revert e30f1f0f35

revert Merge branch 'main' of https://git.skbkit.ru/CPL/Simulator

DroneSimulator/Drone.cs

@@ -7,14 +7,13 @@ 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
@@ -34,12 +33,19 @@ namespace DroneSimulator
 
     private Vector2 MoveOF = Vector2.Zero;
 
-    RealMode.Accelerometer RealAcc = new RealMode.Accelerometer();
+    public struct Physics
-    RealMode.Gyroscope RealGyr = new RealMode.Gyroscope();
+    {
-    RealMode.Position RealPos = new RealMode.Position();
+      static public float Mass; // Масса
-    RealMode.Barometer RealBar = new RealMode.Barometer();
+      static public float Length; // Длинна лучей
-    RealMode.Range RealRange = new RealMode.Range();
+      static public float MaxPower; // Максимальная Тяга всех двигателей (КГ)
-    RealMode.OpticalFlow RealOF = new RealMode.OpticalFlow();
+    }
+
+    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)
     {
@@ -129,12 +135,8 @@ namespace DroneSimulator
       DroneThread.Start();
     }
 
-    public int Create(float power, float mass, float len)
+    public int Create()
     {
-      Mass = mass;
-      Length = len;
-      MaxPower = power;
-
       Active = true;
 
       return ID;
@@ -226,10 +228,10 @@ namespace DroneSimulator
         AccPRY.X -= wind_p; AccPRY.Y -= wind_r; AccPRY.Z -= wind_w;
       }
 
-      SpdPRY += AccPRY * (Dynamic * time / (Mass * Length));
+      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 + wind_x, pow.Y + wind_y, pow.Z + wind_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;
 
@@ -308,7 +310,7 @@ 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)
@@ -446,6 +448,16 @@ namespace DroneSimulator
       gps.Head.Type = DroneData.DataType.DataGPS;
       gps.Head.Time = (uint)Environment.TickCount;
 
+      GPS.Point p = new GPS.Point();
+      p.x = PosXYZ.Y; p.y= PosXYZ.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 + PosXYZ.Z;
 

