CPL/Simulator
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This commit is contained in:
Sergey Sklyarov
2025-07-17 23:10:22 +03:00
parent d8ed10b4be
commit 9061794bf1
3 changed files with 152 additions and 130 deletions
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3
DroneSimulator/Drone.cs
View File

@ -233,6 +233,9 @@ namespace DroneSimulator
return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z);
}
int TestGyr = 0;
int TestDir = 1;
public void Action(uint tick)
{
uint period = tick - Timer;

136
DroneSimulator/FormMain.Designer.cs generated
View File

@ -115,11 +115,12 @@
label48 = new Label();
checkBox_Pos_Enable = new CheckBox();
groupBox_Mag = new GroupBox();
numericUpDown_Mag_Freq = new NumericUpDown();
numericUpDown_Mag_Noise = new NumericUpDown();
label28 = new Label();
numericUpDown_Mag_Freq = new NumericUpDown();
label22 = new Label();
groupBox_Gyr = new GroupBox();
numericUpDown_Gyr_Freq = new NumericUpDown();
checkBox_Model_Gyr_Real = new CheckBox();
label51 = new Label();
numericUpDown_Gyr_Laten = new NumericUpDown();
@ -134,9 +135,9 @@
numericUpDown_Gyr_Noise = new NumericUpDown();
label25 = new Label();
label26 = new Label();
numericUpDown_Gyr_Freq = new NumericUpDown();
label21 = new Label();
groupBox_Acc = new GroupBox();
numericUpDown_Acc_Freq = new NumericUpDown();
checkBox_Model_Acc_Real = new CheckBox();
label49 = new Label();
numericUpDown_Acc_Laten = new NumericUpDown();
@ -148,7 +149,6 @@
label24 = new Label();
numericUpDown_Acc_Noise = new NumericUpDown();
label23 = new Label();
numericUpDown_Acc_Freq = new NumericUpDown();
label20 = new Label();
tabPage_Area = new TabPage();
groupBox4 = new GroupBox();
@ -255,21 +255,21 @@
((System.ComponentModel.ISupportInitialize)numericUpDown_Pos_Noise).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Pos_Freq).BeginInit();
groupBox_Mag.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Mag_Noise).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Mag_Freq).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Mag_Noise).BeginInit();
groupBox_Gyr.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Gyr_Freq).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Gyr_Laten).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Gyr_Shift_Z).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Gyr_Shift_Y).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Gyr_Shift_X).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Gyr_Noise).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Gyr_Freq).BeginInit();
groupBox_Acc.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Freq).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Laten).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Scale_Left).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Scale_Rigth).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Noise).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Freq).BeginInit();
tabPage_Area.SuspendLayout();
groupBox4.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_RotResist).BeginInit();
@ -628,7 +628,7 @@
// label55
//
label55.AutoSize = true;
label55.Location = new Point(115, 100);
label55.Location = new Point(119, 100);
label55.Name = "label55";
label55.Size = new Size(24, 15);
label55.TabIndex = 35;
@ -639,9 +639,9 @@
numericUpDown_Range_Laten.DecimalPlaces = 2;
numericUpDown_Range_Laten.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
numericUpDown_Range_Laten.Location = new Point(68, 98);
numericUpDown_Range_Laten.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Range_Laten.Maximum = new decimal(new int[] { 99, 0, 0, 131072 });
numericUpDown_Range_Laten.Name = "numericUpDown_Range_Laten";
