From 34c040dd1b05b637d6982a1cbd6bd1e2288123fa Mon Sep 17 00:00:00 2001
From: Michael Oborne <mich146@hotmail.com>
Date: Sat, 15 Jun 2019 14:41:39 +0800
Subject: [PATCH] Mission Planner 1.3.68

---
 ChangeLog.txt                                 |  11 +-
 .../Properties/AndroidManifest.xml            |   2 +-
 .../Xamarin/Xamarin/Controls/MySKGLView.cs    |   5 +-
 .../{MainPage_old.xaml => FlightData.xaml}    |   0
 ...ainPage_old.xaml.cs => FlightData.xaml.cs} |   0
 ExtLibs/Xamarin/Xamarin/MainPage.xaml         |   2 +-
 .../Xamarin/MasterDetailPage1Master.xaml      |   7 +-
 ExtLibs/Xamarin/Xamarin/Xamarin.csproj        |  16 +-
 ExtLibs/wasm/Pages/Counter.cshtml             | 393 ------------------
 ExtLibs/wasm/Pages/_ViewImports.cshtml        |  28 ++
 ExtLibs/wasm/Pages/websocket.cshtml           |  70 ++--
 ExtLibs/wasm/Program.cs                       |  16 +-
 ExtLibs/wasm/Shared/NavMenu.cshtml            |   2 +-
 ExtLibs/wasm/Shared/SurveyPrompt.cshtml       |  15 -
 ExtLibs/wasm/Startup.cs                       |   2 +-
 ExtLibs/wasm/global.json                      |   5 -
 ExtLibs/wasm/plotly.cs                        |   2 +-
 ExtLibs/wasm/wasm.csproj                      |  11 +-
 ExtLibs/wasm/wwwroot/hud.js                   |   2 +
 ExtLibs/wasm/wwwroot/index.html               |  34 +-
 Properties/AssemblyInfo.cs                    |   2 +-
 21 files changed, 128 insertions(+), 497 deletions(-)
 rename ExtLibs/Xamarin/Xamarin/{MainPage_old.xaml => FlightData.xaml} (100%)
 rename ExtLibs/Xamarin/Xamarin/{MainPage_old.xaml.cs => FlightData.xaml.cs} (100%)
 delete mode 100644 ExtLibs/wasm/Pages/Counter.cshtml
 delete mode 100644 ExtLibs/wasm/Shared/SurveyPrompt.cshtml
 delete mode 100644 ExtLibs/wasm/global.json

diff --git a/ChangeLog.txt b/ChangeLog.txt
index 1b76440f8a..25f2a3e369 100644
--- a/ChangeLog.txt
+++ b/ChangeLog.txt
@@ -1,4 +1,13 @@
-*Mission Planner 1.3.67 - 11-6-2019
+*Mission Planner 1.3.68 - 15-6-2019
+ConfigFirmware: fix copter fw upload
+Drivers: add nxp
+LogBrowse: add ironpython graph processing with fallback
+LogBrowse: add more mavgraphs and parser
+mavcmd: add do_gripper for rover #2157
+7zip: add
+httpserver: fix mavlink
+
+*Mission Planner 1.3.67 - 11-6-2019
 ThemeManager: more html
 ConfigMotorTest: allow negative % #1911
 FlightData: fix units on QV and speedup prompt
diff --git a/ExtLibs/Xamarin/Xamarin.Android/Properties/AndroidManifest.xml b/ExtLibs/Xamarin/Xamarin.Android/Properties/AndroidManifest.xml
index 2a30bb93cc..0cb828e832 100644
--- a/ExtLibs/Xamarin/Xamarin.Android/Properties/AndroidManifest.xml
+++ b/ExtLibs/Xamarin/Xamarin.Android/Properties/AndroidManifest.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android" android:versionCode="1" android:versionName="1.0" package="com.michaeloborne.Xamarin" android:installLocation="auto">
-	<uses-sdk android:minSdkVersion="21" android:targetSdkVersion="25" />
+	<uses-sdk android:minSdkVersion="21" android:targetSdkVersion="27" />
 	<application android:label="Xamarin.Android"></application>
 </manifest>
\ No newline at end of file
diff --git a/ExtLibs/Xamarin/Xamarin/Controls/MySKGLView.cs b/ExtLibs/Xamarin/Xamarin/Controls/MySKGLView.cs
index cb3587dec4..0972f7f040 100644
--- a/ExtLibs/Xamarin/Xamarin/Controls/MySKGLView.cs
+++ b/ExtLibs/Xamarin/Xamarin/Controls/MySKGLView.cs
@@ -323,10 +323,13 @@ private void MySKGLView_SizeChanged(object sender, EventArgs e)
         {
             try
             {
-                OnSizeChanged(null);
+                if (GRContext == null)
+                    return;
 