DroneSimulator/FormMain.Designer.cs

@@ -30,9 +30,6 @@
     {
       components = new System.ComponentModel.Container();
       System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form_Main));
-      menuStrip_Menu = new MenuStrip();
-      fileToolStripMenuItem = new ToolStripMenuItem();
-      exitToolStripMenuItem = new ToolStripMenuItem();
       groupBox_Screen = new GroupBox();
       pictureBox_2D = new PictureBox();
       tabControl_Menu = new TabControl();
@@ -120,7 +117,6 @@
       label48 = new Label();
       checkBox_Pos_Enable = new CheckBox();
       groupBox_Mag = new GroupBox();
-      label27 = new Label();
       numericUpDown_Mag_Noise = new NumericUpDown();
       label28 = new Label();
       numericUpDown_Mag_Freq = new NumericUpDown();
@@ -203,6 +199,17 @@
       numericUpDown_GPS_Lat = new NumericUpDown();
       label67 = new Label();
       label66 = new Label();
+      tabPage_Drone = new TabPage();
+      groupBox_Physics = new GroupBox();
+      label78 = new Label();
+      numericUpDown_Physics_Power = new NumericUpDown();
+      label77 = new Label();
+      numericUpDown_Physics_Length = new NumericUpDown();
+      label76 = new Label();
+      numericUpDown_Physics_Mass = new NumericUpDown();
+      label75 = new Label();
+      label74 = new Label();
+      label27 = new Label();
       groupBox_Navi = new GroupBox();
       panel1 = new Panel();
       listBox_Drones = new ListBox();
@@ -210,7 +217,6 @@
       comboBox_Drone_Rotor = new ComboBox();
       comboBox_Drone = new ComboBox();
       timer_Test = new System.Windows.Forms.Timer(components);
-      menuStrip_Menu.SuspendLayout();
       groupBox_Screen.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit();
       tabControl_Menu.SuspendLayout();
@@ -282,42 +288,22 @@
       ((System.ComponentModel.ISupportInitialize)numericUpDown_GPS_Alt).BeginInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_GPS_Lon).BeginInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_GPS_Lat).BeginInit();
+      tabPage_Drone.SuspendLayout();
+      groupBox_Physics.SuspendLayout();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_Physics_Power).BeginInit();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_Physics_Length).BeginInit();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_Physics_Mass).BeginInit();
       groupBox_Navi.SuspendLayout();
       panel1.SuspendLayout();
       SuspendLayout();
       // 
-      // menuStrip_Menu
-      // 
-      menuStrip_Menu.Items.AddRange(new ToolStripItem[] { fileToolStripMenuItem });
-      menuStrip_Menu.Location = new Point(0, 0);
-      menuStrip_Menu.Name = "menuStrip_Menu";
-      menuStrip_Menu.Size = new Size(884, 24);
-      menuStrip_Menu.TabIndex = 0;
-      menuStrip_Menu.Text = "menuStrip1";
-      // 
-      // fileToolStripMenuItem
-      // 
-      fileToolStripMenuItem.DropDownItems.AddRange(new ToolStripItem[] { exitToolStripMenuItem });
-      fileToolStripMenuItem.Name = "fileToolStripMenuItem";
-      fileToolStripMenuItem.Size = new Size(37, 20);
-      fileToolStripMenuItem.Tag = "#file";
-      fileToolStripMenuItem.Text = "File";
-      // 
-      // exitToolStripMenuItem
-      // 
-      exitToolStripMenuItem.Name = "exitToolStripMenuItem";
-      exitToolStripMenuItem.Size = new Size(93, 22);
-      exitToolStripMenuItem.Tag = "#exit";
-      exitToolStripMenuItem.Text = "Exit";
-      exitToolStripMenuItem.Click += exitToolStripMenuItem_Click;
-      // 
       // groupBox_Screen
       // 
       groupBox_Screen.Controls.Add(pictureBox_2D);
       groupBox_Screen.Dock = DockStyle.Fill;
-      groupBox_Screen.Location = new Point(218, 24);
+      groupBox_Screen.Location = new Point(218, 0);
       groupBox_Screen.Name = "groupBox_Screen";
-      groupBox_Screen.Size = new Size(466, 917);
+      groupBox_Screen.Size = new Size(466, 816);
       groupBox_Screen.TabIndex = 1;
       groupBox_Screen.TabStop = false;
       // 
@@ -327,7 +313,7 @@
       pictureBox_2D.Dock = DockStyle.Fill;
       pictureBox_2D.Location = new Point(3, 19);
       pictureBox_2D.Name = "pictureBox_2D";
-      pictureBox_2D.Size = new Size(460, 895);
+      pictureBox_2D.Size = new Size(460, 794);
       pictureBox_2D.SizeMode = PictureBoxSizeMode.Zoom;
       pictureBox_2D.TabIndex = 0;
       pictureBox_2D.TabStop = false;
@@ -338,11 +324,12 @@
       tabControl_Menu.Controls.Add(tabPage_Model);
       tabControl_Menu.Controls.Add(tabPage_Area);
       tabControl_Menu.Controls.Add(tabPage_GPS);
+      tabControl_Menu.Controls.Add(tabPage_Drone);
       tabControl_Menu.Dock = DockStyle.Left;
-      tabControl_Menu.Location = new Point(0, 24);
+      tabControl_Menu.Location = new Point(0, 0);
       tabControl_Menu.Name = "tabControl_Menu";
       tabControl_Menu.SelectedIndex = 0;
-      tabControl_Menu.Size = new Size(218, 917);
+      tabControl_Menu.Size = new Size(218, 816);
       tabControl_Menu.TabIndex = 2;
       // 
       // tabPage_Main
@@ -352,7 +339,7 @@
       tabPage_Main.Location = new Point(4, 24);
       tabPage_Main.Name = "tabPage_Main";
       tabPage_Main.Padding = new Padding(3);
-      tabPage_Main.Size = new Size(210, 889);
+      tabPage_Main.Size = new Size(210, 788);
       tabPage_Main.TabIndex = 0;
       tabPage_Main.Tag = "#main";
       tabPage_Main.Text = "Main";
@@ -541,7 +528,7 @@
       tabPage_Model.Location = new Point(4, 24);
       tabPage_Model.Name = "tabPage_Model";
       tabPage_Model.Padding = new Padding(3);
-      tabPage_Model.Size = new Size(210, 889);
+      tabPage_Model.Size = new Size(210, 788);
       tabPage_Model.TabIndex = 1;
       tabPage_Model.Tag = "#model";
       tabPage_Model.Text = "Model";
@@ -559,7 +546,7 @@
       panel_Menu_Model.Dock = DockStyle.Fill;
       panel_Menu_Model.Location = new Point(3, 3);
       panel_Menu_Model.Name = "panel_Menu_Model";
-      panel_Menu_Model.Size = new Size(204, 883);
+      panel_Menu_Model.Size = new Size(204, 782);
       panel_Menu_Model.TabIndex = 5;
       // 
       // groupBox1
@@ -579,9 +566,9 @@
       groupBox1.Controls.Add(label46);
       groupBox1.Controls.Add(label47);
       groupBox1.Dock = DockStyle.Top;
-      groupBox1.Location = new Point(0, 688);
+      groupBox1.Location = new Point(0, 652);
       groupBox1.Name = "groupBox1";
-      groupBox1.Size = new Size(204, 133);
+      groupBox1.Size = new Size(204, 126);
       groupBox1.TabIndex = 8;
       groupBox1.TabStop = false;
       groupBox1.Text = "Range";
@@ -601,7 +588,7 @@
       // label55
       // 
       label55.AutoSize = true;
-      label55.Location = new Point(115, 105);
+      label55.Location = new Point(115, 100);
       label55.Name = "label55";
       label55.Size = new Size(24, 15);
       label55.TabIndex = 35;
@@ -611,7 +598,7 @@
       // 
       numericUpDown_Range_Laten.DecimalPlaces = 2;
       numericUpDown_Range_Laten.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
-      numericUpDown_Range_Laten.Location = new Point(68, 103);
+      numericUpDown_Range_Laten.Location = new Point(68, 98);
       numericUpDown_Range_Laten.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
       numericUpDown_Range_Laten.Name = "numericUpDown_Range_Laten";
       numericUpDown_Range_Laten.Size = new Size(41, 23);
@@ -622,7 +609,7 @@
       // label56
       // 
       label56.AutoSize = true;
-      label56.Location = new Point(5, 105);
+      label56.Location = new Point(5, 100);
       label56.Name = "label56";
       label56.Size = new Size(55, 15);
       label56.TabIndex = 33;
@@ -633,7 +620,7 @@
       checkBox_Range_Enable.AutoSize = true;
       checkBox_Range_Enable.Checked = true;
       checkBox_Range_Enable.CheckState = CheckState.Checked;
-      checkBox_Range_Enable.Location = new Point(158, 108);
+      checkBox_Range_Enable.Location = new Point(158, 99);
       checkBox_Range_Enable.Name = "checkBox_Range_Enable";
       checkBox_Range_Enable.Size = new Size(39, 19);
       checkBox_Range_Enable.TabIndex = 31;
@@ -644,7 +631,7 @@
       // 
       // numericUpDown_Range_Max
       // 
