+++

DroneSimulator/Drone.cs

@@ -1,4 +1,6 @@
-using System.Numerics;
+using System.Collections.Concurrent;
+using System.Diagnostics;
+using System.Numerics;
 using System.Runtime.InteropServices;
 using static System.Net.Mime.MediaTypeNames;
 
@@ -28,8 +30,13 @@ namespace DroneSimulator
     private const float TO_GRAD = 180 / MathF.PI;
     private const float TO_RADI = MathF.PI / 180;
 
-    private Thread DroneThread;
+    public static List<Drone> AllDrones = new List<Drone>();
-    private int Timer;
+    private static Thread? DroneThread = null;
+    public static long Timing = 0;
+    public static long Freq = 1000;
+    public static bool Boost = false;
+
+    private uint Timer;
 
     private Vector2 MoveOF = Vector2.Zero;
 
@@ -112,12 +119,45 @@ namespace DroneSimulator
       return drone;
     }
 
-    private void ThreadFunction()
+    public static void StartThread()
     {
+      if (DroneThread != null) return;
+
+      DroneThread = new Thread(new ThreadStart(Drone.ThreadFunction));
+      DroneThread.Priority = ThreadPriority.Highest;
+      DroneThread.Start();
+    }
+
+    public static void StopThread()
+    {
+      if (DroneThread == null) return;
+
+      DroneThread = null;
+    }
+
+    private static void ThreadFunction()
+    {
+      long last = Stopwatch.GetTimestamp();
+      long prev = Stopwatch.GetTimestamp();
+
       while (DroneThread != null)
       {
-        Action(Environment.TickCount);
+        if(!Boost) Thread.Yield();
-        Thread.Sleep(1);
+
+        long tick = Stopwatch.GetTimestamp();
+
+        if (tick == prev) continue;
+
+        Timing = Stopwatch.Frequency / (tick - prev);
+        prev = tick;
+
+        if (tick  < last + Stopwatch.Frequency / Freq) continue;
+
+        last = tick;
+
+        lock (AllDrones)
+          foreach (Drone drone in AllDrones)
+            drone.Action((uint)(tick / (Stopwatch.Frequency / 1000)));
       }
     }
 
@@ -129,10 +169,6 @@ namespace DroneSimulator
       SpdXYZ = Vector3.Zero;
       AccXYZ = Vector3.Zero;
       Quat = Quaternion.Identity;
-
-      DroneThread = new Thread(new ThreadStart(ThreadFunction));
-      Timer = Environment.TickCount;
-      DroneThread.Start();
     }
 
     public int Create()
@@ -142,11 +178,6 @@ namespace DroneSimulator
       return ID;
     }
 
-    public void Close()
-    {
-      DroneThread = null;
-    }
-
     private float GetAngle(float a1, float a2, float az)
     {
       if (a2 == 0.0f && az == 0.0f)
@@ -188,9 +219,13 @@ namespace DroneSimulator
       return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z);
     }
 
-    public void Action(int tick)
+    public void Action(uint tick)
     {
-      float time = (tick - Timer) / 1000.0f;
+      uint period = tick - Timer;
+
+      if (period <= 0) return;
+
+      float time = period / 1000.0f;
       Timer = tick;
 
       if (!Active) return;
@@ -202,8 +237,6 @@ namespace DroneSimulator
         flow += flow * 0.1f; // Воздушная подушка
       }
 
-      
-
       float wind_x = 0, wind_y = 0, wind_z = 0;
       float wind_p = 0, wind_r = 0, wind_w = 0;
 
@@ -304,14 +337,14 @@ namespace DroneSimulator
       MoveOF.X += SpdXYZ.X - Gyr.Y;
       MoveOF.Y += SpdXYZ.Y + Gyr.X;
 
-      RealAcc.Update(Acc, (uint)tick);
+      RealAcc.Update(Acc, tick);
-      RealGyr.Update(Gyr, (uint)tick);
+      RealGyr.Update(Gyr, tick);
-      RealRange.Update(LaserRange, (uint)tick);
+      RealRange.Update(LaserRange, tick);
-      RealBar.Update(PosXYZ.Z, (uint)tick);
+      RealBar.Update(PosXYZ.Z, tick);
-      RealPos.Update(PosXYZ, (uint)tick);
+      RealPos.Update(PosXYZ, tick);
-      RealOF.Update(MoveOF, LaserRange, (uint)tick);
+      RealOF.Update(MoveOF, LaserRange, tick);
 