                 if (CanvasSize != null)
                     OnResize(null);
+
+                OnSizeChanged(null); 
             }
             catch (Exception ex)
             {
diff --git a/ExtLibs/Xamarin/Xamarin/MainPage_old.xaml b/ExtLibs/Xamarin/Xamarin/FlightData.xaml
similarity index 100%
rename from ExtLibs/Xamarin/Xamarin/MainPage_old.xaml
rename to ExtLibs/Xamarin/Xamarin/FlightData.xaml
diff --git a/ExtLibs/Xamarin/Xamarin/MainPage_old.xaml.cs b/ExtLibs/Xamarin/Xamarin/FlightData.xaml.cs
similarity index 100%
rename from ExtLibs/Xamarin/Xamarin/MainPage_old.xaml.cs
rename to ExtLibs/Xamarin/Xamarin/FlightData.xaml.cs
diff --git a/ExtLibs/Xamarin/Xamarin/MainPage.xaml b/ExtLibs/Xamarin/Xamarin/MainPage.xaml
index fda2083719..403a38131a 100644
--- a/ExtLibs/Xamarin/Xamarin/MainPage.xaml
+++ b/ExtLibs/Xamarin/Xamarin/MainPage.xaml
@@ -9,7 +9,7 @@
   <MasterDetailPage.Detail>
     <NavigationPage>
       <x:Arguments>
-        <pages:MasterDetailPage1Detail />
+        <pages:MainPage_old />
       </x:Arguments>
     </NavigationPage>
   </MasterDetailPage.Detail>
diff --git a/ExtLibs/Xamarin/Xamarin/MasterDetailPage1Master.xaml b/ExtLibs/Xamarin/Xamarin/MasterDetailPage1Master.xaml
index 78e149cd82..216c50f17a 100644
--- a/ExtLibs/Xamarin/Xamarin/MasterDetailPage1Master.xaml
+++ b/ExtLibs/Xamarin/Xamarin/MasterDetailPage1Master.xaml
@@ -5,7 +5,7 @@
              Title="Master">
   <StackLayout>
     <ListView x:Name="MenuItemsListView"
-              SeparatorVisibility="None"
+              SeparatorVisibility="Default"
               HasUnevenRows="true"
               ItemsSource="{Binding MenuItems}">
       <ListView.Header>
@@ -16,8 +16,8 @@
             <ColumnDefinition Width="10"/>
           </Grid.ColumnDefinitions>
           <Grid.RowDefinitions>
+            <RowDefinition Height="0"/>
             <RowDefinition Height="30"/>
-            <RowDefinition Height="80"/>
             <RowDefinition Height="Auto"/>
             <RowDefinition Height="10"/>
           </Grid.RowDefinitions>
@@ -25,13 +25,14 @@
               Grid.Column="1"
               Grid.Row="2"
               Text="Mission Planner"
+              FontSize="24"
               Style="{DynamicResource SubtitleStyle}"/>
         </Grid>
       </ListView.Header>
       <ListView.ItemTemplate>
         <DataTemplate>
           <ViewCell>
-            <StackLayout Padding="15,10" HorizontalOptions="FillAndExpand">
+            <StackLayout Padding="10,5" HorizontalOptions="FillAndExpand">
               <Label VerticalOptions="FillAndExpand" 
                     VerticalTextAlignment="Center" 
                     Text="{Binding Title}" 
diff --git a/ExtLibs/Xamarin/Xamarin/Xamarin.csproj b/ExtLibs/Xamarin/Xamarin/Xamarin.csproj
index d05f5ed7d3..e2b4947863 100644
--- a/ExtLibs/Xamarin/Xamarin/Xamarin.csproj
+++ b/ExtLibs/Xamarin/Xamarin/Xamarin.csproj
@@ -39,15 +39,9 @@
   </ItemGroup>
 
