sergey #10
@ -3,6 +3,7 @@ using System.Numerics;
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using System.Runtime.InteropServices;
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using System.Security.Cryptography;
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using static DroneSimulator.Drone;
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using static System.Windows.Forms.VisualStyles.VisualStyleElement;
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using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
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namespace DroneSimulator
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@ -35,11 +36,15 @@ namespace DroneSimulator
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private Random MainRandom = new Random();
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RealMode.Accelerometer RealAcc = new RealMode.Accelerometer();
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RealMode.Gyroscope RealGyr = new RealMode.Gyroscope();
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RealMode.Position RealPos = new RealMode.Position();
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RealMode.Barometer RealBar = new RealMode.Barometer();
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RealMode.Range RealRange = new RealMode.Range();
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public struct DataBarometer
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{
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public int Value, Pressure; // Значение давления в Паскальях
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public float Accuracy;
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public int Frequency;
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public float Pressure; // Значение давления в Паскальях
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public uint Time;
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}
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@ -252,13 +257,10 @@ namespace DroneSimulator
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else LaserRange = float.MaxValue;
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}
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if ((dataBarometer.Time + 1000 / dataBarometer.Frequency) < DataTimer)
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{
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float bar = dataBarometer.Pressure - PosXYZ.Z * 11;
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int rnd = MainRandom.Next(-(int)dataBarometer.Accuracy * 10, (int)dataBarometer.Accuracy * 10) / 10;
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dataBarometer.Value = (int)(bar + rnd);
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dataBarometer.Time = DataTimer;
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}
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float v_bar = PosXYZ.Z * 11;
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uint t_bar = (uint)tick;
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RealBar.Update(ref v_bar, ref t_bar);
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dataBarometer.Pressure = v_bar;
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DataTimer = (uint)tick;
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}
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@ -373,7 +375,7 @@ namespace DroneSimulator
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bar.Head.Type = DroneData.DataType.DataBar;
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bar.Head.Time = (uint)Environment.TickCount;
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bar.Pressure = dataBarometer.Value;
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bar.Pressure = dataBarometer.Pressure;
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bar.Time = dataBarometer.Time;
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return getBytes(bar);
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@ -1,4 +1,4 @@
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using System.Runtime.InteropServices;
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using System.Runtime.InteropServices;
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namespace DroneData
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{
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@ -25,7 +25,7 @@ namespace DroneData
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public DataMode Mode;
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public DataType Type;
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public uint Time; // Общее время
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public uint Time; // Общее время
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static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
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}
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@ -37,7 +37,7 @@ namespace DroneData
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public DataHead Head;
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public XYZ Acc;
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public uint Time; // Последнее время изменения данных
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public uint Time; // Последнее время изменения данных
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static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
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}
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@ -47,7 +47,7 @@ namespace DroneData
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public DataHead Head;
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public XYZ Gyr;
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public uint Time; // Последнее время изменения данных
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public uint Time; // Последнее время изменения данных
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static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
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}
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@ -57,7 +57,7 @@ namespace DroneData
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public DataHead Head;
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public XYZ Mag;
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public uint Time; // Последнее время изменения данных
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public uint Time; // Последнее время изменения данных
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static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
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}
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@ -65,9 +65,9 @@ namespace DroneData
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public struct DataRange
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{
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public DataHead Head;
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public float LiDAR; // Датчик посадки
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public float LiDAR; // Датчик посадки
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public uint Time; // Последнее время изменения данных
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public uint Time; // Последнее время изменения данных
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static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
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}
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@ -75,9 +75,9 @@ namespace DroneData
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public struct DataLocal
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{
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public DataHead Head;
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public XYZ Local; // Локальные координаты
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public XYZ Local; // Локальные координаты
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public uint Time; // Последнее время изменения данных
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public uint Time; // Последнее время изменения данных
