merge upstream

DroneClient/BaseCommHandler.cs

@@ -0,0 +1,478 @@
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using TelemetryIO.Models;
+
+namespace TelemetryIO
+{
+    public interface iCommParams
+    {
+
+    }
+
+    internal class TCPCommParams : iCommParams
+    {
+        public string IP = "";
+        public int Port = 0;
+        public TCPCommParams(string addr, int port)
+        {
+            this.IP = addr;
+            this.Port = port;
+        }
+    }
+
+    public class SerialCommParams : iCommParams
+    {
+        public string PortName = "";
+        public int BaudRate = 9600;
+        public SerialCommParams(string portName, int baudRate)
+        {
+            PortName = portName;
+            BaudRate = baudRate;
+        }
+    }
+
+    public abstract class BaseCommHandler
+    {
+        public const int TELE_CMD_RD_ONCE = 1;
+        public const int TELE_CMD_RD_MON_ON = 2;
+        public const int TELE_CMD_RD_MON_OFF = 3;
+        public const int TELE_CMD_RD_MON_ADD = 4;
+        public const int TELE_CMD_RD_MON_REMOVE = 5;
+        public const int TELE_CMD_RD_MON_REMOVEALL = 6;
+        public const int TELE_CMD_WR = 10;
+        public const int TELE_CMD_MOTORS_CTRL = 100;
+        public const int TELE_CMD_ABORT = 999;
+        public const int TELE_CMD_HELLO = 9999;
+        public const byte CRC8_POLYNOMIAL = 0x07;
+        public const int CRC32_POLY = 0x04C11DB7;
+        public const byte ESCAPE_BEGIN = 0xBE;
+        public const byte ESCAPE_END = 0xED;
+        public const byte ESCAPE_CHAR = 0x0E;
+
+
+        private volatile bool _isReading = true;
+        private readonly ConcurrentQueue<byte> dataQueue = new ConcurrentQueue<byte>();
+        static private List<byte> rx_buf = new List<byte>();
+        private Task _readingTask;
+        private object lock_obj = new object();
+        private object lock_obj_put = new object();
+        private bool waitingForResponse = false;
+        private bool isTimeout = false;
+        private readonly int responseTimeout = 2000;
+        private System.Timers.Timer timeout = new System.Timers.Timer(3000);
+        private bool exitPending = false;
+        private float[] monitor = new float[32];
+        public string view_str = "";
+
+        protected string IP = "127.0.0.1";
+        protected int Port = 8888;
+
+        protected string PortName = "COM1";
+        protected int BaudRate = 9600;
+
+        private Queue<byte[]> req_buffer = new Queue<byte[]>();
+
+        //Generate event when answer is received
+        public delegate void AnswerEventHandler<SerialEventArgs>(object sender, SerialEventArgs e);
+        public event AnswerEventHandler<FeedbackEventArgs> AnswerReceived;//событие получены данные в ответ на запрос
+
+        //Generate event when handshake is occurred
+        public delegate void HandShakeHandler(object sender, EventArgs e);
+        public event HandShakeHandler HandShakeOccurred;//событие полетник ответил на запрос HELLO
+
+        //Generate event when monitoring telegram is received
+        public delegate void MonitoringEventHandler<MonitoringEventArgs>(object sender, MonitoringEventArgs e);
+        public event MonitoringEventHandler<MonitoringEventArgs> MonitoringItemsReceived;//событие получены данные мониторинга
+
+        Models.Telemetry telemetry = Models.Telemetry.Instance;
+        abstract public Task Open();
+        abstract public void Close();
+        abstract protected void sendData(byte[] data);
+        abstract public bool IsOpen();
+        abstract public void CloseConnection();
+        abstract public Task StartReadingAsync(object? client = null);
+
+        abstract public void setCommParams(iCommParams commParams);
+
+        abstract protected void ProcessCommand(int cmd, int slot, byte[] data, int offset, int len);
+
+        /// <summary>
+        /// Обрабатывает входящий поток данных, при обнаружении ECSAPE_END байта декодирует данные, проверяет контрольную сумму и запускает обработку команды
+        /// </summary>
+        protected void data_extract()
+        {
+            byte b = new byte();
+            while (dataQueue.TryDequeue(out b))
+            {
+                if (b == ESCAPE_END)
+                {//END BYTE IS RECEIVED
+                    isTimeout = false;
+                    byte[] unscape = EscapeSeqToBytes(rx_buf.ToArray());
+                    uint checksum = crc32(unscape, unscape.Length - 4);
+                    uint re_checksum = BitConverter.ToUInt32(unscape, unscape.Length - 4);
+                    if (re_checksum == checksum)
+                    {
+                        //Parse telegram
+                        int cmd = BitConverter.ToInt32(unscape, 0);
+                        int slot = BitConverter.ToInt32(unscape, 4);
+                        int len = BitConverter.ToInt32(unscape, 8);
+                        int offset = BitConverter.ToInt32(unscape, 12);
+                        byte[] data = new byte[len];
+                        Debug.WriteLine($"cmd = {cmd} *** slot = {slot} *** offset = {offset} *** len = {len}");
+                        if(cmd == TELE_CMD_WR)Array.Copy(unscape, 16, data, 0, len);
+                        ProcessCommand(cmd, slot, data, offset, len);
+
+                        waitingForResponse = false;
+                        timeout.Stop();
+                        sendNextRequest();
+                    }
+                }
+                else if (b == ESCAPE_BEGIN)
+                {//START BYTE IS RECEIVED
+                    rx_buf.Clear();
+                }
+                else
+                {//FILLING BUFFER
+                    rx_buf.Add(b);
+                }
+            }
+
+        }
+        //**********************************************************************************************
+        //*************************************** REQUESTS BLOCK ***************************************
+        //**********************************************************************************************
+
+        public void getPIDs()
+        {
+            //отправить наборы ПИДов
+            putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1000, new byte[0], 0, 4 * 9));
+            putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1001, new byte[0], 0, 4 * 9));
+            putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1002, new byte[0], 0, 4 * 9));
+            putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1003, new byte[0], 0, 4 * 9));
+        }
+
+        public void stopMonitoring()
+        {
+            //остановить мониторинг
+            putRequest(prepareTelegram(TELE_CMD_RD_MON_OFF, 0, new byte[0], 0, 0));
+        }
+
+        public void startMonitoring()
+        {
+            //начать мониторинг
+            putRequest(prepareTelegram(TELE_CMD_RD_MON_ON, 0, new byte[0], 0, 0));
+        }
+
+        public void AddMonitoringItem(int slot, int offset)
+        {
+            //добавить элемент из массива мониторинга по адресу
+            putRequest(prepareTelegram(TELE_CMD_RD_MON_ADD, slot, new byte[0], offset));
+        }
+
+        public void AddMonitoringItem(string name)
+        {
+            //добавить элемент из массива мониторинга по имени
+            putRequest(prepareTelegram(TELE_CMD_RD_MON_ADD, new byte[0], name));
+        }
+
+        public void RemoveMonitoringItem(int id)
+        {
+            //удалить элемент из массива мониторинга (len == id)
+            putRequest(prepareTelegram(TELE_CMD_RD_MON_REMOVE, 0, new byte[0], id));
+        }
+
+        public void RemoveMonitoringItems()
+        {
+            //удалить все элементы из массива мониторинга
+            putRequest(prepareTelegram(TELE_CMD_RD_MON_REMOVEALL, 0, new byte[0], 0));
+        }
+
+        public void sendFloats(int slot, float[] sp)
+        {
+            //Записать массив чисел с плавающей точкой
+            putRequest(prepareTelegram(TELE_CMD_WR, slot, sp, 0, sp.Length * 4));
+        }
+
+        public void sendMotorsControl()
+        {
+            //Отправляет задание на моторы в полетник. Тот в ответ посылает актуальные скорости на моторах
+            //В offset передается количество моторов
+            putRequest(prepareTelegram(TELE_CMD_MOTORS_CTRL, Telemetry.MOTORS_SP_ADDRESS, telemetry.motor_sp, 8));
+        }
+
+        /// <summary>
+        /// Считает контрольную сумму CRC32
+        /// </summary>
+        public uint crc32(byte[] data, int length)
+        {
+            uint crc = 0xFFFFFFFF;  // Начальное значение CRC
+
+            for (int i = 0; i < length; i++)
+            {
+                crc ^= (uint)data[i] << 24;  // XOR с текущим байтом
+
+                for (int j = 0; j < 8; j++)
+                {
+                    if ((uint)(crc & 0x80000000) != 0)
+                    {
+                        crc = (crc << 1) ^ CRC32_POLY;
+                    }
+                    else
+                    {
+                        crc <<= 1;
+                    }
+                }
+            }
+
+            return crc;
+        }
+        public byte[] prepareTelegram<T>(int cmd, T[] load, string var_name)
+        {
+            VarAddress va = telemetry.getVarAdress(var_name);
+            return prepareTelegram(cmd, va.slot, load, va.offset, va.length);
+        }
+
+        /// <summary>
+        /// Подготавливает данные для отправки, кодируя их в ESCAPE-последовательность
+        /// </summary>
+        public byte[] prepareTelegram<T>(int cmd, int slot, T[] load, int offset, int len = 0)
+        {
+            byte[] byteload = DataArrayToBytes(load);
+            int total_len = 20 + byteload.Length;//cmd[4 bytes] + slot[4 bytes] + len[4 bytes] + offset[4 bytes] + load[len bytes]
+            byte[] data = new byte[total_len];
+
+            //Construct telegram
+            data[0] = (byte)(0xFF & cmd);
+            data[1] = (byte)(0xFF & (cmd >> 8));
+            data[2] = (byte)(0xFF & (cmd >> 16));
+            data[3] = (byte)(0xFF & (cmd >> 24));
+
+            data[4] = (byte)(0xFF & slot);
+            data[5] = (byte)(0xFF & (slot >> 8));
+            data[6] = (byte)(0xFF & (slot >> 16));
+            data[7] = (byte)(0xFF & (slot >> 24));
+
+            int l = 0;
+            if (cmd == TELE_CMD_WR) l = byteload.Length;
+            else l = len;
+
+            data[8] = (byte)(0xFF & l);
+            data[9] = (byte)(0xFF & (l >> 8));
+            data[10] = (byte)(0xFF & (l >> 16));
+            data[11] = (byte)(0xFF & (l >> 24));
+
+            data[12] = (byte)(0xFF & offset);
+            data[13] = (byte)(0xFF & (offset >> 8));
+            data[14] = (byte)(0xFF & (offset >> 16));
+            data[15] = (byte)(0xFF & (offset >> 24));
+
+            if (byteload.Length > 0)
+            {
+                //Copy data
+                Array.Copy(byteload, 0, data, 16, byteload.Length);
+            }
+            //CRC32
+            uint checksum = crc32(data, total_len - 4);
+            data[total_len - 4] = (byte)(0xFF & checksum);
+            data[total_len - 3] = (byte)(0xFF & (checksum >> 8));
+            data[total_len - 2] = (byte)(0xFF & (checksum >> 16));
+            data[total_len - 1] = (byte)(0xFF & (checksum >> 24));
+
+            byte[] escape = BytesToEscapeSeq(data);
+            byte[] ret = new byte[escape.Length + 2];
+            Array.Copy(escape, 0, ret, 1, escape.Length);
+            ret[0] = ESCAPE_BEGIN;
+            ret[ret.Length - 1] = ESCAPE_END;
+            //Array.Copy(ret, saving_request, ret.Length);
+            return ret;
+        }
+
+        /// <summary>
+        /// Конвертирует массив bool/byte/int/float в массив байт. Создает новый массив.
+        /// </summary>
+        byte[] DataArrayToBytes<T>(T[] data)
+        {
+            if (data == null) return new byte[0];
+            List<byte> ret = new List<byte>();
+            for (int i = 0; i < data.Length; i++)
+            {
+                if (typeof(T) == typeof(float))
+                {
+                    ret.AddRange(BitConverter.GetBytes((float)(object)data[i]));
+                }
+                else if (typeof(T) == typeof(int))
+                {
+                    ret.AddRange(BitConverter.GetBytes((int)(object)data[i]));
+                }
+                else if (typeof(T) == typeof(byte))
+                {
+                    ret.Add((byte)(object)data[i]);
+                }
+                else if (typeof(T) == typeof(bool))
+                {
+                    bool t = (bool)(object)data[i];
+                    if (t) ret.Add(1);
+                    else ret.Add(0);
+                }
+
+            }
+            return ret.ToArray();
+        }
+
+        /// <summary>
+        /// Конвертирует массив байт в ESCAPE-последовательность.
+        /// </summary>
+        public byte[] BytesToEscapeSeq(byte[] data)
+        {
+            List<byte> ret = new List<byte>();
+            for (int i = 0; i < data.Length; i++)
+            {
+                if ((data[i] == ESCAPE_BEGIN) || (data[i] == ESCAPE_CHAR) || (data[i] == ESCAPE_END))
+                {
+                    ret.Add(ESCAPE_CHAR);
+                    ret.Add((byte)(data[i] - 0x0E));
+                }
+                else
+                {
+                    ret.Add(data[i]);
+                }
+            }
+            return ret.ToArray();
+        }
+
+        /// <summary>
+        /// Конвертирует ESCAPE-последовательность в массив байт.
+        /// </summary>
+        public byte[] EscapeSeqToBytes(byte[] EscSeq)
+        {
+            List<byte> ret = new List<byte>();
+            for (int i = 0; i < EscSeq.Length; i++)
+            {
+                //if ((EscSeq[i] == ESCAPE_BEGIN) || (EscSeq[i] == ESCAPE_CHAR) || (EscSeq[i] == ESCAPE_END))
+                if (EscSeq[i] == ESCAPE_CHAR)
+                {
+                    i++;
+                    ret.Add((byte)(EscSeq[i] + 0x0E));
+                }
+                else
+                {
+                    ret.Add(EscSeq[i]);
+                }
+            }
+            return ret.ToArray();
+        }
+
+        public void requestExit()
+        {
+            //запрос на закрытие приложения, отправляем команду на очистку массива мониторинга и ждем ответ, либо таймаут,
+            //после чего приложение закрывается
+            RemoveMonitoringItems();
+            exitPending = true;
+        }
+
+        /// <summary>
+        /// Добавляет данные в очередь ожидания отправки.
+        /// </summary>
+        public void putRequest(byte[] request)
+        {
+            //добавить в очередь или отправить(если очередь пуста) пакет в порт
+            lock (lock_obj_put)
+            {
+                if (waitingForResponse)
+                {
+                    req_buffer.Enqueue(request);
+                    return;
+                }
+
+                sendRequest(request);
+            }
+        }
+
+        /// <summary>
+        /// Толкает данные непосредственно в очередь отправки.
+        /// </summary>
+        protected void sendRequest(byte[] request)
+        {
+            //отправка пакета
+            //waitingForResponse = true;
+            if (IsOpen())
+            {
+                sendData(request);
+            }
+            timeout.Stop();
+            timeout.Start();
+        }
+
+        /// <summary>
+        /// Вытягивает данные из очереди ожидания непосредственно в очередь отправки.
+        /// </summary>
+        protected void sendNextRequest()
+        {
+            //вытащить из очереди пакет и отправить в порт
+            waitingForResponse = false;
+            if (req_buffer.Count > 0)
+            {
+                sendRequest(req_buffer.Dequeue());
+            }
+        }
+
+        /// <summary>
+        /// Копирует входящие данные в очередь.
+        /// </summary>
+        protected void EnqueueData(byte[] data, int len)
+        {
+            for (int i = 0; i < len; i++)
+            {
+                dataQueue.Enqueue(data[i]);
+            }
+        }
+
+        public void ClearReqQueue()
+        {
+            req_buffer.Clear();
+        }
+
+        protected virtual void OnAnswerReceived(string answer, int id)
+        {
+            AnswerReceived?.Invoke(this, new FeedbackEventArgs(answer, id));
+        }
+
+        protected virtual void OnHandShakeOccurred()
+        {
+            HandShakeOccurred?.Invoke(this, new EventArgs());
+        }
+
+        protected virtual void OnMonitoringItemsReceived(float[] data)
+        {
+            MonitoringItemsReceived?.Invoke(this, new MonitoringEventArgs(data));
+        }
+    }
+
+    public class FeedbackEventArgs : EventArgs
+    {
+        public string Answer { get; set; }
+        public int Id { get; set; }
+
+        public FeedbackEventArgs(string answer, int id)
+        {
+            Answer = answer;
+            Id = id;
+        }
+    }
+
+    public class MonitoringEventArgs : EventArgs
+    {
+        public float[] Data { get; set; }
+
+        public MonitoringEventArgs(float[] data)
+        {
+            Data = data;
+        }
+    }
+}

