLine("> {0} {1} {2} {3,2} {4} {5} {6} {7}", gpstime.Year, gpstime.Month, gpstime.Day,gpstime.Hour, gpstime.Minute, gpstime.Second + gpstime.Millisecond/1000.0, 0, nsat);
+
+                for (var a = 0; a < nsat; a++)
+                {
+                    var ob = new ob();
+                    ob.sys = 'R';
+                    ob.tow = tow;
+                    ob.week = week;
+
+                    ob.raw.prn = (byte)getbitu(buffer, i, 6);
+                    i += 6;
+                    ob.raw.code1 = (byte)getbitu(buffer, i, 1);
+                    i += 1;
+                    ob.raw.fcn = (byte)getbitu(buffer, i, 5);
+                    i += 5;
+                    ob.raw.pr1 = getbitu(buffer, i, 25);
+                    i += 25;
+                    ob.raw.ppr1 = getbits(buffer, i, 20);
+                    i += 20;
+                    ob.raw.lock1 = (byte)getbitu(buffer, i, 7);
+                    i += 7;
+                    ob.raw.amb = (byte)getbitu(buffer, i, 7);
+                    i += 7;
+                    ob.raw.cnr1 = (byte)getbitu(buffer, i, 8);
+                    i += 8;
+                    ob.raw.code2 = (byte)getbitu(buffer, i, 2);
+                    i += 2;
+                    ob.raw.pr21 = getbits(buffer, i, 14);
+                    i += 14;
+                    ob.raw.ppr2 = getbits(buffer, i, 20);
+                    i += 20;
+                    ob.raw.lock2 = (byte)getbitu(buffer, i, 7);
+                    i += 7;
+                    ob.raw.cnr2 = (byte)getbitu(buffer, i, 8);
+                    i += 8;
+
+                    var pr1 = ob.raw.pr1 * 0.02 + ob.raw.amb * PRUNIT_GLO;
+
+                    var lam1 = CLIGHT / FREQ1;
+                    var lam2 = CLIGHT / FREQ2;
+
+                    var cp1 = ob.raw.ppr1 * 0.0005 / lam1;
+
+                    if ((uint)ob.raw.ppr1 != 0xFFF80000)
+                    {
+                        ob.prn = ob.raw.prn;
+                        ob.cp = pr1 / lam1 + cp1;
+                        ob.pr = pr1;
+                        ob.snr = (byte)(ob.raw.cnr1 * 0.25); // *4.0+0.5
+
+                        ob.pr2 = pr1 + ob.raw.pr21 * 0.02;
+                        ob.cp2 = pr1 / lam2 + ob.raw.ppr2 * 0.0005 / lam2;
+
+                        obs.Add(ob);
+
+                           Console.WriteLine("R{0,2} {1,13} {2,15}0{3,15} {4,15}0{5,15}", ob.prn, ob.pr.ToString("0.000"), ob.cp.ToString("0.000"), ob.snr.ToString("0.000"),
+                               ob.pr2.ToString("0.000"), ob.cp2.ToString("0.000"));
+                    }
+                }
+
+                obs.Sort(delegate (ob a, ob b) { return a.prn.CompareTo(b.prn); });
+
+                nbits = i;
+            }
+
+            public uint Write(byte[] buffer)
+            {
+                uint i = 24 + 64;
+
+                foreach (var ob in obs)
+                {
+                    var lam1 = CLIGHT/FREQ1;
+
+                    var amb = (int) Math.Floor(ob.pr/PRUNIT_GPS);
+                    var pr1 = ROUND((ob.pr - amb*PRUNIT_GPS)/0.02);
+                    var pr1c = pr1*0.02 + amb*PRUNIT_GPS;
+
+                    var ppr = cp_pr(ob.cp, pr1c/lam1);
+                    var ppr1 = ROUND(ppr*lam1/0.0005);
+
+                }
+
+                return i;
+            }
+        }
+
+
+        public class ob
+        {
+            public double cp;
+            public double cp2;
+            public double pr;
+            public double pr2;
+            public byte prn;
+            public rawrtcm raw = new rawrtcm();
+            public byte snr;
+            public double tow;
+            public int week;
+            public char sys;
+
+            public class rawrtcm
+            {
+                public byte amb;
+                public byte cnr1;
+                public byte cnr2;
+                public byte code1;
+                public byte code2;
+                public byte lock1;
+                public byte lock2;
+                public int ppr1;
+                public int ppr2;
+                public uint pr1;
+                public int pr21;
+                public byte prn;
+                public byte fcn;
+            }
+        }
+
+        public class type1074
+        {
+            public uint nbits;
+            public List<ob> obs = new List<ob>();
+
+            public void Read(byte[] buffer)
+            {
+                uint i = 24;
+
+                var type = getbitu(buffer, i, 12);
+                i += 12;
+
+                var staid = getbitu(buffer, i, 12);
+                i += 12;
+                var tow = getbitu(buffer, i, 30) * 0.001;
+                i += 30;
+                var sync = getbitu(buffer, i, 1);
+                i += 1;
+                var iod = getbitu(buffer, i, 3);
+                i += 3;
+
+                var time_s = getbitu(buffer, i, 7);
+                i += 7;
+                var clk_str = getbitu(buffer, i, 2);
+                i += 2;
+                var clk_ext = getbitu(buffer, i, 2);
+                i += 2;
+                var smooth = getbitu(buffer, i, 1);
+                i += 1;
+                var tint_s = getbitu(buffer, i, 3);
+                i += 3;
+
+                var nsat = 0;
+                var nsig = 0;
+                var ncell = 0;
+                var j = 0;
+
+                var sats = new Dictionary<int, double>();
+                var sigs = new Dictionary<int, double>();
+                var cellmask = new byte[64];
+
+                for (j = 1; j <= 64; j++)
+                {
+                    var mask = getbitu(buffer, i, 1);
+                    i += 1;
+                    if (mask > 0) sats[nsat++] = j;
+                }
+                for (j = 1; j <= 32; j++)
+                {
+                    var mask = getbitu(buffer, i, 1);
+                    i += 1;
+                    if (mask > 0) sigs[nsig++] = j;
+                }
+
+                for (j = 0; j < nsat * nsig; j++)
+                {
+                    cellmask[j] = (byte)getbitu(buffer, i, 1);
+                    i += 1;
+                    if (cellmask[j] > 0) ncell++;
+                }
+
+                // end of header  i=202
+
+                var week = 0;
+                double seconds = 0;
+
+                // asumes current week
+                StaticUtils.GetFromTime(DateTime.Now, ref week, ref seconds);
+
+                // if tow is larger than the calced curretn time, go back one week
+                if (tow > seconds)
+                    week--;
+
+                var gpstime = StaticUtils.GetFromGps(week, tow);
+
+                //Console.WriteLine("> {0,4} {1,2} {2,2} {3,2} {4,2} {5,10} {6,2} {7,2}", gpstime.Year, gpstime.Month,gpstime.Day, gpstime.Hour, gpstime.Minute, gpstime.Second + gpstime.Millisecond/1000.0, 0, nsat);
+
+
+                var r = new double[64];
+                var rr = new double[64];
+                var pr = new double[64];
+                var cp = new double[64];
+                var rrf = new double[64];
+                var cnr = new double[64];
+                var ex = new uint[64];
+                var half = new uint[64];
+                var @lock = new uint[64];
+
+                for (j = 0; j < nsat; j++)
+                {
+                    r[j] = rr[j] = 0.0;
+                    ex[j] = 15;
+                }
+                for (j = 0; j < ncell; j++) pr[j] = cp[j] = rrf[j] = -1E16;
+
+                /* decode satellite data */
+                for (j = 0; j < nsat; j++)
+                {
+                    /* range */
+                    var rng = getbitu(buffer, i, 8);
+                    i += 8;
+                    if (rng != 255) r[j] = rng * RANGE_MS;
+                }
+                for (j = 0; j < nsat; j++)
+                {
+                    var rng_m = getbitu(buffer, i, 10);
+                    i += 10;
+                    if (r[j] != 0.0) r[j] += rng_m * P2_10 * RANGE_MS;
+                }
+                /* decode signal data */
+                for (j = 0; j < ncell; j++)
+                {
+                    /* pseudorange */
+                    var prv = getbits(buffer, i, 15);
+                    i += 15;
+                    if (prv != -16384) pr[j] = prv * P2_24 * RANGE_MS;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* phaserange */
+                    var cpv = getbits(buffer, i, 22);
+                    i += 22;
+                    if (cpv != -2097152) cp[j] = cpv * P2_29 * RANGE_MS;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* lock time */
+                    @lock[j] = getbitu(buffer, i, 4);
+                    i += 4;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* half-cycle amiguity */
+                    half[j] = getbitu(buffer, i, 1);
+                    i += 1;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* cnr */
+                    cnr[j] = getbitu(buffer, i, 6)*1;// * 0.0625;
+                    i += 6;
+                }
+
+                var lam1 = CLIGHT / FREQ1;
+
+                for (j = 0; j < nsat; j++)
+                {
+                    var ob = new ob();
+                    ob.sys = 'G';
+                    ob.tow = tow;
+                    ob.week = week;
+
+                    ob.prn = (byte)sats[j];
+
+                    ob.pr = r[j] + pr[j];
+                    ob.cp = (r[j] + cp[j]) / lam1;
+                    ob.snr = (byte)(cnr[j]);
+
+                    if (nsig > 1)
+                    {
+                        ob.pr2 = r[j] + pr[j + sats.Count * 1];
+                        ob.cp2 = (r[j] + cp[j + sats.Count * 1]); // / lam2;
+                    }
+
+                    obs.Add(ob);
+                }
+
+                obs.Sort(delegate (ob a1, ob b) { return a1.prn.CompareTo(b.prn); });
+
+                nbits = i;
+            }
+
+            public
+                uint Write(byte[] buffer)
+            {
+                return 0;
+            }
+        }
+
+
+        public class type1077
+        {
+            public uint nbits;
+            public List<ob> obs = new List<ob>();
+
+            public void Read(byte[] buffer)
+            {
+                uint i = 24;
+
+                var type = getbitu(buffer, i, 12);
+                i += 12;
+
+                var staid = getbitu(buffer, i, 12);
+                i += 12;
+                var tow = getbitu(buffer, i, 30)*0.001;
+                i += 30;
+                var sync = getbitu(buffer, i, 1);
+                i += 1;
+                var iod = getbitu(buffer, i, 3);
+                i += 3;
+
+                var time_s = getbitu(buffer, i, 7);
+                i += 7;
+                var clk_str = getbitu(buffer, i, 2);
+                i += 2;
+                var clk_ext = getbitu(buffer, i, 2);
+                i += 2;
+                var smooth = getbitu(buffer, i, 1);
+                i += 1;
+                var tint_s = getbitu(buffer, i, 3);
+                i += 3;
+
+                var nsat = 0;
+                var nsig = 0;
+                var ncell = 0;
+                var j = 0;
+
+                var sats = new Dictionary<int, double>();
+                var sigs = new Dictionary<int, double>();
+                var cellmask = new byte[64];
+
+                for (j = 1; j <= 64; j++)
+                {
+                    var mask = getbitu(buffer, i, 1);
+                    i += 1;
+                    if (mask > 0) sats[nsat++] = j;
+                }
+                for (j = 1; j <= 32; j++)
+                {
+                    var mask = getbitu(buffer, i, 1);
+                    i += 1;
+                    if (mask > 0) sigs[nsig++] = j;
+                }
+
+                for (j = 0; j < nsat*nsig; j++)
+                {
+                    cellmask[j] = (byte) getbitu(buffer, i, 1);
+                    i += 1;
+                    if (cellmask[j] > 0) ncell++;
+                }
+
+                // end of header  i=202
+
