From 518c19fd2b58d9a7a5d99a3c56e606179d12b7a8 Mon Sep 17 00:00:00 2001
From: Sergey Sklyarov <sasklyarov@sfedu.ru>
Date: Tue, 8 Jul 2025 17:57:11 +0300
Subject: [PATCH] Update RealMode.cs

---
 DroneSimulator/RealMode.cs | 165 +++++++++++++++++++------------------
 1 file changed, 84 insertions(+), 81 deletions(-)

diff --git a/DroneSimulator/RealMode.cs b/DroneSimulator/RealMode.cs
index 39079e8..d55daf8 100644
--- a/DroneSimulator/RealMode.cs
+++ b/DroneSimulator/RealMode.cs
@@ -162,6 +162,24 @@ namespace DroneSimulator
 
       public void Update(Vector3 value, uint time)
       {
+        Vector3 v = value;
+
+        int noise = (int)(Noise * 1000);
+        v.X += ((float)rand.Next(-noise, noise)) / 1000;
+        v.Y += ((float)rand.Next(-noise, noise)) / 1000;
+        v.Z += ((float)rand.Next(-noise, noise)) / 1000;
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = v;
+          if (index >= clock) index = 0;
+        }
+
         if (!Enable)
         {
           result = Vector3.NaN;
@@ -176,29 +194,12 @@ namespace DroneSimulator
           return;
         }
 
-        int noise = (int)(Noise * 1000);
-        value.X += ((float)rand.Next(-noise, noise)) / 1000;
-        value.Y += ((float)rand.Next(-noise, noise)) / 1000;
-        value.Z += ((float)rand.Next(-noise, noise)) / 1000;
-
-        uint clock = (uint)(Lateness * 1000);
-
-        uint tick = time - last;
-        last = time;
-        while (tick != 0)
-        {
-          tick--;
-          laten[index++] = value;
-          if (index >= clock) index = 0;
-        }
-
-        value = laten[index];
+        v = laten[index];
 
         uint freq = 1000 / Freq;
-
         if (timer + freq <= time)
         {
-          result = value;
+          result = v;
           timer = time;
         }
       }
@@ -227,9 +228,24 @@ namespace DroneSimulator
 
       public void Update(float value, uint time)
       {
-        //value = Pressure - value * 12.15f;
         value = Pressure * MathF.Exp(-0.02896f * 9.81f * value / (8.314f * (Temperature + 273.15f)));
 
+        float v = value;
+
+        int noise = (int)(Noise * 1000);
+        v += ((float)rand.Next(-noise, noise)) / 1000;
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = v;
+          if (index >= clock) index = 0;
+        }
+
         if (!Enable)
         {
           result = float.NaN;
@@ -241,30 +257,15 @@ namespace DroneSimulator
         {
           result = value;
           timer = time;
-          return; 
+          return;
         }
 
-        int noise = (int)(Noise * 1000);
-        value += ((float)rand.Next(-noise, noise)) / 1000;
-
-        uint clock = (uint)(Lateness * 1000);
-
-        uint tick = time - last;
-        last = time;
-        while (tick != 0)
-        {
-          tick--;
-          laten[index++] = value;
-          if (index >= clock) index = 0;
-        }
-
-        value = laten[index];
+        v = laten[index];
 
         uint freq = 1000 / Freq;
-
         if (timer + freq <= time)
         {
-          result = value;
+          result = v;
           timer = time;
         }
       }
@@ -296,6 +297,27 @@ namespace DroneSimulator
       {
         value *= Lens;
 
+        Vector2 v = value;
+
+        if (Range > MaxHeight) v = Vector2.Zero;
+        else
+        {
+          int noise = (int)(Noise * 1000);
+          v.X += ((float)rand.Next(-noise, noise)) / 1000;
+          v.Y += ((float)rand.Next(-noise, noise)) / 1000;
+        }
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = v;
+          if (index >= clock) index = 0;
+        }
+
         if (!Enable)
         {
           result = Vector2.NaN;
@@ -310,32 +332,12 @@ namespace DroneSimulator
           return true;
         }
 
-        if (Range > MaxHeight) value = Vector2.Zero;
-        else
-        {
-          int noise = (int)(Noise * 1000);
-          value.X += ((float)rand.Next(-noise, noise)) / 1000;
-          value.Y += ((float)rand.Next(-noise, noise)) / 1000;
-        }
-
-        uint clock = (uint)(Lateness * 1000);
-
-        uint tick = time - last;
-        last = time;
-        while (tick != 0)
-        {
-          tick--;
-          laten[index++] = value;
-          if (index >= clock) index = 0;
-        }
-
-        value = laten[index];
+        v = laten[index];
 
         uint freq = 1000 / Freq;
-
         if (timer + freq <= time)
         {
-          result = value;
+          result = v;
           timer = time;
           return true;
         }
@@ -366,6 +368,26 @@ namespace DroneSimulator
 
       public void Update(float value, uint time)
       {
+        float v = value;
+
+        if (v > MaxHeight) v = -1;
+        else
+        {
+          int noise = (int)(Noise * 1000);
+          v += ((float)rand.Next(-noise, noise)) / 1000;
+        }
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = v;
+          if (index >= clock) index = 0;
+        }
+
         if (!Enable)
         {
           result = float.NaN;
@@ -380,31 +402,12 @@ namespace DroneSimulator
           return;
         }
 
-        if (value > MaxHeight) value = -1;
-        else
-        {
-          int noise = (int)(Noise * 1000);
-          value += ((float)rand.Next(-noise, noise)) / 1000;
-        }
-
-        uint clock = (uint)(Lateness * 1000);
-
-        uint tick = time - last;
-        last = time;
-        while (tick != 0)
-        {
-          tick--;
-          laten[index++] = value;
-          if (index >= clock) index = 0;
-        }
-
-        value = laten[index];
+        v = laten[index];
 
         uint freq = 1000 / Freq;
-
         if (timer + freq <= time)
         {
-          result = value;
+          result = v;
           timer = time;
         }
       }