-      numericUpDown_Range_Max.Location = new Point(69, 74);
+      numericUpDown_Range_Max.Location = new Point(69, 71);
       numericUpDown_Range_Max.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
       numericUpDown_Range_Max.Name = "numericUpDown_Range_Max";
       numericUpDown_Range_Max.Size = new Size(40, 23);
@@ -655,7 +642,7 @@
       // label42
       // 
       label42.AutoSize = true;
-      label42.Location = new Point(113, 76);
+      label42.Location = new Point(113, 73);
       label42.Name = "label42";
       label42.Size = new Size(18, 15);
       label42.TabIndex = 30;
@@ -664,7 +651,7 @@
       // label43
       // 
       label43.AutoSize = true;
-      label43.Location = new Point(0, 76);
+      label43.Location = new Point(0, 73);
       label43.Name = "label43";
       label43.Size = new Size(70, 15);
       label43.TabIndex = 28;
@@ -674,7 +661,7 @@
       // label44
       // 
       label44.AutoSize = true;
-      label44.Location = new Point(119, 47);
+      label44.Location = new Point(119, 45);
       label44.Name = "label44";
       label44.Size = new Size(18, 15);
       label44.TabIndex = 27;
@@ -683,7 +670,7 @@
       // numericUpDown_Range_Noise
       // 
       numericUpDown_Range_Noise.DecimalPlaces = 3;
-      numericUpDown_Range_Noise.Location = new Point(70, 45);
+      numericUpDown_Range_Noise.Location = new Point(70, 43);
       numericUpDown_Range_Noise.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
       numericUpDown_Range_Noise.Name = "numericUpDown_Range_Noise";
       numericUpDown_Range_Noise.Size = new Size(47, 23);
@@ -694,7 +681,7 @@
       // label45
       // 
       label45.AutoSize = true;
-      label45.Location = new Point(24, 47);
+      label45.Location = new Point(24, 45);
       label45.Name = "label45";
       label45.Size = new Size(40, 15);
       label45.TabIndex = 25;
@@ -755,9 +742,9 @@
       groupBox_OF.Controls.Add(label14);
       groupBox_OF.Controls.Add(label15);
       groupBox_OF.Dock = DockStyle.Top;
-      groupBox_OF.Location = new Point(0, 519);
+      groupBox_OF.Location = new Point(0, 489);
       groupBox_OF.Name = "groupBox_OF";
-      groupBox_OF.Size = new Size(204, 169);
+      groupBox_OF.Size = new Size(204, 163);
       groupBox_OF.TabIndex = 4;
       groupBox_OF.TabStop = false;
       groupBox_OF.Text = "Optical flow";
@@ -799,7 +786,7 @@
       // label39
       // 
       label39.AutoSize = true;
-      label39.Location = new Point(168, 111);
+      label39.Location = new Point(168, 105);
       label39.Name = "label39";
       label39.Size = new Size(24, 15);
       label39.TabIndex = 34;
@@ -809,7 +796,7 @@
       // 
       numericUpDown_OF_Wait.DecimalPlaces = 2;
       numericUpDown_OF_Wait.Increment = new decimal(new int[] { 1, 0, 0, 65536 });
-      numericUpDown_OF_Wait.Location = new Point(119, 109);
+      numericUpDown_OF_Wait.Location = new Point(119, 103);
       numericUpDown_OF_Wait.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
       numericUpDown_OF_Wait.Name = "numericUpDown_OF_Wait";
       numericUpDown_OF_Wait.Size = new Size(47, 23);
@@ -820,7 +807,7 @@
       // label53
       // 
       label53.AutoSize = true;
-      label53.Location = new Point(113, 139);
+      label53.Location = new Point(113, 132);
       label53.Name = "label53";
       label53.Size = new Size(24, 15);
       label53.TabIndex = 32;
@@ -830,7 +817,7 @@
       // 
       numericUpDown_OF_Laten.DecimalPlaces = 2;
       numericUpDown_OF_Laten.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
-      numericUpDown_OF_Laten.Location = new Point(66, 137);
+      numericUpDown_OF_Laten.Location = new Point(66, 130);
       numericUpDown_OF_Laten.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
       numericUpDown_OF_Laten.Name = "numericUpDown_OF_Laten";
       numericUpDown_OF_Laten.Size = new Size(41, 23);
@@ -841,7 +828,7 @@
       // label54
       // 
       label54.AutoSize = true;
-      label54.Location = new Point(3, 139);
+      label54.Location = new Point(3, 132);
       label54.Name = "label54";
       label54.Size = new Size(55, 15);
       label54.TabIndex = 30;
@@ -851,7 +838,7 @@
       // 
       numericUpDown_OF_Error.DecimalPlaces = 1;
       numericUpDown_OF_Error.Increment = new decimal(new int[] { 1, 0, 0, 65536 });
-      numericUpDown_OF_Error.Location = new Point(38, 109);
+      numericUpDown_OF_Error.Location = new Point(38, 103);
       numericUpDown_OF_Error.Name = "numericUpDown_OF_Error";
       numericUpDown_OF_Error.Size = new Size(47, 23);
       numericUpDown_OF_Error.TabIndex = 24;
@@ -861,7 +848,7 @@
       // label38
       // 
       label38.AutoSize = true;
-      label38.Location = new Point(83, 111);
+      label38.Location = new Point(83, 105);
       label38.Name = "label38";
       label38.Size = new Size(17, 15);
       label38.TabIndex = 25;
@@ -870,7 +857,7 @@
       // label37
       // 
       label37.AutoSize = true;
-      label37.Location = new Point(1, 111);
+      label37.Location = new Point(1, 105);
       label37.Name = "label37";
       label37.Size = new Size(35, 15);
       label37.TabIndex = 23;
@@ -878,7 +865,7 @@
       // 
       // numericUpDown_OF_Len
       // 
-      numericUpDown_OF_Len.Location = new Point(68, 80);
+      numericUpDown_OF_Len.Location = new Point(68, 76);
       numericUpDown_OF_Len.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
       numericUpDown_OF_Len.Name = "numericUpDown_OF_Len";
       numericUpDown_OF_Len.Size = new Size(40, 23);
@@ -891,7 +878,7 @@
       checkBox_OF_Enable.AutoSize = true;
       checkBox_OF_Enable.Checked = true;
       checkBox_OF_Enable.CheckState = CheckState.Checked;
-      checkBox_OF_Enable.Location = new Point(159, 141);
+      checkBox_OF_Enable.Location = new Point(159, 134);
       checkBox_OF_Enable.Name = "checkBox_OF_Enable";
       checkBox_OF_Enable.Size = new Size(39, 19);
       checkBox_OF_Enable.TabIndex = 22;
@@ -903,7 +890,7 @@
       // label17
       // 
       label17.AutoSize = true;
-      label17.Location = new Point(111, 82);
+      label17.Location = new Point(111, 78);
       label17.Name = "label17";
       label17.Size = new Size(18, 15);
       label17.TabIndex = 21;
@@ -912,7 +899,7 @@
       // label16
       // 
       label16.AutoSize = true;
-      label16.Location = new Point(-1, 82);
+      label16.Location = new Point(-1, 78);
       label16.Name = "label16";
       label16.Size = new Size(70, 15);
       label16.TabIndex = 19;
@@ -922,7 +909,7 @@
       // label12
       // 
       label12.AutoSize = true;
-      label12.Location = new Point(111, 53);
+      label12.Location = new Point(111, 51);
       label12.Name = "label12";
       label12.Size = new Size(28, 15);
       label12.TabIndex = 18;
@@ -931,7 +918,7 @@
       // numericUpDown_OF_Noise
       // 
       numericUpDown_OF_Noise.DecimalPlaces = 1;
-      numericUpDown_OF_Noise.Location = new Point(69, 51);
+      numericUpDown_OF_Noise.Location = new Point(69, 49);
       numericUpDown_OF_Noise.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
       numericUpDown_OF_Noise.Name = "numericUpDown_OF_Noise";
       numericUpDown_OF_Noise.Size = new Size(40, 23);
@@ -942,7 +929,7 @@
       // label13
       // 
       label13.AutoSize = true;
-      label13.Location = new Point(7, 53);
+      label13.Location = new Point(7, 51);
       label13.Name = "label13";
       label13.Size = new Size(40, 15);
       label13.TabIndex = 16;
@@ -996,9 +983,9 @@
       groupBox_Barometer.Controls.Add(label5);
       groupBox_Barometer.Controls.Add(label7);
       groupBox_Barometer.Dock = DockStyle.Top;
-      groupBox_Barometer.Location = new Point(0, 389);
+      groupBox_Barometer.Location = new Point(0, 365);
       groupBox_Barometer.Name = "groupBox_Barometer";
-      groupBox_Barometer.Size = new Size(204, 130);
+      groupBox_Barometer.Size = new Size(204, 124);
       groupBox_Barometer.TabIndex = 3;
       groupBox_Barometer.TabStop = false;
       groupBox_Barometer.Tag = "#barometer";
@@ -1019,7 +1006,7 @@
