pulled from main

DroneClient/Drone.cs

@@ -1,7 +1,5 @@
-using DroneData;
+using System.Diagnostics.Metrics;
-using System.Diagnostics.Metrics;
 using System.Drawing;
-using System.Numerics;
 using System.Runtime.InteropServices;
 
 namespace DroneClient
@@ -17,8 +15,6 @@ 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)
@@ -120,16 +116,6 @@ 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];
@@ -200,22 +186,6 @@ 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)
@@ -301,18 +271,12 @@ 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/DroneData.cs

@@ -1,4 +1,4 @@
-using System.Runtime.InteropServices;
+using System.Runtime.InteropServices;
 
 namespace DroneData
 {
@@ -12,13 +12,10 @@ namespace DroneData
     None = 0, Head = 1,
 
     // Output
-    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006, DataOF = 1007,
+    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
 
     // Input
-    DataMotor4 = 2001, DataMotor6 = 2002,
+    DataMotor4 = 2001, DataMotor6 = 2002
-
-    // State
-    DataQuat = 3001,
   };
 
   public struct DataHead
@@ -28,7 +25,7 @@ namespace DroneData
     public DataMode Mode;
     public DataType Type;
 
-    public uint Time; // Общее время
+    public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
   }
@@ -40,7 +37,7 @@ namespace DroneData
     public DataHead Head;
     public XYZ Acc;
 
-    public uint Time; // Последнее время изменения данных
+    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>
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
   }
@@ -50,7 +47,7 @@ namespace DroneData
     public DataHead Head;
     public XYZ Gyr;
 
-    public uint Time; // Последнее время изменения данных
+    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>
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
   }
@@ -60,49 +57,29 @@ namespace DroneData
     public DataHead Head;
     public XYZ Mag;
 
-    public uint Time; // Последнее время изменения данных
+    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>
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
   }
 
-  public struct DataRange
-  {
-    public DataHead Head;
-    public float LiDAR; // Датчик посадки
-
-    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 XYZ Local; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 
-    public uint Time; // Последнее время изменения данных
+    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>
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
   }
 
-  public struct DataBar
+  public struct DataRange
   {
     public DataHead Head;
-    public float Pressure; // Давление
+    public float LiDAR; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 
-    public uint Time; // Последнее время изменения данных
+    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>
 
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar));
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
-  }
-
-  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