   <ItemGroup>
-    <Compile Update="Controls\AGauge.cs">
-      <SubType>UserControl</SubType>
-    </Compile>
-    <Compile Update="GMap.NET.WindowsForms\GMapControl.cs">
-      <SubType>UserControl</SubType>
-    </Compile>
-    <Compile Update="Controls\HUD.cs">
-      <SubType>UserControl</SubType>
-    </Compile>
+    <Compile Update="Controls\AGauge.cs" />
+    <Compile Update="GMap.NET.WindowsForms\GMapControl.cs" />
+    <Compile Update="Controls\HUD.cs" />
     <Compile Update="Controls\HUDT.Designer.cs">
       <DesignTime>True</DesignTime>
       <AutoGen>True</AutoGen>
@@ -59,9 +53,7 @@
     <Compile Update="MainPage.xaml.cs">
       <DependentUpon>MainPage</DependentUpon>
     </Compile>
-    <Compile Update="MasterDetailPage1MenuItem.cs">
-      <SubType>Code</SubType>
-    </Compile>
+    <Compile Update="MasterDetailPage1MenuItem.cs" />
     <Compile Update="Properties\Resources.Designer.cs">
       <DesignTime>True</DesignTime>
       <AutoGen>True</AutoGen>
diff --git a/ExtLibs/wasm/Pages/Counter.cshtml b/ExtLibs/wasm/Pages/Counter.cshtml
deleted file mode 100644
index b8798222a4..0000000000
--- a/ExtLibs/wasm/Pages/Counter.cshtml
+++ /dev/null
@@ -1,393 +0,0 @@
-@page "/counter"
-@using System.IO
-@using System.Net
-@using System.Net.WebSockets
-@using System.Threading
-@using MissionPlanner
-@using MissionPlanner.Comms
-@using MissionPlanner.Utilities
-@using MissionPlanner.Log
-@using System.IO;
-
-@using System.Text;
-
-@using System.Security.Cryptography;
-@using Blazor.FileReader;
-@using System.IO;
-@using Newtonsoft.Json
-@using Org.BouncyCastle.Utilities.Encoders
-@implements IDisposable
-@inject IFileReaderService fileReaderService;
-@inject HttpClient Http
-
-<h1>Counter</h1>
-
-<p>Current count: @currentCount</p>
-
-<button class="btn btn-primary" onclick="@IncrementCount">Click me</button>
-
-<input type="file" ref="inputTypeFileElement" />
-<button onclick="@ReadFile">Read file</button>
-<br />
-
-<p>@gpstime @lat @lng @alt @hdg</p>
-
-@SayHello()
-
-<div id="map" style="width: 100%; height: 70vh;"></div>
-
-@functions {
-    double lat = 0, lng = 0, alt = 0, hdg = 0;
-    int currentCount = 0;
-    MAVLinkInterface mav;
-    DateTime gpstime;
-    static bool init = false;
-
-    static Counter instance;
-
-    [JSInvokable]
-    public string SayHello() => $"Hello, {currentCount}!";
-
-    private void Log(string message) => Console.WriteLine($"{DateTime.UtcNow.ToString("O")} - {message}");
-
-    protected override void OnInit()
-    {
-        Log("OnInit");
-        base.OnInit();
-
-        instance = this;
-
-        init = false;
-
-        Console.WriteLine("OnInit Done");
-    }
-
-    protected override async Task OnInitAsync() => Log("OnInitAsync");
-
-    //protected override void OnAfterRender() => Log("OnAfterRender");
-
-    protected override async Task OnAfterRenderAsync()
-    {
-
-
-        if (init)
-            return;
-
-        Log("OnAfterRenderAsync");
-
-        init = true;
-
-        JSRuntime.Current.InvokeAsync<object>("initMap", null);
-
-        JSRuntime.Current.InvokeAsync<object>("initWebSocket", null);
-    }
-
-    protected override void OnParametersSet()
-    {
-        Log("OnParametersSet");
-
-
-
-    }
-
-    protected override async Task OnParametersSetAsync()
-    {
-        Log("OnParametersSetAsync");
-
-
-    }
-
-    public static void ProcessPacketStatic(string json)
-    {
-        if(instance != null)
-            instance.ProcessPacket(json);
-    }
-
-    //[JSInvokable]
-    public async void ProcessPacket(string json)
-    {
-        //Console.WriteLine(DateTime.Now + " JS to C# " + json.ToArray().Length);
-
-        if (!init)
-            return;
-
-        if (this == null)
-        {
-            Console.WriteLine("this is null");
-            return;
-        }
-
-        //StateHasChanged();
-        //Console.WriteLine("mav null?");
-        if (mav == null)
-        {
-            Console.WriteLine("set mav");
-            mav = new MAVLinkInterface(new MemoryStream());
-
-            // just to prevent null exceptions
-            var cf = new CommsFile();
-            cf.BaseStream = new MemoryStream();
-            mav.BaseStream = cf;
-
-            mav.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT, packetReceived);
-            mav.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT, packetReceived);
-            mav.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, packetReceived);
-            mav.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.PARAM_VALUE, packetReceived);
-
-        }
-
-        //Console.WriteLine("decode json");
-
-        var data = Base64.Decode(json);
-
-        var pos = mav.logplaybackfile.BaseStream.Position;
-
-        mav.logplaybackfile.BaseStream.Seek(0, SeekOrigin.End);
-
-        byte[] datearray =
-            BitConverter.GetBytes(
-                (UInt64) ((DateTime.UtcNow - new DateTime(1970, 1, 1)).TotalMilliseconds * 1000));
-        Array.Reverse(datearray);
-        mav.logplaybackfile.BaseStream.Write(datearray, 0, datearray.Length);
-
-        mav.logplaybackfile.BaseStream.Write(data, 0, data.Length);
-
-        mav.logplaybackfile.BaseStream.Seek(pos, SeekOrigin.Begin);
-
-        mav.logreadmode = true;
-
-        //Console.WriteLine("open {0} btr {1} {2} {3}", mav.BaseStream.IsOpen, mav.BaseStream.BytesToRead, mav.BaseStream.GetType(), mav.BaseStream.BaseStream.GetType());
-
-        var packet = await mav.readPacketAsync();
-
-        try
-        {
-            if (!init)
-                StateHasChanged();
-        }
-        catch
-        {
-        }
-
-        //mav.DebugPacket(packet, true);
-    }
-
-    async void IncrementCount()
-    {
-        currentCount++;
-
-        Console.WriteLine(currentCount);
-
-        MAVLink.mavlink_heartbeat_t hb = new MAVLink.mavlink_heartbeat_t();
-
-        hb.autopilot = 1;
-        hb.type = 2;
-
-        var hbbytes = MavlinkUtil.StructureToByteArray(hb);
-
-        Console.WriteLine(hbbytes);
-
-        Console.WriteLine(MatLab.GetMatLabSerialDate(DateTime.Parse("2018-8-28 16:03:22")));
-        Console.WriteLine(MatLab.GetMatLabSerialDate(DateTime.MinValue));
-
-        /*
-            using (var ws = new ClientWebSocket())
-            {
-                Console.WriteLine(ws);
-
-                ws.Options.KeepAliveInterval = Timeout.InfiniteTimeSpan;
-                await ws.ConnectAsync(new Uri("wss://127.0.0.1:56781/websocket/raw"), CancellationToken.None);
-
-                await ws.SendAsync(new ArraySegment<byte>(new byte[] { 1, 2, 3, 4, 5, 6, 7, 8, 9 }), WebSocketMessageType.Binary, true, CancellationToken.None);
-
-            }
-            */
-        try
-        {
-            CollectionBuffer collectionBuffer = new CollectionBuffer(new MemoryStream());
-
-
-            MAVLinkInterface mav = new MAVLinkInterface();
-
-            Console.WriteLine(mav);
-
-            mav.BaseStream = new CommsSerialPipe();
-
-            mav.readPacket();
-        }
-        catch (Exception ex)
-        {
-            Console.WriteLine(ex);
-        }
-    }
-
-    ElementRef inputTypeFileElement;
-
-    DateTime nextUpdate = DateTime.Now.AddMilliseconds(100);
-
-
-    public async Task ReadFile()
-    {
-        foreach (var file in await fileReaderService.CreateReference(inputTypeFileElement).EnumerateFilesAsync())