+                var week = 0;
+                double seconds = 0;
+
+                // asumes current week
+                StaticUtils.GetFromTime(DateTime.Now, ref week, ref seconds);
+
+                // if tow is larger than the calced curretn time, go back one week
+                if (tow > seconds)
+                    week--;
+
+                var gpstime = StaticUtils.GetFromGps(week, tow);
+
+                //Console.WriteLine("> {0,4} {1,2} {2,2} {3,2} {4,2} {5,10} {6,2} {7,2}", gpstime.Year, gpstime.Month,gpstime.Day, gpstime.Hour, gpstime.Minute, gpstime.Second + gpstime.Millisecond/1000.0, 0, nsat);
+
+
+                var r = new double[64];
+                var rr = new double[64];
+                var pr = new double[64];
+                var cp = new double[64];
+                var rrf = new double[64];
+                var cnr = new double[64];
+                var ex = new uint[64];
+                var half = new uint[64];
+                var @lock = new uint[64];
+
+                for (j = 0; j < nsat; j++)
+                {
+                    r[j] = rr[j] = 0.0;
+                    ex[j] = 15;
+                }
+                for (j = 0; j < ncell; j++) pr[j] = cp[j] = rrf[j] = -1E16;
+
+                /* decode satellite data */
+                for (j = 0; j < nsat; j++)
+                {
+                    /* range */
+                    var rng = getbitu(buffer, i, 8);
+                    i += 8;
+                    if (rng != 255) r[j] = rng*RANGE_MS;
+                }
+                for (j = 0; j < nsat; j++)
+                {
+                    /* extended info */
+                    ex[j] = getbitu(buffer, i, 4);
+                    i += 4;
+                }
+                for (j = 0; j < nsat; j++)
+                {
+                    var rng_m = getbitu(buffer, i, 10);
+                    i += 10;
+                    if (r[j] != 0.0) r[j] += rng_m*P2_10*RANGE_MS;
+                }
+                for (j = 0; j < nsat; j++)
+                {
+                    /* phaserangerate */
+                    var rate = getbits(buffer, i, 14);
+                    i += 14;
+                    if (rate != -8192) rr[j] = rate*1.0;
+                }
+                /* decode signal data */
+                for (j = 0; j < ncell; j++)
+                {
+                    /* pseudorange */
+                    var prv = getbits(buffer, i, 20);
+                    i += 20;
+                    if (prv != -524288) pr[j] = prv*P2_29*RANGE_MS;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* phaserange */
+                    var cpv = getbits(buffer, i, 24);
+                    i += 24;
+                    if (cpv != -8388608) cp[j] = cpv*P2_31*RANGE_MS;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* lock time */
+                    @lock[j] = getbitu(buffer, i, 10);
+                    i += 10;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* half-cycle amiguity */
+                    half[j] = getbitu(buffer, i, 1);
+                    i += 1;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* cnr */
+                    cnr[j] = getbitu(buffer, i, 10)*0.0625;
+                    i += 10;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* phaserangerate */
+                    var rrv = getbits(buffer, i, 15);
+                    i += 15;
+                    if (rrv != -16384) rrf[j] = rrv*0.0001;
+                }
+
+                var lam1 = CLIGHT/FREQ1;
+
+                for (j = 0; j < nsat; j++)
+                {
+                    var ob = new ob();
+                    ob.sys = 'G';
+                    ob.tow = tow;
+                    ob.week = week;
+
+                    ob.prn = (byte) sats[j];
+
+                    ob.pr = r[j] + pr[j];
+                    ob.cp = (r[j] + cp[j])/lam1;
+                    ob.snr = (byte) (cnr[j]);
+
+                    if (nsig > 1)
+                    {
+                        ob.pr2 = r[j] + pr[j + sats.Count*1];
+                        ob.cp2 = (r[j] + cp[j + sats.Count*1]); // / lam2;
+                    }
+
+                    obs.Add(ob);
+                }
+
+                obs.Sort(delegate(ob a1, ob b) { return a1.prn.CompareTo(b.prn); });
+
+                nbits = i;
+            }
+
+            public
+                uint Write(byte[] buffer)
+            {
+                return 0;
+            }
+        }
+
+        public class type1084
+        {
+            public uint nbits;
+            public List<ob> obs = new List<ob>();
+
+            public void Read(byte[] buffer)
+            {
+                uint i = 24;
+
+                var type = getbitu(buffer, i, 12);
+                i += 12;
+
+                var staid = getbitu(buffer, i, 12);
+                i += 12;
+                // wrong
+                var tow = getbitu(buffer, i, 30) * 0.001;
+                i += 30;
+                var sync = getbitu(buffer, i, 1);
+                i += 1;
+                var iod = getbitu(buffer, i, 3);
+                i += 3;
+
+                var time_s = getbitu(buffer, i, 7);
+                i += 7;
+                var clk_str = getbitu(buffer, i, 2);
+                i += 2;
+                var clk_ext = getbitu(buffer, i, 2);
+                i += 2;
+                var smooth = getbitu(buffer, i, 1);
+                i += 1;
+                var tint_s = getbitu(buffer, i, 3);
+                i += 3;
+
+                var nsat = 0;
+                var nsig = 0;
+                var ncell = 0;
+                var j = 0;
+
+                var sats = new Dictionary<int, double>();
+                var sigs = new Dictionary<int, double>();
+                var cellmask = new byte[64];
+
+                for (j = 1; j <= 64; j++)
+                {
+                    var mask = getbitu(buffer, i, 1);
+                    i += 1;
+                    if (mask > 0) sats[nsat++] = j;
+                }
+                for (j = 1; j <= 32; j++)
+                {
+                    var mask = getbitu(buffer, i, 1);
+                    i += 1;
+                    if (mask > 0) sigs[nsig++] = j;
+                }
+
+                for (j = 0; j < nsat * nsig; j++)
+                {
+                    cellmask[j] = (byte)getbitu(buffer, i, 1);
+                    i += 1;
+                    if (cellmask[j] > 0) ncell++;
+                }
+
+                // end of header  i=202
+
+                var week = 0;
+                double seconds = 0;
+
+                // asumes current week
+                StaticUtils.GetFromTime(DateTime.Now, ref week, ref seconds);
+
+                // if tow is larger than the calced curretn time, go back one week
+                if (tow > seconds)
+                    week--;
+
+                var gpstime = StaticUtils.GetFromGps(week, tow);
+
+                //Console.WriteLine("> {0,4} {1,2} {2,2} {3,2} {4,2} {5,10} {6,2} {7,2}", gpstime.Year, gpstime.Month,gpstime.Day, gpstime.Hour, gpstime.Minute, gpstime.Second + gpstime.Millisecond/1000.0, 0, nsat);
+
+
+                var r = new double[64];
+                var rr = new double[64];
+                var pr = new double[64];
+                var cp = new double[64];
+                var rrf = new double[64];
+                var cnr = new double[64];
+                var ex = new uint[64];
+                var half = new uint[64];
+                var @lock = new uint[64];
+
+                for (j = 0; j < nsat; j++)
+                {
+                    r[j] = rr[j] = 0.0;
+                    ex[j] = 15;
+                }
+                for (j = 0; j < ncell; j++) pr[j] = cp[j] = rrf[j] = -1E16;
+
+                /* decode satellite data */
+                for (j = 0; j < nsat; j++)
+                {
+                    /* range */
+                    var rng = getbitu(buffer, i, 8);
+                    i += 8;
+                    if (rng != 255) r[j] = rng * RANGE_MS;
+                }
+                for (j = 0; j < nsat; j++)
+                {
+                    var rng_m = getbitu(buffer, i, 10);
+                    i += 10;
+                    if (r[j] != 0.0) r[j] += rng_m * P2_10 * RANGE_MS;
+                }
+                /* decode signal data */
+                for (j = 0; j < ncell; j++)
+                {
+                    /* pseudorange */
+                    var prv = getbits(buffer, i, 15);
+                    i += 15;
+                    if (prv != -16384) pr[j] = prv * P2_24 * RANGE_MS;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* phaserange */
+                    var cpv = getbits(buffer, i, 22);
+                    i += 22;
+                    if (cpv != -2097152) cp[j] = cpv * P2_29 * RANGE_MS;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* lock time */
+                    @lock[j] = getbitu(buffer, i, 4);
+                    i += 4;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* half-cycle amiguity */
+                    half[j] = getbitu(buffer, i, 1);
+                    i += 1;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* cnr */
+                    cnr[j] = getbitu(buffer, i, 6) * 1;// * 0.0625;
+                    i += 6;
+                }
+
+                var lam1 = CLIGHT / FREQ1;
+
+                for (j = 0; j < nsat; j++)
+                {
+                    var ob = new ob();
+                    ob.sys = 'R';
+                    ob.tow = tow;
+                    ob.week = week;
+
+                    ob.prn = (byte)sats[j];
+
+                    ob.pr = r[j] + pr[j];
+                    ob.cp = (r[j] + cp[j]) / lam1;
+                    ob.snr = (byte)(cnr[j]);
+
+                    if (nsig > 1)
+                    {
+                        ob.pr2 = r[j] + pr[j + sats.Count * 1];
+                        ob.cp2 = (r[j] + cp[j + sats.Count * 1]); // / lam2;
+                    }
+
+                    obs.Add(ob);
+                }
+
+                obs.Sort(delegate (ob a1, ob b) { return a1.prn.CompareTo(b.prn); });
+
+                nbits = i;
+            }
+
+            public
+                uint Write(byte[] buffer)
+            {
+                return 0;
+            }
+        }
+
+
+        public class type1087
+        {
+            public uint nbits;
+            public List<ob> obs = new List<ob>();
+
+            public void Read(byte[] buffer)
+            {
+                uint i = 24;
+
+                var type = getbitu(buffer, i, 12);
+                i += 12;
+
+                var staid = getbitu(buffer, i, 12);
+                i += 12;
+                // wrong
+                var tow = getbitu(buffer, i, 30) * 0.001;
+                i += 30;
+                var sync = getbitu(buffer, i, 1);
+                i += 1;
+                var iod = getbitu(buffer, i, 3);
+                i += 3;
+
+                var time_s = getbitu(buffer, i, 7);
+                i += 7;
+                var clk_str = getbitu(buffer, i, 2);
+                i += 2;
+                var clk_ext = getbitu(buffer, i, 2);
+                i += 2;
+                var smooth = getbitu(buffer, i, 1);
+                i += 1;
+                var tint_s = getbitu(buffer, i, 3);
+                i += 3;
+
+                var nsat = 0;
+                var nsig = 0;
+                var ncell = 0;
+                var j = 0;
+
+                var sats = new Dictionary<int, double>();
+                var sigs = new Dictionary<int, double>();
+                var cellmask = new byte[64];
+
+                for (j = 1; j <= 64; j++)
+                {
+                    var mask = getbitu(buffer, i, 1);
+                    i += 1;
+                    if (mask > 0) sats[nsat++] = j;
+                }
+                for (j = 1; j <= 32; j++)
+                {
+                    var mask = getbitu(buffer, i, 1);
+                    i += 1;
+                    if (mask > 0) sigs[nsig++] = j;