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static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
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}
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@ -85,9 +85,9 @@ namespace DroneData
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public struct DataBar
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{
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public DataHead Head;
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public int Pressure; // Локальные координаты
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public float Pressure; // Давление
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public uint Time; // Последнее время изменения данных
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public uint Time; // Последнее время изменения данных
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static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar));
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}
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@ -107,4 +107,4 @@ namespace DroneData
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static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));
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}
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}
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}
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280
DroneSimulator/FormMain.Designer.cs
generated
280
DroneSimulator/FormMain.Designer.cs
generated
@ -56,12 +56,15 @@
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tabPage_Model = new TabPage();
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panel_Menu_Model = new Panel();
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groupBox1 = new GroupBox();
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label55 = new Label();
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numericUpDown18 = new NumericUpDown();
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label56 = new Label();
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checkBox1 = new CheckBox();
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numericUpDown9 = new NumericUpDown();
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label42 = new Label();
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label43 = new Label();
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label44 = new Label();
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numericUpDown10 = new NumericUpDown();
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numericUpDown_Range_Noise = new NumericUpDown();
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label45 = new Label();
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numericUpDown11 = new NumericUpDown();
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label46 = new Label();
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@ -82,7 +85,7 @@
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label17 = new Label();
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label16 = new Label();
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label12 = new Label();
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numericUpDown_OF_Accur = new NumericUpDown();
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numericUpDown_OF_Noise = new NumericUpDown();
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label13 = new Label();
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numericUpDown_OF_Freq = new NumericUpDown();
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label14 = new Label();
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@ -96,7 +99,7 @@
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label18 = new Label();
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checkBox_Bar_Enable = new CheckBox();
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label9 = new Label();
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numericUpDown_Bar_Accur = new NumericUpDown();
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numericUpDown_Bar_Noise = new NumericUpDown();
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label8 = new Label();
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numericUpDown_Bar_Freq = new NumericUpDown();
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label5 = new Label();
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@ -106,7 +109,7 @@
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numericUpDown12 = new NumericUpDown();
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label4 = new Label();
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label6 = new Label();
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numericUpDown13 = new NumericUpDown();
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numericUpDown_Pos_Noise = new NumericUpDown();
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label10 = new Label();
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numericUpDown14 = new NumericUpDown();
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label11 = new Label();
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@ -147,6 +150,8 @@
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label23 = new Label();
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numericUpDown_Acc_Freq = new NumericUpDown();
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label20 = new Label();
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groupBox2 = new GroupBox();
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checkBox_Mode_Real = new CheckBox();
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tabPage_Area = new TabPage();
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groupBox_Navi = new GroupBox();
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panel1 = new Panel();
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@ -154,9 +159,6 @@
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comboBox_Drone_Rotor = new ComboBox();
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comboBox_Drone = new ComboBox();
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timer_Test = new System.Windows.Forms.Timer(components);
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label55 = new Label();
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numericUpDown18 = new NumericUpDown();
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label56 = new Label();
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menuStrip_Menu.SuspendLayout();
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groupBox_Screen.SuspendLayout();
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((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit();
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@ -171,23 +173,24 @@
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tabPage_Model.SuspendLayout();
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panel_Menu_Model.SuspendLayout();
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groupBox1.SuspendLayout();
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((System.ComponentModel.ISupportInitialize)numericUpDown18).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown9).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown10).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown_Range_Noise).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown11).BeginInit();
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groupBox_OF.SuspendLayout();
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((System.ComponentModel.ISupportInitialize)numericUpDown17).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown8).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown7).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown1).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Accur).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Noise).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Freq).BeginInit();
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groupBox_Barometer.SuspendLayout();
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((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Laten).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Accur).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Noise).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Freq).BeginInit();