-        {
-            /*
-                // Read into buffer and act (uses less memory)
-                using (Stream stream = await file.OpenReadAsync())
-                {
-                    // Do stuff with stream...
-                    //await stream.ReadAsync(buffer, ...);
-                    // This following will fail. Only async read is allowed.
-                    //stream.Read(buffer, ...)
-
-                }
-                */
-            var info = await file.ReadFileInfoAsync();
-
-            Console.WriteLine(info.Name);
-
-            if (info.Name.ToLower().EndsWith("tlog"))
-            {
-
-
-                Console.WriteLine("about to read into memory");
-                using (MemoryStream memoryStream = await file.CreateMemoryStreamAsync(4096))
-                {
-                    Console.WriteLine("canread " + memoryStream.CanRead + " pos " + memoryStream.Position + "<" + memoryStream.Length);
-
-                    mav = new MAVLinkInterface(memoryStream);
-
-                    // just to prevent null exceptions
-                    var cf = new CommsFile();
-                    mav.BaseStream = cf;
-
-                    mav.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT, packetReceived);
-                    mav.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT, packetReceived);
-                    mav.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, packetReceived);
-                    mav.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.PARAM_VALUE, packetReceived);
-
-                    Console.WriteLine(mav.getHeartBeat());
-
-                    long length = memoryStream.Length;
-                    while (memoryStream.Position < length)
-                    {
-                        //Console.WriteLine("open "+cf.IsOpen + " canread "+ cf.BaseStream.CanRead + " btr " + cf.BytesToRead + " pos " + cf.BaseStream.Position +"<"+ length);
-
-                        var packet = await mav.readPacketAsync();
-
-                        if (DateTime.Now > nextUpdate)
-                        {
-                            gpstime = packet.rxtime;
-
-                            StateHasChanged();
-                            int a = 0;
-
-                            foreach (var mavd in mav.MAVlist)
-                            {
-                                mavd.cs.UpdateCurrentSettings(null, false, mav, mavd);
-                                JSRuntime.Current.InvokeAsync<object>("setPosition", new object[] {a, mavd.cs.lat, mavd.cs.lng });
-                                a++;
-                            }
-
-                            try
-                            {
-                                //JSRuntime.Current.InvokeAsync<object>("test", new object[] {JsonConvert.SerializeObject(mav.MAV.cs)});
-                            } catch { }
-
-                            nextUpdate = DateTime.Now.AddMilliseconds(100);
-
-                            await Task.Delay(1);
-                        }
-                    }
-                }
-            }
-            else
-            {
-                Console.WriteLine("about to read into memory");
-                // Read into memory and act
-                using (MemoryStream memoryStream = await file.CreateMemoryStreamAsync(4096))
-                {
-                    // Sync calls are ok once file is in memory
-                    //memoryStream.Read(buffer, ...)
-
-                    Console.WriteLine("CollectionBuffer init");
-                    CollectionBuffer collectionBuffer = new CollectionBuffer(memoryStream);
-
-                    Console.WriteLine("CollectionBuffer loop line");
-                    foreach (var line in collectionBuffer)
-                    {
-                        Console.Write(line);
-                    }
-                }
-            }
-        }
-    }
-
-    private bool packetReceived(MAVLink.MAVLinkMessage packet)
-    {
-        if (packet.data is MAVLink.mavlink_global_position_int_t)
-        {
-            var pos = (MAVLink.mavlink_global_position_int_t)packet.data;
-
-            lat = pos.lat / 1e7;
-            lng = pos.lon / 1e7;
-            alt = pos.alt / 1e3;
-            hdg = pos.hdg / 1e2;
-
-            //Console.WriteLine("Update mavlink_global_position_int_t ##############################");
-        }
-        else if (packet.data is MAVLink.mavlink_gps_raw_int_t)
-        {
-            var pos = (MAVLink.mavlink_gps_raw_int_t)packet.data;
-
-            lat = pos.lat / 1e7;
-            lng = pos.lon / 1e7;
-            alt = pos.alt / 1e3;
-            hdg = (ushort)(pos.cog / 1e2);
-
-            //StateHasChanged();
-
-            //await Task.Delay(1);
-
-            //Console.WriteLine("Update mavlink_gps_raw_int_t ##############################");
-        }
-        else if (packet.data is MAVLink.mavlink_heartbeat_t)
-        {
-            var hb = (MAVLink.mavlink_heartbeat_t)packet.data;
-
-            if (DateTime.Now > nextUpdate)
-            {
-                int a = 0;
-                foreach (var mavd in mav.MAVlist)
-                {
-                    mavd.cs.UpdateCurrentSettings(null, false, mav, mavd);
-                    JSRuntime.Current.InvokeAsync<object>("setPosition", new object[] {a, mavd.cs.lat, mavd.cs.lng});
-                    a++;
-                }
-
-                gpstime = DateTime.Now;
-
-                StateHasChanged();
-
-                nextUpdate = DateTime.Now.AddMilliseconds(100);
-            }
-
-            //mav.DebugPacket(packet, true);
-        }
-        else if (packet.data is MAVLink.mavlink_param_value_t)
-        {
-            var param = (MAVLink.mavlink_param_value_t)packet.data;
-
-            Console.WriteLine("{0} {1}", ASCIIEncoding.ASCII.GetString(param.param_id), param.param_value);
-        }
-
-        return true;
-        //mav.DebugPacket(packet, true);
-    }
-
-    public void Dispose()
-    {
-        Http?.Dispose();
-
-    }
-
-}
\ No newline at end of file
diff --git a/ExtLibs/wasm/Pages/_ViewImports.cshtml b/ExtLibs/wasm/Pages/_ViewImports.cshtml
index 6fd38754a2..8a66741663 100644
--- a/ExtLibs/wasm/Pages/_ViewImports.cshtml
+++ b/ExtLibs/wasm/Pages/_ViewImports.cshtml
@@ -1 +1,29 @@
 @layout MainLayout
+@using System.Net.Http
+@using Microsoft.AspNetCore.Blazor.Layouts
+@using Microsoft.AspNetCore.Blazor.Routing
+@using Microsoft.JSInterop
+@using wasm
+@using wasm.Shared
+@using MissionPlanner.Comms
+@using System.Net.Http
+
+@using Microsoft.AspNetCore.Blazor
+
+@using Microsoft.AspNetCore.Blazor.Components
+
+@using Microsoft.AspNetCore.Blazor.Layouts
+
+@using Microsoft.AspNetCore.Blazor.Routing
+
+@using Blazor.FileReader
+
+@using MissionPlanner
+@using MissionPlanner.Comms
+@using MissionPlanner.Utilities
+@using MissionPlanner.Log
+
+@addTagHelper *, FileReaderComponent
+
+@using Blazor.Extensions.Canvas
+@addTagHelper *, Blazor.Extensions.Canvas
\ No newline at end of file
diff --git a/ExtLibs/wasm/Pages/websocket.cshtml b/ExtLibs/wasm/Pages/websocket.cshtml
index 296e64580c..bc52aafab6 100644
--- a/ExtLibs/wasm/Pages/websocket.cshtml
+++ b/ExtLibs/wasm/Pages/websocket.cshtml
@@ -23,39 +23,49 @@
 @inject IFileReaderService fileReaderService;
 @inject HttpClient Http
 