       // label30
       // 
       label30.AutoSize = true;
-      label30.Location = new Point(115, 103);
+      label30.Location = new Point(115, 98);
       label30.Name = "label30";
       label30.Size = new Size(24, 15);
       label30.TabIndex = 23;
@@ -1029,7 +1016,7 @@
       // 
       numericUpDown_Bar_Laten.DecimalPlaces = 2;
       numericUpDown_Bar_Laten.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
-      numericUpDown_Bar_Laten.Location = new Point(68, 101);
+      numericUpDown_Bar_Laten.Location = new Point(68, 96);
       numericUpDown_Bar_Laten.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
       numericUpDown_Bar_Laten.Name = "numericUpDown_Bar_Laten";
       numericUpDown_Bar_Laten.Size = new Size(41, 23);
@@ -1040,7 +1027,7 @@
       // label29
       // 
       label29.AutoSize = true;
-      label29.Location = new Point(9, 103);
+      label29.Location = new Point(9, 98);
       label29.Name = "label29";
       label29.Size = new Size(55, 15);
       label29.TabIndex = 21;
@@ -1079,7 +1066,7 @@
       checkBox_Bar_Enable.AutoSize = true;
       checkBox_Bar_Enable.Checked = true;
       checkBox_Bar_Enable.CheckState = CheckState.Checked;
-      checkBox_Bar_Enable.Location = new Point(162, 99);
+      checkBox_Bar_Enable.Location = new Point(162, 94);
       checkBox_Bar_Enable.Name = "checkBox_Bar_Enable";
       checkBox_Bar_Enable.Size = new Size(39, 19);
       checkBox_Bar_Enable.TabIndex = 17;
@@ -1091,7 +1078,7 @@
       // label9
       // 
       label9.AutoSize = true;
-      label9.Location = new Point(111, 74);
+      label9.Location = new Point(111, 71);
       label9.Name = "label9";
       label9.Size = new Size(20, 15);
       label9.TabIndex = 12;
@@ -1100,7 +1087,7 @@
       // numericUpDown_Bar_Noise
       // 
       numericUpDown_Bar_Noise.DecimalPlaces = 1;
-      numericUpDown_Bar_Noise.Location = new Point(68, 72);
+      numericUpDown_Bar_Noise.Location = new Point(68, 69);
       numericUpDown_Bar_Noise.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
       numericUpDown_Bar_Noise.Name = "numericUpDown_Bar_Noise";
       numericUpDown_Bar_Noise.Size = new Size(40, 23);
@@ -1111,7 +1098,7 @@
       // label8
       // 
       label8.AutoSize = true;
-      label8.Location = new Point(23, 74);
+      label8.Location = new Point(23, 71);
       label8.Name = "label8";
       label8.Size = new Size(40, 15);
       label8.TabIndex = 10;
@@ -1120,7 +1107,7 @@
       // 
       // numericUpDown_Bar_Freq
       // 
-      numericUpDown_Bar_Freq.Location = new Point(68, 43);
+      numericUpDown_Bar_Freq.Location = new Point(68, 42);
       numericUpDown_Bar_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
       numericUpDown_Bar_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
       numericUpDown_Bar_Freq.Name = "numericUpDown_Bar_Freq";
@@ -1132,7 +1119,7 @@
       // label5
       // 
       label5.AutoSize = true;
-      label5.Location = new Point(110, 45);
+      label5.Location = new Point(110, 44);
       label5.Name = "label5";
       label5.Size = new Size(21, 15);
       label5.TabIndex = 9;
@@ -1141,7 +1128,7 @@
       // label7
       // 
       label7.AutoSize = true;
-      label7.Location = new Point(1, 45);
+      label7.Location = new Point(1, 44);
       label7.Name = "label7";
       label7.Size = new Size(65, 15);
       label7.TabIndex = 8;
@@ -1162,9 +1149,9 @@
       groupBox_GPS.Controls.Add(label48);
       groupBox_GPS.Controls.Add(checkBox_Pos_Enable);
       groupBox_GPS.Dock = DockStyle.Top;
-      groupBox_GPS.Location = new Point(0, 283);
+      groupBox_GPS.Location = new Point(0, 265);
       groupBox_GPS.Name = "groupBox_GPS";
-      groupBox_GPS.Size = new Size(204, 106);
+      groupBox_GPS.Size = new Size(204, 100);
       groupBox_GPS.TabIndex = 2;
       groupBox_GPS.TabStop = false;
       groupBox_GPS.Text = "Position";
@@ -1184,7 +1171,7 @@
       // label2
       // 
       label2.AutoSize = true;
-      label2.Location = new Point(116, 77);
+      label2.Location = new Point(116, 72);
       label2.Name = "label2";
       label2.Size = new Size(24, 15);
       label2.TabIndex = 32;
@@ -1194,7 +1181,7 @@
       // 
       numericUpDown_Pos_Laten.DecimalPlaces = 2;
       numericUpDown_Pos_Laten.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
-      numericUpDown_Pos_Laten.Location = new Point(69, 75);
+      numericUpDown_Pos_Laten.Location = new Point(69, 70);
       numericUpDown_Pos_Laten.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
       numericUpDown_Pos_Laten.Name = "numericUpDown_Pos_Laten";
       numericUpDown_Pos_Laten.Size = new Size(41, 23);
@@ -1205,7 +1192,7 @@
       // label4
       // 
       label4.AutoSize = true;
-      label4.Location = new Point(6, 77);
+      label4.Location = new Point(6, 72);
       label4.Name = "label4";
       label4.Size = new Size(55, 15);
       label4.TabIndex = 30;
@@ -1214,7 +1201,7 @@
       // label6
       // 
       label6.AutoSize = true;
-      label6.Location = new Point(112, 48);
+      label6.Location = new Point(112, 45);
       label6.Name = "label6";
       label6.Size = new Size(18, 15);
       label6.TabIndex = 29;
@@ -1224,7 +1211,7 @@
       // 
       numericUpDown_Pos_Noise.DecimalPlaces = 1;
       numericUpDown_Pos_Noise.Increment = new decimal(new int[] { 1, 0, 0, 65536 });
-      numericUpDown_Pos_Noise.Location = new Point(69, 46);
+      numericUpDown_Pos_Noise.Location = new Point(69, 43);
       numericUpDown_Pos_Noise.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
       numericUpDown_Pos_Noise.Name = "numericUpDown_Pos_Noise";
       numericUpDown_Pos_Noise.Size = new Size(40, 23);
@@ -1235,7 +1222,7 @@
       // label10
       // 
       label10.AutoSize = true;
-      label10.Location = new Point(23, 48);
+      label10.Location = new Point(23, 45);
       label10.Name = "label10";
       label10.Size = new Size(40, 15);
       label10.TabIndex = 27;
@@ -1277,7 +1264,7 @@
       checkBox_Pos_Enable.AutoSize = true;
       checkBox_Pos_Enable.Checked = true;
       checkBox_Pos_Enable.CheckState = CheckState.Checked;
-      checkBox_Pos_Enable.Location = new Point(158, 78);
+      checkBox_Pos_Enable.Location = new Point(158, 73);
       checkBox_Pos_Enable.Name = "checkBox_Pos_Enable";
       checkBox_Pos_Enable.Size = new Size(39, 19);
       checkBox_Pos_Enable.TabIndex = 16;
@@ -1288,29 +1275,18 @@
       // 
       // groupBox_Mag
       // 
-      groupBox_Mag.Controls.Add(label27);
       groupBox_Mag.Controls.Add(numericUpDown_Mag_Noise);
       groupBox_Mag.Controls.Add(label28);
       groupBox_Mag.Controls.Add(numericUpDown_Mag_Freq);
       groupBox_Mag.Controls.Add(label22);
       groupBox_Mag.Dock = DockStyle.Top;
-      groupBox_Mag.Enabled = false;
+      groupBox_Mag.Location = new Point(0, 220);
-      groupBox_Mag.Location = new Point(0, 232);
       groupBox_Mag.Name = "groupBox_Mag";
-      groupBox_Mag.Size = new Size(204, 51);
+      groupBox_Mag.Size = new Size(204, 45);
       groupBox_Mag.TabIndex = 5;
       groupBox_Mag.TabStop = false;
       groupBox_Mag.Text = "Magnetometer";
       // 
-      // label27
-      // 
-      label27.AutoSize = true;
-      label27.Location = new Point(172, 20);
-      label27.Name = "label27";
-      label27.Size = new Size(12, 15);
-      label27.TabIndex = 14;
-      label27.Text = "?";
-      // 
       // numericUpDown_Mag_Noise
       // 
       numericUpDown_Mag_Noise.DecimalPlaces = 1;
@@ -1366,9 +1342,9 @@
       groupBox_Gyr.Controls.Add(numericUpDown_Gyr_Freq);
       groupBox_Gyr.Controls.Add(label21);
       groupBox_Gyr.Dock = DockStyle.Top;
-      groupBox_Gyr.Location = new Point(0, 110);
+      groupBox_Gyr.Location = new Point(0, 104);
       groupBox_Gyr.Name = "groupBox_Gyr";
-      groupBox_Gyr.Size = new Size(204, 122);
+      groupBox_Gyr.Size = new Size(204, 116);
       groupBox_Gyr.TabIndex = 7;
       groupBox_Gyr.TabStop = false;
       groupBox_Gyr.Text = "Gyroscope";
@@ -1376,7 +1352,7 @@
       // checkBox_Model_Gyr_Real
       // 