+                }
+
+                for (j = 0; j < nsat * nsig; j++)
+                {
+                    cellmask[j] = (byte)getbitu(buffer, i, 1);
+                    i += 1;
+                    if (cellmask[j] > 0) ncell++;
+                }
+
+                // end of header  i=202
+
+                var week = 0;
+                double seconds = 0;
+
+                // asumes current week
+                StaticUtils.GetFromTime(DateTime.Now, ref week, ref seconds);
+
+                // if tow is larger than the calced curretn time, go back one week
+                if (tow > seconds)
+                    week--;
+
+                var gpstime = StaticUtils.GetFromGps(week, tow);
+
+                //Console.WriteLine("> {0,4} {1,2} {2,2} {3,2} {4,2} {5,10} {6,2} {7,2}", gpstime.Year, gpstime.Month,gpstime.Day, gpstime.Hour, gpstime.Minute, gpstime.Second + gpstime.Millisecond/1000.0, 0, nsat);
+
+
+                var r = new double[64];
+                var rr = new double[64];
+                var pr = new double[64];
+                var cp = new double[64];
+                var rrf = new double[64];
+                var cnr = new double[64];
+                var ex = new uint[64];
+                var half = new uint[64];
+                var @lock = new uint[64];
+
+                for (j = 0; j < nsat; j++)
+                {
+                    r[j] = rr[j] = 0.0;
+                    ex[j] = 15;
+                }
+                for (j = 0; j < ncell; j++) pr[j] = cp[j] = rrf[j] = -1E16;
+
+                /* decode satellite data */
+                for (j = 0; j < nsat; j++)
+                {
+                    /* range */
+                    var rng = getbitu(buffer, i, 8);
+                    i += 8;
+                    if (rng != 255) r[j] = rng * RANGE_MS;
+                }
+                for (j = 0; j < nsat; j++)
+                {
+                    /* extended info */
+                    ex[j] = getbitu(buffer, i, 4);
+                    i += 4;
+                }
+                for (j = 0; j < nsat; j++)
+                {
+                    var rng_m = getbitu(buffer, i, 10);
+                    i += 10;
+                    if (r[j] != 0.0) r[j] += rng_m * P2_10 * RANGE_MS;
+                }
+                for (j = 0; j < nsat; j++)
+                {
+                    /* phaserangerate */
+                    var rate = getbits(buffer, i, 14);
+                    i += 14;
+                    if (rate != -8192) rr[j] = rate * 1.0;
+                }
+                /* decode signal data */
+                for (j = 0; j < ncell; j++)
+                {
+                    /* pseudorange */
+                    var prv = getbits(buffer, i, 20);
+                    i += 20;
+                    if (prv != -524288) pr[j] = prv * P2_29 * RANGE_MS;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* phaserange */
+                    var cpv = getbits(buffer, i, 24);
+                    i += 24;
+                    if (cpv != -8388608) cp[j] = cpv * P2_31 * RANGE_MS;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* lock time */
+                    @lock[j] = getbitu(buffer, i, 10);
+                    i += 10;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* half-cycle amiguity */
+                    half[j] = getbitu(buffer, i, 1);
+                    i += 1;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* cnr */
+                    cnr[j] = getbitu(buffer, i, 10) * 0.0625;
+                    i += 10;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* phaserangerate */
+                    var rrv = getbits(buffer, i, 15);
+                    i += 15;
+                    if (rrv != -16384) rrf[j] = rrv * 0.0001;
+                }
+
+                var lam1 = CLIGHT / FREQ1;
+
+                for (j = 0; j < nsat; j++)
+                {
+                    var ob = new ob();
+                    ob.sys = 'R';
+                    ob.tow = tow;
+                    ob.week = week;
+
+                    ob.prn = (byte)sats[j];
+
+                    ob.pr = r[j] + pr[j];
+                    ob.cp = (r[j] + cp[j]) / lam1;
+                    ob.snr = (byte)(cnr[j]);
+
+                    if (nsig > 1)
+                    {
+                        ob.pr2 = r[j] + pr[j + sats.Count * 1];
+                        ob.cp2 = (r[j] + cp[j + sats.Count * 1]); // / lam2;
+                    }
+
+                    obs.Add(ob);
+                }
+
+                obs.Sort(delegate (ob a1, ob b) { return a1.prn.CompareTo(b.prn); });
+
+                nbits = i;
+            }
+
+            public
+                uint Write(byte[] buffer)
+            {
+                return 0;
+            }
+        }
+
+        public class type1124
+        {
+            public uint nbits;
+            public List<ob> obs = new List<ob>();
+
+            public void Read(byte[] buffer)
+            {
+                uint i = 24;
+
+                var type = getbitu(buffer, i, 12);
+                i += 12;
+
+                var staid = getbitu(buffer, i, 12);
+                i += 12;
+                var tow = getbitu(buffer, i, 30) * 0.001 + 14;
+                i += 30;
+                var sync = getbitu(buffer, i, 1);
+                i += 1;
+                var iod = getbitu(buffer, i, 3);
+                i += 3;
+
+                var time_s = getbitu(buffer, i, 7);
+                i += 7;
+                var clk_str = getbitu(buffer, i, 2);
+                i += 2;
+                var clk_ext = getbitu(buffer, i, 2);
+                i += 2;
+                var smooth = getbitu(buffer, i, 1);
+                i += 1;
+                var tint_s = getbitu(buffer, i, 3);
+                i += 3;
+
+                var nsat = 0;
+                var nsig = 0;
+                var ncell = 0;
+                var j = 0;
+
+                var sats = new Dictionary<int, double>();
+                var sigs = new Dictionary<int, double>();
+                var cellmask = new byte[64];
+
+                for (j = 1; j <= 64; j++)
+                {
+                    var mask = getbitu(buffer, i, 1);
+                    i += 1;
+                    if (mask > 0) sats[nsat++] = j;
+                }
+                for (j = 1; j <= 32; j++)
+                {
+                    var mask = getbitu(buffer, i, 1);
+                    i += 1;
+                    if (mask > 0) sigs[nsig++] = j;
+                }
+
+                for (j = 0; j < nsat * nsig; j++)
+                {
+                    cellmask[j] = (byte)getbitu(buffer, i, 1);
+                    i += 1;
+                    if (cellmask[j] > 0) ncell++;
+                }
+
+                // end of header  i=202
+
+                var week = 0;
+                double seconds = 0;
+
+                // asumes current week
+                StaticUtils.GetFromTime(DateTime.Now, ref week, ref seconds);
+
+                // if tow is larger than the calced curretn time, go back one week
+                if (tow > seconds)
+                    week--;
+
+                var gpstime = StaticUtils.GetFromGps(week, tow);
+
+                //Console.WriteLine("> {0,4} {1,2} {2,2} {3,2} {4,2} {5,10} {6,2} {7,2}", gpstime.Year, gpstime.Month,gpstime.Day, gpstime.Hour, gpstime.Minute, gpstime.Second + gpstime.Millisecond/1000.0, 0, nsat);
+
+
+                var r = new double[64];
+                var rr = new double[64];
+                var pr = new double[64];
+                var cp = new double[64];
+                var rrf = new double[64];
+                var cnr = new double[64];
+                var ex = new uint[64];
+                var half = new uint[64];
+                var @lock = new uint[64];
+
+                for (j = 0; j < nsat; j++)
+                {
+                    r[j] = rr[j] = 0.0;
+                    ex[j] = 15;
+                }
+                for (j = 0; j < ncell; j++) pr[j] = cp[j] = rrf[j] = -1E16;
+
+                /* decode satellite data */
+                for (j = 0; j < nsat; j++)
+                {
+                    /* range */
+                    var rng = getbitu(buffer, i, 8);
+                    i += 8;
+                    if (rng != 255) r[j] = rng * RANGE_MS;
+                }
+                for (j = 0; j < nsat; j++)
+                {
+                    var rng_m = getbitu(buffer, i, 10);
+                    i += 10;
+                    if (r[j] != 0.0) r[j] += rng_m * P2_10 * RANGE_MS;
+                }
+                /* decode signal data */
+                for (j = 0; j < ncell; j++)
+                {
+                    /* pseudorange */
+                    var prv = getbits(buffer, i, 15);
+                    i += 15;
+                    if (prv != -16384) pr[j] = prv * P2_24 * RANGE_MS;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* phaserange */
+                    var cpv = getbits(buffer, i, 22);
+                    i += 22;
+                    if (cpv != -2097152) cp[j] = cpv * P2_29 * RANGE_MS;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* lock time */
+                    @lock[j] = getbitu(buffer, i, 4);
+                    i += 4;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* half-cycle amiguity */
+                    half[j] = getbitu(buffer, i, 1);
+                    i += 1;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* cnr */
+                    cnr[j] = getbitu(buffer, i, 6) * 1;// * 0.0625;
+                    i += 6;
+                }
+
+                var lam1 = CLIGHT / FREQ1;
+
+                for (j = 0; j < nsat; j++)
+                {
+                    var ob = new ob();
+                    ob.sys = 'C';
+                    ob.tow = tow;
+                    ob.week = week;
+
+                    ob.prn = (byte)sats[j];
+
+                    ob.pr = r[j] + pr[j];
+                    ob.cp = (r[j] + cp[j]) / lam1;
+                    ob.snr = (byte)(cnr[j]);
+
+                    if (nsig > 1)
+                    {
+                        ob.pr2 = r[j] + pr[j + sats.Count * 1];
+                        ob.cp2 = (r[j] + cp[j + sats.Count * 1]); // / lam2;
+                    }
+
+                    obs.Add(ob);
+                }
+
+                obs.Sort(delegate (ob a1, ob b) { return a1.prn.CompareTo(b.prn); });
+
+                nbits = i;
+            }
+
+            public
+                uint Write(byte[] buffer)
+            {
+                return 0;
+            }
+        }
+
+
+        public class type1127
+        {
+            public uint nbits;
+            public List<ob> obs = new List<ob>();
+
+            public void Read(byte[] buffer)
+            {
+                uint i = 24;
+
+                var type = getbitu(buffer, i, 12);
+                i += 12;
+
+                var staid = getbitu(buffer, i, 12);
+                i += 12;
+                var tow = getbitu(buffer, i, 30) * 0.001 + 14;
+                i += 30;
+                var sync = getbitu(buffer, i, 1);
+                i += 1;
+                var iod = getbitu(buffer, i, 3);
+                i += 3;
+
+                var time_s = getbitu(buffer, i, 7);
+                i += 7;
+                var clk_str = getbitu(buffer, i, 2);
+                i += 2;
+                var clk_ext = getbitu(buffer, i, 2);
+                i += 2;
+                var smooth = getbitu(buffer, i, 1);
+                i += 1;
+                var tint_s = getbitu(buffer, i, 3);
+                i += 3;
+
+                var nsat = 0;
+                var nsig = 0;
+                var ncell = 0;
+                var j = 0;
+
+                var sats = new Dictionary<int, double>();
+                var sigs = new Dictionary<int, double>();
+                var cellmask = new byte[64];
+
+                for (j = 1; j <= 64; j++)
+                {
+                    var mask = getbitu(buffer, i, 1);