-      DataTimer = (uint)tick;
+      DataTimer = tick;
     }
 
     private float Range(float pow)
@@ -347,7 +380,7 @@ namespace DroneSimulator
       acc.Head.Size = Marshal.SizeOf(typeof(DroneData.DataAcc));
       acc.Head.Mode = DroneData.DataMode.Response;
       acc.Head.Type = DroneData.DataType.DataAcc;
-      acc.Head.Time = (uint)Environment.TickCount;
+      acc.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
 
       acc.Acc.X = RealAcc.result.X; acc.Acc.Y = RealAcc.result.Y; acc.Acc.Z = RealAcc.result.Z;
       acc.Time = RealAcc.timer;
@@ -362,7 +395,7 @@ namespace DroneSimulator
       gyr.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGyr));
       gyr.Head.Mode = DroneData.DataMode.Response;
       gyr.Head.Type = DroneData.DataType.DataGyr;
-      gyr.Head.Time = (uint)Environment.TickCount;
+      gyr.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
 
       gyr.Gyr.X = RealGyr.result.X; gyr.Gyr.Y = RealGyr.result.Y; gyr.Gyr.Z = RealGyr.result.Z;
       gyr.Time = RealGyr.timer;
@@ -377,7 +410,7 @@ namespace DroneSimulator
       mag.Head.Size = Marshal.SizeOf(typeof(DroneData.DataMag));
       mag.Head.Mode = DroneData.DataMode.Response;
       mag.Head.Type = DroneData.DataType.DataMag;
-      mag.Head.Time = (uint)Environment.TickCount;
+      mag.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
 
       mag.Mag.X = 0; mag.Mag.Y = 0; mag.Mag.Z = 0;
       mag.Time = DataTimer;
@@ -392,7 +425,7 @@ namespace DroneSimulator
       range.Head.Size = Marshal.SizeOf(typeof(DroneData.DataRange));
       range.Head.Mode = DroneData.DataMode.Response;
       range.Head.Type = DroneData.DataType.DataRange;
-      range.Head.Time = (uint)Environment.TickCount;
+      range.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
 
       range.LiDAR = RealRange.result;
       range.Time = RealRange.timer;
@@ -407,7 +440,7 @@ namespace DroneSimulator
       local.Head.Size = Marshal.SizeOf(typeof(DroneData.DataLocal));
       local.Head.Mode = DroneData.DataMode.Response;
       local.Head.Type = DroneData.DataType.DataLocal;
-      local.Head.Time = (uint)Environment.TickCount;
+      local.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
 
       local.Local.X = RealPos.result.X; local.Local.Y = RealPos.result.Y; local.Local.Z = RealPos.result.Z;
       local.Time = RealPos.timer;
@@ -422,7 +455,7 @@ namespace DroneSimulator
       bar.Head.Size = Marshal.SizeOf(typeof(DroneData.DataBar));
       bar.Head.Mode = DroneData.DataMode.Response;
       bar.Head.Type = DroneData.DataType.DataBar;
-      bar.Head.Time = (uint)Environment.TickCount;
+      bar.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
 
       bar.Pressure = RealBar.result;
       bar.Time = RealBar.timer;
@@ -437,7 +470,7 @@ namespace DroneSimulator
       of.Head.Size = Marshal.SizeOf(typeof(DroneData.DataOF));
       of.Head.Mode = DroneData.DataMode.Response;
       of.Head.Type = DroneData.DataType.DataOF;
-      of.Head.Time = (uint)Environment.TickCount;
+      of.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
 
       of.X = RealOF.result.X;
       of.Y = RealOF.result.Y;
@@ -455,7 +488,7 @@ namespace DroneSimulator
       gps.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGPS));
       gps.Head.Mode = DroneData.DataMode.Response;
       gps.Head.Type = DroneData.DataType.DataGPS;
-      gps.Head.Time = (uint)Environment.TickCount;
+      gps.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
 