DroneClient/Drone.cs

@@ -1,5 +1,7 @@
-using System.Diagnostics.Metrics;
+using DroneData;
+using System.Diagnostics.Metrics;
 using System.Drawing;
+using System.Numerics;
 using System.Runtime.InteropServices;
 
 namespace DroneClient
@@ -15,6 +17,8 @@ namespace DroneClient
     public float LaserRange;
     public uint TimeRange;
 
+    public Vector2 OF = Vector2.Zero;
+
     public float MotorUL, MotorUR, MotorDL, MotorDR;
 
     public static byte[] getBytes(object data)
@@ -116,6 +120,16 @@ namespace DroneClient
       return new byte[0];
     }
 
+    private byte[]? RecvDataOF(byte[] data)
+    {
+      DroneData.DataOF of = (DroneData.DataOF)fromBytes(data, typeof(DroneData.DataOF));
+
+      OF.X = of.X;
+      OF.Y = of.Y;
+
+      return new byte[0];
+    }
+
     private byte[]? ClientRequestResponse(DroneData.DataHead head, byte[] body)
     {
       byte[] zero = new byte[0];
@@ -186,6 +200,22 @@ namespace DroneClient
             }
           }
 
+        case DroneData.DataType.DataOF:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              // ... //
+              //
+              return zero;
+            }
+            else
+            {
+              // Пришли данные
+              return RecvDataOF(body);
+            }
+          }
+
         case DroneData.DataType.DataMotor4:
           {
             if (head.Mode == DroneData.DataMode.Request)
@@ -271,12 +301,18 @@ namespace DroneClient
       local.Mode = DroneData.DataMode.Request;
       local.Type = DroneData.DataType.DataLocal;
 
+      DroneData.DataHead of = new DroneData.DataHead();
+      of.Size = DroneData.DataHead.StrLen;
+      of.Mode = DroneData.DataMode.Request;
+      of.Type = DroneData.DataType.DataOF;
+
       List<byte[]> list = new List<byte[]>();
 
       list.Add(getBytes(acc));
       list.Add(getBytes(gyr));
       list.Add(getBytes(range));
       list.Add(getBytes(local));
+      list.Add(getBytes(of));
       list.Add(SendDataMotor4());
 
       int count = 0;

DroneClient/DroneClient.csproj

@@ -8,4 +8,28 @@
     <ImplicitUsings>enable</ImplicitUsings>
   </PropertyGroup>
 
+  <ItemGroup>
+    <Compile Update="Properties\Resources.Designer.cs">
+      <DesignTime>True</DesignTime>
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Resources.resx</DependentUpon>
+    </Compile>
+  </ItemGroup>
+
+  <ItemGroup>
+    <EmbeddedResource Update="Properties\Resources.resx">
+      <Generator>ResXFileCodeGenerator</Generator>
+      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
+    </EmbeddedResource>
+  </ItemGroup>
+
+  <ItemGroup>
+    <None Update="images\connect.ico">
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </None>
+    <None Update="images\disconnect.ico">
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </None>
+  </ItemGroup>
+
 </Project>

DroneClient/DroneData.cs

@@ -1,4 +1,4 @@
-using System.Runtime.InteropServices;
+using System.Runtime.InteropServices;
 
 namespace DroneData
 {
@@ -12,10 +12,13 @@ namespace DroneData
     None = 0, Head = 1,
 
     // Output
-    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
+    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006, DataOF = 1007,
 
     // Input
-    DataMotor4 = 2001, DataMotor6 = 2002
+    DataMotor4 = 2001, DataMotor6 = 2002,
+
+    // State
+    DataQuat = 3001,
   };
 
   public struct DataHead
@@ -25,7 +28,7 @@ namespace DroneData
     public DataMode Mode;
     public DataType Type;
 
-    public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
+    public uint Time; // Общее время
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
   }
@@ -37,7 +40,7 @@ namespace DroneData
     public DataHead Head;
     public XYZ Acc;
 
-    public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    public uint Time; // Последнее время изменения данных
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
   }
@@ -47,7 +50,7 @@ namespace DroneData
     public DataHead Head;
     public XYZ Gyr;
 
-    public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    public uint Time; // Последнее время изменения данных
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
   }
@@ -57,31 +60,51 @@ namespace DroneData
     public DataHead Head;
     public XYZ Mag;
 
-    public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    public uint Time; // Последнее время изменения данных
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
   }
 
-  public struct DataLocal
-  {
-    public DataHead Head;
-    public XYZ Local; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
-  }
-
   public struct DataRange
   {
     public DataHead Head;
-    public float LiDAR; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    public float LiDAR; // Датчик посадки
 
-    public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    public uint Time; // Последнее время изменения данных
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
   }
 
+  public struct DataLocal
+  {
+    public DataHead Head;
+    public XYZ Local; // Локальные координаты
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
+  }
+
+  public struct DataBar
+  {
+    public DataHead Head;
+    public float Pressure; // Давление
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar));
+  }
+
+  public struct DataOF
+  {
+    public DataHead Head;
+    public float X, Y; // Угловой сдвиг
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataOF));
+  }
+
   public struct DataMotor4
   {
     public DataHead Head;