numericUpDown_Range_Laten.Size = new Size(41, 23);
numericUpDown_Range_Laten.Size = new Size(49, 23);
numericUpDown_Range_Laten.TabIndex = 34;
numericUpDown_Range_Laten.Value = new decimal(new int[] { 1, 0, 0, 65536 });
numericUpDown_Range_Laten.ValueChanged += numericUpDown_Range_Update;
@ -734,7 +734,7 @@
numericUpDown_Range_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Range_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Range_Freq.Name = "numericUpDown_Range_Freq";
numericUpDown_Range_Freq.Size = new Size(40, 23);
numericUpDown_Range_Freq.Size = new Size(47, 23);
numericUpDown_Range_Freq.TabIndex = 22;
numericUpDown_Range_Freq.Value = new decimal(new int[] { 50, 0, 0, 0 });
numericUpDown_Range_Freq.ValueChanged += numericUpDown_Range_Update;
@ -742,7 +742,7 @@
// label46
//
label46.AutoSize = true;
label46.Location = new Point(113, 18);
label46.Location = new Point(119, 18);
label46.Name = "label46";
label46.Size = new Size(21, 15);
label46.TabIndex = 24;
@ -821,7 +821,7 @@
// label53
//
label53.AutoSize = true;
label53.Location = new Point(114, 107);
label53.Location = new Point(119, 107);
label53.Name = "label53";
label53.Size = new Size(24, 15);
label53.TabIndex = 32;
@ -832,9 +832,9 @@
numericUpDown_OF_Laten.DecimalPlaces = 2;
numericUpDown_OF_Laten.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
numericUpDown_OF_Laten.Location = new Point(67, 105);
numericUpDown_OF_Laten.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_OF_Laten.Maximum = new decimal(new int[] { 99, 0, 0, 131072 });
numericUpDown_OF_Laten.Name = "numericUpDown_OF_Laten";
numericUpDown_OF_Laten.Size = new Size(41, 23);
numericUpDown_OF_Laten.Size = new Size(50, 23);
numericUpDown_OF_Laten.TabIndex = 31;
numericUpDown_OF_Laten.Value = new decimal(new int[] { 1, 0, 0, 65536 });
numericUpDown_OF_Laten.ValueChanged += numericUpDown_OF_Update;
@ -927,7 +927,7 @@
numericUpDown_OF_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_OF_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_OF_Freq.Name = "numericUpDown_OF_Freq";
numericUpDown_OF_Freq.Size = new Size(40, 23);
numericUpDown_OF_Freq.Size = new Size(48, 23);
numericUpDown_OF_Freq.TabIndex = 13;
numericUpDown_OF_Freq.Value = new decimal(new int[] { 100, 0, 0, 0 });
numericUpDown_OF_Freq.ValueChanged += numericUpDown_OF_Update;
@ -935,7 +935,7 @@
// label14
//
label14.AutoSize = true;
label14.Location = new Point(112, 24);
label14.Location = new Point(119, 24);
label14.Name = "label14";
label14.Size = new Size(21, 15);
label14.TabIndex = 15;
@ -991,7 +991,7 @@
// label30
//
label30.AutoSize = true;
label30.Location = new Point(115, 98);
label30.Location = new Point(119, 98);
label30.Name = "label30";
label30.Size = new Size(24, 15);
label30.TabIndex = 23;
@ -1002,9 +1002,9 @@
numericUpDown_Bar_Laten.DecimalPlaces = 2;
numericUpDown_Bar_Laten.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
numericUpDown_Bar_Laten.Location = new Point(68, 96);
numericUpDown_Bar_Laten.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Bar_Laten.Maximum = new decimal(new int[] { 99, 0, 0, 131072 });
numericUpDown_Bar_Laten.Name = "numericUpDown_Bar_Laten";
numericUpDown_Bar_Laten.Size = new Size(41, 23);
numericUpDown_Bar_Laten.Size = new Size(49, 23);
numericUpDown_Bar_Laten.TabIndex = 22;
numericUpDown_Bar_Laten.Value = new decimal(new int[] { 3, 0, 0, 65536 });
numericUpDown_Bar_Laten.ValueChanged += numericUpDown_Bar_Update;
@ -1096,7 +1096,7 @@
numericUpDown_Bar_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Bar_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Bar_Freq.Name = "numericUpDown_Bar_Freq";
numericUpDown_Bar_Freq.Size = new Size(40, 23);