-<div id="message" style="position:absolute;">@gpstime @lat @lng @alt @hdg</div>
-
-<div style="height: 100%; display: flex; flex-direction: column; float: left; resize: horizontal; overflow: auto;">
-    <div style="float: left;">
-        <canvas id="canvas" width="500" height="375">
-            <p>
-                This example requires a browser that supports the
-                <a href="http://www.w3.org/html/wg/html5/">HTML5</a>
-                &lt;canvas&gt; feature.
-            </p>
-        </canvas><br>
-        Lat: <input id="latbox" name="lat" val="40.713956" />Long: <input id="lngbox" name="long" val="74.006653" /> <br />
-        <canvas id="graphcanvas" width="500" height="80"></canvas><br />
-        <div id="curve_chart" style="width: 500px; height: 200px;"></div>
+<div id="message" style="position:absolute; top:0px; left:0px;">@gpstime @lat @lng @alt @hdg</div>
+<div id="page" style=" width: 100%;height: 100%; ">
+    <div style="height: 100%; display: flex; flex-direction: column; float: left; resize: horizontal; overflow: auto;">
+        <div style="float: left;">
+            <canvas id="canvas" width="500" height="375">
+                <p>
+                    This example requires a browser that supports the
+                    <a href="http://www.w3.org/html/wg/html5/">HTML5</a>
+                    &lt;canvas&gt; feature.
+                </p>
+            </canvas><br>
+            Lat: <input id="latbox" name="lat" val="40.713956" />Long: <input id="lngbox" name="long" val="74.006653" /> <br />
+            <canvas id="graphcanvas" width="500" height="80"></canvas><br />
+            <div id="curve_chart" style="width: 500px; height: 200px;"></div>
+        </div>
+        <div id="serverStatus" style="width: 500px; overflow-y: auto; flex-grow: 0;"></div>
     </div>
-    <div id="serverStatus" style="width: 500px; overflow-y: auto; flex-grow: 0;"></div>
-</div>
-<div style="height: 100%; display: flex; flex-direction: column; resize: horizontal; overflow: auto;">
+    <div style="height: 100%; display: flex; flex-direction: column; resize: horizontal; overflow: auto;">
 