+                    i += 1;
+                    if (mask > 0) sats[nsat++] = j;
+                }
+                for (j = 1; j <= 32; j++)
+                {
+                    var mask = getbitu(buffer, i, 1);
+                    i += 1;
+                    if (mask > 0) sigs[nsig++] = j;
+                }
+
+                for (j = 0; j < nsat * nsig; j++)
+                {
+                    cellmask[j] = (byte)getbitu(buffer, i, 1);
+                    i += 1;
+                    if (cellmask[j] > 0) ncell++;
+                }
+
+                // end of header  i=202
+
+                var week = 0;
+                double seconds = 0;
+
+                // asumes current week
+                StaticUtils.GetFromTime(DateTime.Now, ref week, ref seconds);
+
+                // if tow is larger than the calced curretn time, go back one week
+                if (tow > seconds)
+                    week--;
+
+                var gpstime = StaticUtils.GetFromGps(week, tow);
+
+                //Console.WriteLine("> {0,4} {1,2} {2,2} {3,2} {4,2} {5,10} {6,2} {7,2}", gpstime.Year, gpstime.Month,gpstime.Day, gpstime.Hour, gpstime.Minute, gpstime.Second + gpstime.Millisecond/1000.0, 0, nsat);
+
+
+                var r = new double[64];
+                var rr = new double[64];
+                var pr = new double[64];
+                var cp = new double[64];
+                var rrf = new double[64];
+                var cnr = new double[64];
+                var ex = new uint[64];
+                var half = new uint[64];
+                var @lock = new uint[64];
+
+                for (j = 0; j < nsat; j++)
+                {
+                    r[j] = rr[j] = 0.0;
+                    ex[j] = 15;
+                }
+                for (j = 0; j < ncell; j++) pr[j] = cp[j] = rrf[j] = -1E16;
+
+                /* decode satellite data */
+                for (j = 0; j < nsat; j++)
+                {
+                    /* range */
+                    var rng = getbitu(buffer, i, 8);
+                    i += 8;
+                    if (rng != 255) r[j] = rng * RANGE_MS;
+                }
+                for (j = 0; j < nsat; j++)
+                {
+                    /* extended info */
+                    ex[j] = getbitu(buffer, i, 4);
+                    i += 4;
+                }
+                for (j = 0; j < nsat; j++)
+                {
+                    var rng_m = getbitu(buffer, i, 10);
+                    i += 10;
+                    if (r[j] != 0.0) r[j] += rng_m * P2_10 * RANGE_MS;
+                }
+                for (j = 0; j < nsat; j++)
+                {
+                    /* phaserangerate */
+                    var rate = getbits(buffer, i, 14);
+                    i += 14;
+                    if (rate != -8192) rr[j] = rate * 1.0;
+                }
+                /* decode signal data */
+                for (j = 0; j < ncell; j++)
+                {
+                    /* pseudorange */
+                    var prv = getbits(buffer, i, 20);
+                    i += 20;
+                    if (prv != -524288) pr[j] = prv * P2_29 * RANGE_MS;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* phaserange */
+                    var cpv = getbits(buffer, i, 24);
+                    i += 24;
+                    if (cpv != -8388608) cp[j] = cpv * P2_31 * RANGE_MS;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* lock time */
+                    @lock[j] = getbitu(buffer, i, 10);
+                    i += 10;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* half-cycle amiguity */
+                    half[j] = getbitu(buffer, i, 1);
+                    i += 1;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* cnr */
+                    cnr[j] = getbitu(buffer, i, 10) * 0.0625;
+                    i += 10;
+                }
+                for (j = 0; j < ncell; j++)
+                {
+                    /* phaserangerate */
+                    var rrv = getbits(buffer, i, 15);
+                    i += 15;
+                    if (rrv != -16384) rrf[j] = rrv * 0.0001;
+                }
+
+                var lam1 = CLIGHT / FREQ1;
+
+                for (j = 0; j < nsat; j++)
+                {
+                    var ob = new ob();
+                    ob.sys = 'C';
+                    ob.tow = tow;
+                    ob.week = week;
+
+                    ob.prn = (byte)sats[j];
+
+                    ob.pr = r[j] + pr[j];
+                    ob.cp = (r[j] + cp[j]) / lam1;
+                    ob.snr = (byte)(cnr[j]);
+
+                    if (nsig > 1)
+                    {
+                        ob.pr2 = r[j] + pr[j + sats.Count * 1];
+                        ob.cp2 = (r[j] + cp[j + sats.Count * 1]); // / lam2;
+                    }
+
+                    obs.Add(ob);
+                }
+
+                obs.Sort(delegate (ob a1, ob b) { return a1.prn.CompareTo(b.prn); });
+
+                nbits = i;
+            }
+
+            public
+                uint Write(byte[] buffer)
+            {
+                return 0;
+            }
+        }
+
+
+        public class type1005
+        {
+            public byte galileoind = 0;
+            public byte glonassind = 0;
+            public byte gpsind = 1;
+            public byte itrf;
+            public byte oscind = 1;
+            public byte quatcycind = 0;
+            public byte refstatind = 0;
+            public byte resv = 0;
+            public double rr0;
+            public double rr1;
+            public double rr2;
+            public ushort staid = 1;
+
+            public double[] ecefposition
+            {
+                get
+                {
+                    return new[]
+                    {
+                        rr0*0.0001,
+                        rr1*0.0001,
+                        rr2*0.0001
+                    };
+                }
+                set
+                {
+                    rr0 = value[0]/0.0001;
+                    rr1 = value[1]/0.0001;
+                    rr2 = value[2]/0.0001;
+                }
+            }
+
+            public void Read(byte[] buffer)
+            {
+                uint i = 24 + 12;
+
+                staid = (ushort) getbitu(buffer, i, 12);
+                i += 12;
+                itrf = (byte) getbitu(buffer, i, 6);
+                i += 6 + 4;
+                rr0 = getbits_38(buffer, i);
+                i += 38 + 2;
+                rr1 = getbits_38(buffer, i);
+                i += 38 + 2;
+                rr2 = getbits_38(buffer, i);
+                i += 38;
+            }
+
+            public uint Write(byte[] buffer)
+            {
+                uint i = 24;
+
+                setbitu(buffer, i, 12, 1005);
+                i += 12; /* message no */
+                setbitu(buffer, i, 12, staid);
+                i += 12; /* ref station id */
+                setbitu(buffer, i, 6, 0);
+                i += 6; /* itrf realization year */
+                setbitu(buffer, i, 1, 1);
+                i += 1; /* gps indicator */
+                setbitu(buffer, i, 1, 1);
+                i += 1; /* glonass indicator */
+                setbitu(buffer, i, 1, 0);
+                i += 1; /* galileo indicator */
+                setbitu(buffer, i, 1, 0);
+                i += 1; /* ref station indicator */
+                set38bits(buffer, i, ecefposition[0]/0.0001);
+                i += 38; /* antenna ref point ecef-x */
+                setbitu(buffer, i, 1, 1);
+                i += 1; /* oscillator indicator */
+                setbitu(buffer, i, 1, 0);
+                i += 1; /* reserved */
+                set38bits(buffer, i, ecefposition[1]/0.0001);
+                i += 38; /* antenna ref point ecef-y */
+                setbitu(buffer, i, 2, 0);
+                i += 2; /* quarter cycle indicator */
+                set38bits(buffer, i, ecefposition[2]/0.0001);
+                i += 38; /* antenna ref point ecef-z */
+
+                return i;
+            }
+        }
+
+        public class type1006
+        {
+            public ushort anth;
+            public byte galileoind = 0;
+            public byte glonassind = 0;
+            public byte gpsind = 1;
+            public byte itrf;
+            public byte oscind = 1;
+            public byte quatcycind = 0;
+            public byte refstatind = 0;
+            public byte resv = 0;
+            public double rr0;
+            public double rr1;
+            public double rr2;
+            public ushort staid = 1;
+
+            public double[] ecefposition
+            {
+                get
+                {
+                    return new[]
+                    {
+                        rr0*0.0001,
+                        rr1*0.0001,
+                        rr2*0.0001
+                    };
+                }
+                set
+                {
+                    rr0 = value[0]/0.0001;
+                    rr1 = value[1]/0.0001;
+                    rr2 = value[2]/0.0001;
+                }
+            }
+
+            public void Read(byte[] buffer)
+            {
+                uint i = 24 + 12;
+
+                staid = (ushort) getbitu(buffer, i, 12);
+                i += 12;
+                itrf = (byte) getbitu(buffer, i, 6);
+                i += 6 + 4;
+                rr0 = getbits_38(buffer, i);
+                i += 38 + 2;
+                rr1 = getbits_38(buffer, i);
+                i += 38 + 2;
+                rr2 = getbits_38(buffer, i);
+                i += 38;
+                anth = (ushort) getbitu(buffer, i, 16);
+                i += 16;
+            }
+
+            public uint Write(byte[] buffer)
+            {
+                uint i = 24;
+
+                setbitu(buffer, i, 12, 1005);
+                i += 12; /* message no */
+                setbitu(buffer, i, 12, staid);
+                i += 12; /* ref station id */
+                setbitu(buffer, i, 6, 0);
+                i += 6; /* itrf realization year */
+                setbitu(buffer, i, 1, 1);
+                i += 1; /* gps indicator */
+                setbitu(buffer, i, 1, 1);
+                i += 1; /* glonass indicator */
+                setbitu(buffer, i, 1, 0);
+                i += 1; /* galileo indicator */
+                setbitu(buffer, i, 1, 0);
+                i += 1; /* ref station indicator */
+                set38bits(buffer, i, ecefposition[0]/0.0001);
+                i += 38; /* antenna ref point ecef-x */
+                setbitu(buffer, i, 1, 1);
+                i += 1; /* oscillator indicator */
+                setbitu(buffer, i, 1, 0);
+                i += 1; /* reserved */
+                set38bits(buffer, i, ecefposition[1]/0.0001);
+                i += 38; /* antenna ref point ecef-y */
+                setbitu(buffer, i, 2, 0);
+                i += 2; /* quarter cycle indicator */
+                set38bits(buffer, i, ecefposition[2]/0.0001);
+                i += 38; /* antenna ref point ecef-z */
+                setbitu(buffer, i, 16, anth);
+                i += 16; /* antenna height */
+
+                return i;
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Plane.FormationCreator/ViewModels/ConnectViewModel.cs b/Plane.FormationCreator/ViewModels/ConnectViewModel.cs
index 9cd9151..1af61e9 100644
--- a/Plane.FormationCreator/ViewModels/ConnectViewModel.cs
+++ b/Plane.FormationCreator/ViewModels/ConnectViewModel.cs
@@ -86,7 +86,7 @@ namespace Plane.FormationCreator.ViewModels
             {
                 return _SendCommand ?? (_SendCommand = new RelayCommand(async () =>
                 {
-                    await commModule.SetCommCount(CopterCount, (short)(CopterStartNum - 1));
+                    await SendCommandAsync(CopterNum);
                 }
                 ));
             }
@@ -132,27 +132,6 @@ namespace Plane.FormationCreator.ViewModels
             set { Set(nameof(CopterColor), ref _CopterColor, value); }
         }
 