DroneClient/FormMain.Designer.cs

@@ -38,14 +38,12 @@
       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();
@@ -53,7 +51,6 @@
       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();
@@ -68,22 +65,15 @@
       label_Pow = new Label();
       button_ML = new Button();
       button_MR = new Button();
-      groupBox5 = new GroupBox();
+      label_time_acc = new Label();
-      label_time_of = new Label();
+      label_time_range = new Label();
-      label_OF_Y = new Label();
+      label_time_gyr = 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)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
@@ -102,7 +92,7 @@
       groupBox1.Dock = DockStyle.Top;
       groupBox1.Location = new Point(0, 0);
       groupBox1.Name = "groupBox1";
-      groupBox1.Size = new Size(446, 80);
+      groupBox1.Size = new Size(275, 80);
       groupBox1.TabIndex = 3;
       groupBox1.TabStop = false;
       groupBox1.Tag = "";
@@ -178,20 +168,11 @@
       groupBox2.Controls.Add(label1);
       groupBox2.Location = new Point(6, 86);
       groupBox2.Name = "groupBox2";
-      groupBox2.Size = new Size(100, 118);
+      groupBox2.Size = new Size(78, 118);
       groupBox2.TabIndex = 5;
       groupBox2.TabStop = false;
       groupBox2.Text = "Acc";
       // 
-      // label_time_acc
-      // 
-      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";
-      // 
       // label_Acc_Z
       // 
       label_Acc_Z.AutoSize = true;
@@ -246,22 +227,13 @@
       groupBox3.Controls.Add(label11);
       groupBox3.Controls.Add(label_Gyr_X);
       groupBox3.Controls.Add(label13);
-      groupBox3.Location = new Point(112, 86);
+      groupBox3.Location = new Point(95, 86);
       groupBox3.Name = "groupBox3";
-      groupBox3.Size = new Size(103, 118);
+      groupBox3.Size = new Size(78, 118);
       groupBox3.TabIndex = 6;
       groupBox3.TabStop = false;
       groupBox3.Text = "Gyr";
       // 
-      // label_time_gyr
-      // 
-      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_Gyr_Z
       // 
       label_Gyr_Z.AutoSize = true;
@@ -325,22 +297,13 @@
       groupBox4.Controls.Add(label10);
       groupBox4.Controls.Add(label_Pos_X);
       groupBox4.Controls.Add(label14);
-      groupBox4.Location = new Point(221, 86);
+      groupBox4.Location = new Point(188, 86);
       groupBox4.Name = "groupBox4";
-      groupBox4.Size = new Size(103, 118);
+      groupBox4.Size = new Size(78, 118);
       groupBox4.TabIndex = 7;
       groupBox4.TabStop = false;
       groupBox4.Text = "Pos";
       // 
-      // label_time_range
-      // 
-      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_Pos_L
       // 
       label_Pos_L.AutoSize = true;
@@ -480,93 +443,38 @@
       button_MR.MouseDown += button_UU_MouseDown;
       button_MR.MouseUp += button_UU_MouseUp;
       // 
-      // groupBox5
+      // label_time_acc
       // 
-      groupBox5.Controls.Add(label_time_of);
+      label_time_acc.AutoSize = true;
-      groupBox5.Controls.Add(label_OF_Y);
+      label_time_acc.Location = new Point(6, 100);
-      groupBox5.Controls.Add(label17);
+      label_time_acc.Name = "label_time_acc";
-      groupBox5.Controls.Add(label_OF_X);
+      label_time_acc.Size = new Size(13, 15);
-      groupBox5.Controls.Add(label19);
+      label_time_acc.TabIndex = 25;
-      groupBox5.Location = new Point(330, 86);
+      label_time_acc.Text = "0";
-      groupBox5.Name = "groupBox5";
-      groupBox5.Size = new Size(104, 118);
-      groupBox5.TabIndex = 24;
-      groupBox5.TabStop = false;
-      groupBox5.Text = "OF";
       // 
-      // label_time_of
+      // label_time_range
       // 
-      label_time_of.AutoSize = true;
+      label_time_range.AutoSize = true;
-      label_time_of.Location = new Point(6, 100);
+      label_time_range.Location = new Point(6, 100);
-      label_time_of.Name = "label_time_of";
+      label_time_range.Name = "label_time_range";
-      label_time_of.Size = new Size(13, 15);
+      label_time_range.Size = new Size(13, 15);
-      label_time_of.TabIndex = 27;
+      label_time_range.TabIndex = 27;
-      label_time_of.Text = "0";
+      label_time_range.Text = "0";
       // 
-      // label_OF_Y
+      // label_time_gyr
       // 
-      label_OF_Y.AutoSize = true;
+      label_time_gyr.AutoSize = true;
-      label_OF_Y.Location = new Point(19, 45);
+      label_time_gyr.Location = new Point(3, 100);
-      label_OF_Y.Name = "label_OF_Y";
+      label_time_gyr.Name = "label_time_gyr";
-      label_OF_Y.Size = new Size(13, 15);
+      label_time_gyr.Size = new Size(13, 15);
-      label_OF_Y.TabIndex = 7;
+      label_time_gyr.TabIndex = 26;
-      label_OF_Y.Text = "0";
+      label_time_gyr.Text = "0";
-      // 
-      // label17
-      // 
-      label17.AutoSize = true;
-      label17.Location = new Point(6, 45);
-      label17.Name = "label17";
-      label17.Size = new Size(17, 15);
-      label17.TabIndex = 6;
-      label17.Text = "Y:";
-      // 
-      // label_OF_X
-      // 
-      label_OF_X.AutoSize = true;
-      label_OF_X.Location = new Point(19, 19);
-      label_OF_X.Name = "label_OF_X";
-      label_OF_X.Size = new Size(13, 15);
-      label_OF_X.TabIndex = 5;
-      label_OF_X.Text = "0";
-      // 
-      // label19
-      // 
-      label19.AutoSize = true;
-      label19.Location = new Point(6, 19);
-      label19.Name = "label19";
-      label19.Size = new Size(17, 15);
-      label19.TabIndex = 4;
-      label19.Text = "X:";
-      // 
-      // trackBar_Value
-      // 
-      trackBar_Value.Location = new Point(349, 240);
-      trackBar_Value.Maximum = 100;
-      trackBar_Value.Minimum = 1;
-      trackBar_Value.Name = "trackBar_Value";
-      trackBar_Value.Orientation = Orientation.Vertical;
-      trackBar_Value.Size = new Size(45, 195);
-      trackBar_Value.TabIndex = 25;
-      trackBar_Value.Value = 1;
-      // 
-      // label4
-      // 
-      label4.AutoSize = true;
-      label4.Location = new Point(347, 219);
-      label4.Name = "label4";
-      label4.Size = new Size(47, 15);
-      label4.TabIndex = 26;
-      label4.Text = "POWER";
       // 
       // Form_Main
       // 
       AutoScaleDimensions = new SizeF(7F, 15F);
       AutoScaleMode = AutoScaleMode.Font;
-      ClientSize = new Size(446, 447);
+      ClientSize = new Size(275, 447);
-      Controls.Add(label4);
-      Controls.Add(trackBar_Value);
-      Controls.Add(groupBox5);
       Controls.Add(button_MR);
       Controls.Add(button_ML);
       Controls.Add(label_Pow);
@@ -593,9 +501,6 @@
       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();
     }
@@ -641,12 +546,5 @@
     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;
   }
 }