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groupBox_GPS.SuspendLayout();
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((System.ComponentModel.ISupportInitialize)numericUpDown12).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown13).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown_Pos_Noise).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown14).BeginInit();
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groupBox_Mag.SuspendLayout();
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((System.ComponentModel.ISupportInitialize)numericUpDown_Mag_Noise).BeginInit();
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@ -205,9 +208,9 @@
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((System.ComponentModel.ISupportInitialize)numericUpDown3).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Noise).BeginInit();
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((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Freq).BeginInit();
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groupBox2.SuspendLayout();
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groupBox_Navi.SuspendLayout();
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panel1.SuspendLayout();
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((System.ComponentModel.ISupportInitialize)numericUpDown18).BeginInit();
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SuspendLayout();
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//
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// menuStrip_Menu
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@ -241,7 +244,7 @@
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groupBox_Screen.Dock = DockStyle.Fill;
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groupBox_Screen.Location = new Point(218, 24);
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groupBox_Screen.Name = "groupBox_Screen";
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groupBox_Screen.Size = new Size(466, 877);
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groupBox_Screen.Size = new Size(466, 917);
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groupBox_Screen.TabIndex = 1;
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groupBox_Screen.TabStop = false;
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//
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@ -251,7 +254,7 @@
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pictureBox_2D.Dock = DockStyle.Fill;
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pictureBox_2D.Location = new Point(3, 19);
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pictureBox_2D.Name = "pictureBox_2D";
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pictureBox_2D.Size = new Size(460, 855);
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pictureBox_2D.Size = new Size(460, 895);
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pictureBox_2D.SizeMode = PictureBoxSizeMode.Zoom;
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pictureBox_2D.TabIndex = 0;
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pictureBox_2D.TabStop = false;
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@ -265,7 +268,7 @@
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tabControl_Menu.Location = new Point(0, 24);
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tabControl_Menu.Name = "tabControl_Menu";
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tabControl_Menu.SelectedIndex = 0;
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tabControl_Menu.Size = new Size(218, 877);
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tabControl_Menu.Size = new Size(218, 917);
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tabControl_Menu.TabIndex = 2;
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//
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// tabPage_Main
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@ -275,7 +278,7 @@
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tabPage_Main.Location = new Point(4, 24);
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tabPage_Main.Name = "tabPage_Main";
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tabPage_Main.Padding = new Padding(3);
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tabPage_Main.Size = new Size(210, 849);
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tabPage_Main.Size = new Size(210, 889);
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tabPage_Main.TabIndex = 0;
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tabPage_Main.Tag = "#main";
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tabPage_Main.Text = "Main";
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@ -464,7 +467,7 @@
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tabPage_Model.Location = new Point(4, 24);
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tabPage_Model.Name = "tabPage_Model";
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tabPage_Model.Padding = new Padding(3);
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tabPage_Model.Size = new Size(210, 849);
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tabPage_Model.Size = new Size(210, 889);
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tabPage_Model.TabIndex = 1;
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tabPage_Model.Tag = "#model";
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tabPage_Model.Text = "Model";
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@ -479,10 +482,11 @@
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panel_Menu_Model.Controls.Add(groupBox_Mag);
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panel_Menu_Model.Controls.Add(groupBox_Gyr);
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panel_Menu_Model.Controls.Add(groupBox_Acc);
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panel_Menu_Model.Controls.Add(groupBox2);
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panel_Menu_Model.Dock = DockStyle.Fill;
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panel_Menu_Model.Location = new Point(3, 3);
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panel_Menu_Model.Name = "panel_Menu_Model";
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panel_Menu_Model.Size = new Size(204, 843);
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panel_Menu_Model.Size = new Size(204, 883);
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panel_Menu_Model.TabIndex = 5;
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//
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// groupBox1
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@ -495,20 +499,49 @@
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groupBox1.Controls.Add(label42);
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groupBox1.Controls.Add(label43);
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groupBox1.Controls.Add(label44);
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groupBox1.Controls.Add(numericUpDown10);
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groupBox1.Controls.Add(numericUpDown_Range_Noise);
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groupBox1.Controls.Add(label45);
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groupBox1.Controls.Add(numericUpDown11);
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groupBox1.Controls.Add(label46);
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groupBox1.Controls.Add(label47);
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groupBox1.Dock = DockStyle.Top;
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groupBox1.Enabled = false;
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groupBox1.Location = new Point(0, 705);
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groupBox1.Location = new Point(0, 749);
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groupBox1.Name = "groupBox1";
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groupBox1.Size = new Size(204, 133);
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groupBox1.TabIndex = 8;
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groupBox1.TabStop = false;
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groupBox1.Text = "Range";