       GPS.Point p = new GPS.Point();
       p.x = PosXYZ.Y; p.y= PosXYZ.X;
@@ -491,13 +524,25 @@ namespace DroneSimulator
       quat.Head.Size = Marshal.SizeOf(typeof(DroneData.DataQuat));
       quat.Head.Mode = DroneData.DataMode.Response;
       quat.Head.Type = DroneData.DataType.DataQuat;
-      quat.Head.Time = (uint)Environment.TickCount;
+      quat.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
 
       quat.X = Quat.X; quat.Y = Quat.Y; quat.Z = Quat.Z; quat.W = Quat.W;
 
       return getBytes(quat);
     }
 
+    private byte[] SendPingPong()
+    {
+      DroneData.DataHead head = new DroneData.DataHead();
+
+      head.Size = Marshal.SizeOf(typeof(DroneData.DataHead));
+      head.Mode = DroneData.DataMode.Response;
+      head.Type = DroneData.DataType.None;
+      head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
+
+      return getBytes(head);
+    }
+
     private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
     {
       byte[] zero = Array.Empty<byte>();
@@ -537,6 +582,8 @@ namespace DroneSimulator
         case DroneData.DataType.DataQuat: if (head.Mode == DroneData.DataMode.Request) return SendDataQuaternion(); else return zero;
 
         case DroneData.DataType.DataMotor4: if (head.Mode == DroneData.DataMode.Response) RecvDataMotor4(body); return zero;
+
+        case DroneData.DataType.None: if (head.Mode == DroneData.DataMode.Request) return SendPingPong(); else return zero;
       }
 
       return zero;