DroneClient/FormMain.Designer.cs

@@ -31,6 +31,11 @@
             components = new System.ComponentModel.Container();
             timer_Test = new System.Windows.Forms.Timer(components);
             groupBox1 = new GroupBox();
+            TeleClientStatusPicture = new PictureBox();
+            label12 = new Label();
+            button1 = new Button();
+            TeleServerPortCtrl = new NumericUpDown();
+            label8 = new Label();
             textBox_Server_Addr = new TextBox();
             label2 = new Label();
             button_Connect = new Button();
@@ -38,12 +43,14 @@
             label3 = new Label();
             label1 = new Label();
             groupBox2 = new GroupBox();
+            label_time_acc = new Label();
             label_Acc_Z = new Label();
             label7 = new Label();
             label_Acc_Y = new Label();
             label5 = new Label();
             label_Acc_X = new Label();
             groupBox3 = new GroupBox();
+            label_time_gyr = new Label();
             label_Gyr_Z = new Label();
             label9 = new Label();
             label_Gyr_Y = new Label();
@@ -51,6 +58,7 @@
             label_Gyr_X = new Label();
             label13 = new Label();
             groupBox4 = new GroupBox();
+            label_time_range = new Label();
             label_Pos_L = new Label();
             label6 = new Label();
             label_Pos_Y = new Label();
@@ -65,15 +73,24 @@
             label_Pow = new Label();
             button_ML = new Button();
             button_MR = new Button();
-      label_time_acc = new Label();
-      label_time_range = new Label();
-      label_time_gyr = new Label();
+            groupBox5 = new GroupBox();
+            label_time_of = new Label();
+            label_OF_Y = new Label();
+            label17 = new Label();
+            label_OF_X = new Label();
+            label19 = new Label();
+            trackBar_Value = new TrackBar();
+            label4 = new Label();
             groupBox1.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)TeleClientStatusPicture).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)TeleServerPortCtrl).BeginInit();
             ((System.ComponentModel.ISupportInitialize)numericUpDown_Server_Port).BeginInit();
             groupBox2.SuspendLayout();
             groupBox3.SuspendLayout();
             groupBox4.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)trackBar_Power).BeginInit();
+            groupBox5.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)trackBar_Value).BeginInit();
             SuspendLayout();
             // 
             // timer_Test
@@ -84,6 +101,11 @@
             // 
             // groupBox1
             // 
+            groupBox1.Controls.Add(TeleClientStatusPicture);
+            groupBox1.Controls.Add(label12);
+            groupBox1.Controls.Add(button1);
+            groupBox1.Controls.Add(TeleServerPortCtrl);
+            groupBox1.Controls.Add(label8);
             groupBox1.Controls.Add(textBox_Server_Addr);
             groupBox1.Controls.Add(label2);
             groupBox1.Controls.Add(button_Connect);
@@ -91,27 +113,83 @@
             groupBox1.Controls.Add(label3);
             groupBox1.Dock = DockStyle.Top;
             groupBox1.Location = new Point(0, 0);
+            groupBox1.Margin = new Padding(3, 4, 3, 4);
             groupBox1.Name = "groupBox1";
-      groupBox1.Size = new Size(275, 80);
+            groupBox1.Padding = new Padding(3, 4, 3, 4);
+            groupBox1.Size = new Size(510, 107);
             groupBox1.TabIndex = 3;
             groupBox1.TabStop = false;
             groupBox1.Tag = "";
             groupBox1.Text = "Server";
             // 
+            // TeleClientStatusPicture
+            // 
+            TeleClientStatusPicture.Anchor = AnchorStyles.Top | AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right;
+            TeleClientStatusPicture.Location = new Point(469, 53);
+            TeleClientStatusPicture.Name = "TeleClientStatusPicture";
+            TeleClientStatusPicture.Size = new Size(24, 24);
+            TeleClientStatusPicture.TabIndex = 9;
+            TeleClientStatusPicture.TabStop = false;
+            // 
+            // label12
+            // 
+            label12.AutoSize = true;
+            label12.Location = new Point(393, 51);
+            label12.Name = "label12";
+            label12.Size = new Size(74, 20);
+            label12.TabIndex = 8;
+            label12.Tag = "#clients_port";
+            label12.Text = "TeleClient";
+            // 
+            // button1
+            // 
+            button1.BackColor = Color.Transparent;
+            button1.Location = new Point(369, 16);
+            button1.Margin = new Padding(3, 4, 3, 4);
+            button1.Name = "button1";
+            button1.Size = new Size(127, 31);
+            button1.TabIndex = 7;
+            button1.Tag = "";
+            button1.Text = "Run TeleServer";
+            button1.UseVisualStyleBackColor = false;
+            button1.Click += button1_Click;
+            // 
+            // TeleServerPortCtrl
+            // 
+            TeleServerPortCtrl.Location = new Point(291, 18);
+            TeleServerPortCtrl.Margin = new Padding(3, 4, 3, 4);
+            TeleServerPortCtrl.Maximum = new decimal(new int[] { 65000, 0, 0, 0 });
+            TeleServerPortCtrl.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
+            TeleServerPortCtrl.Name = "TeleServerPortCtrl";
+            TeleServerPortCtrl.Size = new Size(71, 27);
+            TeleServerPortCtrl.TabIndex = 6;
+            TeleServerPortCtrl.Value = new decimal(new int[] { 8888, 0, 0, 0 });
+            // 
+            // label8
+            // 
+            label8.AutoSize = true;
+            label8.Location = new Point(248, 21);
+            label8.Name = "label8";
+            label8.Size = new Size(38, 20);
+            label8.TabIndex = 5;
+            label8.Tag = "#clients_port";
+            label8.Text = "Port:";
+            // 
             // textBox_Server_Addr
             // 
-      textBox_Server_Addr.Location = new Point(48, 16);
+            textBox_Server_Addr.Location = new Point(55, 21);
+            textBox_Server_Addr.Margin = new Padding(3, 4, 3, 4);
             textBox_Server_Addr.Name = "textBox_Server_Addr";
-      textBox_Server_Addr.Size = new Size(125, 23);
+            textBox_Server_Addr.Size = new Size(142, 27);
             textBox_Server_Addr.TabIndex = 4;
             textBox_Server_Addr.Text = "127.0.0.1";
             // 
             // label2
             // 
             label2.AutoSize = true;
-      label2.Location = new Point(6, 19);
+            label2.Location = new Point(7, 25);
             label2.Name = "label2";
-      label2.Size = new Size(36, 15);
+            label2.Size = new Size(45, 20);
             label2.TabIndex = 3;
             label2.Tag = "";
             label2.Text = "Addr:";
@@ -119,9 +197,10 @@
             // button_Connect
             // 
             button_Connect.BackColor = Color.Transparent;
-      button_Connect.Location = new Point(112, 46);
+            button_Connect.Location = new Point(128, 61);
+            button_Connect.Margin = new Padding(3, 4, 3, 4);
             button_Connect.Name = "button_Connect";
-      button_Connect.Size = new Size(61, 23);
+            button_Connect.Size = new Size(70, 31);
             button_Connect.TabIndex = 2;
             button_Connect.Tag = "";
             button_Connect.Text = "Connect";
@@ -130,20 +209,21 @@
             // 
             // numericUpDown_Server_Port
             // 
-      numericUpDown_Server_Port.Location = new Point(44, 48);
+            numericUpDown_Server_Port.Location = new Point(50, 64);
+            numericUpDown_Server_Port.Margin = new Padding(3, 4, 3, 4);
             numericUpDown_Server_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 });
             numericUpDown_Server_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
             numericUpDown_Server_Port.Name = "numericUpDown_Server_Port";
-      numericUpDown_Server_Port.Size = new Size(62, 23);
+            numericUpDown_Server_Port.Size = new Size(71, 27);
             numericUpDown_Server_Port.TabIndex = 1;
             numericUpDown_Server_Port.Value = new decimal(new int[] { 1001, 0, 0, 0 });
             // 
             // label3
             // 
             label3.AutoSize = true;
-      label3.Location = new Point(6, 50);
+            label3.Location = new Point(7, 67);
             label3.Name = "label3";
-      label3.Size = new Size(32, 15);
+            label3.Size = new Size(38, 20);
             label3.TabIndex = 0;
             label3.Tag = "#clients_port";
             label3.Text = "Port:";
@@ -151,9 +231,9 @@
             // label1
             // 
             label1.AutoSize = true;
-      label1.Location = new Point(6, 19);
+            label1.Location = new Point(7, 25);
             label1.Name = "label1";
-      label1.Size = new Size(17, 15);
+            label1.Size = new Size(21, 20);
             label1.TabIndex = 4;
             label1.Text = "X:";
             // 
@@ -166,55 +246,66 @@
             groupBox2.Controls.Add(label5);
             groupBox2.Controls.Add(label_Acc_X);
             groupBox2.Controls.Add(label1);
-      groupBox2.Location = new Point(6, 86);
+            groupBox2.Location = new Point(7, 115);
+            groupBox2.Margin = new Padding(3, 4, 3, 4);
             groupBox2.Name = "groupBox2";
-      groupBox2.Size = new Size(78, 118);
+            groupBox2.Padding = new Padding(3, 4, 3, 4);
+            groupBox2.Size = new Size(114, 157);
             groupBox2.TabIndex = 5;
             groupBox2.TabStop = false;
             groupBox2.Text = "Acc";
             // 
+            // label_time_acc
+            // 
+            label_time_acc.AutoSize = true;
+            label_time_acc.Location = new Point(7, 133);
+            label_time_acc.Name = "label_time_acc";
+            label_time_acc.Size = new Size(17, 20);
+            label_time_acc.TabIndex = 25;
+            label_time_acc.Text = "0";
+            // 
             // label_Acc_Z
             // 
             label_Acc_Z.AutoSize = true;
-      label_Acc_Z.Location = new Point(19, 70);
+            label_Acc_Z.Location = new Point(22, 93);
             label_Acc_Z.Name = "label_Acc_Z";
-      label_Acc_Z.Size = new Size(13, 15);
+            label_Acc_Z.Size = new Size(17, 20);
             label_Acc_Z.TabIndex = 9;
             label_Acc_Z.Text = "0";
             // 
             // label7
             // 
             label7.AutoSize = true;
-      label7.Location = new Point(6, 70);
+            label7.Location = new Point(7, 93);
             label7.Name = "label7";
-      label7.Size = new Size(17, 15);
+            label7.Size = new Size(21, 20);
             label7.TabIndex = 8;
             label7.Text = "Z:";
             // 
             // label_Acc_Y
             // 
             label_Acc_Y.AutoSize = true;
-      label_Acc_Y.Location = new Point(19, 45);
+            label_Acc_Y.Location = new Point(22, 60);
             label_Acc_Y.Name = "label_Acc_Y";
-      label_Acc_Y.Size = new Size(13, 15);
+            label_Acc_Y.Size = new Size(17, 20);
             label_Acc_Y.TabIndex = 7;
             label_Acc_Y.Text = "0";
             // 
             // label5
             // 
             label5.AutoSize = true;
-      label5.Location = new Point(6, 45);
+            label5.Location = new Point(7, 60);
             label5.Name = "label5";
-      label5.Size = new Size(17, 15);
+            label5.Size = new Size(20, 20);
             label5.TabIndex = 6;
             label5.Text = "Y:";
             // 
             // label_Acc_X
             // 
             label_Acc_X.AutoSize = true;
-      label_Acc_X.Location = new Point(19, 19);
+            label_Acc_X.Location = new Point(22, 25);
             label_Acc_X.Name = "label_Acc_X";
-      label_Acc_X.Size = new Size(13, 15);
+            label_Acc_X.Size = new Size(17, 20);
             label_Acc_X.TabIndex = 5;
             label_Acc_X.Text = "0";
             // 
@@ -227,64 +318,75 @@
             groupBox3.Controls.Add(label11);
             groupBox3.Controls.Add(label_Gyr_X);
             groupBox3.Controls.Add(label13);
-      groupBox3.Location = new Point(95, 86);
+            groupBox3.Location = new Point(128, 115);
+            groupBox3.Margin = new Padding(3, 4, 3, 4);
             groupBox3.Name = "groupBox3";
-      groupBox3.Size = new Size(78, 118);
+            groupBox3.Padding = new Padding(3, 4, 3, 4);
+            groupBox3.Size = new Size(118, 157);
             groupBox3.TabIndex = 6;
             groupBox3.TabStop = false;
             groupBox3.Text = "Gyr";
             // 
+            // label_time_gyr
+            // 
+            label_time_gyr.AutoSize = true;
+            label_time_gyr.Location = new Point(3, 133);
+            label_time_gyr.Name = "label_time_gyr";
+            label_time_gyr.Size = new Size(17, 20);
+            label_time_gyr.TabIndex = 26;
+            label_time_gyr.Text = "0";
+            // 
             // label_Gyr_Z
             // 
             label_Gyr_Z.AutoSize = true;
-      label_Gyr_Z.Location = new Point(19, 70);
+            label_Gyr_Z.Location = new Point(22, 93);
             label_Gyr_Z.Name = "label_Gyr_Z";
-      label_Gyr_Z.Size = new Size(13, 15);
+            label_Gyr_Z.Size = new Size(17, 20);
             label_Gyr_Z.TabIndex = 9;
             label_Gyr_Z.Text = "0";
             // 
             // label9
             // 
             label9.AutoSize = true;
-      label9.Location = new Point(6, 70);
+            label9.Location = new Point(7, 93);
             label9.Name = "label9";
-      label9.Size = new Size(17, 15);
+            label9.Size = new Size(21, 20);
             label9.TabIndex = 8;
             label9.Text = "Z:";
             // 
             // label_Gyr_Y
             // 
             label_Gyr_Y.AutoSize = true;
-      label_Gyr_Y.Location = new Point(19, 45);
+            label_Gyr_Y.Location = new Point(22, 60);
             label_Gyr_Y.Name = "label_Gyr_Y";
-      label_Gyr_Y.Size = new Size(13, 15);
+            label_Gyr_Y.Size = new Size(17, 20);
             label_Gyr_Y.TabIndex = 7;
             label_Gyr_Y.Text = "0";
             // 
             // label11
             // 
             label11.AutoSize = true;
-      label11.Location = new Point(6, 45);
+            label11.Location = new Point(7, 60);
             label11.Name = "label11";
-      label11.Size = new Size(17, 15);
+            label11.Size = new Size(20, 20);
             label11.TabIndex = 6;
             label11.Text = "Y:";
             // 
             // label_Gyr_X
             // 
             label_Gyr_X.AutoSize = true;
-      label_Gyr_X.Location = new Point(19, 19);
+            label_Gyr_X.Location = new Point(22, 25);
             label_Gyr_X.Name = "label_Gyr_X";
-      label_Gyr_X.Size = new Size(13, 15);
+            label_Gyr_X.Size = new Size(17, 20);
             label_Gyr_X.TabIndex = 5;
             label_Gyr_X.Text = "0";
             // 
             // label13
             // 
             label13.AutoSize = true;
-      label13.Location = new Point(6, 19);
+            label13.Location = new Point(7, 25);
             label13.Name = "label13";
-      label13.Size = new Size(17, 15);
+            label13.Size = new Size(21, 20);
             label13.TabIndex = 4;
             label13.Text = "X:";
             // 
@@ -297,82 +399,95 @@
             groupBox4.Controls.Add(label10);
             groupBox4.Controls.Add(label_Pos_X);
             groupBox4.Controls.Add(label14);
-      groupBox4.Location = new Point(188, 86);
+            groupBox4.Location = new Point(253, 115);
+            groupBox4.Margin = new Padding(3, 4, 3, 4);
             groupBox4.Name = "groupBox4";
-      groupBox4.Size = new Size(78, 118);
+            groupBox4.Padding = new Padding(3, 4, 3, 4);
+            groupBox4.Size = new Size(118, 157);
             groupBox4.TabIndex = 7;
             groupBox4.TabStop = false;
             groupBox4.Text = "Pos";
             // 
+            // label_time_range
+            // 
+            label_time_range.AutoSize = true;
+            label_time_range.Location = new Point(7, 133);
+            label_time_range.Name = "label_time_range";
+            label_time_range.Size = new Size(17, 20);
+            label_time_range.TabIndex = 27;
+            label_time_range.Text = "0";
+            // 
             // label_Pos_L
             // 
             label_Pos_L.AutoSize = true;
-      label_Pos_L.Location = new Point(19, 70);
+            label_Pos_L.Location = new Point(22, 93);
             label_Pos_L.Name = "label_Pos_L";
-      label_Pos_L.Size = new Size(13, 15);
+            label_Pos_L.Size = new Size(17, 20);
             label_Pos_L.TabIndex = 9;
             label_Pos_L.Text = "0";
             // 
             // label6
             // 
             label6.AutoSize = true;
-      label6.Location = new Point(6, 70);
+            label6.Location = new Point(7, 93);
             label6.Name = "label6";
-      label6.Size = new Size(16, 15);
+            label6.Size = new Size(19, 20);
             label6.TabIndex = 8;
             label6.Text = "L:";
             // 
             // label_Pos_Y
             // 
             label_Pos_Y.AutoSize = true;
-      label_Pos_Y.Location = new Point(19, 45);
+            label_Pos_Y.Location = new Point(22, 60);
             label_Pos_Y.Name = "label_Pos_Y";
-      label_Pos_Y.Size = new Size(13, 15);
+            label_Pos_Y.Size = new Size(17, 20);
             label_Pos_Y.TabIndex = 7;
             label_Pos_Y.Text = "0";
             // 
             // label10
             // 
             label10.AutoSize = true;
-      label10.Location = new Point(6, 45);
+            label10.Location = new Point(7, 60);
             label10.Name = "label10";
-      label10.Size = new Size(17, 15);
+            label10.Size = new Size(20, 20);
             label10.TabIndex = 6;
             label10.Text = "Y:";
             // 
             // label_Pos_X
             // 
             label_Pos_X.AutoSize = true;
-      label_Pos_X.Location = new Point(19, 19);
+            label_Pos_X.Location = new Point(22, 25);
             label_Pos_X.Name = "label_Pos_X";
-      label_Pos_X.Size = new Size(13, 15);
+            label_Pos_X.Size = new Size(17, 20);
             label_Pos_X.TabIndex = 5;
             label_Pos_X.Text = "0";
             // 
             // label14
             // 
             label14.AutoSize = true;
-      label14.Location = new Point(6, 19);
+            label14.Location = new Point(7, 25);
             label14.Name = "label14";
-      label14.Size = new Size(17, 15);
+            label14.Size = new Size(21, 20);
             label14.TabIndex = 4;
             label14.Text = "X:";
             // 
             // trackBar_Power
             // 
-      trackBar_Power.Location = new Point(112, 240);
+            trackBar_Power.Location = new Point(128, 320);
+            trackBar_Power.Margin = new Padding(3, 4, 3, 4);
             trackBar_Power.Maximum = 100;
             trackBar_Power.Name = "trackBar_Power";
             trackBar_Power.Orientation = Orientation.Vertical;
-      trackBar_Power.Size = new Size(45, 141);
+            trackBar_Power.Size = new Size(56, 188);
             trackBar_Power.TabIndex = 12;
             trackBar_Power.Scroll += trackBar_Power_Scroll;
             // 
             // button_LL
             // 
-      button_LL.Location = new Point(9, 318);
+            button_LL.Location = new Point(10, 424);
+            button_LL.Margin = new Padding(3, 4, 3, 4);
             button_LL.Name = "button_LL";
-      button_LL.Size = new Size(75, 23);
+            button_LL.Size = new Size(86, 31);
             button_LL.TabIndex = 13;
             button_LL.Text = "LL";
             button_LL.UseVisualStyleBackColor = true;
@@ -381,9 +496,10 @@
             // 
             // button_UU
             // 
-      button_UU.Location = new Point(98, 211);
+            button_UU.Location = new Point(112, 281);
+            button_UU.Margin = new Padding(3, 4, 3, 4);
             button_UU.Name = "button_UU";
-      button_UU.Size = new Size(75, 23);
+            button_UU.Size = new Size(86, 31);
             button_UU.TabIndex = 14;
             button_UU.Text = "UU";
             button_UU.UseVisualStyleBackColor = true;
@@ -392,9 +508,10 @@
             // 
             // button_DD
             // 
-      button_DD.Location = new Point(98, 412);
+            button_DD.Location = new Point(112, 549);
+            button_DD.Margin = new Padding(3, 4, 3, 4);
             button_DD.Name = "button_DD";
-      button_DD.Size = new Size(75, 23);
+            button_DD.Size = new Size(86, 31);
             button_DD.TabIndex = 15;
             button_DD.Text = "DD";
             button_DD.UseVisualStyleBackColor = true;
@@ -403,9 +520,10 @@
             // 
             // button_RR
             // 
-      button_RR.Location = new Point(188, 318);
+            button_RR.Location = new Point(215, 424);
+            button_RR.Margin = new Padding(3, 4, 3, 4);
             button_RR.Name = "button_RR";
-      button_RR.Size = new Size(75, 23);
+            button_RR.Size = new Size(86, 31);
             button_RR.TabIndex = 16;
             button_RR.Text = "RR";
             button_RR.UseVisualStyleBackColor = true;
@@ -415,17 +533,18 @@
             // label_Pow
             // 
             label_Pow.AutoSize = true;
-      label_Pow.Location = new Point(126, 384);
+            label_Pow.Location = new Point(144, 512);
             label_Pow.Name = "label_Pow";
-      label_Pow.Size = new Size(13, 15);
+            label_Pow.Size = new Size(17, 20);
             label_Pow.TabIndex = 21;
             label_Pow.Text = "0";
             // 
             // button_ML
             // 
-      button_ML.Location = new Point(9, 211);
+            button_ML.Location = new Point(10, 281);
+            button_ML.Margin = new Padding(3, 4, 3, 4);
             button_ML.Name = "button_ML";
-      button_ML.Size = new Size(75, 23);
+            button_ML.Size = new Size(86, 31);
             button_ML.TabIndex = 22;
             button_ML.Text = "<-";
             button_ML.UseVisualStyleBackColor = true;
@@ -434,47 +553,106 @@
             // 
             // button_MR
             // 
-      button_MR.Location = new Point(188, 211);
+            button_MR.Location = new Point(215, 281);
+            button_MR.Margin = new Padding(3, 4, 3, 4);
             button_MR.Name = "button_MR";
-      button_MR.Size = new Size(75, 23);
+            button_MR.Size = new Size(86, 31);
             button_MR.TabIndex = 23;
             button_MR.Text = "->";
             button_MR.UseVisualStyleBackColor = true;
             button_MR.MouseDown += button_UU_MouseDown;
             button_MR.MouseUp += button_UU_MouseUp;
             // 
-      // label_time_acc
+            // groupBox5
             // 
-      label_time_acc.AutoSize = true;
-      label_time_acc.Location = new Point(6, 100);
-      label_time_acc.Name = "label_time_acc";
-      label_time_acc.Size = new Size(13, 15);
-      label_time_acc.TabIndex = 25;
-      label_time_acc.Text = "0";
+            groupBox5.Controls.Add(label_time_of);
+            groupBox5.Controls.Add(label_OF_Y);
+            groupBox5.Controls.Add(label17);
+            groupBox5.Controls.Add(label_OF_X);
+            groupBox5.Controls.Add(label19);
+            groupBox5.Location = new Point(377, 115);
+            groupBox5.Margin = new Padding(3, 4, 3, 4);
+            groupBox5.Name = "groupBox5";
+            groupBox5.Padding = new Padding(3, 4, 3, 4);
+            groupBox5.Size = new Size(119, 157);
+            groupBox5.TabIndex = 24;
+            groupBox5.TabStop = false;
+            groupBox5.Text = "OF";
             // 
-      // label_time_range
+            // label_time_of
             // 
-      label_time_range.AutoSize = true;
-      label_time_range.Location = new Point(6, 100);
-      label_time_range.Name = "label_time_range";
-      label_time_range.Size = new Size(13, 15);
-      label_time_range.TabIndex = 27;
-      label_time_range.Text = "0";
+            label_time_of.AutoSize = true;
+            label_time_of.Location = new Point(7, 133);
+            label_time_of.Name = "label_time_of";
+            label_time_of.Size = new Size(17, 20);
+            label_time_of.TabIndex = 27;
+            label_time_of.Text = "0";
             // 
-      // label_time_gyr
+            // label_OF_Y
             // 
-      label_time_gyr.AutoSize = true;
-      label_time_gyr.Location = new Point(3, 100);
-      label_time_gyr.Name = "label_time_gyr";
-      label_time_gyr.Size = new Size(13, 15);
-      label_time_gyr.TabIndex = 26;
-      label_time_gyr.Text = "0";
+            label_OF_Y.AutoSize = true;
+            label_OF_Y.Location = new Point(22, 60);
+            label_OF_Y.Name = "label_OF_Y";
+            label_OF_Y.Size = new Size(17, 20);
+            label_OF_Y.TabIndex = 7;
+            label_OF_Y.Text = "0";
+            // 
+            // label17
+            // 
+            label17.AutoSize = true;
+            label17.Location = new Point(7, 60);
+            label17.Name = "label17";
+            label17.Size = new Size(20, 20);
+            label17.TabIndex = 6;
+            label17.Text = "Y:";
+            // 
+            // label_OF_X
+            // 
+            label_OF_X.AutoSize = true;
+            label_OF_X.Location = new Point(22, 25);
+            label_OF_X.Name = "label_OF_X";
+            label_OF_X.Size = new Size(17, 20);
+            label_OF_X.TabIndex = 5;
+            label_OF_X.Text = "0";
+            // 
+            // label19
+            // 
+            label19.AutoSize = true;
+            label19.Location = new Point(7, 25);
+            label19.Name = "label19";
+            label19.Size = new Size(21, 20);
+            label19.TabIndex = 4;
+            label19.Text = "X:";
+            // 
+            // trackBar_Value
+            // 
+            trackBar_Value.Location = new Point(399, 320);
+            trackBar_Value.Margin = new Padding(3, 4, 3, 4);
+            trackBar_Value.Maximum = 100;
+            trackBar_Value.Minimum = 1;
+            trackBar_Value.Name = "trackBar_Value";
+            trackBar_Value.Orientation = Orientation.Vertical;
+            trackBar_Value.Size = new Size(56, 260);
+            trackBar_Value.TabIndex = 25;
+            trackBar_Value.Value = 1;
+            // 
+            // label4
+            // 
+            label4.AutoSize = true;
+            label4.Location = new Point(397, 292);
+            label4.Name = "label4";
+            label4.Size = new Size(59, 20);
+            label4.TabIndex = 26;
+            label4.Text = "POWER";
             // 
             // Form_Main
             // 
-      AutoScaleDimensions = new SizeF(7F, 15F);
+            AutoScaleDimensions = new SizeF(8F, 20F);
             AutoScaleMode = AutoScaleMode.Font;
-      ClientSize = new Size(275, 447);
+            ClientSize = new Size(510, 596);
+            Controls.Add(label4);
+            Controls.Add(trackBar_Value);
+            Controls.Add(groupBox5);
             Controls.Add(button_MR);
             Controls.Add(button_ML);
             Controls.Add(label_Pow);
@@ -487,12 +665,15 @@
             Controls.Add(groupBox3);
             Controls.Add(groupBox2);
             Controls.Add(groupBox1);
-      MinimumSize = new Size(291, 389);
+            Margin = new Padding(3, 4, 3, 4);
+            MinimumSize = new Size(330, 503);
             Name = "Form_Main";
             Text = "Drone Client V1.0";
             FormClosing += Form_Main_FormClosing;
             groupBox1.ResumeLayout(false);
             groupBox1.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)TeleClientStatusPicture).EndInit();
+            ((System.ComponentModel.ISupportInitialize)TeleServerPortCtrl).EndInit();
             ((System.ComponentModel.ISupportInitialize)numericUpDown_Server_Port).EndInit();
             groupBox2.ResumeLayout(false);
             groupBox2.PerformLayout();
@@ -501,6 +682,9 @@
             groupBox4.ResumeLayout(false);
             groupBox4.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)trackBar_Power).EndInit();
+            groupBox5.ResumeLayout(false);
+            groupBox5.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)trackBar_Value).EndInit();
             ResumeLayout(false);
             PerformLayout();
         }
@@ -546,5 +730,17 @@
     private Label label_time_acc;
     private Label label_time_range;
     private Label label_time_gyr;
+    private GroupBox groupBox5;
+    private Label label_time_of;
+    private Label label_OF_Y;
+    private Label label17;
+    private Label label_OF_X;
+    private Label label19;
+    private TrackBar trackBar_Value;
+        private Button button1;
+        private NumericUpDown TeleServerPortCtrl;
+        private Label label8;
+        private PictureBox TeleClientStatusPicture;
+        private Label label12;
     }
 }