numericUpDown_Bar_Freq.Size = new Size(49, 23);
numericUpDown_Bar_Freq.TabIndex = 7;
numericUpDown_Bar_Freq.Value = new decimal(new int[] { 50, 0, 0, 0 });
numericUpDown_Bar_Freq.ValueChanged += numericUpDown_Bar_Update;
@ -1104,7 +1104,7 @@
// label5
//
label5.AutoSize = true;
label5.Location = new Point(110, 44);
label5.Location = new Point(119, 44);
label5.Name = "label5";
label5.Size = new Size(21, 15);
label5.TabIndex = 9;
@ -1156,7 +1156,7 @@
// label2
//
label2.AutoSize = true;
label2.Location = new Point(116, 72);
label2.Location = new Point(119, 74);
label2.Name = "label2";
label2.Size = new Size(24, 15);
label2.TabIndex = 32;
@ -1167,9 +1167,9 @@
numericUpDown_Pos_Laten.DecimalPlaces = 2;
numericUpDown_Pos_Laten.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
numericUpDown_Pos_Laten.Location = new Point(69, 70);
numericUpDown_Pos_Laten.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Pos_Laten.Maximum = new decimal(new int[] { 99, 0, 0, 131072 });
numericUpDown_Pos_Laten.Name = "numericUpDown_Pos_Laten";
numericUpDown_Pos_Laten.Size = new Size(41, 23);
numericUpDown_Pos_Laten.Size = new Size(48, 23);
numericUpDown_Pos_Laten.TabIndex = 31;
numericUpDown_Pos_Laten.Value = new decimal(new int[] { 3, 0, 0, 65536 });
numericUpDown_Pos_Laten.ValueChanged += numericUpDown_Pos_Update;
@ -1220,7 +1220,7 @@
numericUpDown_Pos_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Pos_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Pos_Freq.Name = "numericUpDown_Pos_Freq";
numericUpDown_Pos_Freq.Size = new Size(40, 23);
numericUpDown_Pos_Freq.Size = new Size(48, 23);
numericUpDown_Pos_Freq.TabIndex = 24;
numericUpDown_Pos_Freq.Value = new decimal(new int[] { 50, 0, 0, 0 });
numericUpDown_Pos_Freq.ValueChanged += numericUpDown_Pos_Update;
@ -1228,7 +1228,7 @@
// label11
//
label11.AutoSize = true;
label11.Location = new Point(111, 19);
label11.Location = new Point(119, 19);
label11.Name = "label11";
label11.Size = new Size(21, 15);
label11.TabIndex = 26;
@ -1260,9 +1260,9 @@
//
// groupBox_Mag
//
groupBox_Mag.Controls.Add(numericUpDown_Mag_Freq);
groupBox_Mag.Controls.Add(numericUpDown_Mag_Noise);
groupBox_Mag.Controls.Add(label28);
groupBox_Mag.Controls.Add(numericUpDown_Mag_Freq);
groupBox_Mag.Controls.Add(label22);
groupBox_Mag.Dock = DockStyle.Top;
groupBox_Mag.Location = new Point(0, 220);
@ -1272,6 +1272,16 @@
groupBox_Mag.TabStop = false;
groupBox_Mag.Text = "Magnetometer";
//
// numericUpDown_Mag_Freq
//
numericUpDown_Mag_Freq.Location = new Point(37, 18);
numericUpDown_Mag_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Mag_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Mag_Freq.Name = "numericUpDown_Mag_Freq";
numericUpDown_Mag_Freq.Size = new Size(48, 23);
numericUpDown_Mag_Freq.TabIndex = 10;
numericUpDown_Mag_Freq.Value = new decimal(new int[] { 200, 0, 0, 0 });
//
// numericUpDown_Mag_Noise
//
numericUpDown_Mag_Noise.DecimalPlaces = 1;
@ -1289,16 +1299,6 @@
label28.TabIndex = 12;
label28.Text = "Noise:";
//
// numericUpDown_Mag_Freq
//
numericUpDown_Mag_Freq.Location = new Point(37, 18);
numericUpDown_Mag_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Mag_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Mag_Freq.Name = "numericUpDown_Mag_Freq";
numericUpDown_Mag_Freq.Size = new Size(40, 23);
numericUpDown_Mag_Freq.TabIndex = 10;
numericUpDown_Mag_Freq.Value = new decimal(new int[] { 200, 0, 0, 0 });
//
// label22
//
label22.AutoSize = true;
@ -1310,6 +1310,7 @@
//
// groupBox_Gyr
//
groupBox_Gyr.Controls.Add(numericUpDown_Gyr_Freq);
groupBox_Gyr.Controls.Add(checkBox_Model_Gyr_Real);
groupBox_Gyr.Controls.Add(label51);
groupBox_Gyr.Controls.Add(numericUpDown_Gyr_Laten);