DroneSimulator/FormMain.Designer.cs

@@ -34,6 +34,13 @@
       pictureBox_2D = new PictureBox();
       tabControl_Menu = new TabControl();
       tabPage_Main = new TabPage();
+      groupBox6 = new GroupBox();
+      checkBox_Freq_Boost = new CheckBox();
+      label84 = new Label();
+      numericUpDown_Timing_Freq = new NumericUpDown();
+      label83 = new Label();
+      label_Timing = new Label();
+      label79 = new Label();
       groupBox_Visual = new GroupBox();
       numericUpDown_Visual_Limit = new NumericUpDown();
       label1 = new Label();
@@ -221,6 +228,8 @@
       ((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit();
       tabControl_Menu.SuspendLayout();
       tabPage_Main.SuspendLayout();
+      groupBox6.SuspendLayout();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_Timing_Freq).BeginInit();
       groupBox_Visual.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).BeginInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).BeginInit();
@@ -334,6 +343,7 @@
       // 
       // tabPage_Main
       // 
+      tabPage_Main.Controls.Add(groupBox6);
       tabPage_Main.Controls.Add(groupBox_Visual);
       tabPage_Main.Controls.Add(groupBox_Clients);
       tabPage_Main.Location = new Point(4, 24);
@@ -345,6 +355,80 @@
       tabPage_Main.Text = "Main";
       tabPage_Main.UseVisualStyleBackColor = true;
       // 
+      // groupBox6
+      // 
+      groupBox6.Controls.Add(checkBox_Freq_Boost);
+      groupBox6.Controls.Add(label84);
+      groupBox6.Controls.Add(numericUpDown_Timing_Freq);
+      groupBox6.Controls.Add(label83);
+      groupBox6.Controls.Add(label_Timing);
+      groupBox6.Controls.Add(label79);
+      groupBox6.Dock = DockStyle.Top;
+      groupBox6.Location = new Point(3, 174);
+      groupBox6.Name = "groupBox6";
+      groupBox6.Size = new Size(204, 75);
+      groupBox6.TabIndex = 3;
+      groupBox6.TabStop = false;
+      groupBox6.Text = "Frequency";
+      // 
+      // checkBox_Freq_Boost
+      // 
+      checkBox_Freq_Boost.AutoSize = true;
+      checkBox_Freq_Boost.Location = new Point(148, 18);
+      checkBox_Freq_Boost.Name = "checkBox_Freq_Boost";
+      checkBox_Freq_Boost.Size = new Size(56, 19);
+      checkBox_Freq_Boost.TabIndex = 11;
+      checkBox_Freq_Boost.Text = "boost";
+      checkBox_Freq_Boost.UseVisualStyleBackColor = true;
+      checkBox_Freq_Boost.CheckedChanged += numericUpDown_Timing_Freq_ValueChanged;
+      // 
+      // label84
+      // 
+      label84.AutoSize = true;
+      label84.Location = new Point(127, 43);
+      label84.Name = "label84";
+      label84.Size = new Size(21, 15);
+      label84.TabIndex = 10;
+      label84.Text = "Hz";
+      // 
+      // numericUpDown_Timing_Freq
+      // 
+      numericUpDown_Timing_Freq.Location = new Point(70, 41);
+      numericUpDown_Timing_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
+      numericUpDown_Timing_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
+      numericUpDown_Timing_Freq.Name = "numericUpDown_Timing_Freq";
+      numericUpDown_Timing_Freq.Size = new Size(51, 23);
+      numericUpDown_Timing_Freq.TabIndex = 9;
+      numericUpDown_Timing_Freq.Value = new decimal(new int[] { 1000, 0, 0, 0 });
+      numericUpDown_Timing_Freq.ValueChanged += numericUpDown_Timing_Freq_ValueChanged;
+      // 
+      // label83
+      // 
+      label83.AutoSize = true;
+      label83.Location = new Point(7, 43);
+      label83.Name = "label83";
+      label83.Size = new Size(57, 15);
+      label83.TabIndex = 2;
+      label83.Text = "Required:";
+      // 
+      // label_Timing
+      // 
+      label_Timing.AutoSize = true;
+      label_Timing.Location = new Point(70, 19);
+      label_Timing.Name = "label_Timing";
+      label_Timing.Size = new Size(13, 15);
+      label_Timing.TabIndex = 1;
+      label_Timing.Text = "0";
+      // 
+      // label79
+      // 
+      label79.AutoSize = true;
+      label79.Location = new Point(6, 19);
+      label79.Name = "label79";
+      label79.Size = new Size(58, 15);
+      label79.TabIndex = 0;
+      label79.Text = "Available:";
+      // 
       // groupBox_Visual
       // 
       groupBox_Visual.Controls.Add(numericUpDown_Visual_Limit);
@@ -691,7 +775,7 @@
       // numericUpDown_Range_Freq
       // 
       numericUpDown_Range_Freq.Location = new Point(70, 16);
-      numericUpDown_Range_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
+      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);
@@ -939,7 +1023,7 @@
       // numericUpDown_OF_Freq
       // 
       numericUpDown_OF_Freq.Location = new Point(69, 22);
-      numericUpDown_OF_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
+      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);
@@ -1108,7 +1192,7 @@
       // numericUpDown_Bar_Freq
       // 
       numericUpDown_Bar_Freq.Location = new Point(68, 42);
-      numericUpDown_Bar_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
+      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);
@@ -1232,7 +1316,7 @@
       // numericUpDown_Pos_Freq
       // 
       numericUpDown_Pos_Freq.Location = new Point(69, 17);
-      numericUpDown_Pos_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
+      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);
@@ -1307,7 +1391,7 @@
       // numericUpDown_Mag_Freq
       // 
       numericUpDown_Mag_Freq.Location = new Point(37, 18);
-      numericUpDown_Mag_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
+      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);
@@ -1499,7 +1583,7 @@
       // numericUpDown_Gyr_Freq
       // 
       numericUpDown_Gyr_Freq.Location = new Point(37, 19);
-      numericUpDown_Gyr_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
+      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);
@@ -1658,7 +1742,7 @@
       // numericUpDown_Acc_Freq
       // 
       numericUpDown_Acc_Freq.Location = new Point(37, 16);
-      numericUpDown_Acc_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
+      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);
@@ -2387,6 +2471,9 @@
       ((System.ComponentModel.ISupportInitialize)pictureBox_2D).EndInit();
       tabControl_Menu.ResumeLayout(false);
       tabPage_Main.ResumeLayout(false);
+      groupBox6.ResumeLayout(false);
+      groupBox6.PerformLayout();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_Timing_Freq).EndInit();
       groupBox_Visual.ResumeLayout(false);
       groupBox_Visual.PerformLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).EndInit();
@@ -2666,5 +2753,12 @@
     private Label label78;
     private NumericUpDown numericUpDown_Physics_Power;
     private Label label77;
+    private GroupBox groupBox6;
+    private Label label_Timing;
+    private Label label79;
+    private Label label84;
+    private NumericUpDown numericUpDown_Timing_Freq;
+    private Label label83;
+    private CheckBox checkBox_Freq_Boost;
   }
 }

DroneSimulator/FormMain.cs

@@ -17,8 +17,6 @@ namespace DroneSimulator
     NetServerClients netServerClient = new NetServerClients();
     NetServerVisual netServerVisual = new NetServerVisual();
 