       checkBox_Model_Gyr_Real.AutoSize = true;
-      checkBox_Model_Gyr_Real.Location = new Point(153, 101);
+      checkBox_Model_Gyr_Real.Location = new Point(153, 97);
       checkBox_Model_Gyr_Real.Name = "checkBox_Model_Gyr_Real";
       checkBox_Model_Gyr_Real.Size = new Size(48, 19);
       checkBox_Model_Gyr_Real.TabIndex = 37;
@@ -1388,7 +1364,7 @@
       // label51
       // 
       label51.AutoSize = true;
-      label51.Location = new Point(126, 94);
+      label51.Location = new Point(126, 90);
       label51.Name = "label51";
       label51.Size = new Size(24, 15);
       label51.TabIndex = 35;
@@ -1398,7 +1374,7 @@
       // 
       numericUpDown_Gyr_Laten.DecimalPlaces = 3;
       numericUpDown_Gyr_Laten.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
-      numericUpDown_Gyr_Laten.Location = new Point(68, 92);
+      numericUpDown_Gyr_Laten.Location = new Point(68, 88);
       numericUpDown_Gyr_Laten.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
       numericUpDown_Gyr_Laten.Name = "numericUpDown_Gyr_Laten";
       numericUpDown_Gyr_Laten.Size = new Size(49, 23);
@@ -1409,7 +1385,7 @@
       // label52
       // 
       label52.AutoSize = true;
-      label52.Location = new Point(5, 94);
+      label52.Location = new Point(5, 90);
       label52.Name = "label52";
       label52.Size = new Size(55, 15);
       label52.TabIndex = 33;
@@ -1558,7 +1534,7 @@
       groupBox_Acc.Dock = DockStyle.Top;
       groupBox_Acc.Location = new Point(0, 0);
       groupBox_Acc.Name = "groupBox_Acc";
-      groupBox_Acc.Size = new Size(204, 110);
+      groupBox_Acc.Size = new Size(204, 104);
       groupBox_Acc.TabIndex = 6;
       groupBox_Acc.TabStop = false;
       groupBox_Acc.Text = "Accelerometer";
@@ -1566,7 +1542,7 @@
       // checkBox_Model_Acc_Real
       // 
       checkBox_Model_Acc_Real.AutoSize = true;
-      checkBox_Model_Acc_Real.Location = new Point(156, 91);
+      checkBox_Model_Acc_Real.Location = new Point(156, 72);
       checkBox_Model_Acc_Real.Name = "checkBox_Model_Acc_Real";
       checkBox_Model_Acc_Real.Size = new Size(48, 19);
       checkBox_Model_Acc_Real.TabIndex = 36;
@@ -1578,7 +1554,7 @@
       // label49
       // 
       label49.AutoSize = true;
-      label49.Location = new Point(126, 80);
+      label49.Location = new Point(122, 72);
       label49.Name = "label49";
       label49.Size = new Size(24, 15);
       label49.TabIndex = 35;
@@ -1588,7 +1564,7 @@
       // 
       numericUpDown_Acc_Laten.DecimalPlaces = 3;
       numericUpDown_Acc_Laten.Increment = new decimal(new int[] { 1, 0, 0, 131072 });
-      numericUpDown_Acc_Laten.Location = new Point(68, 78);
+      numericUpDown_Acc_Laten.Location = new Point(68, 70);
       numericUpDown_Acc_Laten.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
       numericUpDown_Acc_Laten.Name = "numericUpDown_Acc_Laten";
       numericUpDown_Acc_Laten.Size = new Size(49, 23);
@@ -1599,7 +1575,7 @@
       // label50
       // 
       label50.AutoSize = true;
-      label50.Location = new Point(5, 80);
+      label50.Location = new Point(5, 72);
       label50.Name = "label50";
       label50.Size = new Size(55, 15);
       label50.TabIndex = 33;
@@ -1609,7 +1585,7 @@
       // 
       numericUpDown_Acc_Scale_Left.DecimalPlaces = 3;
       numericUpDown_Acc_Scale_Left.Increment = new decimal(new int[] { 1, 0, 0, 196608 });
-      numericUpDown_Acc_Scale_Left.Location = new Point(48, 50);
+      numericUpDown_Acc_Scale_Left.Location = new Point(48, 43);
       numericUpDown_Acc_Scale_Left.Maximum = new decimal(new int[] { 5, 0, 0, -2147418112 });
       numericUpDown_Acc_Scale_Left.Minimum = new decimal(new int[] { 15, 0, 0, -2147418112 });
       numericUpDown_Acc_Scale_Left.Name = "numericUpDown_Acc_Scale_Left";
@@ -1622,7 +1598,7 @@
       // 
       numericUpDown_Acc_Scale_Rigth.DecimalPlaces = 3;
       numericUpDown_Acc_Scale_Rigth.Increment = new decimal(new int[] { 1, 0, 0, 196608 });
-      numericUpDown_Acc_Scale_Rigth.Location = new Point(136, 50);
+      numericUpDown_Acc_Scale_Rigth.Location = new Point(136, 43);
       numericUpDown_Acc_Scale_Rigth.Maximum = new decimal(new int[] { 15, 0, 0, 65536 });
       numericUpDown_Acc_Scale_Rigth.Minimum = new decimal(new int[] { 5, 0, 0, 65536 });
       numericUpDown_Acc_Scale_Rigth.Name = "numericUpDown_Acc_Scale_Rigth";
@@ -1634,7 +1610,7 @@
       // label32
       // 
       label32.AutoSize = true;
-      label32.Location = new Point(109, 52);
+      label32.Location = new Point(109, 45);
       label32.Name = "label32";
       label32.Size = new Size(28, 15);
       label32.TabIndex = 15;
@@ -1643,7 +1619,7 @@
       // label31
       // 
       label31.AutoSize = true;
-      label31.Location = new Point(5, 52);
+      label31.Location = new Point(5, 45);
       label31.Name = "label31";
       label31.Size = new Size(37, 15);
       label31.TabIndex = 12;
@@ -1652,7 +1628,7 @@
       // label24
       // 
       label24.AutoSize = true;
-      label24.Location = new Point(180, 24);
+      label24.Location = new Point(180, 19);
       label24.Name = "label24";
       label24.Size = new Size(15, 15);
       label24.TabIndex = 11;
@@ -1662,7 +1638,7 @@
       // 
       numericUpDown_Acc_Noise.DecimalPlaces = 3;
       numericUpDown_Acc_Noise.Increment = new decimal(new int[] { 1, 0, 0, 196608 });
-      numericUpDown_Acc_Noise.Location = new Point(126, 21);
+      numericUpDown_Acc_Noise.Location = new Point(126, 16);
       numericUpDown_Acc_Noise.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
       numericUpDown_Acc_Noise.Name = "numericUpDown_Acc_Noise";
       numericUpDown_Acc_Noise.Size = new Size(49, 23);
@@ -1673,7 +1649,7 @@
       // label23
       // 
       label23.AutoSize = true;
-      label23.Location = new Point(83, 24);
+      label23.Location = new Point(83, 19);
       label23.Name = "label23";
       label23.Size = new Size(40, 15);
       label23.TabIndex = 9;
@@ -1681,7 +1657,7 @@
       // 
       // numericUpDown_Acc_Freq
       // 
-      numericUpDown_Acc_Freq.Location = new Point(37, 21);
+      numericUpDown_Acc_Freq.Location = new Point(37, 16);
       numericUpDown_Acc_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
       numericUpDown_Acc_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
       numericUpDown_Acc_Freq.Name = "numericUpDown_Acc_Freq";
@@ -1693,7 +1669,7 @@
       // label20
       // 
       label20.AutoSize = true;
-      label20.Location = new Point(1, 23);
+      label20.Location = new Point(1, 18);
       label20.Name = "label20";
       label20.Size = new Size(33, 15);
       label20.TabIndex = 2;
@@ -1705,7 +1681,7 @@
       tabPage_Area.Controls.Add(groupBox3);
       tabPage_Area.Location = new Point(4, 24);
       tabPage_Area.Name = "tabPage_Area";
-      tabPage_Area.Size = new Size(210, 889);
+      tabPage_Area.Size = new Size(210, 788);
       tabPage_Area.TabIndex = 2;
       tabPage_Area.Tag = "#area";
       tabPage_Area.Text = "Area";
@@ -1883,6 +1859,8 @@
       // checkBox_Area_Wind_Enable
       // 
       checkBox_Area_Wind_Enable.AutoSize = true;
+      checkBox_Area_Wind_Enable.Checked = true;
+      checkBox_Area_Wind_Enable.CheckState = CheckState.Checked;
       checkBox_Area_Wind_Enable.Location = new Point(165, 149);
       checkBox_Area_Wind_Enable.Name = "checkBox_Area_Wind_Enable";
       checkBox_Area_Wind_Enable.Size = new Size(39, 19);
@@ -1954,7 +1932,7 @@
       tabPage_GPS.Location = new Point(4, 24);
       tabPage_GPS.Name = "tabPage_GPS";
       tabPage_GPS.Padding = new Padding(3);
-      tabPage_GPS.Size = new Size(210, 889);
+      tabPage_GPS.Size = new Size(210, 788);
       tabPage_GPS.TabIndex = 3;
       tabPage_GPS.Text = "GPS";
       tabPage_GPS.UseVisualStyleBackColor = true;
@@ -2172,7 +2150,7 @@
       numericUpDown_GPS_Lon.Name = "numericUpDown_GPS_Lon";
       numericUpDown_GPS_Lon.Size = new Size(101, 23);
       numericUpDown_GPS_Lon.TabIndex = 3;
-      numericUpDown_GPS_Lon.Value = new decimal(new int[] { 472064791, 0, 0, 458752 });