-    <div id="cesiumContainer" style="height: 50%; display: none;"></div>
-    <div id="map" style="width: 100%; height: 100%;"></div>
+        <div id="cesiumContainer" style="height: 50%; display: none;"></div>
+        <div id="map" style="width: 100%; height: 100%;"></div>
+    </div>
+</div>
+<div id="pageload" style="    bottom: 0;    right: 0; position:absolute; top:0px; left:0px;    overflow: hidden; background-color: #80808080;  @(pageloadvisible ? null : "display: none; ") ">
+    <div style="text-align: center;       margin-top: 25%;">
+        Raw MAVLink website url (wss:// for https)<br />
+        <input type="text" id="wsuri" ref="wsuri" value="ws://localhost:56781/websocket/raw" style="    width: 350px;" /><br />
+        <button onclick="@wsconnect">Connect</button>
+    </div>
 </div>
-
 
 
 
 @functions {
-    //<BECanvas ref="@_canvasReference" Width="400" Height="100"></BECanvas>
-    double lat = 0, lng = 0, alt = 0, hdg = 0;
-    int currentCount = 0;
-    MAVLinkInterface mav;
-    DateTime gpstime;
-    static bool init = false;
+        //<BECanvas ref="@_canvasReference" Width="400" Height="100"></BECanvas>
+        double lat = 0, lng = 0, alt = 0, hdg = 0;
+        int currentCount = 0;
+        MAVLinkInterface mav;
+        DateTime gpstime;
+        static bool init = false;
+
+        ElementRef wsuri;
+bool pageloadvisible = true;
 
     private Canvas2dContext _context;
 
@@ -84,6 +94,12 @@
 
     //protected override void OnAfterRender() => Log("OnAfterRender");
 
+    public async Task wsconnect()
+    {
+           JSRuntime.Current.InvokeAsync<object>("initWebSocket", wsuri);
+        pageloadvisible = false;
+    }
+
     byte[] buffer = new byte[1024];
 
     protected override async Task OnAfterRenderAsync()
@@ -112,8 +128,6 @@
 
         JSRuntime.Current.InvokeAsync<object>("initMap", null);
 
-        JSRuntime.Current.InvokeAsync<object>("initWebSocket", null);
-
         JSRuntime.Current.InvokeAsync<object>("draw", null);
     }
 
diff --git a/ExtLibs/wasm/Program.cs b/ExtLibs/wasm/Program.cs
index 0381cac01a..e8720d3c77 100644
--- a/ExtLibs/wasm/Program.cs
+++ b/ExtLibs/wasm/Program.cs
@@ -1,7 +1,5 @@
-using System.Threading;
+
 using Microsoft.AspNetCore.Blazor.Hosting;
-using Microsoft.JSInterop;
-using Mono.WebAssembly.Interop;
 
 namespace wasm
 {
@@ -10,14 +8,12 @@ public class Program
         public static void Main(string[] args)
         {
             CreateHostBuilder(args).Build().Run();
-
-            //JSRuntime.SetCurrentJSRuntime(new MonoWebAssemblyJSRuntime());
-
-            //JSRuntime.Current.InvokeAsync<object>("initMap", null);
         }
 