@ -1324,7 +1325,6 @@
groupBox_Gyr.Controls.Add(numericUpDown_Gyr_Noise);
groupBox_Gyr.Controls.Add(label25);
groupBox_Gyr.Controls.Add(label26);
groupBox_Gyr.Controls.Add(numericUpDown_Gyr_Freq);
groupBox_Gyr.Controls.Add(label21);
groupBox_Gyr.Dock = DockStyle.Top;
groupBox_Gyr.Location = new Point(0, 104);
@ -1334,6 +1334,17 @@
groupBox_Gyr.TabStop = false;
groupBox_Gyr.Text = "Gyroscope";
//
// numericUpDown_Gyr_Freq
//
numericUpDown_Gyr_Freq.Location = new Point(37, 19);
numericUpDown_Gyr_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Gyr_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Gyr_Freq.Name = "numericUpDown_Gyr_Freq";
numericUpDown_Gyr_Freq.Size = new Size(48, 23);
numericUpDown_Gyr_Freq.TabIndex = 10;
numericUpDown_Gyr_Freq.Value = new decimal(new int[] { 200, 0, 0, 0 });
numericUpDown_Gyr_Freq.ValueChanged += numericUpDown_Gyr_Update;
//
// checkBox_Model_Gyr_Real
//
checkBox_Model_Gyr_Real.AutoSize = true;
@ -1349,7 +1360,7 @@
// label51
//
label51.AutoSize = true;
label51.Location = new Point(126, 90);
label51.Location = new Point(119, 90);
label51.Name = "label51";
label51.Size = new Size(24, 15);
label51.TabIndex = 35;
@ -1360,7 +1371,7 @@
numericUpDown_Gyr_Laten.DecimalPlaces = 3;
numericUpDown_Gyr_Laten.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
numericUpDown_Gyr_Laten.Location = new Point(68, 88);
numericUpDown_Gyr_Laten.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Gyr_Laten.Maximum = new decimal(new int[] { 999, 0, 0, 196608 });
numericUpDown_Gyr_Laten.Name = "numericUpDown_Gyr_Laten";
numericUpDown_Gyr_Laten.Size = new Size(49, 23);
numericUpDown_Gyr_Laten.TabIndex = 34;
@ -1481,17 +1492,6 @@
label26.TabIndex = 12;
label26.Text = "Noise:";
//
// numericUpDown_Gyr_Freq
//
numericUpDown_Gyr_Freq.Location = new Point(37, 19);
numericUpDown_Gyr_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Gyr_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Gyr_Freq.Name = "numericUpDown_Gyr_Freq";
numericUpDown_Gyr_Freq.Size = new Size(40, 23);
numericUpDown_Gyr_Freq.TabIndex = 10;
numericUpDown_Gyr_Freq.Value = new decimal(new int[] { 200, 0, 0, 0 });
numericUpDown_Gyr_Freq.ValueChanged += numericUpDown_Gyr_Update;
//
// label21
//
label21.AutoSize = true;
@ -1503,6 +1503,7 @@
//
// groupBox_Acc
//
groupBox_Acc.Controls.Add(numericUpDown_Acc_Freq);
groupBox_Acc.Controls.Add(checkBox_Model_Acc_Real);
groupBox_Acc.Controls.Add(label49);
groupBox_Acc.Controls.Add(numericUpDown_Acc_Laten);
@ -1514,7 +1515,6 @@
groupBox_Acc.Controls.Add(label24);
groupBox_Acc.Controls.Add(numericUpDown_Acc_Noise);
groupBox_Acc.Controls.Add(label23);
groupBox_Acc.Controls.Add(numericUpDown_Acc_Freq);
groupBox_Acc.Controls.Add(label20);
groupBox_Acc.Dock = DockStyle.Top;
groupBox_Acc.Location = new Point(0, 0);
@ -1524,6 +1524,17 @@
groupBox_Acc.TabStop = false;
groupBox_Acc.Text = "Accelerometer";
//
// numericUpDown_Acc_Freq
//
numericUpDown_Acc_Freq.Location = new Point(37, 16);
numericUpDown_Acc_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Acc_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Acc_Freq.Name = "numericUpDown_Acc_Freq";
numericUpDown_Acc_Freq.Size = new Size(48, 23);
numericUpDown_Acc_Freq.TabIndex = 8;
numericUpDown_Acc_Freq.Value = new decimal(new int[] { 200, 0, 0, 0 });
numericUpDown_Acc_Freq.ValueChanged += numericUpDown_Acc_Update;
//
// checkBox_Model_Acc_Real
//
checkBox_Model_Acc_Real.AutoSize = true;
@ -1539,7 +1550,7 @@
// label49
//
label49.AutoSize = true;
label49.Location = new Point(122, 72);
label49.Location = new Point(119, 72);
label49.Name = "label49";
label49.Size = new Size(24, 15);
label49.TabIndex = 35;
@ -1550,7 +1561,7 @@