-    List<Drone> AllDrones = new List<Drone>();
-
     public Form_Main()
     {
       InitializeComponent();
@@ -51,20 +49,24 @@ namespace DroneSimulator
 
         screen2D.CreateDrone(Color.Red, data.ID);
 
-        AllDrones.Add(drone);
+        lock (Drone.AllDrones) Drone.AllDrones.Add(drone);
       }
       else
       {
-        foreach (Drone drone in AllDrones)
+        Drone? d = null;
+
+        lock (Drone.AllDrones)
         {
-          if (drone.ID != data.ID) continue;
+          foreach (Drone drone in Drone.AllDrones)
-          drone.Close();
+          {
-
+            if (drone.ID != data.ID) continue;
-          screen2D.RemoveDrone(data.ID);
+            d = drone;
-
+            Drone.AllDrones.Remove(drone);
-          AllDrones.Remove(drone);
+            break;
-          break;
+          }
         }
+
+        if (d != null) screen2D.RemoveDrone(d.ID);
       }
     }
 
@@ -74,11 +76,14 @@ namespace DroneSimulator
 
       Drone? drone = null;
 
-      foreach (Drone d in AllDrones)
+      lock (Drone.AllDrones)
       {
-        if (d.ID != data.ID) continue;
+        foreach (Drone d in Drone.AllDrones)
-        drone = d;
+        {
-        break;
+          if (d.ID != data.ID) continue;
+          drone = d;
+          break;
+        }
       }
 
       if (drone == null) return;
@@ -123,6 +128,8 @@ namespace DroneSimulator
 
       if (done != NetServerClients.ServerState.Start) return;
 
+      Drone.StartThread();
+
       pictureBox_2D.Image = null;
 
       screen2D = new Screen2D(DrawCallback);
@@ -155,23 +162,24 @@ namespace DroneSimulator
 
       try
       {
-        foreach (Drone d in AllDrones)
+        lock (Drone.AllDrones)
         {
-          screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
+          foreach (Drone d in Drone.AllDrones)
+          {
+            screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
 
-          string line = "ID:" + d.ID.ToString() + " Pitch:" + ((int)d.Orientation.X).ToString() + " Roll:" + ((int)d.Orientation.Y).ToString() + " Yaw:" + ((int)d.Orientation.Z).ToString();
+            string line = "ID:" + d.ID.ToString() + " Pitch:" + ((int)d.Orientation.X).ToString() + " Roll:" + ((int)d.Orientation.Y).ToString() + " Yaw:" + ((int)d.Orientation.Z).ToString();
 
-          listBox_Drones.Items.Add(line);
+            listBox_Drones.Items.Add(line);
+          }
         }
       }
       catch { }
 
+      label_Timing.Text = Drone.Timing.ToString() + " Hz";
+
       screen2D.DrawScene();
     }
-    private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
-    {
-      foreach (Drone d in AllDrones) d.Close();
-    }
 
     private void VisualConnectionCallback(object o)
     {
@@ -198,12 +206,15 @@ namespace DroneSimulator
 
       int index = 0;
 
-      foreach (Drone d in AllDrones)
+      lock (Drone.AllDrones)
       {
-        VisualData.VisualDrone v = d.GetVisual(AllDrones.Count, index++);
+        foreach (Drone d in Drone.AllDrones)
+        {
+          VisualData.VisualDrone v = d.GetVisual(Drone.AllDrones.Count, index++);
 
-        try { data.Client.Send(Drone.getBytes(v)); }
+          try { data.Client.Send(Drone.getBytes(v)); }
-        catch { }
+          catch { }
+        }
       }
     }
 
@@ -352,5 +363,16 @@ namespace DroneSimulator
       Drone.Physics.Length = (float)numericUpDown_Physics_Length.Value;
       Drone.Physics.MaxPower = (float)numericUpDown_Physics_Power.Value;
     }
+
+    private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
+    {
+      Drone.StopThread();
+    }
+
+    private void numericUpDown_Timing_Freq_ValueChanged(object sender, EventArgs e)
+    {
+      Drone.Freq = (long)numericUpDown_Timing_Freq.Value;
+      Drone.Boost = checkBox_Freq_Boost.Checked;
+    }
   }
 }