-        public static IWebAssemblyHostBuilder CreateHostBuilder(string[] args) =>
-            BlazorWebAssemblyHost.CreateDefaultBuilder()
-                .UseBlazorStartup<Startup>();
+        public static IWebAssemblyHostBuilder CreateHostBuilder(string[] args)
+        {
+            return BlazorWebAssemblyHost.CreateDefaultBuilder()
+.UseBlazorStartup<Startup>();
+        }
     }
 }
diff --git a/ExtLibs/wasm/Shared/NavMenu.cshtml b/ExtLibs/wasm/Shared/NavMenu.cshtml
index ce824ba98c..cf545b2b20 100644
--- a/ExtLibs/wasm/Shared/NavMenu.cshtml
+++ b/ExtLibs/wasm/Shared/NavMenu.cshtml
@@ -8,7 +8,7 @@
 <div class=@(collapseNavMenu ? "collapse" : null) onclick=@ToggleNavMenu>
     <ul class="nav flex-column">
         <li class="nav-item px-3">
-            <NavLink class="nav-link" href="" Match=NavLinkMatch.All>
+            <NavLink class="nav-link" href="./" Match=NavLinkMatch.All>
                 <span class="oi oi-home" aria-hidden="true"></span> Home
             </NavLink>
         </li>
diff --git a/ExtLibs/wasm/Shared/SurveyPrompt.cshtml b/ExtLibs/wasm/Shared/SurveyPrompt.cshtml
deleted file mode 100644
index 6a1a10d8cb..0000000000
--- a/ExtLibs/wasm/Shared/SurveyPrompt.cshtml
+++ /dev/null
@@ -1,15 +0,0 @@
-<div class="alert alert-secondary mt-4" role="alert">
-    <span class="oi oi-pencil mr-2" aria-hidden="true"></span> 
-    <strong>@Title</strong>
-
-    <span class="text-nowrap">
-        Please take our
-        <a target="_blank" class="font-weight-bold" href="https://go.microsoft.com/fwlink/?linkid=2006382">brief survey</a>
-    </span>
-    and tell us what you think.
-</div>
-
-@functions {
-    [Parameter]
-    string Title { get; set; } // Demonstrates how a parent component can supply parameters
-}
diff --git a/ExtLibs/wasm/Startup.cs b/ExtLibs/wasm/Startup.cs
index 15938d9a8a..6405367dcd 100644
--- a/ExtLibs/wasm/Startup.cs
+++ b/ExtLibs/wasm/Startup.cs
@@ -1,9 +1,9 @@
 using Blazor.FileReader;
-using Microsoft.AspNetCore.Blazor.Browser.Services;
 using Microsoft.AspNetCore.Blazor.Builder;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.DependencyInjection.Extensions;
 
+
 namespace wasm
 {
     public class Startup
diff --git a/ExtLibs/wasm/global.json b/ExtLibs/wasm/global.json
deleted file mode 100644
index fd070d826e..0000000000
--- a/ExtLibs/wasm/global.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-  "sdk": {
-    "version": "2.2.104"
-  }
-}
diff --git a/ExtLibs/wasm/plotly.cs b/ExtLibs/wasm/plotly.cs
index f55e6d7b7e..f0e4aa836c 100644
--- a/ExtLibs/wasm/plotly.cs
+++ b/ExtLibs/wasm/plotly.cs
@@ -13,7 +13,7 @@ public class plotly
 
         public plotly()
         {
-            
+
         }
 
         public plotly(string name)
diff --git a/ExtLibs/wasm/wasm.csproj b/ExtLibs/wasm/wasm.csproj
index cb9ba64954..fc13a5f0aa 100644
--- a/ExtLibs/wasm/wasm.csproj
+++ b/ExtLibs/wasm/wasm.csproj
@@ -4,7 +4,7 @@
     <TargetFramework>netstandard2.0</TargetFramework>
     <RunCommand>dotnet</RunCommand>
     <RunArguments>blazor serve</RunArguments>
-    <LangVersion>7.3</LangVersion>
+    <LangVersion>default</LangVersion>
     <UserSecretsId>f15fb383-7d45-4f9a-85b3-9bcadc4c397e</UserSecretsId>
     <BlazorLinkOnBuild>False</BlazorLinkOnBuild>
   </PropertyGroup>
@@ -13,12 +13,21 @@
     <DefineConstants>DEBUG;TRACE;ASSERTIONS</DefineConstants>
   </PropertyGroup>
 
