Update Drone.cs

DroneSimulator/Drone.cs

@@ -41,6 +41,7 @@ namespace DroneSimulator
 
     private Vector2 MoveOF = Vector2.Zero;
     private uint CountOF = 0;
+    private bool ReadyOF = false;
 
     public struct Physics
     {
@@ -296,7 +297,7 @@ namespace DroneSimulator
         Quat = Quaternion.Identity;
       }
       else */
-        Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time);
+      Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time);
 
       Vector4 ori = GetOrientation();
 
@@ -363,10 +364,12 @@ namespace DroneSimulator
 
       bool of = RealOF.Update(of_xy, LaserRange, tick);
 
-      if(of) lock (this)
+      lock (this)
       {
         MoveOF += RealOF.result;
         CountOF += 1;
+
+        if (of) ReadyOF = true;
       }
     }
 
@@ -530,7 +533,7 @@ namespace DroneSimulator
 
       lock (this)
       {
-        if (CountOF != 0)
+        if (ReadyOF && CountOF != 0)
         {
           of.X = MoveOF.X / CountOF;
           of.Y = MoveOF.Y / CountOF;
@@ -545,6 +548,7 @@ namespace DroneSimulator
 
         MoveOF = Vector2.Zero;
         CountOF = 0;
+        ReadyOF = false;
       }
 
       return getBytes(of);