+      numericUpDown_GPS_Lon.Value = new decimal(new int[] { 389290690, 0, 0, 458752 });
       numericUpDown_GPS_Lon.ValueChanged += numericUpDown_GPS_ValueChanged;
       // 
       // numericUpDown_GPS_Lat
@@ -2184,7 +2162,8 @@
       numericUpDown_GPS_Lat.Name = "numericUpDown_GPS_Lat";
       numericUpDown_GPS_Lat.Size = new Size(101, 23);
       numericUpDown_GPS_Lat.TabIndex = 2;
-      numericUpDown_GPS_Lat.Value = new decimal(new int[] { 389290690, 0, 0, 458752 });
+      numericUpDown_GPS_Lat.Tag = "";
+      numericUpDown_GPS_Lat.Value = new decimal(new int[] { 472064791, 0, 0, 458752 });
       numericUpDown_GPS_Lat.ValueChanged += numericUpDown_GPS_ValueChanged;
       // 
       // label67
@@ -2205,14 +2184,134 @@
       label66.TabIndex = 0;
       label66.Text = "Lat:";
       // 
+      // tabPage_Drone
+      // 
+      tabPage_Drone.Controls.Add(groupBox_Physics);
+      tabPage_Drone.Location = new Point(4, 24);
+      tabPage_Drone.Name = "tabPage_Drone";
+      tabPage_Drone.Padding = new Padding(3);
+      tabPage_Drone.Size = new Size(210, 788);
+      tabPage_Drone.TabIndex = 4;
+      tabPage_Drone.Text = "Drone";
+      tabPage_Drone.UseVisualStyleBackColor = true;
+      // 
+      // groupBox_Physics
+      // 
+      groupBox_Physics.Controls.Add(label78);
+      groupBox_Physics.Controls.Add(numericUpDown_Physics_Power);
+      groupBox_Physics.Controls.Add(label77);
+      groupBox_Physics.Controls.Add(numericUpDown_Physics_Length);
+      groupBox_Physics.Controls.Add(label76);
+      groupBox_Physics.Controls.Add(numericUpDown_Physics_Mass);
+      groupBox_Physics.Controls.Add(label75);
+      groupBox_Physics.Controls.Add(label74);
+      groupBox_Physics.Controls.Add(label27);
+      groupBox_Physics.Dock = DockStyle.Top;
+      groupBox_Physics.Location = new Point(3, 3);
+      groupBox_Physics.Name = "groupBox_Physics";
+      groupBox_Physics.Size = new Size(204, 120);
+      groupBox_Physics.TabIndex = 0;
+      groupBox_Physics.TabStop = false;
+      groupBox_Physics.Text = "Physics";
+      // 
+      // label78
+      // 
+      label78.AutoSize = true;
+      label78.Location = new Point(128, 87);
+      label78.Name = "label78";
+      label78.Size = new Size(20, 15);
+      label78.TabIndex = 8;
+      label78.Text = "kg";
+      // 
+      // numericUpDown_Physics_Power
+      // 
+      numericUpDown_Physics_Power.DecimalPlaces = 2;
+      numericUpDown_Physics_Power.Location = new Point(57, 85);
+      numericUpDown_Physics_Power.Maximum = new decimal(new int[] { 5000, 0, 0, 0 });
+      numericUpDown_Physics_Power.Minimum = new decimal(new int[] { 1, 0, 0, 65536 });
+      numericUpDown_Physics_Power.Name = "numericUpDown_Physics_Power";
+      numericUpDown_Physics_Power.Size = new Size(65, 23);
+      numericUpDown_Physics_Power.TabIndex = 7;
+      numericUpDown_Physics_Power.Value = new decimal(new int[] { 1, 0, 0, 0 });
+      numericUpDown_Physics_Power.ValueChanged += numericUpDown_Physics_ValueChanged;
+      // 
+      // label77
+      // 
+      label77.AutoSize = true;
+      label77.Location = new Point(128, 58);
+      label77.Name = "label77";
+      label77.Size = new Size(18, 15);
+      label77.TabIndex = 6;
+      label77.Text = "m";
+      // 
+      // numericUpDown_Physics_Length
+      // 
+      numericUpDown_Physics_Length.DecimalPlaces = 2;
+      numericUpDown_Physics_Length.Location = new Point(57, 56);
+      numericUpDown_Physics_Length.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
+      numericUpDown_Physics_Length.Minimum = new decimal(new int[] { 1, 0, 0, 65536 });
+      numericUpDown_Physics_Length.Name = "numericUpDown_Physics_Length";
+      numericUpDown_Physics_Length.Size = new Size(65, 23);
+      numericUpDown_Physics_Length.TabIndex = 5;
+      numericUpDown_Physics_Length.Value = new decimal(new int[] { 1, 0, 0, 0 });
+      numericUpDown_Physics_Length.ValueChanged += numericUpDown_Physics_ValueChanged;
+      // 
+      // label76
+      // 
+      label76.AutoSize = true;
+      label76.Location = new Point(128, 29);
+      label76.Name = "label76";
+      label76.Size = new Size(20, 15);
+      label76.TabIndex = 4;
+      label76.Text = "kg";
+      // 
+      // numericUpDown_Physics_Mass
+      // 
+      numericUpDown_Physics_Mass.DecimalPlaces = 2;
+      numericUpDown_Physics_Mass.Location = new Point(57, 27);
+      numericUpDown_Physics_Mass.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
+      numericUpDown_Physics_Mass.Minimum = new decimal(new int[] { 1, 0, 0, 131072 });
+      numericUpDown_Physics_Mass.Name = "numericUpDown_Physics_Mass";
+      numericUpDown_Physics_Mass.Size = new Size(65, 23);
+      numericUpDown_Physics_Mass.TabIndex = 3;
+      numericUpDown_Physics_Mass.Value = new decimal(new int[] { 5, 0, 0, 65536 });
+      numericUpDown_Physics_Mass.ValueChanged += numericUpDown_Physics_ValueChanged;
+      // 
+      // label75
+      // 
+      label75.AutoSize = true;
+      label75.Location = new Point(8, 87);
+      label75.Name = "label75";
+      label75.Size = new Size(43, 15);
+      label75.TabIndex = 2;
+      label75.Text = "Power:";
+      // 
+      // label74
+      // 
+      label74.AutoSize = true;
+      label74.Location = new Point(7, 58);
+      label74.Name = "label74";
+      label74.Size = new Size(47, 15);
+      label74.TabIndex = 1;
+      label74.Text = "Length:";
+      // 
+      // label27
+      // 
+      label27.AutoSize = true;
+      label27.Location = new Point(17, 29);
+      label27.Name = "label27";
+      label27.Size = new Size(37, 15);
+      label27.TabIndex = 0;
+      label27.Text = "Mass:";
+      // 
       // groupBox_Navi
       // 
       groupBox_Navi.Controls.Add(panel1);
       groupBox_Navi.Controls.Add(comboBox_Drone);
       groupBox_Navi.Dock = DockStyle.Right;
-      groupBox_Navi.Location = new Point(684, 24);
+      groupBox_Navi.Location = new Point(684, 0);
       groupBox_Navi.Name = "groupBox_Navi";
-      groupBox_Navi.Size = new Size(200, 917);
+      groupBox_Navi.Size = new Size(200, 816);
       groupBox_Navi.TabIndex = 3;
       groupBox_Navi.TabStop = false;
       groupBox_Navi.Tag = "#navigation";
@@ -2226,7 +2325,7 @@
       panel1.Dock = DockStyle.Fill;
       panel1.Location = new Point(3, 42);
       panel1.Name = "panel1";
-      panel1.Size = new Size(194, 872);
+      panel1.Size = new Size(194, 771);
       panel1.TabIndex = 3;
       // 
       // listBox_Drones
@@ -2275,19 +2374,15 @@
       // 
       AutoScaleDimensions = new SizeF(7F, 15F);
       AutoScaleMode = AutoScaleMode.Font;
-      ClientSize = new Size(884, 941);
+      ClientSize = new Size(884, 816);
       Controls.Add(groupBox_Screen);
       Controls.Add(groupBox_Navi);
       Controls.Add(tabControl_Menu);
-      Controls.Add(menuStrip_Menu);
       Icon = (Icon)resources.GetObject("$this.Icon");
-      MainMenuStrip = menuStrip_Menu;
+      MinimumSize = new Size(900, 855);
-      MinimumSize = new Size(900, 980);
       Name = "Form_Main";
       Text = "Drone Simulator V1.0";
       FormClosing += Form_Main_FormClosing;
-      menuStrip_Menu.ResumeLayout(false);
-      menuStrip_Menu.PerformLayout();
       groupBox_Screen.ResumeLayout(false);
       ((System.ComponentModel.ISupportInitialize)pictureBox_2D).EndInit();
       tabControl_Menu.ResumeLayout(false);
@@ -2372,16 +2467,18 @@
       ((System.ComponentModel.ISupportInitialize)numericUpDown_GPS_Alt).EndInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_GPS_Lon).EndInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_GPS_Lat).EndInit();
+      tabPage_Drone.ResumeLayout(false);
+      groupBox_Physics.ResumeLayout(false);
+      groupBox_Physics.PerformLayout();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_Physics_Power).EndInit();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_Physics_Length).EndInit();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_Physics_Mass).EndInit();
       groupBox_Navi.ResumeLayout(false);
       panel1.ResumeLayout(false);
       ResumeLayout(false);
-      PerformLayout();
     }
 