DroneClient/FormMain.cs

@@ -1,4 +1,4 @@
-using System.Text;
+using System.Text;
 using System.Numerics;
 using System.Windows.Forms;
 using static DroneSimulator.NetClient;
@@ -109,11 +109,6 @@ namespace DroneSimulator
 
       label_time_range.Text = dataDrone.TimeRange.ToString();
 
-      label_OF_X.Text = dataDrone.OF.X.ToString();
-      label_OF_Y.Text = dataDrone.OF.Y.ToString();
-
-      label_time_of.Text = dataDrone.TimeRange.ToString();
-
       netClient.SendData(dataDrone.SendReqest());
     }
 
@@ -128,7 +123,7 @@ namespace DroneSimulator
 
     private void button_UU_MouseDown(object sender, MouseEventArgs e)
     {
-      float pow = ((float)trackBar_Value.Value) / 10.0f;
+      const float pow = 0.1f;
 
       if (sender == button_UU)
       {

DroneSimulator/Area.cs

@@ -1,27 +0,0 @@
-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 +1,26 @@
-using System.Numerics;
+using System.CodeDom;
+using System.Numerics;
 using System.Runtime.InteropServices;
-using static System.Net.Mime.MediaTypeNames;
+using System.Security.Cryptography;
 
 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;
@@ -31,21 +31,7 @@ namespace DroneSimulator
     private Thread DroneThread;
     private int Timer;
 
-    private Vector2 MoveOF = Vector2.Zero;
+    private static int CounterID = 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)
     {
@@ -88,28 +74,16 @@ namespace DroneSimulator
       return mem;
     }
 
-    public VisualData.VisualDrone GetVisual(int count, int index)
+    public struct DataVisual
     {
-      VisualData.VisualDrone drone = new VisualData.VisualDrone();
+      public int ID; // Идентификатор
+      public float W, X, Y, Z; // Кватернион вращения
+      public float PosX, PosY, PosZ; // Координаты в пространстве
+    }
 
-      drone.Head.Size = Marshal.SizeOf(typeof(VisualData.VisualDrone));
+    public DataVisual GetVisual()
-      drone.Head.Type = VisualData.VisualHead.VisualType.Drone;
+    {
-
+      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 };
-      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;
     }
 
     private void ThreadFunction()
@@ -135,8 +109,12 @@ namespace DroneSimulator
       DroneThread.Start();
     }
 
-    public int Create()
+    public int Create(float power, float mass, float len)
     {
+      Mass = mass;
+      Length = len;
+      MaxPower = power;
+
       Active = true;
 
       return ID;
@@ -180,7 +158,7 @@ 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;
@@ -202,45 +180,16 @@ 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 + wind_x, pow.Y + wind_y, pow.Z + wind_z) * (Gravity / Physics.Mass);
+      AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) * (Gravity / Mass);
+
       SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
       PosXYZ += SpdXYZ * time;
 
       AccXYZ /= Gravity; // Вернуть измерения в G
 
-      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;
@@ -252,8 +201,6 @@ namespace DroneSimulator
 
       Vector4 ori = GetOrientation();
 
-      Orientation = ori;
-
       if (PosXYZ.Z < 0)
       {
         PosXYZ.Z = 0;
@@ -281,27 +228,18 @@ namespace DroneSimulator
           //Active = false; // Перевернулся вверх ногами
         }
 
-        Quaternion grav = Quat * new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0) * Quaternion.Inverse(Quat);
+        Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0);
+        //grav = (Quat * grav) * Quaternion.Inverse(Quat); // Инерциальный акселерометр (тест)
         Acc = new Vector3(grav.X, grav.Y, grav.Z);
 