-        private byte _TransmittedPower = 5;
-        public byte TransmittedPower
-        {
-            get { return _TransmittedPower; }
-            set { Set(nameof(TransmittedPower), ref _TransmittedPower, value); }
-        }
-
-        private short _CopterCount;
-        public short CopterCount
-        {
-            get { return _CopterCount; }
-            set { Set(nameof(CopterCount), ref _CopterCount, value); }
-        }
-
-        private short _CopterStartNum;
-        public short CopterStartNum
-        {
-            get { return _CopterStartNum; }
-            set { Set(nameof(CopterStartNum), ref _CopterStartNum, value); }
-        }
-
         private ICommand _WriteIdCommand;
         public ICommand WriteIdCommand
         {
@@ -236,9 +215,6 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
-        /// <summary>
-        /// 全部1S一次闪灯  主要用于测试通信
-        /// </summary>
         private ICommand _CommDataAsync;
         public ICommand CommDataAsync
         {
@@ -252,54 +228,6 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
-        /// <summary>
-        /// 设置回传功率
-        /// </summary>
-        private ICommand _CommSetPowerAsync;
-        public ICommand CommSetPowerAsync
-        {
-            get
-            {
-                return _CommSetPowerAsync ?? (_CommSetPowerAsync = new RelayCommand(async () =>
-                {
-                    if (TransmittedPower >= 1 && TransmittedPower <= 16)
-                        await commModule.SetCopterCommBackPower((short)CopterNum, TransmittedPower);
-                    else
-                        Alert.Show("功率范围只能设置为1-16");
-                }));
-            }
-        }
-
-        /// <summary>
-        /// 获取配置
-        /// </summary>
-        private ICommand _CommGetCurrSysParmAsync;
-        public ICommand CommGetCurrSysParmAsync
-        {
-            get
-            {
-                return _CommGetCurrSysParmAsync ?? (_CommGetCurrSysParmAsync = new RelayCommand(async () =>
-                {
-                    await commModule.GetCurr_Sys_Parm();
-                }));
-            }
-        }
-
-        /// <summary>
-        /// 改写配置
-        /// </summary>
-        private ICommand _CommSetCurrSysParmAsync;
-        public ICommand CommSetCurrSysParmAsync
-        {
-            get
-            {
-                return _CommSetCurrSysParmAsync ?? (_CommSetCurrSysParmAsync = new RelayCommand(async () =>
-                {
-                    await commModule.SetCurr_Sys_Parm();
-                }));
-            }
-        }
-
         private List<IMission> CreateLEDMissions(IEnumerable<LEDInfo> LEDInfos)
         {
             List<IMission> missions = new List<IMission>();
diff --git a/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs b/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
index 59f3bba..e788203 100644
--- a/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
+++ b/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
@@ -30,6 +30,8 @@ namespace Plane.FormationCreator.ViewModels
         private static System.Threading.Thread thrtk;
         private static bool trkthreadrun = false;
 