     #endregion
-
-    private MenuStrip menuStrip_Menu;
-    private ToolStripMenuItem fileToolStripMenuItem;
     private GroupBox groupBox_Screen;
     private TabControl tabControl_Menu;
     private TabPage tabPage_Main;
@@ -2405,7 +2502,6 @@
     private Button button_Drone_Color;
     private ComboBox comboBox_Drone_Rotor;
     private Panel panel1;
-    private ToolStripMenuItem exitToolStripMenuItem;
     private System.Windows.Forms.Timer timer_Test;
     private NumericUpDown numericUpDown_Visual_Limit;
     private Label label1;
@@ -2445,7 +2541,6 @@
     private GroupBox groupBox_Acc;
     private NumericUpDown numericUpDown_Acc_Freq;
     private Label label20;
-    private Label label27;
     private NumericUpDown numericUpDown_Mag_Noise;
     private Label label28;
     private Label label25;
@@ -2560,5 +2655,16 @@
     private Label label82;
     private Label label81;
     private Label label80;
+    private TabPage tabPage_Drone;
+    private GroupBox groupBox_Physics;
+    private Label label27;
+    private NumericUpDown numericUpDown_Physics_Length;
+    private Label label76;
+    private NumericUpDown numericUpDown_Physics_Mass;
+    private Label label75;
+    private Label label74;
+    private Label label78;
+    private NumericUpDown numericUpDown_Physics_Power;
+    private Label label77;
   }
 }