DroneClient/FormMain.cs

@@ -1,18 +1,87 @@
-using System.Text;
+using System.Text;
 using System.Numerics;
 using System.Windows.Forms;
 using static DroneSimulator.NetClient;
 using DroneClient;
+using TelemetryIO.Models;
+using TelemetryIO;
+using DroneClient.Models;
 
 namespace DroneSimulator
 {
     public partial class Form_Main : Form
     {
         private NetClient netClient = new NetClient();
+        private Telemetry telemetry = Telemetry.Instance;
+        private MonitorContainer monitoring = MonitorContainer.Instance;
+        private System.Windows.Forms.Timer copyDataTimer = new System.Windows.Forms.Timer();
+        private System.Windows.Forms.Timer MonitoringTimer = new System.Windows.Forms.Timer();
+        TelemetryServer tele_server;
+        string connectIco = Path.Combine(Application.StartupPath, "Images", "connect.ico");
+        string disconnectIco = Path.Combine(Application.StartupPath, "Images", "disconnect.ico");
 
         public Form_Main()
         {
             InitializeComponent();
+            tele_server = new TelemetryServer();
+            if (Path.Exists(connectIco)) TeleClientStatusPicture.Image = Image.FromFile(disconnectIco);
+        }
+
+        private void Tele_server_OnTeleClientDisconnected(object? sender, EventArgs e)
+        {
+            if (TeleClientStatusPicture.InvokeRequired)
+            {
+                TeleClientStatusPicture.Invoke(new Action(() => { if (Path.Exists(connectIco)) TeleClientStatusPicture.Image = Image.FromFile(disconnectIco); }));
+            }
+            else
+            {
+                if (Path.Exists(connectIco)) TeleClientStatusPicture.Image = Image.FromFile(disconnectIco);
+            }
+            monitoring.resetMonitorContainer();
+        }
+
+        private void Tele_server_OnTeleClientСonnected(object? sender, EventArgs e)
+        {
+            if (TeleClientStatusPicture.InvokeRequired)
+            {
+                TeleClientStatusPicture.Invoke(new Action(() => { if (Path.Exists(connectIco)) TeleClientStatusPicture.Image = Image.FromFile(connectIco); }));
+            }
+            else
+            {
+                if (Path.Exists(connectIco)) TeleClientStatusPicture.Image = Image.FromFile(connectIco);
+            }
+        }
+
+        private void MonitoringTimer_Tick(object? sender, EventArgs e)
+        {
+            if (monitoring.isMonitor == 1)
+            {
+                byte[] load = new byte[monitoring.monitorFillLevel * sizeof(float)];
+                for (int i = 0; i < monitoring.monitorFillLevel; i++)
+                {
+                    int slot = monitoring.monitorItems[i].slotNo;
+                    int offset = monitoring.monitorItems[i].offset;
+                    int len = monitoring.monitorItems[i].len;
+                    if(len == 0)continue;
+                    Array.Copy(telemetry.getSlot(slot, offset, len), 0, load, i * sizeof(float), sizeof(float));
+                }
+                if (tele_server != null)
+                {
+                    tele_server.putRequest(tele_server.prepareTelegram(BaseCommHandler.TELE_CMD_RD_MON_ON, 0, load, 0, load.Length));
+                }
+            }
+        }
+
+        private void CopyDataTimer_Tick(object? sender, EventArgs e)
+        {
+            /*if (dataDrone != null)
+            {
+                float[] imu = { dataDrone.AccX, dataDrone.AccY, dataDrone.AccZ, dataDrone.GyrX, dataDrone.GyrY, dataDrone.GyrZ };
+                Array.Copy(imu, telemetry.imu, 6);
+            }*/
+
+            if (monitoring.isMonitor == 1) MonitoringTimer.Start();
+            else MonitoringTimer.Stop();
         }
 
         private void ConnectionCallback(object o)
@@ -81,6 +150,18 @@ namespace DroneSimulator
             }
 
             if (done != NetClient.ClientState.Connected) return;
+
+
+            copyDataTimer.Interval = 10;
+            copyDataTimer.Tick += CopyDataTimer_Tick;
+            tele_server.setCommParams(new TCPCommParams("", (int)TeleServerPortCtrl.Value));
+            var t = Task.Run(() => tele_server.Open());
+            tele_server.OnTeleClientConnected += Tele_server_OnTeleClientСonnected;
+            tele_server.OnTeleClientDisconnected += Tele_server_OnTeleClientDisconnected;
+            MonitoringTimer.Interval = 25;
+            MonitoringTimer.Tick += MonitoringTimer_Tick;
+            copyDataTimer.Start();
+            button1.BackColor = Color.LimeGreen;
         }
 
         private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
@@ -103,12 +184,29 @@ namespace DroneSimulator
 
             label_time_gyr.Text = dataDrone.TimeGyr.ToString();
 
+            float[] imu = { dataDrone.AccX, dataDrone.AccY, dataDrone.AccZ, dataDrone.GyrX, dataDrone.GyrY, dataDrone.GyrZ };
+            Array.Copy(imu, telemetry.imu, 6);
+
             label_Pos_X.Text = dataDrone.PosX.ToString();
             label_Pos_Y.Text = dataDrone.PosY.ToString();
             label_Pos_L.Text = dataDrone.LaserRange.ToString();
 
             label_time_range.Text = dataDrone.TimeRange.ToString();
 
+            float[] pos = { dataDrone.PosX, dataDrone.PosY, dataDrone.LaserRange };
+            Array.Copy(pos, telemetry.pos, 3);
+
+            label_OF_X.Text = dataDrone.OF.X.ToString();
+            label_OF_Y.Text = dataDrone.OF.Y.ToString();
+
+            label_time_of.Text = dataDrone.TimeRange.ToString();
+
+            float[] of = { dataDrone.OF.X, dataDrone.OF.Y };
+            Array.Copy(of, telemetry.of, 2);
+
+            if (monitoring.isMonitor == 1) MonitoringTimer.Start();
+            else MonitoringTimer.Stop();
+
             netClient.SendData(dataDrone.SendReqest());
         }
 
@@ -123,7 +221,7 @@ namespace DroneSimulator
 
         private void button_UU_MouseDown(object sender, MouseEventArgs e)
         {
-      const float pow = 0.1f;
+            float pow = ((float)trackBar_Value.Value) / 10.0f;
 
             if (sender == button_UU)
             {
@@ -163,5 +261,20 @@ namespace DroneSimulator
         {
             trackBar_Power_Scroll(null, null);
         }
+
+        private void button1_Click(object sender, EventArgs e)
+        {
+
+            copyDataTimer.Interval = 10;
+            copyDataTimer.Tick += CopyDataTimer_Tick;
+            tele_server.setCommParams(new TCPCommParams("", (int)TeleServerPortCtrl.Value));
+            var t = Task.Run(() => tele_server.Open());
+            tele_server.OnTeleClientConnected += Tele_server_OnTeleClientСonnected;
+            tele_server.OnTeleClientDisconnected += Tele_server_OnTeleClientDisconnected;
+            MonitoringTimer.Interval = 25;
+            MonitoringTimer.Tick += MonitoringTimer_Tick;
+            copyDataTimer.Start();
+            button1.BackColor = Color.LimeGreen;
+        }
     }
 }

DroneClient/Models/MonitorContainer.cs

@@ -0,0 +1,126 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using TelemetryIO;
+
+namespace DroneClient.Models
+{
+    public class monitorItem
+    {
+        public int slotNo = 0;
+        public int offset = 0;
+        public int len = 0;
+        public int id = 0;
+
+        public monitorItem()
+        {
+            
+        }
+        public monitorItem(int slotNo, int offset, int len, int id)
+        {
+            this.slotNo = slotNo;
+            this.offset = offset;
+            this.len = len;
+            this.id = id;
+        }
+    }
+
+    public class MonitorContainer
+    {
+        public const int monitorMaxFill = 32;
+        public int monitorFillLevel = 0;
+        public monitorItem[] monitorItems = new monitorItem[monitorMaxFill];
+        public int isMonitor = 0;
+        private static volatile MonitorContainer instance;
+        private static readonly object _lock = new object();
+
+        public static MonitorContainer Instance
+        {
+            get
+            {
+                if (instance == null)
+                {
+                    lock (_lock)
+                    {
+                        if (instance == null)
+                        {
+                            instance = new MonitorContainer();
+                        }
+                    }
+                }
+                return instance;
+            }
+
+        }
+
+        private MonitorContainer()
+        {
+            for (int i = 0; i < monitorMaxFill; i++)
+            {
+                monitorItems[i] = new monitorItem();
+            }
+        }
+
+        public void resetMonitorContainer()
+        {
+            for (int i = 0; i < monitorMaxFill; i++)
+            {
+                monitorItems[i] = new monitorItem();
+            }
+        }
+
+        public int monitorPut(int slot, int offset, int len)
+        {
+            int ret_id = 0;
+            if (monitorFillLevel < monitorMaxFill)
+            {
+                monitorItems[monitorFillLevel].slotNo = slot;
+                monitorItems[monitorFillLevel].offset = offset;
+                monitorItems[monitorFillLevel].len = len;
+                monitorItems[monitorFillLevel].id = (slot << 8) + offset;
+                ret_id = monitorItems[monitorFillLevel].id;
+                monitorFillLevel++;
+                isMonitor = 1;
+            }
+
+            return ret_id;
+        }
+
+        public int monitorRemove(int id)
+        {
+            int match = 0;
+            int ret_id = 0;
+            for (int i = 0; i < monitorMaxFill; i++)
+            {
+                if (monitorItems[i].id == id)
+                {
+                    match = 1;
+                    if (monitorFillLevel > 0) monitorFillLevel--;
+                    ret_id = id;
+                }
+
+                if (match > 0)
+                {
+                    if (monitorItems[i].len == 0) return ret_id;
+                    if (i < 31)
+                    {
+                        monitorItems[i].id = monitorItems[i + 1].id;
+                        monitorItems[i].offset = monitorItems[i + 1].offset;
+                        monitorItems[i].slotNo = monitorItems[i + 1].slotNo;
+                        monitorItems[i].len = monitorItems[i + 1].len;
+                    }
+                    else
+                    {
+                        monitorItems[i].id = 0;
+                        monitorItems[i].offset = 0;
+                        monitorItems[i].slotNo = 0;
+                        monitorItems[i].len = 0;
+                    }
+                }
+            }
+            return ret_id;
+        }
+    }
+}

