void addHudUserItem(ref HUD.Custom cust, CheckBox sender)
        {
            setupPropertyInfo(ref cust.Item, (sender).Name, MainV2.comPort.MAV.cs);

            hud1.CustomItems[(sender).Name] = cust;

            hud1.Invalidate();
        }

        void drawstring(HUD e, string text, Font font, float fontsize, SolidBrush brush, float x, float y)
        {
            if (!opengl)
            {
                drawstring(graphicsObjectGDIP, text, font, fontsize, brush, x, y);
                return;
            }

            if (text == null || text == "")
                return;
            /*
            OpenTK.Graphics.Begin(); 
            GL.PushMatrix(); 
            GL.Translate(x, y, 0);
            printer.Print(text, font, c); 
            GL.PopMatrix(); printer.End();
            */

            char[] chars = text.ToCharArray();

            float maxy = 1;

            foreach (char cha in chars)
            {
                int charno = (int)cha;

                int charid = charno ^ (int)(fontsize * 1000) ^ brush.Color.ToArgb();

                if (!charDict.ContainsKey(charid))
                {
                    charDict[charid] = new character() { bitmap = new Bitmap(128, 128, System.Drawing.Imaging.PixelFormat.Format32bppArgb) , size = (int)fontsize };

                    charDict[charid].bitmap.MakeTransparent(Color.Transparent);

                    //charbitmaptexid

                    float maxx = this.Width / 150; // for space


                    // create bitmap
                    using (Graphics gfx = Graphics.FromImage(charDict[charid].bitmap))
                    {
                        pth.Reset();

                        if (text != null)
                            pth.AddString(cha + "", font.FontFamily, 0, fontsize + 5, new Point((int)0, (int)0), StringFormat.GenericTypographic);

                        gfx.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;

                        gfx.DrawPath(P, pth);

                        //Draw the face

                        gfx.FillPath(brush, pth);


                        if (pth.PointCount > 0)
                        {
                            foreach (PointF pnt in pth.PathPoints)
                            {
                                if (pnt.X > maxx)
                                    maxx = pnt.X;

                                if (pnt.Y > maxy)
                                    maxy = pnt.Y;
                            }
                        }
                    }

                    charDict[charid].width = (int)(maxx + 2);

                    //charbitmaps[charid] = charbitmaps[charid].Clone(new RectangleF(0, 0, maxx + 2, maxy + 2), charbitmaps[charid].PixelFormat);

                    //charbitmaps[charno * (int)fontsize].Save(charno + " " + (int)fontsize + ".png");

                    // create texture
                    int textureId;
                    GL.TexEnv(TextureEnvTarget.TextureEnv, TextureEnvParameter.TextureEnvMode, (float)TextureEnvModeCombine.Replace);//Important, or wrong color on some computers

                    Bitmap bitmap = charDict[charid].bitmap;
                    GL.GenTextures(1, out textureId);
                    GL.BindTexture(TextureTarget.Texture2D, textureId);

                    BitmapData data = bitmap.LockBits(new System.Drawing.Rectangle(0, 0, bitmap.Width, bitmap.Height), ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format32bppArgb);

                    GL.TexImage2D(TextureTarget.Texture2D, 0, PixelInternalFormat.Rgba, data.Width, data.Height, 0, OpenTK.Graphics.OpenGL.PixelFormat.Bgra, PixelType.UnsignedByte, data.Scan0);

                    GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMinFilter, (int)TextureMinFilter.Linear);
                    GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMagFilter, (int)TextureMagFilter.Linear);

                    //    GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMagFilter, (int)All.Nearest);
                    //GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMinFilter, (int)All.Nearest);
                    GL.Finish();
                    bitmap.UnlockBits(data);

                    charDict[charid].gltextureid = textureId;
                }

                //GL.Enable(EnableCap.Blend);
                GL.BlendFunc(BlendingFactorSrc.SrcAlpha, BlendingFactorDest.OneMinusSrcAlpha);
//.........这里部分代码省略.........

        public FlightData()
        {
            log.Info("Ctor Start");

            InitializeComponent();

            log.Info("Components Done");

            instance = this;
            //    _serializer = new DockStateSerializer(dockContainer1);
            //    _serializer.SavePath = Application.StartupPath + Path.DirectorySeparatorChar + "FDscreen.xml";
            //    dockContainer1.PreviewRenderer = new PreviewRenderer();
            //
            mymap = gMapControl1;
            myhud = hud1;
            MainHcopy = MainH;

            mymap.Paint += mymap_Paint;

            //  mymap.Manager.UseMemoryCache = false;

            log.Info("Tunning Graph Settings");
            // setup default tuning graph
            if (MainV2.config["Tuning_Graph_Selected"] != null)
            {
                string line = MainV2.config["Tuning_Graph_Selected"].ToString();
                string[] lines = line.Split(new[] {'|'}, StringSplitOptions.RemoveEmptyEntries);
                foreach (string option in lines)
                {
                    using (var cb = new CheckBox {Name = option, Checked = true})
                    {
                        chk_box_CheckedChanged(cb, new EventArgs());
                    }
                }
            }
            else
            {
                using (var cb = new CheckBox {Name = "roll", Checked = true})
                {
                    chk_box_CheckedChanged(cb, new EventArgs());
                }
                using (var cb = new CheckBox {Name = "pitch", Checked = true})
                {
                    chk_box_CheckedChanged(cb, new EventArgs());
                }
                using (var cb = new CheckBox {Name = "nav_roll", Checked = true})
                {
                    chk_box_CheckedChanged(cb, new EventArgs());
                }
                using (var cb = new CheckBox {Name = "nav_pitch", Checked = true})
                {
                    chk_box_CheckedChanged(cb, new EventArgs());
                }
            }

            if (MainV2.config.ContainsKey("hudcolor"))
            {
                hud1.hudcolor = Color.FromName(MainV2.config["hudcolor"].ToString());
            }

            MainV2.comPort.MavChanged += comPort_MavChanged;

            log.Info("HUD Settings");
            foreach (string item in MainV2.config.Keys)
            {
                if (item.StartsWith("hud1_useritem_"))
                {
                    string selection = item.Replace("hud1_useritem_", "");

                    CheckBox chk = new CheckBox();
                    chk.Name = selection;
                    chk.Checked = true;

                    HUD.Custom cust = new HUD.Custom();
                    cust.Header = MainV2.config[item].ToString();
                    HUD.Custom.src = MainV2.comPort.MAV.cs;

                    addHudUserItem(ref cust, chk);
                }
            }


            List<string> list = new List<string>();

            {
                list.Add("LOITER_UNLIM");
                list.Add("RETURN_TO_LAUNCH");
                list.Add("PREFLIGHT_CALIBRATION");
                list.Add("MISSION_START");
                list.Add("PREFLIGHT_REBOOT_SHUTDOWN");
                //DO_SET_SERVO
                //DO_REPEAT_SERVO
            }


            CMB_action.DataSource = list;

            CMB_modes.DataSource = Common.getModesList(MainV2.comPort.MAV.cs);
            CMB_modes.ValueMember = "Key";
            CMB_modes.DisplayMember = "Value";
//.........这里部分代码省略.........

        public HUD()
        {
            if (this.DesignMode)
            {
                opengl = false;
                //return;
            }

            this.Name = "Hud";

            eps.Param[0] = new EncoderParameter(System.Drawing.Imaging.Encoder.Quality, 50L); // or whatever other quality value you want

            objBitmap.MakeTransparent();

            //InitializeComponent();

            graphicsObject = this;
            graphicsObjectGDIP = Graphics.FromImage(objBitmap);
        }