DroneSimulator/FormMain.cs

@@ -28,6 +28,11 @@ namespace DroneSimulator
       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)
@@ -42,7 +47,7 @@ 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);
 
@@ -174,7 +179,7 @@ namespace DroneSimulator
 
       Invoke((MethodInvoker)delegate
       {
-        label_Clients_Num.Text = data.Count.ToString();
+        label_Visual_Num.Text = data.Count.ToString();
       });
 
       if (data.Connect)
@@ -330,7 +335,7 @@ namespace DroneSimulator
     {
       GPS.Home.Lat = (double)numericUpDown_GPS_Lat.Value;
       GPS.Home.Lon = (double)numericUpDown_GPS_Lon.Value;
-      GPS.Home.Alt = (double)numericUpDown_GPS_Alt.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;
@@ -340,5 +345,12 @@ namespace DroneSimulator
       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;
+    }
   }
 }

DroneSimulator/FormMain.resx

@@ -117,9 +117,6 @@
   <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>

DroneSimulator/GPS.cs

@@ -3,25 +3,72 @@ 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
+    internal class GPS
-  {
-    public struct Home
     {
-      public static double Lat, Lon;
+        static double PI = 3.14159265358979323846;
-      public static float Alt;
+        public struct Home
-    }
+        {
+            public static double Lat, Lon;
+            public static float Alt;
+        }
 
-    public struct State
+        public struct State
-    {
+        {
-      public static byte Fix; // Тип решения 0-8 (NMEA Fix type)
+            public static byte Fix; // Тип решения 0-8 (NMEA Fix type)
-      public static byte SatVisible; // Количество видимых спутников
+            public static byte SatVisible; // Количество видимых спутников
-      public static byte SatUsed; // Количество используемых спутников
+            public static byte SatUsed; // Количество используемых спутников
-      public static float Hdop, Vdop, Pdop; // Геометрический фактор
+            public static float Hdop, Vdop, Pdop; // Геометрический фактор
-      public static float Noise; // Шум (db)
+            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;
+        }
     }
-  }
 }