DroneClient/Models/Telemetry.cs

@@ -0,0 +1,340 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace TelemetryIO.Models
+{
+    public sealed class Telemetry
+    {
+        //Класс синглтон для хранения данных телеметрии
+        private static volatile Telemetry instance;
+        private static readonly object _lock = new object();
+        private Dictionary<string, VarAddress> dictMonitor = new Dictionary<string, VarAddress>();//Словарь адресов, для целей мониторинга
+        public string name = "_150";
+        public float[] raw_imu = new float[6];
+        public float[] imu = new float[6];
+        public float[] filtered_imu = new float[6];
+        public float[] g_integration = new float[3];
+        public float[] euler = new float[3];
+        public float[] quaternion = new float[4];
+        public float[] battery = new float[4];
+        public float[] motor_act = new float[8];
+        public float[] motor_sp = new float[8];
+        public float[] pid0 = new float[9];
+        public float[] pid1 = new float[9];
+        public float[] pid2 = new float[9];
+        public float[] pid3 = new float[9];
+        public float[] pos = new float[3];
+        public float[] of = new float[2];
+
+        private object _lockRW = new object();
+
+        private Telemetry() {
+            dictMonitor.Add("rawAx", new VarAddress(RAW_IMU_ADDRESS, 0));
+            dictMonitor.Add("rawAy", new VarAddress(RAW_IMU_ADDRESS, 1));
+            dictMonitor.Add("rawAz", new VarAddress(RAW_IMU_ADDRESS, 2));
+            dictMonitor.Add("rawGx", new VarAddress(RAW_IMU_ADDRESS, 3));
+            dictMonitor.Add("rawGy", new VarAddress(RAW_IMU_ADDRESS, 4));
+            dictMonitor.Add("rawGz", new VarAddress(RAW_IMU_ADDRESS, 5));
+
+            dictMonitor.Add("Ax", new VarAddress(IMU_ADDRESS, 0));
+            dictMonitor.Add("Ay", new VarAddress(IMU_ADDRESS, 1));
+            dictMonitor.Add("Az", new VarAddress(IMU_ADDRESS, 2));
+            dictMonitor.Add("Gx", new VarAddress(IMU_ADDRESS, 3));
+            dictMonitor.Add("Gy", new VarAddress(IMU_ADDRESS, 4));
+            dictMonitor.Add("Gz", new VarAddress(IMU_ADDRESS, 5));
+
+            dictMonitor.Add("filtered_Ax", new VarAddress(FILTERED_IMU_ADDRESS, 0));
+            dictMonitor.Add("filtered_Ay", new VarAddress(FILTERED_IMU_ADDRESS, 1));
+            dictMonitor.Add("filtered_Az", new VarAddress(FILTERED_IMU_ADDRESS, 2));
+            dictMonitor.Add("filtered_Gx", new VarAddress(FILTERED_IMU_ADDRESS, 3));
+            dictMonitor.Add("filtered_Gy", new VarAddress(FILTERED_IMU_ADDRESS, 4));
+            dictMonitor.Add("filtered_Gz", new VarAddress(FILTERED_IMU_ADDRESS, 5));
+
+            dictMonitor.Add("Gx_int", new VarAddress(G_INTEGRATION_ADDRESS, 0));
+            dictMonitor.Add("Gy_int", new VarAddress(G_INTEGRATION_ADDRESS, 1));
+            dictMonitor.Add("Gz_int", new VarAddress(G_INTEGRATION_ADDRESS, 2));
+
+            dictMonitor.Add("Euler.Phi", new VarAddress(EULER_ADDRESS, 0));
+            dictMonitor.Add("Euler.Theta", new VarAddress(EULER_ADDRESS, 1));
+            dictMonitor.Add("Euler.Psi", new VarAddress(EULER_ADDRESS, 2));
+
+            dictMonitor.Add("Qw", new VarAddress(Q_ADDRESS, 0));
+            dictMonitor.Add("Qx", new VarAddress(Q_ADDRESS, 1));
+            dictMonitor.Add("Qy", new VarAddress(Q_ADDRESS, 2));
+            dictMonitor.Add("Qz", new VarAddress(Q_ADDRESS, 3));
+
+            dictMonitor.Add("Battery[V]", new VarAddress(BAT_ADDRESS, 0));
+
+            dictMonitor.Add("motor0_Act", new VarAddress(MOTORS_ACT_ADDRESS, 0));
+            dictMonitor.Add("motor1_Act", new VarAddress(MOTORS_ACT_ADDRESS, 1));
+            dictMonitor.Add("motor2_Act", new VarAddress(MOTORS_ACT_ADDRESS, 2));
+            dictMonitor.Add("motor3_Act", new VarAddress(MOTORS_ACT_ADDRESS, 3));
+            dictMonitor.Add("motor4_Act", new VarAddress(MOTORS_ACT_ADDRESS, 4));
+            dictMonitor.Add("motor5_Act", new VarAddress(MOTORS_ACT_ADDRESS, 5));
+            dictMonitor.Add("motor6_Act", new VarAddress(MOTORS_ACT_ADDRESS, 6));
+            dictMonitor.Add("motor7_Act", new VarAddress(MOTORS_ACT_ADDRESS, 7));
+
+            dictMonitor.Add("Pos_X", new VarAddress(POS_ADDRESS, 0));
+            dictMonitor.Add("Pos_Y", new VarAddress(POS_ADDRESS, 1));
+            dictMonitor.Add("Pos_L", new VarAddress(POS_ADDRESS, 2));
+
+            dictMonitor.Add("OF_X", new VarAddress(OF_ADDRESS, 0));
+            dictMonitor.Add("OF_Y", new VarAddress(OF_ADDRESS, 1));
+        }
+
+        public int getId(string name)
+        {
+            VarAddress var = dictMonitor[name];
+            if (var == null) return -1;
+            return (var.slot << 8) | var.offset;
+        }
+
+        public string getName(int id)
+        {
+            int slot = id >> 8;
+            int offset = id & 0xFF;
+            foreach(var element in dictMonitor)
+            {
+                if ((element.Value.slot == slot) && (element.Value.offset == offset)) return element.Key;
+            }
+            return null;
+        }
+
+        public VarAddress getVarAdress(string name)
+        {
+            VarAddress ret;
+            dictMonitor.TryGetValue(name, out ret);
+            return ret;
+        }
+
+        public string[] getKeys()
+        {
+            return dictMonitor.Keys.ToArray();
+        }
+        
+        public static Telemetry Instance
+        {
+            get
+            {
+                if(instance == null)
+                {
+                    lock(_lock)
+                    {
+                        if (instance == null)
+                        {
+                            instance = new Telemetry();
+                        }
+                    }
+                }
+                return instance;
+            }
+        }
+
+        public void setSlot(int slot, byte[] data, int offset, int len)
+        {
+            switch (slot)
+            {
+                case RAW_IMU_ADDRESS://RAW IMU
+                    set_float(raw_imu, data, offset, len);
+                    break;
+
+                case IMU_ADDRESS://IMU
+                    set_float(imu, data, offset, len);
+                    break;
+
+                case Q_ADDRESS://quaternion
+                    set_float(quaternion, data, offset, len);
+                    break;
+
+                case G_INTEGRATION_ADDRESS://quaternion
+                    set_float(g_integration, data, offset, len);
+                    break;
+
+                case EULER_ADDRESS://quaternion
+                    set_float(euler, data, offset, len);
+                    break;
+
+                case FILTERED_IMU_ADDRESS://IMU
+                    set_float(filtered_imu, data, offset, len);
+                    break;
+
+                case BAT_ADDRESS://battery
+                    set_float(battery, data, offset, len);
+                    break;
+
+                case MOTORS_ACT_ADDRESS://motors act
+                    set_float(motor_act, data, offset, len);
+                    break;
+
+                case MOTORS_SP_ADDRESS://motors act
+                    set_float(motor_sp, data, offset, len);
+                    break;
+
+                case PID0_ADDRESS:
+                    set_float(pid0, data, offset, len);
+                    break;
+
+                case PID1_ADDRESS:
+                    set_float(pid1, data, offset, len);
+                    break;
+
+                case PID2_ADDRESS:
+                    set_float(pid2, data, offset, len);
+                    break;
+
+                case PID3_ADDRESS:
+                    set_float(pid3, data, offset, len);
+                    break;
+
+                case POS_ADDRESS:
+                    set_float(pos, data, offset, len);
+                    break;
+
+                case OF_ADDRESS:
+                    set_float(of, data, offset, len);
+                    break;
+
+                case NAME_ADDRESS:
+                    set_name(data);
+                    break;
+            }
+        }
+
+        public byte[] getSlot(int slot, int offset, int len)
+        {
+            switch (slot)
+            {
+                case RAW_IMU_ADDRESS://RAW IMU
+                    return get_float(raw_imu, offset, len);
+
+                case IMU_ADDRESS://IMU
+                    return get_float(imu, offset, len);
+
+                case Q_ADDRESS://quaternion
+                    return get_float(quaternion, offset, len);
+
+                case G_INTEGRATION_ADDRESS://quaternion
+                    return get_float(g_integration, offset, len);
+
+                case EULER_ADDRESS://quaternion
+                    return get_float(euler, offset, len);
+
+                case FILTERED_IMU_ADDRESS://IMU
+                    return get_float(filtered_imu, offset, len);
+
+                case BAT_ADDRESS://battery
+                    return get_float(battery, offset, len);
+
+                case MOTORS_ACT_ADDRESS://motors act
+                    return get_float(motor_act, offset, len);
+
+                case MOTORS_SP_ADDRESS://motors act
+                    return get_float(motor_sp, offset, len);
+
+                case PID0_ADDRESS:
+                    return get_float(pid0, offset, len);
+
+                case PID1_ADDRESS:
+                    return get_float(pid1, offset, len);
+
+                case PID2_ADDRESS:
+                    return get_float(pid2, offset, len);
+
+                case PID3_ADDRESS:
+                    return get_float(pid3, offset, len);
+
+                case POS_ADDRESS:
+                    return get_float(pos, offset, len);
+                    break;
+
+                case OF_ADDRESS:
+                    return get_float(of, offset, len);
+
+                case NAME_ADDRESS:
+                    return Encoding.ASCII.GetBytes(name);
+
+                default:
+                    byte[] data = new byte[0];
+                    return data;
+            }
+        }
+
+
+        private void set_float(float[] dest, byte[] data, int offset, int len)
+        {
+            lock (_lockRW)
+            {
+                for (int i = 0; i < (int)(len / 4); i++)
+                {
+                    byte[] bs = new byte[4];
+                    Array.Copy(data, i * 4, bs, 0, 4);
+                    float f = BitConverter.ToSingle(bs, 0);
+                    dest[offset + i] = f;
+                }
+            }
+        }
+
+        private byte[] get_float(float[] source, int offset, int len)
+        {
+            lock (_lockRW)
+            {
+                byte[] bs = new byte[len];
+                Buffer.BlockCopy(source, offset * sizeof(float), bs, 0, len);
+                return bs;
+            }
+        }
+
+        private void set_name(byte[] data)
+        {
+            int len = data.Length;
+            if (len > 16) len = 16;
+            name = Encoding.ASCII.GetString(data, 0, len);
+        }
+
+        public const int RAW_IMU_ADDRESS = 0;
+        public const int IMU_ADDRESS = 1;
+        public const int Q_ADDRESS = 2;
+        public const int G_INTEGRATION_ADDRESS = 3;
+        public const int EULER_ADDRESS = 4;
+        public const int FILTERED_IMU_ADDRESS = 5;
+        public const int POS_ADDRESS = 6;
+        public const int OF_ADDRESS = 7;
+
+        public const int BAT_ADDRESS = 50;
+
+        public const int MOTORS_ACT_ADDRESS = 100;
+        public const int MOTORS_SP_ADDRESS = 101;
+
+        public const int PID0_ADDRESS = 1000;
+        public const int PID1_ADDRESS = 1001;
+        public const int PID2_ADDRESS = 1002;
+        public const int PID3_ADDRESS = 1003;
+
+        public const int NAME_ADDRESS = 9999;
+    }
+
+    public class VarAddress
+    {
+        public int slot = 0;
+        public int offset = 0;
+        public int length = 0;
+
+        public VarAddress()
+        {
+            slot = offset = 0;
+            length = 4;
+        }
+
+        public VarAddress(int slot, int offset, int length = 4)
+        {
+            this.slot = slot;
+            this.offset = offset;
+            this.length = length;
+        }
+    }
+}

DroneClient/Properties/Resources.Designer.cs

@@ -0,0 +1,63 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     Этот код создан программой.
+//     Исполняемая версия:4.0.30319.42000
+//
+//     Изменения в этом файле могут привести к неправильной работе и будут потеряны в случае
+//     повторной генерации кода.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace DroneClient.Properties {
+    using System;
+    
+    
+    /// <summary>
+    ///   Класс ресурса со строгой типизацией для поиска локализованных строк и т.д.
+    /// </summary>
+    // Этот класс создан автоматически классом StronglyTypedResourceBuilder
+    // с помощью такого средства, как ResGen или Visual Studio.
+    // Чтобы добавить или удалить член, измените файл .ResX и снова запустите ResGen
+    // с параметром /str или перестройте свой проект VS.
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "17.0.0.0")]
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    internal class Resources {
+        
+        private static global::System.Resources.ResourceManager resourceMan;
+        
+        private static global::System.Globalization.CultureInfo resourceCulture;
+        
+        [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
+        internal Resources() {
+        }
+        
+        /// <summary>
+        ///   Возвращает кэшированный экземпляр ResourceManager, использованный этим классом.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Resources.ResourceManager ResourceManager {
+            get {
+                if (object.ReferenceEquals(resourceMan, null)) {
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("DroneClient.Properties.Resources", typeof(Resources).Assembly);
+                    resourceMan = temp;
+                }
+                return resourceMan;
+            }
+        }
+        
+        /// <summary>
+        ///   Перезаписывает свойство CurrentUICulture текущего потока для всех
+        ///   обращений к ресурсу с помощью этого класса ресурса со строгой типизацией.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Globalization.CultureInfo Culture {
+            get {
+                return resourceCulture;
+            }
+            set {
+                resourceCulture = value;
+            }
+        }
+    }
+}