+        private static bool rtcmthreadrun = false;
+
 
 
         public ControlPanelViewModel(FormationController formationController, CopterManager copterManager)
@@ -66,6 +68,13 @@ namespace Plane.FormationCreator.ViewModels
             set { Set(nameof(RTKbtntxt), ref _RTKbtntxt, value); }
         }
 
+        private string _NTRIPbtntxt = "发送RTCM";
+        public string NTRIPbtntxt
+        {
+            get { return _NTRIPbtntxt; }
+            set { Set(nameof(NTRIPbtntxt), ref _NTRIPbtntxt, value); }
+        }
+
         private ICommand _LockAllCommand;
         public ICommand LockAllCommand
         {
@@ -211,6 +220,38 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        private ICommand _ReportGPSTypeCommand;
+        public ICommand ReportGPSTypeCommand
+        {
+            get
+            {
+                return _ReportGPSTypeCommand ?? (_ReportGPSTypeCommand = new RelayCommand(async()=>
+                {
+                    if (_copterManager.Copters.Count > 0)
+                    {
+                        Dictionary<string, List<string>> GPSTypes = new Dictionary<string, List<string>>();
+                        foreach (var copter in _copterManager.Copters)
+                        {
+                            string name = copter.Name;
+                            if (!GPSTypes.Keys.Contains(copter.GpsFixType.ToString()))
+                            {
+                                List<string> copterNames = new List<string>();
+                                copterNames.Add(name);
+                                GPSTypes.Add(copter.GpsFixType.ToString(), copterNames);
+                            }
+                            else
+                                GPSTypes[copter.GpsFixType.ToString()].Add(name);
+                        }
+
+                        foreach (var item in GPSTypes)
+                        {
+                            Message.Show($"{item.Key}:{string.Join(",", item.Value)}");
+                        }
+                    }
+                    await Task.Delay(10);
+                }));
+            }
+        }
 
         private ICommand _DetectionCommModuleVersion;
         public ICommand DetectionCommModuleVersion
@@ -461,11 +502,11 @@ namespace Plane.FormationCreator.ViewModels
         {
             get
             {
-                return _RLTOffsetCommand ?? (_RLTOffsetCommand = new RelayCommand(async () =>
+                return _RLTOffsetCommand ?? (_RLTOffsetCommand = new RelayCommand(() =>
                 {
-                    Message.Show($"偏移Lat = {LatOffset}，Lng = {LngOffset}");
-                    if (_copterManager.AcceptingControlCopters != null && _copterManager.AcceptingControlCopters.Count() > 0)
-                        await _commModuleManager.RLTOffsetAsync(LatOffset, LngOffset, _copterManager.AcceptingControlCopters);
+//                     Message.Show($"偏移Lat = {LatOffset}，Lng = {LngOffset}");
+//                     if (_copterManager.AcceptingControlCopters != null && _copterManager.AcceptingControlCopters.Count() > 0)
+//                         await _commModuleManager.RLTOffsetAsync(LatOffset, LngOffset, _copterManager.AcceptingControlCopters);
 
 
                 }));
@@ -830,10 +871,7 @@ namespace Plane.FormationCreator.ViewModels
                         RTKState = "未发送RTK数据";
                         RTKbtntxt = "发送RTK";
                     }
-
-
                     /*
-
                                         await Task.Run(() =>
                                         {
                                             if (!Rtkport.IsOpen)
@@ -845,31 +883,71 @@ namespace Plane.FormationCreator.ViewModels
 
                                             while (trkthreadrun)
                                             {
-
                                                 await ReadRTKPacketAsync();
 
                                                    // if (await Rtkport.ReadAsync(buffer, 0, Math.Min(buffer.Length, 110)) > 0)
                                                 {
-
-
-
-
-
                                                 }
-
-
-
-
-
-
-
-
                                             }
-
-
                                         });*/
+                }));
+            }
+        }
 
 
+        private ICommand _SendRTCMCommand;
+        public ICommand SendRTCMCommand
+        {
+            get
+            {
+                return _SendRTCMCommand ?? (_SendRTCMCommand = new RelayCommand(async () =>
+                {
+                    FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
+                    if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
+                    {
+                        Alert.Show("作为参照的原点未设置，无法发送RTCM！", "提示");
+                        return;
+                    }
+
+                    rtcmthreadrun = !rtcmthreadrun;
+                    if (rtcmthreadrun)
+                    {
+                        RTKState = "RTK数据发送中";
+                        NTRIPbtntxt = "停止RTCM";
+                        Alert.Show("RTCM数据开始发送", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
+                    
+                        await Task.Run(async () =>
+                        {
+                            string url = "http://qxarpz003:1dc880b@rtk.ntrip.qxwz.com:8002/RTCM32_GGB";
+                            CommNTRIP commNTRIP = new CommNTRIP(url, _flightTaskManager.OriginLat, _flightTaskManager.OriginLng);
+                            rtcm3 rtcm3 = new rtcm3();
+                            commNTRIP.doConnect();
+                            //读取RTK数据循环
+                            while (rtcmthreadrun)
+                            {
+                                byte[] buffer = new byte[180];
+
+                                while (commNTRIP.BytesToRead > 0)
+                                {
+                                    int read = commNTRIP.Read(buffer, 0, Math.Min(buffer.Length, commNTRIP.BytesToRead));
+
+                                    for (int a = 0; a < read; a++)
+                                    {
+                                        int seenmsg = -1;
+                                        // rtcm
+                                        if ((seenmsg = rtcm3.Read(buffer[a])) > 0)
+                                        {
+                                            await _commModuleManager.InjectGpsRTCMDataAsync(rtcm3.packet, rtcm3.length);
+                                        }
+                                    }
+                                }
+                                await Task.Delay(10);
+                            }
+                            NTRIPbtntxt = "发送RTCM";
+                            RTKState = "未发送RTK数据";
+                            Alert.Show("RTCM数据停止发送", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
+                        });
+                    }
                 }));
             }
         }
@@ -1260,7 +1338,7 @@ namespace Plane.FormationCreator.ViewModels
             foreach (LEDInfo ledInfo in LEDInfos)
             {
                 Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
-                //if (ledInfo.LEDMode == 5) ledInfo.LEDMode = 6;
+                if (ledInfo.LEDMode == 8) ledInfo.LEDMode = 50;
                 IMission LEDMission = Mission.CreateLEDControlMission(
                         (int)(ledInfo.Delay * 10),
                         ledInfo.LEDMode,
diff --git a/Plane.FormationCreator/ViewModels/CopterListViewModel.cs b/Plane.FormationCreator/ViewModels/CopterListViewModel.cs
index b2f7dc1..d6fcdbb 100644
--- a/Plane.FormationCreator/ViewModels/CopterListViewModel.cs
+++ b/Plane.FormationCreator/ViewModels/CopterListViewModel.cs
@@ -194,6 +194,14 @@ namespace Plane.FormationCreator.ViewModels
                     Tuple<double, double> colheadLatLng = new Tuple<double, double>(0, 0);
                     Tuple<double, double> targetLatLng = new Tuple<double, double>(0, 0);
 