+  <ItemGroup>
+    <Compile Remove="test\**" />
+    <Content Remove="test\**" />
+    <EmbeddedResource Remove="test\**" />
+    <None Remove="test\**" />
+  </ItemGroup>
+
   <ItemGroup>
     <PackageReference Include="Blazor.Extensions.Canvas" Version="0.1.8" />
     <PackageReference Include="Blazor.Extensions.Notifications" Version="0.1.2" />
     <PackageReference Include="Blazor.Extensions.SignalR" Version="0.1.8" />
+    <PackageReference Include="Blazor.Extensions.Storage" Version="0.1.7" />
     <PackageReference Include="Microsoft.AspNetCore.Blazor.Browser" Version="0.7.0" />
     <PackageReference Include="Microsoft.AspNetCore.Blazor.Build" Version="0.7.0" />
+    <PackageReference Include="Microsoft.Extensions.Hosting.Abstractions" Version="2.2.0" />
     <PackageReference Include="Newtonsoft.Json" Version="11.0.2" />
     <PackageReference Include="System.Threading" Version="4.3.0" />
     <PackageReference Include="Tewr.Blazor.FileReader" Version="0.7.1" />
diff --git a/ExtLibs/wasm/wwwroot/hud.js b/ExtLibs/wasm/wwwroot/hud.js
index 582c176a06..d724fbfdc7 100644
--- a/ExtLibs/wasm/wwwroot/hud.js
+++ b/ExtLibs/wasm/wwwroot/hud.js
@@ -17,6 +17,8 @@ function draw() {
     //roll = -180;
 
     var canvas = document.getElementById("canvas");
+    if (canvas == undefined)
+        return;
     if (canvas.getContext) {
         var ctx = canvas.getContext("2d");
 
diff --git a/ExtLibs/wasm/wwwroot/index.html b/ExtLibs/wasm/wwwroot/index.html
index d2f00759d6..cc5055ed4a 100644
--- a/ExtLibs/wasm/wwwroot/index.html
+++ b/ExtLibs/wasm/wwwroot/index.html
@@ -7,7 +7,7 @@
     <link href="css/bootstrap/bootstrap.min.css" rel="stylesheet" />
     <link href="css/site.css" rel="stylesheet" />
     
-    <script src="https://ajax.googleapis.com/ajax/libs/jquery/3.3.1/jquery.min.js"></script>
+    <script src="https://code.jquery.com/jquery-3.4.1.min.js"></script>
 
     <script src="Cesium/Cesium.js"></script>
     <style>
@@ -15,35 +15,24 @@
     </style>
 </head>
 <body>
-    <app></app>
+    <app><div id="loading" style="position: absolute;   top: 50%; left: 50%; width: 100vw; height: 100vh; text-align: center;">LOADING...</div></app>
 
 <script src="_framework/blazor.webassembly.js"></script>
 
 <script src="hud.js"></script>
 
-<script src="http://smoothiecharts.org/smoothie.js"></script>
+<script src="https://cdnjs.cloudflare.com/ajax/libs/smoothie/1.34.0/smoothie.min.js"></script>
 <script type="text/javascript" src="https://www.gstatic.com/charts/loader.js"></script>
 
 <script src="https://cdn.plot.ly/plotly-latest.min.js"></script>
 
 <script>
-    /*
-        var worker = new Worker("websocketworker.js");
-
-        worker.onmessage = function (e) {
-            try {
-                eval(e.data);
-            } catch (err) {
-                console.log(err);
-            }
-            //console.log('Message received from worker');
-        }
-      */  
-        function initWebSocket() {
+        function initWebSocket(host) {
             if (window["WebSocket"]) {
-                var host = "ws://" + window.location.hostname + ":56781/websocket/raw";
-                //if (window.location.hostname == "")
-                host = "ws://localhost:56781/websocket/raw";
+                //var host = "ws://" + window.location.hostname + ":56781/websocket/raw";
+                host = host.value;
+                if (host == "")
+                    host = "ws://localhost:56781/websocket/raw";
                 try {
                     try {
                         if (!(socket === null))
@@ -172,7 +161,7 @@
   
 <script>
     google.charts.load('current', { 'packages': ['corechart'] });
-    google.charts.setOnLoadCallback(drawChart);
+    //google.charts.setOnLoadCallback(drawChart);
     var options;
     var data;
     var chart;
@@ -430,12 +419,13 @@
         }
 
     </script>
-    <script src="https://maps.googleapis.com/maps/api/js?key=AIzaSyDW05vWXeNIfZAN4Ter8gf4YLg8rPHZToc" async defer></script>
-
+<script src="https://maps.googleapis.com/maps/api/js?key=AIzaSyDW05vWXeNIfZAN4Ter8gf4YLg8rPHZToc" async defer></script>
+<script src="http://maps.google.cn/maps/api/js?key=AIzaSyDW05vWXeNIfZAN4Ter8gf4YLg8rPHZToc" async defer></script>
 
     
 <!--<input type="range"  min="0" max="100" />-->
 <div id="coords"></div>
 
+
 </body>
 </html>
diff --git a/Properties/AssemblyInfo.cs b/Properties/AssemblyInfo.cs
index 832c325c46..7df2f62163 100644
--- a/Properties/AssemblyInfo.cs
+++ b/Properties/AssemblyInfo.cs
@@ -30,4 +30,4 @@
 //      Revision
 //
 [assembly: AssemblyVersion("1.3.*")]
-[assembly: AssemblyFileVersion("1.3.67")]
+[assembly: AssemblyFileVersion("1.3.68")]