numericUpDown_Acc_Laten.DecimalPlaces = 3;
numericUpDown_Acc_Laten.Increment = new decimal(new int[] { 1, 0, 0, 131072 });
numericUpDown_Acc_Laten.Location = new Point(68, 70);
numericUpDown_Acc_Laten.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Acc_Laten.Maximum = new decimal(new int[] { 999, 0, 0, 196608 });
numericUpDown_Acc_Laten.Name = "numericUpDown_Acc_Laten";
numericUpDown_Acc_Laten.Size = new Size(49, 23);
numericUpDown_Acc_Laten.TabIndex = 34;
@ -1640,17 +1651,6 @@
label23.TabIndex = 9;
label23.Text = "Noise:";
//
// numericUpDown_Acc_Freq
//
numericUpDown_Acc_Freq.Location = new Point(37, 16);
numericUpDown_Acc_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Acc_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Acc_Freq.Name = "numericUpDown_Acc_Freq";
numericUpDown_Acc_Freq.Size = new Size(40, 23);
numericUpDown_Acc_Freq.TabIndex = 8;
numericUpDown_Acc_Freq.Value = new decimal(new int[] { 200, 0, 0, 0 });
numericUpDown_Acc_Freq.ValueChanged += numericUpDown_Acc_Update;
//
// label20
//
label20.AutoSize = true;
@ -2487,23 +2487,23 @@
((System.ComponentModel.ISupportInitialize)numericUpDown_Pos_Freq).EndInit();
groupBox_Mag.ResumeLayout(false);
groupBox_Mag.PerformLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Mag_Noise).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Mag_Freq).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Mag_Noise).EndInit();
groupBox_Gyr.ResumeLayout(false);
groupBox_Gyr.PerformLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Gyr_Freq).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Gyr_Laten).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Gyr_Shift_Z).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Gyr_Shift_Y).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Gyr_Shift_X).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Gyr_Noise).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Gyr_Freq).EndInit();
groupBox_Acc.ResumeLayout(false);
groupBox_Acc.PerformLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Freq).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Laten).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Scale_Left).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Scale_Rigth).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Noise).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Freq).EndInit();
tabPage_Area.ResumeLayout(false);
groupBox4.ResumeLayout(false);
groupBox4.PerformLayout();

143
DroneSimulator/RealMode.cs
View File

@ -1,10 +1,11 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Numerics;
using System.Reflection;
using System.Text;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.TaskbarClock;
namespace DroneSimulator
{
@ -27,7 +28,7 @@ namespace DroneSimulator
private const int count = 1000;
private Vector3[] laten = new Vector3[count];
private uint index = 0;
private int index = 0;
public uint timer = 0;
public Vector3 result;
@ -53,18 +54,21 @@ namespace DroneSimulator
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)
uint clock = time - last;
while (true)
{
tick--;
laten[index++] = value;
if (index >= clock) index = 0;
laten[index] = value;
clock--;
if (clock == 0) break;
index++;
if (index >= count) index = 0;
}
last = time;
value = laten[index];
int move = (int)(Lateness * count);
move = index - move;
while (move < 0) move += count;
value = laten[move];
uint freq = 1000 / Freq;
@ -90,7 +94,7 @@ namespace DroneSimulator
private const int count = 1000;
private Vector3[] laten = new Vector3[count];
private uint index = 0;
private int index = 0;
public uint timer = 0;
public Vector3 result;
@ -113,18 +117,21 @@ namespace DroneSimulator