         Gyr = SpdPRY;
 
-        float tilt = MathF.Sqrt((ori.X * ori.X) + (ori.Y * ori.Y)) * TO_RADI;
+        float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI;
 
         if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
         else LaserRange = float.MaxValue;
       }
 
-      MoveOF.X += SpdXYZ.X - Gyr.Y;
-      MoveOF.Y += SpdXYZ.Y + Gyr.X;
-
-      RealAcc.Update(Acc, (uint)tick);
-      RealGyr.Update(Gyr, (uint)tick);
-      RealRange.Update(LaserRange, (uint)tick);
-      RealBar.Update(PosXYZ.Z * 11, (uint)tick);
-      RealPos.Update(PosXYZ, (uint)tick);
-      RealOF.Update(MoveOF, LaserRange, (uint)tick);
-
       DataTimer = (uint)tick;
     }
 
@@ -310,7 +248,7 @@ namespace DroneSimulator
       if (pow > 1) pow = 1;
       if (pow < 0) pow = 0;
 
-      return pow * Physics.MaxPower;
+      return pow * MaxPower;
     }
 
     public void SetQadroPow(float ul, float ur, float dl, float dr)
@@ -340,8 +278,8 @@ namespace DroneSimulator
       acc.Head.Type = DroneData.DataType.DataAcc;
       acc.Head.Time = (uint)Environment.TickCount;
 
-      acc.Acc.X = RealAcc.result.X; acc.Acc.Y = RealAcc.result.Y; acc.Acc.Z = RealAcc.result.Z;
+      acc.Acc.X = Acc.X; acc.Acc.Y = Acc.Y; acc.Acc.Z = Acc.Z;
-      acc.Time = RealAcc.timer;
+      acc.Time = DataTimer;
 
       return getBytes(acc);
     }
@@ -355,8 +293,8 @@ namespace DroneSimulator
       gyr.Head.Type = DroneData.DataType.DataGyr;
       gyr.Head.Time = (uint)Environment.TickCount;
 
-      gyr.Gyr.X = RealGyr.result.X; gyr.Gyr.Y = RealGyr.result.Y; gyr.Gyr.Z = RealGyr.result.Z;
+      gyr.Gyr.X = Gyr.X; gyr.Gyr.Y = Gyr.Y; gyr.Gyr.Z = Gyr.Z;
-      gyr.Time = RealGyr.timer;
+      gyr.Time = DataTimer;
 
       return getBytes(gyr);
     }
@@ -385,8 +323,8 @@ namespace DroneSimulator
       range.Head.Type = DroneData.DataType.DataRange;
       range.Head.Time = (uint)Environment.TickCount;
 
-      range.LiDAR = RealRange.result;
+      range.LiDAR = LaserRange;
-      range.Time = RealRange.timer;
+      range.Time = DataTimer;
 
       return getBytes(range);
     }
@@ -400,98 +338,15 @@ namespace DroneSimulator
       local.Head.Type = DroneData.DataType.DataLocal;
       local.Head.Time = (uint)Environment.TickCount;
 
-      local.Local.X = RealPos.result.X; local.Local.Y = RealPos.result.Y; local.Local.Z = RealPos.result.Z;
+      local.Local.X = PosXYZ.X; local.Local.Y = PosXYZ.Y; local.Local.Z = PosXYZ.Z;
-      local.Time = RealPos.timer;
+      local.Time = DataTimer;
 
       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)Environment.TickCount;
-
-      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)Environment.TickCount;
-
-      of.X = RealOF.result.X;
-      of.Y = RealOF.result.Y;
-      of.Time = RealBar.timer;
-
-      MoveOF = Vector2.Zero;
-
-      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)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;
-
-      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;
-
-      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)Environment.TickCount;
-
-      quat.X = Quat.X; quat.Y = Quat.Y; quat.Z = Quat.Z; quat.W = Quat.W;
-
-      return getBytes(quat);
-    }
-
     private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
     {
-      byte[] zero = Array.Empty<byte>();
+      byte[] zero = new byte[0];
 
       switch (head.Type)
       {
@@ -511,23 +366,86 @@ namespace DroneSimulator
             }
           }
 
-        case DroneData.DataType.DataGyr: if (head.Mode == DroneData.DataMode.Request) return SendDataGyr(); else return zero;
+        case DroneData.DataType.DataGyr:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              return SendDataGyr();
+            }
+            else
+            {
+              // Пришли данные
+              // ... //
+              //
+              return zero;
+            }
+          }
 