+
+                    //内蒙地区
+//                     if (center.Lat < 37.4307185218 || center.Lat > 45.6754821756
+//                         || center.Lng < 97.3493089056 || center.Lng > 115.8006783856)
+//                         return ;
+
+                   
+
                     LatLng? colLatLng = new LatLng(center.Lat, center.Lng); ;
 
                     for (int i = 0; i < addcount; ++i, ++_virtualCopterId)
@@ -253,6 +261,37 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        private ICommand _ShowLackCopterNumsCommand;
+        public ICommand ShowLackCopterNumsCommand
+        {
+            get
+            {
+                return _ShowLackCopterNumsCommand ?? (_ShowLackCopterNumsCommand = new RelayCommand(async () =>
+                {
+                    if (_copterManager.Copters.Count == 0) return;
+                    ICopter lastCopter = _copterManager.Copters.Last();
+                    int name = int.Parse(lastCopter.Name);
+                    List<string> lackCopterNums = new List<string>();
+                    for (int i = 1; i <= name; i++)
+                    {
+                        ICopter copter = null;
+                        copter = _copterManager.Copters.FirstOrDefault(o=>o.Name == i.ToString());
+                        if (copter == null)
+                            lackCopterNums.Add(i.ToString());
+                    }
+                    if (lackCopterNums.Count > 0)
+                    {
+                        Windows.Messages.Message.Show($"未连接：{string.Join(",", lackCopterNums)}");
+                    }
+                    else
+                    {
+                        Windows.Messages.Message.Show($"{name}架全部连接");
+                    }
+                    await Task.Delay(10);
+                }));
+            }
+        }
+
         private ICommand _SetCoptersPutCommand;
         public ICommand SetCoptersPutCommand
         {
diff --git a/Plane.FormationCreator/ViewModels/GroupsViewModel.cs b/Plane.FormationCreator/ViewModels/GroupsViewModel.cs
new file mode 100644
index 0000000..48a9a23
--- /dev/null
+++ b/Plane.FormationCreator/ViewModels/GroupsViewModel.cs
@@ -0,0 +1,26 @@
+using GalaSoft.MvvmLight;
+using GalaSoft.MvvmLight.Command;
+using Plane.FormationCreator.Formation;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Input;
+
+namespace Plane.FormationCreator.ViewModels
+{
+    public class GroupsViewModel: ViewModelBase
+    {
+        GroupManager _groupManager;
+
+        public GroupsViewModel(GroupManager groupManager)
+        {
+            _groupManager = groupManager;
+        }
+
+        public GroupManager GroupManager { get { return _groupManager; } }
+
+       
+    }
+}
diff --git a/Plane.FormationCreator/Views/ConnectWindow.xaml b/Plane.FormationCreator/Views/ConnectWindow.xaml
index 2d15135..b5a8da8 100644
--- a/Plane.FormationCreator/Views/ConnectWindow.xaml
+++ b/Plane.FormationCreator/Views/ConnectWindow.xaml
@@ -68,8 +68,6 @@
             <RowDefinition Height="Auto" />
             <RowDefinition Height="Auto" />
             <RowDefinition Height="Auto" />
-            <RowDefinition Height="Auto" />
-            <RowDefinition Height="Auto" />
         </Grid.RowDefinitions>
         <Grid.ColumnDefinitions>
             <ColumnDefinition Width="Auto" />
@@ -91,8 +89,7 @@
                     HorizontalAlignment="Center"
                     Grid.Row="1"
                     Grid.ColumnSpan="3"
-                    Name="panel1"
-                    Visibility="Collapsed">
+                    Name="panel1">
             
             <ec:ProgressButton HorizontalAlignment="Center"
                                VerticalAlignment="Center"
@@ -136,7 +133,7 @@
                     Grid.ColumnSpan="3"
                     Name="panel2">
             <Button Content="通信模块状态" Margin="5" Command="{Binding Path=StateInquireCommand}"/>
-            
+            <Button Content="设置总数" Margin="5" Command="{Binding Path=SendCommand}" />
             <Button Content="切换写航点"  Margin="5" Command="{Binding Path=ChangeWriteMissionCommand}" />
 
 
@@ -145,44 +142,21 @@
                     HorizontalAlignment="Center"
                     Grid.Row="3"
                     Grid.ColumnSpan="3">
-            <Label Content="ID:"/>
             <TextBox Margin="2,5,5,5" Width="30" Text="{Binding CopterNum}"></TextBox>
             <Button Content="    对频    "  Margin="5,5,0,5" Command="{Binding Path=WriteIdCommand}" />
-            <Button Content="    闪灯    "  Margin="5" Command="{Binding CommDataAsync}"/>
+            <Button Content="闪灯"  Margin="5" Command="{Binding CommDataAsync}"/>
             <TextBox Width="80" Text="{Binding CopterColor}"/>
 
         </StackPanel>
 
-        <StackPanel Orientation="Horizontal"
-                    HorizontalAlignment="Center"
-                    Grid.Row="4"
-                    Grid.ColumnSpan="3">
-            <Button Content="设置回传功率" Command="{Binding CommSetPowerAsync}"/>
-            <TextBox Margin="5,0" Width="80" Text="{Binding TransmittedPower}"/>
-            <Button Margin="5,0" Content="读取配置" Command="{Binding CommGetCurrSysParmAsync}"/>
-            <Button Margin="5,0" Content="™写入配置" Command="{Binding CommSetCurrSysParmAsync}"/>
-        </StackPanel>
-
         <StackPanel Orientation="Horizontal" 
                     HorizontalAlignment="Center"
-                    Grid.Row="5"
+                    Grid.Row="4"
                     Grid.ColumnSpan="3"
                     Name="panel3">
             <Button Content="空中升级" Margin="5" Command="{Binding UpdateAllCopterCommand}"></Button>
             <Button Content="搜索飞机"  Margin="5" Command="{Binding QueryAllCopterCommand}"/>
         </StackPanel>
 
-        <StackPanel Orientation="Horizontal" 
-                    HorizontalAlignment="Center"
-                    Grid.Row="6"
-                    Grid.ColumnSpan="3"
-                    >
-            <Button Content="设置总数" Margin="5" Command="{Binding Path=SendCommand}" />
-            <Label Content="总数:"/>
-            <TextBox Width="50" Text="{Binding CopterCount}"/>
-            <Label Content="起始号:"/>
-            <TextBox  Width="50" Text="{Binding CopterStartNum}"/>
-        </StackPanel>
-
     </Grid>
 </c:MetroWindow>
diff --git a/Plane.FormationCreator/Views/ControlPanelView.xaml b/Plane.FormationCreator/Views/ControlPanelView.xaml
index df5236d..13d2628 100644
--- a/Plane.FormationCreator/Views/ControlPanelView.xaml
+++ b/Plane.FormationCreator/Views/ControlPanelView.xaml
@@ -81,14 +81,16 @@
         <WrapPanel>
            
             <Button Content="选写航点"
-                     Command="{Binding WriteMissionSingleCommand}" />
+                    Command="{Binding WriteMissionSingleCommand}" />
+            <Button Content="定位统计"
+                    Command="{Binding ReportGPSTypeCommand}"/>
             <Button Content="统计模块" 
-                     Command="{Binding DetectionCommModuleVersion}" />
-            <Label>Lat</Label>
-            <TextBox Text="{Binding LatOffset}" Width="50"/>
-            <Label>Lng</Label>
-            <TextBox Text="{Binding LngOffset}" Width="50"/>
-            <Button Content="设置返航点" 
+                    Command="{Binding DetectionCommModuleVersion}" />
+            <Label Visibility="Collapsed">Lat</Label>
+            <TextBox Visibility="Collapsed" Text="{Binding LatOffset}" Width="50"/>
+            <Label Visibility="Collapsed">Lng</Label>
+            <TextBox Visibility="Collapsed" Text="{Binding LngOffset}" Width="50"/>
+            <Button Visibility="Collapsed" Content="设置返航点" 
                      Command="{Binding RLTOffsetCommand}" />
         </WrapPanel>
         <Separator/>
@@ -131,8 +133,10 @@
                 />
             