DroneClient/Properties/Resources.resx

@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>

DroneClient/TelemetryServer.cs

@@ -0,0 +1,258 @@
+using DroneClient.Models;
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.IO;
+using System.Linq;
+using System.Net;
+using System.Net.Sockets;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using TelemetryIO;
+using TelemetryIO.Models;
+
+namespace TelemetryIO
+{
+    internal class TelemetryServer : TelemetryIO.BaseCommHandler
+    {
+        ConcurrentQueue<byte[]> sendQueue = new ConcurrentQueue<byte[]>();
+        Telemetry telemetry = Telemetry.Instance;
+        MonitorContainer monitoring = MonitorContainer.Instance;
+        private bool isClientConnected = false;
+
+        public event EventHandler OnTeleClientConnected = delegate { };
+        public event EventHandler OnTeleClientDisconnected = delegate { };
+
+        public bool isClientAvailable { get { return isClientConnected; } }
+
+        public TelemetryServer()
+        {
+
+        }
+        public override void Close()
+        {
+            throw new NotImplementedException();
+        }
+
+        public override void CloseConnection()
+        {
+            throw new NotImplementedException();
+        }
+
+        public override bool IsOpen()
+        {
+            return true;
+        }
+
+        public async override Task Open()
+        {
+            await StartServerAsync();
+            //Console.ReadLine();
+        }
+
+        public async Task StartServerAsync()
+        {
+            var listener = new TcpListener(IPAddress.Any, Port);
+            listener.Start();
+            Console.WriteLine("Server is running");
+            try
+            {
+                while (true)
+                {
+                    //if (isClientConnected) await Task.Delay(25);
+                    var client = await listener.AcceptTcpClientAsync();
+                    StrikeOnTeleClientConnected();
+                    isClientConnected = true;
+                    Debug.WriteLine("Client is connected");
+                    //this.client = client;
+                    var readTask = StartReadingAsync(client);
+                    var writeTask = SendMessageAsync(client);
+                    await readTask;
+                    await writeTask;
+                }
+            }
+            catch (IOException ex) when (IsNetworkError(ex))
+            {
+                // Специальная обработка сетевых ошибок
+                Debug.WriteLine($"Ошибка при запуске сервера: {ex.Message}");
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine("An error occurred: " + ex.Message);
+            }
+            finally
+            {
+                listener.Stop();
+            }
+        }
+
+        public async Task SendMessageAsync(TcpClient c)
+        {
+            if (c.GetStream() == null || !c.Connected)
+            {
+                Console.WriteLine("Not connected to server");
+                return;
+            }
+
+            while (c.Connected)
+            {
+                if (sendQueue.TryDequeue(out byte[] buffer))
+                {
+                    try
+                    {
+                        await c.GetStream().WriteAsync(buffer, 0, buffer.Length);
+                        Debug.WriteLine($"Sent");
+                    }
+                    catch (IOException ex) when (IsNetworkError(ex))
+                    {
+                        // Специальная обработка сетевых ошибок
+                        Debug.WriteLine($"Клиент отключился: {ex.Message}");
+                        HandleDisconnectedClient(c);
+                    }
+                    catch (Exception ex)
+                    {
+                        Debug.WriteLine($"Error sending message: {ex.Message}");
+                    }
+                }
+            }
+        }
+
+        public async override Task StartReadingAsync(object C)
+        {
+            TcpClient client;
+            if (C is TcpClient) client = (TcpClient)C;
+            else
+            {
+                return;
+            }
+            try
+            {
+                using NetworkStream stream = client.GetStream();
+
+                while (client.Connected)
+                {
+                    byte[] buffer = new byte[1024];
+                    int bytesRead = await stream.ReadAsync(buffer, 0, buffer.Length);
+                    //string response = await reader.ReadLineAsync();
+                    if (bytesRead > 0)
+                    {
+                        EnqueueData(buffer, bytesRead);
+                    }
+                    data_extract();
+                }
+            }
+            catch (IOException ex) when (IsNetworkError(ex))
+            {
+                // Специальная обработка сетевых ошибок
+                Debug.WriteLine($"Клиент отключился: {ex.Message}");
+                HandleDisconnectedClient(client);
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"Error sending message: {ex.Message}");
+            }
+        }
+
+        protected override void ProcessCommand(int cmd, int slot, byte[] data, int offset, int len)
+        {
+            Debug.WriteLine(@"server cmd = " + cmd);
+
+            switch (cmd)
+            {
+                case TELE_CMD_HELLO:
+                    byte[] load = telemetry.getSlot(cmd, offset, len);
+                    putRequest(prepareTelegram(cmd, 0, load, 0, load.Length));
+                    break;
+
+                case TELE_CMD_RD_ONCE:
+                    byte[] load1 = telemetry.getSlot(slot, offset, len);
+                    putRequest(prepareTelegram(cmd, slot, load1, offset, load1.Length));
+                    break;
+
+                case TELE_CMD_WR:
+                    setData(data, slot, offset, len);
+                    sendVoidAnswer(TELE_CMD_WR);
+                    break;
+
+                case TELE_CMD_RD_MON_ON:
+                    monitoring.isMonitor = 1;
+                    sendVoidAnswer(TELE_CMD_RD_MON_ON);
+                    break;
+
+                case TELE_CMD_RD_MON_OFF:
+                    monitoring.isMonitor = 0;
+                    sendVoidAnswer(TELE_CMD_RD_MON_OFF);
+                    break;
+
+                case TELE_CMD_RD_MON_ADD:
+                    int id = monitoring.monitorPut(slot, offset, 4);
+                    sendIntAnswer(TELE_CMD_RD_MON_ADD, id);
+                    monitoring.isMonitor = 1;
+                    break;
+
+                case TELE_CMD_RD_MON_REMOVE:
+                    id = monitoring.monitorRemove(offset);//in this case offset == id
+                    if(monitoring.monitorFillLevel == 0)monitoring.isMonitor = 0;//if monitor_fill_level == 0 there is no item to monitor
+                    if (monitoring.isMonitor > 0) sendIntAnswer(TELE_CMD_RD_MON_REMOVE, id);
+                    else sendVoidAnswer(TELE_CMD_RD_MON_REMOVEALL);
+                    break;
+            }
+        }
+
+        private void setData(byte[] load, int slot, int offset, int len)
+        {
+            telemetry.setSlot(slot, load, offset, len);
+        }
+
+        private void sendVoidAnswer(int command)
+        {
+            putRequest(prepareTelegram(command, 0, new byte[0], 0));
+        }
+
+        private void sendIntAnswer(int command, int param)
+        {
+            putRequest(prepareTelegram(command, 0, new byte[0], param));
+        }
+
+        protected override void sendData(byte[] data)
+        {
+            sendQueue.Enqueue(data);
+        }
+
+        public override void setCommParams(iCommParams commParams)
+        {
+            if (commParams.GetType() == typeof(TCPCommParams))
+            {
+                var comm = (TCPCommParams)commParams;
+                IP = comm.IP;
+                Port = comm.Port;
+            }
+        }
+
+        private void HandleDisconnectedClient(TcpClient client)
+        {
+            isClientConnected = false;
+            StrikeOnTeleClientDisconnected();
+        }
+
+        private bool IsNetworkError(Exception ex)
+        {
+            // Проверяем типичные сетевые ошибки при разрыве соединения
+            return ex is IOException
+                   || ex is SocketException
+                   || ex.InnerException is SocketException;
+        }
+
+        public void StrikeOnTeleClientConnected()
+        {
+            OnTeleClientConnected?.Invoke(this, EventArgs.Empty);
+        }
+
+        public void StrikeOnTeleClientDisconnected()
+        {
+            OnTeleClientDisconnected?.Invoke(this, EventArgs.Empty);
+        }
+    }
+}

DroneSimulator/Area.cs

@@ -0,0 +1,27 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Numerics;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace DroneSimulator
+{
+  internal class Area
+  {
+    public struct Poisition
+    {
+      public struct Freeze{ public static bool X, Y, Z; }
+    }
+
+    public struct Wind
+    {
+      public static bool Enable;
+      public struct Speed { public static float From, To; }
+      public static float Direction;
+      public static float Density;
+      public static float PosResist;
+      public static float RotResist;
+    }
+  }
+}

DroneSimulator/Drone.cs

@@ -1,26 +1,28 @@
-using System.CodeDom;
+using System.Collections.Concurrent;
+using System.Diagnostics;
 using System.Numerics;
 using System.Runtime.InteropServices;
-using System.Security.Cryptography;
+using static System.Net.Mime.MediaTypeNames;
 
 namespace DroneSimulator
 {
   internal class Drone
   {
     public int ID;
-    public float Mass; // Масса
+
     public bool Active; // Живой?
-    public float Length; // Длинна лучей
     public const float Dynamic = 10; // Динамика вращения
     public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
     public Quaternion Quat; // Основной кватернион
     public float Power = 0; // Тяга всех двигателей (0-1)
-    public float MaxPower; // Максимальная Тяга всех двигателей (КГ)
+    
     public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
 
     public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
     public float LaserRange; // Имитация: Дальномер
 
+    public Vector4 Orientation;
+
     private uint DataTimer;
 
     private const float Gravity = 9.8f;
@@ -28,10 +30,31 @@ namespace DroneSimulator
     private const float TO_GRAD = 180 / MathF.PI;
     private const float TO_RADI = MathF.PI / 180;
 
-    private Thread DroneThread;
-    private int Timer;
+    public static List<Drone> AllDrones = new List<Drone>();
+    private static Thread? DroneThread = null;
+    public static long Timing = 0;
+    public static long Lag = 0;
+    public static long Freq = 1000;
+    public static bool Boost = false;
 
-    private static int CounterID = 0;
+    private uint Timer;
+
+    private Vector2 MoveOF = Vector2.Zero;
+    private uint CountOF = 0;
+
+    public struct Physics
+    {
+      static public float Mass; // Масса
+      static public float Length; // Длинна лучей
+      static public float MaxPower; // Максимальная Тяга всех двигателей (КГ)
+    }
+
+    private RealMode.Accelerometer RealAcc = new RealMode.Accelerometer();
+    private RealMode.Gyroscope RealGyr = new RealMode.Gyroscope();
+    private RealMode.Position RealPos = new RealMode.Position();
+    private RealMode.Barometer RealBar = new RealMode.Barometer();
+    private RealMode.Range RealRange = new RealMode.Range();
+    private RealMode.OpticalFlow RealOF = new RealMode.OpticalFlow();
 
     public static byte[] getBytes(object data)
     {
@@ -74,24 +97,73 @@ namespace DroneSimulator
       return mem;
     }
 
-    public struct DataVisual
+    public VisualData.VisualDrone GetVisual(int count, int index)
     {
-      public int ID; // Идентификатор
-      public float W, X, Y, Z; // Кватернион вращения
-      public float PosX, PosY, PosZ; // Координаты в пространстве
+      VisualData.VisualDrone drone = new VisualData.VisualDrone();
+
+      drone.Head.Size = Marshal.SizeOf(typeof(VisualData.VisualDrone));
+      drone.Head.Type = VisualData.VisualHead.VisualType.Drone;
+
+      drone.Count = count;
+      drone.Index = index;
+
+      drone.ID = ID;
+      drone.Color.A = 255; drone.Color.R = 255; drone.Color.G = 0; drone.Color.B = 0;
+
+      drone.Rotate.X = Quat.X; drone.Rotate.Y = Quat.Y; drone.Rotate.Z = Quat.Z; drone.Rotate.W = Quat.W;
+      drone.Position.X = PosXYZ.X; drone.Position.Y = PosXYZ.Y; drone.Position.Z = PosXYZ.Z;
+      drone.Scale = 1.0f;
+
+      drone.State = VisualData.VisualDrone.DroneState.Active;
+
+      drone.Power = Power;
+
+      return drone;
     }
 
-    public DataVisual GetVisual()
+    public static void StartThread()
     {
-      return new DataVisual() { ID = this.ID, W = this.Quat.W, X = this.Quat.X, Y = this.Quat.Y, Z = this.Quat.Z, PosX = this.PosXYZ.X, PosY = this.PosXYZ.Y, PosZ = this.PosXYZ.Z };
+      if (DroneThread != null) return;
+
+      DroneThread = new Thread(new ThreadStart(Drone.ThreadFunction));
+      DroneThread.Priority = ThreadPriority.Highest;
+      DroneThread.Start();
     }
 
-    private void ThreadFunction()
+    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);
-        Thread.Sleep(1);
+        if(!Boost) Thread.Yield();
+
+        long tick = Stopwatch.GetTimestamp();
+
+        if (tick == prev) continue;
+
+        Timing = Stopwatch.Frequency / (tick - prev);
+        prev = tick;
+
+        long quant = Stopwatch.Frequency / Freq;
+
+        if (tick < last + quant) continue;
+
+        if (tick > (last + quant) + quant * 0.1) Lag++;
+
+        last = tick;
+
+        lock (AllDrones)
+          foreach (Drone drone in AllDrones)
+            drone.Action((uint)(tick / (Stopwatch.Frequency / 1000)));
       }
     }
 
@@ -103,28 +175,15 @@ 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(float power, float mass, float len)
+    public int Create()
     {
-      Mass = mass;
-      Length = len;
-      MaxPower = power;
-
       Active = true;
 
       return ID;
     }
 
-    public void Close()
-    {
-      DroneThread = null;
-    }
-
     private float GetAngle(float a1, float a2, float az)
     {
       if (a2 == 0.0f && az == 0.0f)
@@ -158,7 +217,7 @@ namespace DroneSimulator
     {
       Quaternion grav = new Quaternion(0, 0, 1, 0);
 
-      grav = (Quat * grav) * Quaternion.Inverse(Quat);
+      grav = Quat * grav * Quaternion.Inverse(Quat);
 
       float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD;
       if (yaw < 0.0f) yaw = 360.0f + yaw;
@@ -166,9 +225,13 @@ 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;
@@ -180,47 +243,86 @@ namespace DroneSimulator
         flow += flow * 0.1f; // Воздушная подушка
       }
 
-      SpdPRY += AccPRY * (Dynamic * time / (Mass * Length));
+      float wind_x = 0, wind_y = 0, wind_z = 0;
+      float wind_p = 0, wind_r = 0, wind_w = 0;
+
+      if (Area.Wind.Enable)
+      {
+        Quaternion dir = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), Area.Wind.Direction * TO_RADI * 2);
+
+        Quaternion spd = new Quaternion(0, Area.Wind.Speed.From, 0, 0) * dir;
+
+        float spd_x = spd.X - SpdXYZ.X;
+        float spd_y = spd.Y - SpdXYZ.Y;
+        float spd_z = spd.Z - SpdXYZ.Z;
+
+        wind_x = 0.5f * Area.Wind.Density * Area.Wind.PosResist * (spd_x * MathF.Abs(spd_x));
+        wind_y = 0.5f * Area.Wind.Density * Area.Wind.PosResist * (spd_y * MathF.Abs(spd_y));
+        wind_z = 0.5f * Area.Wind.Density * Area.Wind.PosResist * (spd_z * MathF.Abs(spd_z));
+
+        wind_p = 0.5f * Area.Wind.Density * Area.Wind.RotResist * (SpdPRY.X * MathF.Abs(SpdPRY.X));
+        wind_r = 0.5f * Area.Wind.Density * Area.Wind.RotResist * (SpdPRY.Y * MathF.Abs(SpdPRY.Y));
+        wind_w = 0.5f * Area.Wind.Density * Area.Wind.RotResist * (SpdPRY.Z * MathF.Abs(SpdPRY.Z));
+
+        AccPRY.X -= wind_p; AccPRY.Y -= wind_r; AccPRY.Z -= wind_w;
+      }
+
+      SpdPRY += AccPRY * (Dynamic * time / (Physics.Mass * Physics.Length));
 
       Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
-      AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) * (Gravity / Mass);
-
+      AccXYZ = new Vector3(pow.X + wind_x, pow.Y + wind_y, pow.Z + wind_z) * (Gravity / Physics.Mass);
       SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
       PosXYZ += SpdXYZ * time;
 
       AccXYZ /= Gravity; // Вернуть измерения в G
 
-      if (PosXYZ.Z < 0)
+      if (Area.Poisition.Freeze.X) { SpdXYZ.X = 0; PosXYZ.X = 0; }
+      if (Area.Poisition.Freeze.Y) { SpdXYZ.Y = 0; PosXYZ.Y = 0; }
+      if (Area.Poisition.Freeze.Z) { SpdXYZ.Z = 0; PosXYZ.Z = 5; }
+
+      /*if (PosXYZ.Z < 0)
       {
         SpdPRY = Vector3.Zero;
         SpdXYZ.X = 0;
         SpdXYZ.Y = 0;
         Quat = Quaternion.Identity;
       }
-      else Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time);
+      else */
+        Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time);
 
       Vector4 ori = GetOrientation();
 
-      if (PosXYZ.Z < 0)
+      Orientation = ori;
+      float range = 0;
+
+      if (PosXYZ.Z <= 0)
+      {
+        PosXYZ.Z = 0;
+        SpdXYZ.Z = 0;
+        LaserRange = 0;
+        Acc = new Vector3(0, 0, 1);
+      }
+
+      /*if (PosXYZ.Z < 0)
       {
         PosXYZ.Z = 0;
 
-        /*if (SpdXYZ.Z < -5)
-        {
-          Active = false; // Сильно ударился о землю
-        }*/
+        //if (SpdXYZ.Z < -5)
+        //{
+        //  Active = false; // Сильно ударился о землю
+        //}
 
-        /*if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20)
-        {
-          Active = false; // Повредил винты при посадке
-        }*/
+        //if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20)
+        //{
+        //  Active = false; // Повредил винты при посадке
+        //}
 
         SpdXYZ.Z = 0;
 
         Acc = new Vector3(0, 0, 1);
         Gyr = Vector3.Zero;
         LaserRange = 0;
-      }
+      }*/
       else
       {
         if (ori.W < 0)
@@ -228,19 +330,35 @@ namespace DroneSimulator
           //Active = false; // Перевернулся вверх ногами
         }
 