-        case DroneData.DataType.DataMag: if (head.Mode == DroneData.DataMode.Request) return SendDataMag(); 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.DataRange: if (head.Mode == DroneData.DataMode.Request) return SendDataRange(); 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.DataLocal: if (head.Mode == DroneData.DataMode.Request) return SendDataLocal(); 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.DataBar: if (head.Mode == DroneData.DataMode.Request) return SendDataBarometer(); else return zero;
+        case DroneData.DataType.DataMotor4:
-
+          {
-        case DroneData.DataType.DataOF: if (head.Mode == DroneData.DataMode.Request) return SendDataOF(); else return zero;
+            if (head.Mode == DroneData.DataMode.Request)
-
+            {
-        case DroneData.DataType.DataGPS: if (head.Mode == DroneData.DataMode.Request) return SendDataGPS(); else return zero;
+              // Запрос данных
-
+              // ... //
-        case DroneData.DataType.DataQuat: if (head.Mode == DroneData.DataMode.Request) return SendDataQuaternion(); else return zero;
+              //
-
+              return zero;
-        case DroneData.DataType.DataMotor4: if (head.Mode == DroneData.DataMode.Response) RecvDataMotor4(body); return zero;
+            }
+            else
+            {
+              // Пришли данные
+              RecvDataMotor4(body);
+              return zero;
+            }
+          }
       }
 
       return zero;

DroneSimulator/DroneData.cs

@@ -1,4 +1,3 @@
-using System.Net;
 using System.Runtime.InteropServices;
 
 namespace DroneData
@@ -13,13 +12,10 @@ namespace DroneData
     None = 0, Head = 1,
 
     // Output
-    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006, DataOF = 1007, DataGPS = 1008,
+    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, 
 
     // Input
-    DataMotor4 = 2001, DataMotor6 = 2002,
+    DataMotor4 = 2001, DataMotor6 = 2002
-
-    // State
-    DataQuat = 3001,
   };
 
   public struct DataHead
@@ -29,7 +25,7 @@ namespace DroneData
     public DataMode Mode;
     public DataType Type;
 
-    public uint Time; // Общее время
+    public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
   }
@@ -41,7 +37,7 @@ namespace DroneData
     public DataHead Head;
     public XYZ Acc;
 
-    public uint Time; // Последнее время изменения данных
+    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>
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
   }
@@ -51,7 +47,7 @@ namespace DroneData
     public DataHead Head;
     public XYZ Gyr;
 
-    public uint Time; // Последнее время изменения данных
+    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>
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
   }
@@ -61,69 +57,29 @@ namespace DroneData
     public DataHead Head;
     public XYZ Mag;
 
-    public uint Time; // Последнее время изменения данных
+    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>
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
   }
 
-  public struct DataRange
-  {
-    public DataHead Head;
-    public float LiDAR; // Датчик посадки
-
-    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 XYZ Local; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 
-    public uint Time; // Последнее время изменения данных
+    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>
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
   }
 
-  public struct DataBar
+  public struct DataRange
   {
     public DataHead Head;
-    public float Pressure; // Давление
+    public float LiDAR; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 
-    public uint Time; // Последнее время изменения данных
+    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>
 
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar));
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
-  }
-
-  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
@@ -141,12 +97,4 @@ 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;
@@ -22,17 +22,6 @@ namespace DroneSimulator
     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)
@@ -47,7 +36,7 @@ namespace DroneSimulator
       if (data.Connect)
       {
         Drone drone = new Drone(data.ID);
-        drone.Create();
+        drone.Create(1.0f, 0.5f, 1.0f);
 
         screen2D.CreateDrone(Color.Red, data.ID);
 
@@ -144,27 +133,12 @@ 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;
 
-      listBox_Drones.Items.Clear();
+      foreach (Drone d in AllDrones)
-
-      try
       {
-        foreach (Drone d in AllDrones)
+        screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
-        {
-          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 { }
 
       screen2D.DrawScene();
     }
@@ -179,7 +153,7 @@ namespace DroneSimulator
 
       Invoke((MethodInvoker)delegate
       {
-        label_Visual_Num.Text = data.Count.ToString();
+        label_Clients_Num.Text = data.Count.ToString();
       });
 
       if (data.Connect)
@@ -196,11 +170,9 @@ namespace DroneSimulator
     {
       NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o;
 