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)
uint clock = time - last;
while (true)
{
tick--;
laten[index++] = value;
if (index >= clock) index = 0;
laten[index] = value;
clock--;
if (clock == 0) break;
index++;
if (index >= count) index = 0;
}
last = time;
value = laten[index];
int move = (int)(Lateness * count);
move = index - move;
while (move < 0) move += count;
value = laten[move];
uint freq = 1000 / Freq;
@ -155,7 +162,7 @@ namespace DroneSimulator
private const int count = 1000;
private Vector3[] laten = new Vector3[count];
private uint index = 0;
private int index = 0;
public uint timer = 0;
public Vector3 result;
@ -169,16 +176,16 @@ namespace DroneSimulator
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)
uint clock = time - last;
while (true)
{
tick--;
laten[index++] = v;
if (index >= clock) index = 0;
laten[index] = v;
clock--;
if (clock == 0) break;
index++;
if (index >= count) index = 0;
}
last = time;
if (!Enable)
{
@ -194,7 +201,10 @@ namespace DroneSimulator
return;
}
v = laten[index];
int move = (int)(Lateness * count);
move = index - move;
while (move < 0) move += count;
v = laten[move];
uint freq = 1000 / Freq;
if (timer + freq <= time)
@ -221,7 +231,7 @@ namespace DroneSimulator
private const int count = 1000;
private float[] laten = new float[count];
private uint index = 0;
private int index = 0;
public uint timer = 0;
public float result;
@ -235,16 +245,16 @@ namespace DroneSimulator
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)
uint clock = time - last;
while (true)
{
tick--;
laten[index++] = v;
if (index >= clock) index = 0;
laten[index] = v;
clock--;
if (clock == 0) break;
index++;
if (index >= count) index = 0;
}
last = time;
if (!Enable)
{
@ -260,7 +270,10 @@ namespace DroneSimulator
return;
}
v = laten[index];
int move = (int)(Lateness * count);
move = index - move;
while (move < 0) move += count;
v = laten[move];
uint freq = 1000 / Freq;
if (timer + freq <= time)
@ -287,7 +300,7 @@ namespace DroneSimulator
private const int count = 1000;
private Vector2[] laten = new Vector2[count];
private uint index = 0;
private int index = 0;
public uint delay = 0;
@ -307,16 +320,16 @@ namespace DroneSimulator
v.Y += ((float)rand.Next(-noise, noise)) / 1000;
}
uint clock = (uint)(Lateness * 1000);
uint tick = time - last;
last = time;
while (tick != 0)
uint clock = time - last;
while (true)
{
tick--;
laten[index++] = v;
if (index >= clock) index = 0;
laten[index] = v;
clock--;
if (clock == 0) break;
index++;
if (index >= count) index = 0;
}
last = time;
if (!Enable)
{
@ -332,9 +345,12 @@ namespace DroneSimulator
return true;
}
result = laten[index];
int move = (int)(Lateness * count);
move = index - move;
while (move < 0) move += count;
result = laten[move];
uint freq = 1000 / Freq;
uint freq = count / Freq;
if (timer + freq <= time)
{
timer = time;
@ -360,7 +376,7 @@ namespace DroneSimulator
private const int count = 1000;
private float[] laten = new float[count];
private uint index = 0;
private int index = 0;
public uint timer = 0;
public float result;
@ -376,16 +392,16 @@ namespace DroneSimulator
v += ((float)rand.Next(-noise, noise)) / 1000;
}
uint clock = (uint)(Lateness * 1000);
uint tick = time - last;
last = time;
while (tick != 0)
uint clock = time - last;
while (true)
{
tick--;
laten[index++] = v;
if (index >= clock) index = 0;
laten[index] = v;
clock--;
if (clock == 0) break;
index++;
if (index >= count) index = 0;
}
last = time;
if (!Enable)
{
@ -401,7 +417,10 @@ namespace DroneSimulator
return;
}
v = laten[index];
int move = (int)(Lateness * count);
move = index - move;
while (move < 0) move += count;
v = laten[move];
uint freq = 1000 / Freq;
if (timer + freq <= time)