             <Button Content="{Binding Path=RTKbtntxt}" 
-                   
                     Command="{Binding SendRTKCommand}" />
+            
+            <Button Content="{Binding Path=NTRIPbtntxt}" 
+                    Command="{Binding SendRTCMCommand}" />
             <TextBlock 
                    Margin="5,5,5,5"
                      Text="{Binding Path=RTKState}"
diff --git a/Plane.FormationCreator/Views/CopterAttributeView.xaml b/Plane.FormationCreator/Views/CopterAttributeView.xaml
new file mode 100644
index 0000000..a88c523
--- /dev/null
+++ b/Plane.FormationCreator/Views/CopterAttributeView.xaml
@@ -0,0 +1,32 @@
+<UserControl x:Class="Plane.FormationCreator.Views.CopterAttributeView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:Plane.FormationCreator.Views"
+             mc:Ignorable="d" 
+             d:DesignHeight="300"
+             BorderThickness="1"
+             Background="#FF2D2D2D" Width="464">
+    <UserControl.BorderBrush>
+        <SolidColorBrush Color="{DynamicResource {x:Static SystemColors.ActiveBorderColorKey}}"/>
+    </UserControl.BorderBrush>
+
+    <Grid Margin="5" >
+        <StackPanel Orientation="Vertical">
+            <Label Margin="5,0,0,0" Content="属性设置" VerticalAlignment="Center"/>
+            <Separator></Separator>
+            <StackPanel Margin="5,0,0,5" Orientation="Horizontal" HorizontalAlignment="Left">
+                <Label Margin="0" Content="摆放高度" ></Label>
+                <TextBox 
+                    Margin="30,0"
+                    Width="80"
+                    Text="{Binding SelectedCopter.GroundAlt,UpdateSourceTrigger=PropertyChanged}"/>
+                <Button 
+                    Width="120"
+                    Content="应用到所选"
+                    Command="{Binding ApplyGroundAltCommand}"/>
+            </StackPanel>
+        </StackPanel>
+    </Grid>
+</UserControl>
diff --git a/Plane.FormationCreator/Views/CopterAttributeView.xaml.cs b/Plane.FormationCreator/Views/CopterAttributeView.xaml.cs
new file mode 100644
index 0000000..ca2c39e
--- /dev/null
+++ b/Plane.FormationCreator/Views/CopterAttributeView.xaml.cs
@@ -0,0 +1,31 @@
+using Microsoft.Practices.ServiceLocation;
+using Plane.FormationCreator.ViewModels;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace Plane.FormationCreator.Views
+{
+    /// <summary>
+    /// CopterAttributeView.xaml 的交互逻辑
+    /// </summary>
+    public partial class CopterAttributeView : UserControl
+    {
+        public CopterAttributeView()
+        {
+            InitializeComponent();
+            //this.DataContext = ServiceLocator.Current.GetInstance<CopterAttributeViewModel>();
+        }
+    }
+}
diff --git a/Plane.FormationCreator/Views/CopterGroupsView.xaml b/Plane.FormationCreator/Views/CopterGroupsView.xaml
new file mode 100644
index 0000000..c7595d9
--- /dev/null
+++ b/Plane.FormationCreator/Views/CopterGroupsView.xaml
@@ -0,0 +1,61 @@
+<UserControl x:Class="Plane.FormationCreator.Views.CopterGroupsView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:Plane.FormationCreator.Views"
+             mc:Ignorable="d"
+             BorderThickness="1"
+             Background="#FF2D2D2D" Width="464" Height="300">
+    <UserControl.BorderBrush>
+        <SolidColorBrush Color="{DynamicResource {x:Static SystemColors.ActiveBorderColorKey}}"/>
+    </UserControl.BorderBrush>
+    <Grid Margin="5" >
+        <StackPanel Orientation="Vertical">
+            <Grid >
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition/>
+                    <ColumnDefinition/>
+                    <ColumnDefinition/>
+                </Grid.ColumnDefinitions>
+                <Label Margin="5,0" Content="分组设置" HorizontalAlignment="Left" />
+                <Label Margin="15,0" Grid.Column="1" Content="最后选中：" HorizontalAlignment="Left"/>
+                <Label Grid.Column="1" Content="{Binding GroupManager.LastSelectedGroup}" HorizontalAlignment="Right"/>
+                <Button Margin="5,0" Grid.Column="2" Content="添加分组" HorizontalAlignment="Right"
+                        Command="{Binding Path=GroupManager.AddGroupsCommand}"/>
+            </Grid>
+                <Separator></Separator>
+            <ItemsControl
+                MinHeight="180"
+                MaxHeight="240"
+                ScrollViewer.VerticalScrollBarVisibility="Visible"
+                ScrollViewer.HorizontalScrollBarVisibility="Hidden"
+                ItemsSource="{Binding Path= GroupManager.copterGroups}">
+                <ItemsControl.Template>
+                    <ControlTemplate>
+                        <ScrollViewer x:Name="ScrollViewer" Padding="{TemplateBinding Padding}">
+                            <ItemsPresenter />
+                        </ScrollViewer>
+                    </ControlTemplate>
+                </ItemsControl.Template>
+                <ItemsControl.ItemsPanel>
+                    <ItemsPanelTemplate>
+                        <StackPanel Orientation="Vertical" />
+                    </ItemsPanelTemplate>
+                </ItemsControl.ItemsPanel>
+
+                <ItemsControl.ItemTemplate>
+                    <DataTemplate>
+                        <StackPanel Orientation="Horizontal">
+                            <TextBox Width="95" Text="{Binding groupName,UpdateSourceTrigger=PropertyChanged}"/>
+                            <Button Margin="20,0,0,0" Width="90" Content="删除" Command="{Binding RemoveGroupCommand}"/>
+                            <Button Margin="20,0,0,0" Width="90" Content="设置" Command="{Binding SetGroupCoptersCommand}"/>
+                            <Button Margin="20,0,0,0" Width="90" Content="选中" Command="{Binding SelectCoptersCommand}"/>
+                        </StackPanel>
+                    </DataTemplate>
+                </ItemsControl.ItemTemplate>
+            </ItemsControl>
+
+        </StackPanel>
+    </Grid>
+</UserControl>
diff --git a/Plane.FormationCreator/Views/CopterGroupsView.xaml.cs b/Plane.FormationCreator/Views/CopterGroupsView.xaml.cs
new file mode 100644
index 0000000..548c62e
--- /dev/null
+++ b/Plane.FormationCreator/Views/CopterGroupsView.xaml.cs
@@ -0,0 +1,32 @@
+using Microsoft.Practices.ServiceLocation;
+using Plane.FormationCreator.Formation;
+using Plane.FormationCreator.ViewModels;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace Plane.FormationCreator.Views
+{
+    /// <summary>
+    /// CopterGroupsView.xaml 的交互逻辑
+    /// </summary>
+    public partial class CopterGroupsView : UserControl
+    {
+        public CopterGroupsView()
+        {
+            InitializeComponent();
+            this.DataContext = ServiceLocator.Current.GetInstance<GroupsViewModel>();
+        }
+    }
+}
diff --git a/Plane.FormationCreator/Views/CopterListView.xaml b/Plane.FormationCreator/Views/CopterListView.xaml
index fe0f066..f85c398 100644
--- a/Plane.FormationCreator/Views/CopterListView.xaml
+++ b/Plane.FormationCreator/Views/CopterListView.xaml
@@ -87,12 +87,15 @@
                     VerticalContentAlignment="Center"
                     Command="{Binding AddVirtualCopterCommand}"
                     CommandParameter="{Binding Text, ElementName=txtVirtualCopterCount}" />
-            <Button Content="导入飞机位置"
+            <Button Visibility="Collapsed" Content="导入飞机位置"
                     Margin="5,0,0,0"
                     Command="{Binding ImportCoptersLocationCommand}"/>
             <Button Content="清除"
                     Margin="5,0,0,0"
                     Command="{Binding ClearCoptersCommand}" />
+            <Button Content="缺号统计"
+                    Margin="5,0,0,0"
+                    Command="{Binding ShowLackCopterNumsCommand}"/>
             <Button Content="设置"
                     Margin="5,0,5,0"
                     Command="{Binding SetCoptersPutCommand}" />
diff --git a/Plane.FormationCreator/Views/ModifyTaskView.xaml b/Plane.FormationCreator/Views/ModifyTaskView.xaml
index 90918a7..75f83bf 100644
--- a/Plane.FormationCreator/Views/ModifyTaskView.xaml
+++ b/Plane.FormationCreator/Views/ModifyTaskView.xaml
@@ -81,7 +81,8 @@
                                     Visibility="Collapsed"/>
                             <Button Content="优化路线" Command="{Binding OptimizeRouteCommand}" 
                                     Visibility="Collapsed"/>
-                            <Button Content="导入航点" Command="{Binding ImportBlenderWayPointCommand}"/>
+                            <Button Content="导入航点" Command="{Binding ImportBlenderWayPointCommand}"
+                                    Visibility="Collapsed"/>
                         </StackPanel>
 
                         <Separator Margin="0,1"/>
@@ -412,6 +413,7 @@
                                     <ComboBoxItem Content="呼吸灯" />
                                     <ComboBoxItem Content="同步闪烁(随机)" />
                                     <ComboBoxItem Content="异步闪烁(单色)" />
+                                    <ComboBoxItem Content="拉烟"/>
                                 </ComboBox>
 
                                 <TextBlock Text="时间"  Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>