-      int index = 0;
-
       foreach (Drone d in AllDrones)
       {
-        VisualData.VisualDrone v = d.GetVisual(AllDrones.Count, index++);
+        Drone.DataVisual v = d.GetVisual();
 
         try { data.Client.Send(Drone.getBytes(v)); }
         catch { }
@@ -232,125 +204,5 @@ 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 * 10;
-      RealMode.OpticalFlow.MaxHeight = (float)numericUpDown_OF_Len.Value;
-
-      RealMode.OpticalFlow.Error = (float)numericUpDown_OF_Error.Value * 10;
-      RealMode.OpticalFlow.Wait = (uint)numericUpDown_OF_Wait.Value * 1000;
-    }
-
-    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;
-    }
   }
 }

DroneSimulator/FormMain.resx

@@ -117,11 +117,14 @@
   <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="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>78</value>
+    <value>25</value>
   </metadata>
   <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">

DroneSimulator/GPS.cs

@@ -1,74 +0,0 @@
-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

@@ -1,416 +0,0 @@
-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;
-
-        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 Error;
-      public static uint Wait;
-      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 void Update(Vector2 value, float Range, uint time)
-      {
-        if (!Enable)
-        {
-          result = Vector2.NaN;
-          return;
-        }
-
-        if (!RealSimulation)
-        {
-          result = value;
-          timer = time;
-          return;
-        }
-
-        value *= Lens;
-
-        if (rand.Next(0, 1000) < (Error * 10))
-        {
-          value = Vector2.Zero;
-          delay = time + Wait;
-        }
-        else if (delay > time)
-        {
-          value = Vector2.Zero;
-        }
-
-        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;
-        }
-      }
-    }
-
-    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

@@ -106,55 +106,51 @@ namespace DroneSimulator
 
         foreach (var d in DroneList)
         {
-          try
+          if (d.Azimuth >= 360) d.Azimuth -= 360;
+          var bmp = RotateImage(d.Drone, d.Azimuth);
+
+          g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130);
+
+          g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2));
+
+          //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130));
+
+          float x1 = 0, y1 = 0;
+          float x2 = 130, y2 = 0;
+          float x3 = 0, y3 = 130;
+
+          const float TO_RADI = MathF.PI / 180;
+
+          Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0);
+          Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI);
+
+          tilt = tilt * rotate * rotate;
+
+          if (tilt.Y > 0)
           {
-            if (d.Azimuth >= 360) d.Azimuth -= 360;
+            x1 = (int)(Math.Sin(tilt.Y) * 130);
-            var bmp = RotateImage(d.Drone, d.Azimuth);
+            x3 = (int)(Math.Sin(tilt.Y) * 130);
-
-            g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130);
-
-            g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2));
-
-            //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130));
-
-            float x1 = 0, y1 = 0;
-            float x2 = 130, y2 = 0;
-            float x3 = 0, y3 = 130;
-
-            const float TO_RADI = MathF.PI / 180;
-
-            Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0);
-            Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI);
-
-            tilt = tilt * rotate * rotate;
-
-            if (tilt.Y > 0)
-            {
-              x1 = (int)(Math.Sin(tilt.Y) * 130);
-              x3 = (int)(Math.Sin(tilt.Y) * 130);
-            }
-            else
-            {
-              x2 = (int)(Math.Cos(tilt.Y) * 130);
-            }
-
-            if (tilt.X > 0)
-            {
-              y1 = (int)(Math.Sin(tilt.X) * 130);
-              y2 = (int)(Math.Sin(tilt.X) * 130);
-            }
-            else
-            {
-              y3 = (int)(Math.Cos(tilt.X) * 130);
-            }
-
-            PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2);
-            PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3);
-            PointF[] dest = { ul, ur, dl };
-
-            g.DrawImage(bmp, dest);
           }
-          catch { }
+          else
+          {
+            x2 = (int)(Math.Cos(tilt.Y) * 130);
+          }
+
+          if (tilt.X > 0)
+          {
+            y1 = (int)(Math.Sin(tilt.X) * 130);
+            y2 = (int)(Math.Sin(tilt.X) * 130);
+          }
+          else
+          {
+            y3 = (int)(Math.Cos(tilt.X) * 130);
+          }
+
+          PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2);
+          PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3);
+          PointF[] dest = { ul, ur, dl };
+
+          g.DrawImage(bmp, dest);
         }
       }
 

DroneSimulator/VisualData.cs

@@ -1,39 +0,0 @@
-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
-  }
-
-}