CPL/Simulator
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Add real mode (bar)

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This commit is contained in:
Sergey Sklyarov
2025-04-15 01:23:54 +03:00
parent 376ce81a8a
commit cdf8c18d9b
5 changed files with 525 additions and 159 deletions
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24
DroneSimulator/Drone.cs
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@ -3,6 +3,7 @@ using System.Numerics;
using System.Runtime.InteropServices;
using System.Security.Cryptography;
using static DroneSimulator.Drone;
using static System.Windows.Forms.VisualStyles.VisualStyleElement;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
namespace DroneSimulator
@ -35,11 +36,15 @@ namespace DroneSimulator
private Random MainRandom = new Random();
RealMode.Accelerometer RealAcc = new RealMode.Accelerometer();
RealMode.Gyroscope RealGyr = new RealMode.Gyroscope();
RealMode.Position RealPos = new RealMode.Position();
RealMode.Barometer RealBar = new RealMode.Barometer();
RealMode.Range RealRange = new RealMode.Range();
public struct DataBarometer
{
public int Value, Pressure; // Значение давления в Паскальях
public float Accuracy;
public int Frequency;
public float Pressure; // Значение давления в Паскальях
public uint Time;
}
@ -252,13 +257,10 @@ namespace DroneSimulator
else LaserRange = float.MaxValue;
}
if ((dataBarometer.Time + 1000 / dataBarometer.Frequency) < DataTimer)
{
float bar = dataBarometer.Pressure - PosXYZ.Z * 11;
int rnd = MainRandom.Next(-(int)dataBarometer.Accuracy * 10, (int)dataBarometer.Accuracy * 10) / 10;
dataBarometer.Value = (int)(bar + rnd);
dataBarometer.Time = DataTimer;
}
float v_bar = PosXYZ.Z * 11;
uint t_bar = (uint)tick;
RealBar.Update(ref v_bar, ref t_bar);
dataBarometer.Pressure = v_bar;
DataTimer = (uint)tick;
}
@ -373,7 +375,7 @@ namespace DroneSimulator
bar.Head.Type = DroneData.DataType.DataBar;
bar.Head.Time = (uint)Environment.TickCount;
bar.Pressure = dataBarometer.Value;
bar.Pressure = dataBarometer.Pressure;
bar.Time = dataBarometer.Time;
return getBytes(bar);