CPL/Simulator
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This commit is contained in:
Sergey Sklyarov
2025-06-28 04:19:45 +03:00
parent 782d24a8e6
commit bf389cdf06
2 changed files with 11 additions and 9 deletions
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10
DroneSimulator/Drone.cs
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@ -155,13 +155,14 @@ namespace DroneSimulator
if (drone.StepTime > 0)
{
uint tick = Tick();
uint step = drone.Timer + drone.StepTime;
uint prev = drone.Timer;
uint step = prev + drone.StepTime;
if (TimeLimit && (step > tick)) step = tick;
drone.Action(step);
drone.StepTime = 0;
drone.SendStep(step);
drone.SendStep(step, prev);
break;
}
}
@ -377,16 +378,17 @@ namespace DroneSimulator
AccPRY.Z = ((ul + dr) - (dl + ur)) / 4;
}
private void SendStep(uint time)
private void SendStep(uint time, uint prev)
{
DroneData.Step step = new DroneData.Step();
step.Head.Size = Marshal.SizeOf(typeof(DroneData.DataAcc));
step.Head.Size = Marshal.SizeOf(typeof(DroneData.Step));
step.Head.Mode = DroneData.DataMode.Response;
step.Head.Type = DroneData.DataType.Step;
step.Head.Time = Tick();
step.StepTime = time;
step.PrevTime = prev;
byte[] bytes = getBytes(step);