-        Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0);
-        //grav = (Quat * grav) * Quaternion.Inverse(Quat); // Инерциальный акселерометр (тест)
+        Quaternion grav = Quat * new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0) * Quaternion.Inverse(Quat);
         Acc = new Vector3(grav.X, grav.Y, grav.Z);
 
         Gyr = SpdPRY;
 
-        float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI;
+        float tilt = MathF.Sqrt((ori.X * ori.X) + (ori.Y * ori.Y)) * TO_RADI;
 
-        if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
+        range = PosXYZ.Z / MathF.Cos(tilt);
+
+        if (tilt < 90 && ori.W > 0) LaserRange = range;
         else LaserRange = float.MaxValue;
       }
 
-      DataTimer = (uint)tick;
+      RealAcc.Update(Acc, tick);
+      RealGyr.Update(Gyr, tick);
+      RealRange.Update(LaserRange, tick);
+      RealBar.Update(PosXYZ.Z, tick);
+      RealPos.Update(PosXYZ, tick);
+
+      bool of = RealOF.Update(new Vector2(SpdXYZ.X * range - Gyr.Y, SpdXYZ.Y * range + Gyr.X), LaserRange, tick);
+
+      if(of) lock (this)
+      {
+        MoveOF += RealOF.result;
+        CountOF += 1;
+      }
+      
+
+      DataTimer = tick;
     }
 
     private float Range(float pow)
@@ -248,7 +366,7 @@ namespace DroneSimulator
       if (pow > 1) pow = 1;
       if (pow < 0) pow = 0;
 
-      return pow * MaxPower;
+      return pow * Physics.MaxPower;
     }
 
     public void SetQadroPow(float ul, float ur, float dl, float dr)
@@ -276,10 +394,10 @@ 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 = Acc.X; acc.Acc.Y = Acc.Y; acc.Acc.Z = Acc.Z;
-      acc.Time = DataTimer;
+      acc.Acc.X = RealAcc.result.X; acc.Acc.Y = RealAcc.result.Y; acc.Acc.Z = RealAcc.result.Z;
+      acc.Time = RealAcc.timer;
 
       return getBytes(acc);
     }
@@ -291,10 +409,10 @@ 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 = Gyr.X; gyr.Gyr.Y = Gyr.Y; gyr.Gyr.Z = Gyr.Z;
-      gyr.Time = DataTimer;
+      gyr.Gyr.X = RealGyr.result.X; gyr.Gyr.Y = RealGyr.result.Y; gyr.Gyr.Z = RealGyr.result.Z;
+      gyr.Time = RealGyr.timer;
 
       return getBytes(gyr);
     }
@@ -306,7 +424,7 @@ 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;
@@ -321,10 +439,10 @@ 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 = LaserRange;
-      range.Time = DataTimer;
+      range.LiDAR = RealRange.result;
+      range.Time = RealRange.timer;
 
       return getBytes(range);
     }
@@ -336,17 +454,118 @@ 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 = PosXYZ.X; local.Local.Y = PosXYZ.Y; local.Local.Z = PosXYZ.Z;
-      local.Time = DataTimer;
+      local.Local.X = RealPos.result.X; local.Local.Y = RealPos.result.Y; local.Local.Z = RealPos.result.Z;
+      local.Time = RealPos.timer;
 
       return getBytes(local);
     }
 
+    private byte[] SendDataBarometer()
+    {
+      DroneData.DataBar bar = new DroneData.DataBar();
+
+      bar.Head.Size = Marshal.SizeOf(typeof(DroneData.DataBar));
+      bar.Head.Mode = DroneData.DataMode.Response;
+      bar.Head.Type = DroneData.DataType.DataBar;
+      bar.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
+
+      bar.Pressure = RealBar.result;
+      bar.Time = RealBar.timer;
+
+      return getBytes(bar);
+    }
+
+    private byte[] SendDataOF()
+    {
+      DroneData.DataOF of = new DroneData.DataOF();
+
+      of.Head.Size = Marshal.SizeOf(typeof(DroneData.DataOF));
+      of.Head.Mode = DroneData.DataMode.Response;
+      of.Head.Type = DroneData.DataType.DataOF;
+      of.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
+
+      lock (this)
+      {
+        of.X = MoveOF.X / CountOF;
+        of.Y = MoveOF.Y / CountOF;
+        of.Time = RealOF.timer;
+
+        MoveOF = Vector2.Zero;
+        CountOF = 0;
+      }
+
+      return getBytes(of);
+    }
+
+    private byte[] SendDataGPS()
+    {
+      DroneData.DataGPS gps = new DroneData.DataGPS();
+
+      gps.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGPS));
+      gps.Head.Mode = DroneData.DataMode.Response;
+      gps.Head.Type = DroneData.DataType.DataGPS;
+      gps.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
+
+      GPS.Point p = new GPS.Point();
+      p.x = RealPos.result.Y; p.y= RealPos.result.X;
+
+      GPS.GlobalCoords g = new GPS.GlobalCoords();
+      g.latitude=GPS.Home.Lat; g.longitude=GPS.Home.Lon;
+
+      g=GPS.localToGlobal(p, g);
+
+      gps.Lat = g.latitude; gps.Lon = g.longitude;
+
+      gps.Speed = MathF.Sqrt(SpdXYZ.X * SpdXYZ.X + SpdXYZ.Y * SpdXYZ.Y + SpdXYZ.Z * SpdXYZ.Z);
+      gps.Alt = GPS.Home.Alt + RealPos.result.Z;
+
+      DateTime tim = DateTime.Now;
+      gps.UTC = tim.Second + tim.Minute * 100 + tim.Hour * 10000;
+
+      gps.Fix = GPS.State.Fix;
+      gps.SatVisible = GPS.State.SatVisible;
+      gps.SatUsed = GPS.State.SatUsed;
+      gps.Noise = GPS.State.Noise;
+      gps.Hdop = GPS.State.Hdop;
+      gps.Vdop = GPS.State.Vdop;
+      gps.Pdop = GPS.State.Pdop;
+
+      gps.Time = RealPos.timer;
+
+      return getBytes(gps);
+    }
+
+    private byte[] SendDataQuaternion()
+    {
+      DroneData.DataQuat quat = new DroneData.DataQuat();
+
+      quat.Head.Size = Marshal.SizeOf(typeof(DroneData.DataQuat));
+      quat.Head.Mode = DroneData.DataMode.Response;
+      quat.Head.Type = DroneData.DataType.DataQuat;
+      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 = new byte[0];
+      byte[] zero = Array.Empty<byte>();
 
       switch (head.Type)
       {
@@ -366,86 +585,25 @@ namespace DroneSimulator
             }
           }
 
-        case DroneData.DataType.DataGyr:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              return SendDataGyr();
-            }
-            else
-            {
-              // Пришли данные
-              // ... //
-              //
-              return zero;
-            }
-          }
+        case DroneData.DataType.DataGyr: if (head.Mode == DroneData.DataMode.Request) return SendDataGyr(); else return zero;
 
-        case DroneData.DataType.DataMag:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              return SendDataMag();
-            }
-            else
-            {
-              // Пришли данные
-              // ... //
-              //
-              return zero;
-            }
-          }
+        case DroneData.DataType.DataMag: if (head.Mode == DroneData.DataMode.Request) return SendDataMag(); else return zero;
 
-        case DroneData.DataType.DataRange:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              return SendDataRange();
-            }
-            else
-            {
-              // Пришли данные
-              // ... //
-              //
-              return zero;
-            }
-          }
+        case DroneData.DataType.DataRange: if (head.Mode == DroneData.DataMode.Request) return SendDataRange(); else return zero;
 
-        case DroneData.DataType.DataLocal:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              return SendDataLocal();
-            }
-            else
-            {
-              // Пришли данные
-              // ... //
-              //
-              return zero;
-            }
-          }
+        case DroneData.DataType.DataLocal: if (head.Mode == DroneData.DataMode.Request) return SendDataLocal(); else return zero;
 
-        case DroneData.DataType.DataMotor4:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              // ... //
-              //
-              return zero;
-            }
-            else
-            {
-              // Пришли данные
-              RecvDataMotor4(body);
-              return zero;
-            }
-          }
+        case DroneData.DataType.DataBar: if (head.Mode == DroneData.DataMode.Request) return SendDataBarometer(); else return zero;
+
+        case DroneData.DataType.DataOF: if (head.Mode == DroneData.DataMode.Request) return SendDataOF(); else return zero;
+
+        case DroneData.DataType.DataGPS: if (head.Mode == DroneData.DataMode.Request) return SendDataGPS(); else return zero;
+
+        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/DroneData.cs

@@ -1,3 +1,4 @@
+using System.Net;
 using System.Runtime.InteropServices;
 
 namespace DroneData
@@ -12,10 +13,13 @@ namespace DroneData
     None = 0, Head = 1,
 
     // Output
-    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, 
+    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006, DataOF = 1007, DataGPS = 1008,
 
     // Input
-    DataMotor4 = 2001, DataMotor6 = 2002
+    DataMotor4 = 2001, DataMotor6 = 2002,
+
+    // State
+    DataQuat = 3001,
   };
 
   public struct DataHead
@@ -25,7 +29,7 @@ namespace DroneData
     public DataMode Mode;
     public DataType Type;
 
-    public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
+    public uint Time; // Общее время
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
   }
@@ -37,7 +41,7 @@ namespace DroneData
     public DataHead Head;
     public XYZ Acc;
 
-    public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    public uint Time; // Последнее время изменения данных
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
   }
@@ -47,7 +51,7 @@ namespace DroneData
     public DataHead Head;
     public XYZ Gyr;
 
-    public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    public uint Time; // Последнее время изменения данных
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
   }
@@ -57,31 +61,71 @@ namespace DroneData
     public DataHead Head;
     public XYZ Mag;
 
-    public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    public uint Time; // Последнее время изменения данных
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
   }
 
-  public struct DataLocal
-  {
-    public DataHead Head;
-    public XYZ Local; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
-  }
-
   public struct DataRange
   {
     public DataHead Head;
-    public float LiDAR; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    public float LiDAR; // Датчик посадки
 
-    public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    public uint Time; // Последнее время изменения данных
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
   }
 
+  public struct DataLocal
+  {
+    public DataHead Head;
+    public XYZ Local; // Локальные координаты
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
+  }
+
+  public struct DataBar
+  {
+    public DataHead Head;
+    public float Pressure; // Давление
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar));
+  }
+
+  public struct DataOF
+  {
+    public DataHead Head;
+    public float X, Y; // Угловой сдвиг
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataOF));
+  }
+
+  public struct DataGPS
+  {
+    public DataHead Head;
+
+    public double Lat, Lon; // Координаты (градусы)
+    public float Alt; // Высота (метры)
+    public float Speed; // Скорость (м/с)
+    public int UTC; // Время UTC hhmmss
+
+    public byte Fix; // Тип решения 0-8 (NMEA Fix type)
+    public byte SatVisible; // Количество видимых спутников
+    public byte SatUsed; // Количество используемых спутников
+    public float Hdop, Vdop, Pdop; // Геометрический фактор
+    public float Noise; // Шум (db)
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataOF));
+  }
+
   public struct DataMotor4
   {
     public DataHead Head;
@@ -97,4 +141,12 @@ namespace DroneData
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));
   }
+
+  public struct DataQuat
+  {
+    public DataHead Head;
+    public float X, Y, Z, W;
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataQuat));
+  }
 }

DroneSimulator/FormMain.cs

@@ -1,4 +1,4 @@
-using System.Text;
+using System.Text;
 using System.Numerics;
 using System.Windows.Forms;
 using static System.Net.Mime.MediaTypeNames;
@@ -17,11 +17,20 @@ namespace DroneSimulator
     NetServerClients netServerClient = new NetServerClients();
     NetServerVisual netServerVisual = new NetServerVisual();
 
-    List<Drone> AllDrones = new List<Drone>();
-
     public Form_Main()
     {
       InitializeComponent();
+
+      numericUpDown_Acc_Update(null, null);
+      numericUpDown_Gyr_Update(null, null);
+      numericUpDown_Pos_Update(null, null);
+      numericUpDown_Bar_Update(null, null);
+      numericUpDown_Range_Update(null, null);
+      numericUpDown_OF_Update(null, null);
+      checkBox_Area_Freeze_CheckedChanged(null, null);
+      numericUpDown_Area_Wind_Update(null, null);
+      numericUpDown_GPS_ValueChanged(null, null);
+      numericUpDown_Physics_ValueChanged(null, null);
     }
 
     private void ClientConnectionCallback(object o)
@@ -36,25 +45,29 @@ namespace DroneSimulator
       if (data.Connect)
       {
         Drone drone = new Drone(data.ID);
-        drone.Create(1.0f, 0.5f, 1.0f);
+        drone.Create();
 
         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)
+        {
+          foreach (Drone drone in Drone.AllDrones)
           {
             if (drone.ID != data.ID) continue;
-          drone.Close();
-
-          screen2D.RemoveDrone(data.ID);
-
-          AllDrones.Remove(drone);
+            d = drone;
+            Drone.AllDrones.Remove(drone);
             break;
           }
         }
+
+        if (d != null) screen2D.RemoveDrone(d.ID);
+      }
     }
 
     private void ClientReceiveCallback(object o)
@@ -63,12 +76,15 @@ namespace DroneSimulator
 
       Drone? drone = null;
 
-      foreach (Drone d in AllDrones)
+      lock (Drone.AllDrones)
+      {
+        foreach (Drone d in Drone.AllDrones)
         {
           if (d.ID != data.ID) continue;
           drone = d;
           break;
         }
+      }
 
       if (drone == null) return;
 
@@ -112,6 +128,8 @@ namespace DroneSimulator
 
       if (done != NetServerClients.ServerState.Start) return;
 
+      Drone.StartThread();
+
       pictureBox_2D.Image = null;
 
       screen2D = new Screen2D(DrawCallback);
@@ -133,19 +151,36 @@ namespace DroneSimulator
 
     private void timer_Test_Tick(object sender, EventArgs e)
     {
+      DateTime test = DateTime.Now;
+
+      int tim = test.Second + test.Minute * 100 + test.Hour * 10000;
+
+
       if (screen2D == null) return;
 
-      foreach (Drone d in AllDrones)
+      listBox_Drones.Items.Clear();
+
+      try
+      {
+        lock (Drone.AllDrones)
+        {
+          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();
+
+            listBox_Drones.Items.Add(line);
           }
+        }
+      }
+      catch { }
+
+      label_Timing.Text = Drone.Timing.ToString() + " Hz";
+      label_Timing_Lag.Text = Drone.Lag.ToString();
 
       screen2D.DrawScene();
     }
-    private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
-    {
-      foreach (Drone d in AllDrones) d.Close();
-    }
 
     private void VisualConnectionCallback(object o)
     {
@@ -153,7 +188,7 @@ namespace DroneSimulator
 
       Invoke((MethodInvoker)delegate
       {
-        label_Clients_Num.Text = data.Count.ToString();
+        label_Visual_Num.Text = data.Count.ToString();
       });
 
       if (data.Connect)
@@ -170,14 +205,19 @@ namespace DroneSimulator
     {
       NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o;
 
-      foreach (Drone d in AllDrones)
+      int index = 0;
+
+      lock (Drone.AllDrones)
       {
-        Drone.DataVisual v = d.GetVisual();
+        foreach (Drone d in Drone.AllDrones)
+        {
+          VisualData.VisualDrone v = d.GetVisual(Drone.AllDrones.Count, index++);
 
           try { data.Client.Send(Drone.getBytes(v)); }
           catch { }
         }
       }
+    }
 
     private void button_Visual_Start_Click(object sender, EventArgs e)
     {
@@ -204,5 +244,133 @@ namespace DroneSimulator
           }
       }
     }
+
+    private void numericUpDown_Bar_Update(object sender, EventArgs e)
+    {
+      RealMode.Barometer.RealSimulation = checkBox_Model_Bar_Real.Checked;
+
+      try { RealMode.Barometer.Pressure = uint.Parse(textBox_Bar_Pressure.Text); }
+      catch
+      {
+        RealMode.Barometer.Pressure = 102258;
+        MessageBox.Show("Pressure invalid format", "Barometer error", MessageBoxButtons.OK, MessageBoxIcon.Error);
+      }
+
+      RealMode.Barometer.Freq = (uint)numericUpDown_Bar_Freq.Value;
+      RealMode.Barometer.Noise = (float)numericUpDown_Bar_Noise.Value;
+      RealMode.Barometer.Lateness = (float)numericUpDown_Bar_Laten.Value;
+      RealMode.Barometer.Enable = checkBox_Bar_Enable.Checked;
+    }
+
+    private void numericUpDown_Acc_Update(object sender, EventArgs e)
+    {
+      RealMode.Accelerometer.RealSimulation = checkBox_Model_Acc_Real.Checked;
+
+      RealMode.Accelerometer.Freq = (uint)numericUpDown_Acc_Freq.Value;
+      RealMode.Accelerometer.Noise = (float)numericUpDown_Acc_Noise.Value;
+      RealMode.Accelerometer.Lateness = (float)numericUpDown_Acc_Laten.Value;
+
+      RealMode.Accelerometer.ScaleLeft = (float)numericUpDown_Acc_Scale_Left.Value;
+      RealMode.Accelerometer.ScaleRight = (float)numericUpDown_Acc_Scale_Rigth.Value;
+    }
+
+    private void numericUpDown_Gyr_Update(object sender, EventArgs e)
+    {
+      RealMode.Gyroscope.RealSimulation = checkBox_Model_Gyr_Real.Checked;
+
+      RealMode.Gyroscope.Freq = (uint)numericUpDown_Gyr_Freq.Value;
+      RealMode.Gyroscope.Noise = (float)numericUpDown_Gyr_Noise.Value;
+      RealMode.Gyroscope.Lateness = (float)numericUpDown_Gyr_Laten.Value;
+
+      RealMode.Gyroscope.Shift.X = (float)numericUpDown_Gyr_Shift_X.Value;
+      RealMode.Gyroscope.Shift.Y = (float)numericUpDown_Gyr_Shift_Y.Value;
+      RealMode.Gyroscope.Shift.Z = (float)numericUpDown_Gyr_Shift_Z.Value;
+    }
+
+    private void numericUpDown_Pos_Update(object sender, EventArgs e)
+    {
+      RealMode.Position.RealSimulation = checkBox_Model_Pos_Real.Checked;
+
+      RealMode.Position.Freq = (uint)numericUpDown_Pos_Freq.Value;
+      RealMode.Position.Noise = (float)numericUpDown_Pos_Noise.Value;
+      RealMode.Position.Lateness = (float)numericUpDown_Pos_Laten.Value;
+      RealMode.Position.Enable = checkBox_Pos_Enable.Checked;
+    }
+
+    private void numericUpDown_Range_Update(object sender, EventArgs e)
+    {
+      RealMode.Range.RealSimulation = checkBox_Model_Range_Real.Checked;
+
+      RealMode.Range.Freq = (uint)numericUpDown_Range_Freq.Value;
+      RealMode.Range.Noise = (float)numericUpDown_Range_Noise.Value;
+      RealMode.Range.Lateness = (float)numericUpDown_Range_Laten.Value;
+      RealMode.Range.Enable = checkBox_Range_Enable.Checked;
+
+      RealMode.Range.MaxHeight = (float)numericUpDown_Range_Max.Value;
+    }
+
+    private void numericUpDown_OF_Update(object sender, EventArgs e)
+    {
+      RealMode.OpticalFlow.RealSimulation = checkBox_Model_OF_Real.Checked;
+
+      RealMode.OpticalFlow.Freq = (uint)numericUpDown_OF_Freq.Value;
+      RealMode.OpticalFlow.Noise = (float)numericUpDown_OF_Noise.Value;
+      RealMode.OpticalFlow.Lateness = (float)numericUpDown_OF_Laten.Value;
+      RealMode.OpticalFlow.Enable = checkBox_OF_Enable.Checked;
+
+      RealMode.OpticalFlow.Lens = (uint)numericUpDown_OF_Lens.Value;
+      RealMode.OpticalFlow.MaxHeight = (float)numericUpDown_OF_Len.Value;
+    }
+
+    private void checkBox_Area_Freeze_CheckedChanged(object sender, EventArgs e)
+    {
+      Area.Poisition.Freeze.X = checkBox_Area_Freeze_X.Checked;
+      Area.Poisition.Freeze.Y = checkBox_Area_Freeze_Y.Checked;
+      Area.Poisition.Freeze.Z = checkBox_Area_Freeze_Z.Checked;
+    }
+
+    private void numericUpDown_Area_Wind_Update(object sender, EventArgs e)
+    {
+      Area.Wind.Enable = checkBox_Area_Wind_Enable.Checked;
+      Area.Wind.Speed.From = (float)numericUpDown_Area_Wind_Speed_From.Value;
+      Area.Wind.Speed.To = (float)numericUpDown_Area_Wind_Speed_To.Value;
+      Area.Wind.Direction = (float)numericUpDown_Area_Wind_Direction.Value;
+      Area.Wind.Density = (float)numericUpDown_Area_Wind_Density.Value;
+      Area.Wind.PosResist = ((float)numericUpDown_Area_Wind_PosResist.Value) / 1000.0f;
+      Area.Wind.RotResist = ((float)numericUpDown_Area_Wind_RotResist.Value) / 1000.0f;
+    }
+
+    private void numericUpDown_GPS_ValueChanged(object sender, EventArgs e)
+    {
+      GPS.Home.Lat = (double)numericUpDown_GPS_Lat.Value;
+      GPS.Home.Lon = (double)numericUpDown_GPS_Lon.Value;
+      GPS.Home.Alt = (float)numericUpDown_GPS_Alt.Value;
+
+      GPS.State.Fix = (byte)numericUpDown_GPS_Fix.Value;
+      GPS.State.SatVisible = (byte)numericUpDown_GPS_Vis.Value;
+      GPS.State.SatUsed = (byte)numericUpDown_GPS_Use.Value;
+      GPS.State.Noise = (float)numericUpDown_GPS_Noise.Value;
+      GPS.State.Hdop = (float)numericUpDown_GPS_HDOP.Value;
+      GPS.State.Vdop = (float)numericUpDown_GPS_VDOP.Value;
+      GPS.State.Pdop = (float)numericUpDown_GPS_PDOP.Value;
+    }
+
+    private void numericUpDown_Physics_ValueChanged(object sender, EventArgs e)
+    {
+      Drone.Physics.Mass = (float)numericUpDown_Physics_Mass.Value;
+      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;
+    }
   }
 }

DroneSimulator/FormMain.resx

@@ -117,14 +117,11 @@
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
-  <metadata name="menuStrip_Menu.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>17, 17</value>
-  </metadata>
   <metadata name="timer_Test.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>162, 5</value>
   </metadata>
   <metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>25</value>
+    <value>78</value>
   </metadata>
   <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">

DroneSimulator/GPS.cs

@@ -0,0 +1,74 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Numerics;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace DroneSimulator
+{
+    internal class GPS
+    {
+        static double PI = 3.14159265358979323846;
+        public struct Home
+        {
+            public static double Lat, Lon;
+            public static float Alt;
+        }
+
+        public struct State
+        {
+            public static byte Fix; // Тип решения 0-8 (NMEA Fix type)
+            public static byte SatVisible; // Количество видимых спутников
+            public static byte SatUsed; // Количество используемых спутников
+            public static float Hdop, Vdop, Pdop; // Геометрический фактор
+            public static float Noise; // Шум (db)
+        }
+
+        public struct GlobalCoords
+        {
+            public double latitude, longitude;
+        }
+
+        public struct Point
+        {
+            public double x, y;
+        }
+
+        // Конвертация градусов в радианы
+        static double deg2rad(double deg)
+        {
+            return deg * PI / 180.0;
+        }
+
+        // Конвертация радиан в градусы
+        static double rad2deg(double rad)
+        {
+            return rad * 180.0 / PI;
+        }
+
+        // Перевод локальных координат в глобальные
+        public static GlobalCoords localToGlobal(Point local, GlobalCoords origin)
+        {
+            const double er = 6371000; // Radius of the earth in m
+
+            // Преобразование приращений координат
+            double dLat = local.x / er; // В радианах
+            double originLatRad = deg2rad(origin.latitude);
+
+            // Вычисление новой широты
+            double newLatRad = originLatRad + dLat;
+            double newLat = rad2deg(newLatRad);
+
+            // Вычисление новой долготы (с использованием средней широты для точности)
+            double avgLatRad = (originLatRad + newLatRad) / 2.0;
+            double dLon = local.y / (er * Math.Cos(avgLatRad)); // В радианах
+            double newLon = origin.longitude + rad2deg(dLon);
+            GlobalCoords coord = new GlobalCoords();
+            coord.latitude = newLat;
+            coord.longitude = newLon;
+            return coord;
+        }
+    }
+}

DroneSimulator/RealMode.cs

@@ -0,0 +1,407 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Numerics;
+using System.Reflection;
+using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
+
+namespace DroneSimulator
+{
+  internal class RealMode
+  {
+    
+
+    internal class Accelerometer
+    {
+      public static uint Freq;
+      public static float Noise;
+      public static float ScaleLeft;
+      public static float ScaleRight;
+      public static float Lateness;
+      public static bool RealSimulation;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private Vector3[] laten = new Vector3[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public Vector3 result;
+
+      public void Update(Vector3 value, uint time)
+      {
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return;
+        }
+
+        float scale = (ScaleRight - ScaleLeft) / 2;
+        float shift = scale + ScaleLeft;
+
+        value.X = (value.X * scale) + shift;
+        value.Y = (value.Y * scale) + shift;
+        value.Z = (value.Z * scale) + shift;
+
+        int noise = (int)(Noise * 1000);
+        value.X += ((float)rand.Next(-noise, noise)) / 1000;
+        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)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+
+    internal class Gyroscope
+    {
+      public static uint Freq;
+      public static float Noise;
+      public static Vector3 Shift;
+      public static float Lateness;
+      public static bool RealSimulation;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private Vector3[] laten = new Vector3[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public Vector3 result;
+
+      public void Update(Vector3 value, uint time)
+      {
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return;
+        }
+
+        value.X += Shift.X;
+        value.Y += Shift.Y;
+        value.Z += Shift.Z;
+
+        int noise = (int)(Noise * 1000);
+        value.X += ((float)rand.Next(-noise, noise)) / 1000;
+        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)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+
+    internal class Magnetometer
+    {
+
+    }
+
+    internal class Position
+    {
+      public static bool Enable;
+      public static uint Freq;
+      public static float Noise;
+      public static float Lateness;
+      public static bool RealSimulation;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private Vector3[] laten = new Vector3[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public Vector3 result;
+
+      public void Update(Vector3 value, uint time)
+      {
+        if (!Enable)
+        {
+          result = Vector3.NaN;
+          return;
+        }
+
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return;
+        }
+
+        int noise = (int)(Noise * 1000);
+        value.X += ((float)rand.Next(-noise, noise)) / 1000;
+        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)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+
+    internal class Barometer
+    {
+      public static bool Enable;
+      public static float Pressure;
+      public static uint Freq;
+      public static float Noise;
+      public static float Lateness;
+      public static bool RealSimulation;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private float[] laten = new float[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public float result;
+
+      public void Update(float value, uint time)
+      {
+        value = Pressure - value * 12.15f;
+
+        if (!Enable)
+        {
+          result = float.NaN;
+          return;
+        }
+
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return; 
+        }
+
+        int noise = (int)(Noise * 1000);
+        value += ((float)rand.Next(-noise, noise)) / 1000;
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+
+    internal class OpticalFlow
+    {
+      public static bool Enable;
+      public static float MaxHeight;
+      public static uint Freq;
+      public static float Noise;
+      public static float Lateness;
+      public static float Lens;
+      public static bool RealSimulation;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private Vector2[] laten = new Vector2[count];
+      private uint index = 0;
+
+      public uint delay = 0;
+
+      public uint timer = 0;
+      public Vector2 result;
+      public bool Update(Vector2 value, float Range, uint time)
+      {
+        value *= Lens;
+
+        if (!Enable)
+        {
+          result = Vector2.NaN;
+          return true;
+        }
+
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return true;
+        }
+
+        if (Range > MaxHeight) value = Vector2.Zero;
+        else
+        {
+          int noise = (int)(Noise * 1000);
+          value.X += ((float)rand.Next(-noise, noise)) / 1000;
+          value.Y += ((float)rand.Next(-noise, noise)) / 1000;
+        }
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+          return true;
+        }
+
+        return false;
+      }
+    }
+
+    internal class Range
+    {
+      public static bool Enable;
+      public static float MaxHeight;
+      public static uint Freq;
+      public static float Noise;
+      public static float Lateness;
+      public static bool RealSimulation;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private float[] laten = new float[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public float result;
+
+      public void Update(float value, uint time)
+      {
+        if (!Enable)
+        {
+          result = float.NaN;
+          return;
+        }
+
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return;
+        }
+
+        if (value > MaxHeight) value = MaxHeight;
+        else
+        {
+          int noise = (int)(Noise * 1000);
+          value += ((float)rand.Next(-noise, noise)) / 1000;
+        }
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+  }
+}

DroneSimulator/Screen2D.cs

@@ -105,6 +105,8 @@ namespace DroneSimulator
         g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 });
 
         foreach (var d in DroneList)
+        {
+          try
           {
             if (d.Azimuth >= 360) d.Azimuth -= 360;
             var bmp = RotateImage(d.Drone, d.Azimuth);
@@ -152,6 +154,8 @@ namespace DroneSimulator
 
             g.DrawImage(bmp, dest);
           }
+          catch { }
+        }
       }
 
       drawCallback(MainArea);

DroneSimulator/VisualData.cs

@@ -0,0 +1,39 @@
+using System.Numerics;
+
+namespace VisualData
+{
+  public struct VisualHead
+  {
+    public enum VisualType : int { None = 0, Drone = 1 } // Тип объекта
+
+    public int Size; // Размер данных этой структуры в байтах (проверка для соответствия передачи структуры)
+
+    public VisualType Type; // Тип передоваемого объекта
+  }
+
+  public struct VisualDrone
+  {
+    public VisualHead Head;
+    public enum DroneState : int { Dead = 0, Disabled = 1, Waiting = 2, Active = 3 } // Переключения типа 3D модели
+
+    public int Count; // Всего дронов на полигоне
+    public int Index; // Номер дрона
+
+    public int ID; // Идентификатор (для привязки камеры)
+
+    public struct ARGB { public byte A, R, G, B; }
+    public struct Quat { public float X, Y, Z, W; }
+    public struct Vect3 { public float X, Y, Z; }
+
+    public ARGB Color; // Цвет корпуса
+    public Quat Rotate; // Кватернион вращения
+    public Vect3 Position; // Координаты в пространстве
+
+    public float Scale; // Масштаб модельки (1=оригинальный)
+
+    public DroneState State; // Тип прорисовываемой модели
+
+    public float Power; // Скорость всех двигателей
+  }
+
+}