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//
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// label55
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//
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label55.AutoSize = true;
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label55.Location = new Point(115, 105);
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label55.Name = "label55";
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label55.Size = new Size(24, 15);
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label55.TabIndex = 35;
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label55.Text = "sec";
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//
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// numericUpDown18
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//
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numericUpDown18.DecimalPlaces = 2;
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numericUpDown18.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
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numericUpDown18.Location = new Point(68, 103);
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numericUpDown18.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
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numericUpDown18.Name = "numericUpDown18";
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numericUpDown18.Size = new Size(41, 23);
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numericUpDown18.TabIndex = 34;
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numericUpDown18.Value = new decimal(new int[] { 1, 0, 0, 65536 });
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//
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// label56
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//
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label56.AutoSize = true;
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label56.Location = new Point(5, 105);
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label56.Name = "label56";
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label56.Size = new Size(55, 15);
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label56.TabIndex = 33;
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label56.Text = "Lateness:";
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//
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// checkBox1
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//
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checkBox1.AutoSize = true;
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@ -543,7 +576,7 @@
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// label43
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//
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label43.AutoSize = true;
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label43.Location = new Point(2, 76);
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label43.Location = new Point(0, 76);
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label43.Name = "label43";
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label43.Size = new Size(70, 15);
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label43.TabIndex = 28;
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@ -559,25 +592,25 @@
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label44.TabIndex = 27;
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label44.Text = "m";
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//
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// numericUpDown10
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// numericUpDown_Range_Noise
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//
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numericUpDown10.DecimalPlaces = 3;
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numericUpDown10.Location = new Point(70, 45);
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numericUpDown10.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
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numericUpDown10.Name = "numericUpDown10";
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numericUpDown10.Size = new Size(47, 23);
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numericUpDown10.TabIndex = 26;
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numericUpDown10.Value = new decimal(new int[] { 1, 0, 0, 131072 });
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numericUpDown_Range_Noise.DecimalPlaces = 3;
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numericUpDown_Range_Noise.Location = new Point(70, 45);
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numericUpDown_Range_Noise.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
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numericUpDown_Range_Noise.Name = "numericUpDown_Range_Noise";
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numericUpDown_Range_Noise.Size = new Size(47, 23);
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numericUpDown_Range_Noise.TabIndex = 26;
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numericUpDown_Range_Noise.Value = new decimal(new int[] { 1, 0, 0, 131072 });
|
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//
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// label45
|
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//
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label45.AutoSize = true;
|
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label45.Location = new Point(8, 47);
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label45.Location = new Point(24, 47);
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label45.Name = "label45";
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label45.Size = new Size(59, 15);
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label45.Size = new Size(40, 15);
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||||
label45.TabIndex = 25;
|
||||
label45.Tag = "#accuracy";
|
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label45.Text = "Accuracy:";
|
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label45.Text = "Noise:";
|
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//
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// numericUpDown11
|
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//
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@ -601,7 +634,7 @@
|
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// label47
|
||||
//
|
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label47.AutoSize = true;
|
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label47.Location = new Point(7, 18);
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label47.Location = new Point(2, 18);
|
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label47.Name = "label47";
|
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label47.Size = new Size(65, 15);
|
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label47.TabIndex = 23;
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@ -625,14 +658,14 @@
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groupBox_OF.Controls.Add(label17);
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groupBox_OF.Controls.Add(label16);
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groupBox_OF.Controls.Add(label12);
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||||
groupBox_OF.Controls.Add(numericUpDown_OF_Accur);
|
||||
groupBox_OF.Controls.Add(numericUpDown_OF_Noise);
|
||||
groupBox_OF.Controls.Add(label13);
|
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groupBox_OF.Controls.Add(numericUpDown_OF_Freq);
|
||||
groupBox_OF.Controls.Add(label14);
|
||||
groupBox_OF.Controls.Add(label15);
|
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groupBox_OF.Dock = DockStyle.Top;
|
||||
groupBox_OF.Enabled = false;
|
||||
groupBox_OF.Location = new Point(0, 519);
|
||||
groupBox_OF.Location = new Point(0, 563);
|
||||
groupBox_OF.Name = "groupBox_OF";
|
||||
groupBox_OF.Size = new Size(204, 186);
|
||||
groupBox_OF.TabIndex = 4;
|
||||
@ -768,7 +801,7 @@
|
||||
// label16
|
||||
//
|
||||
label16.AutoSize = true;
|
||||
label16.Location = new Point(1, 82);
|
||||
label16.Location = new Point(-1, 82);
|
||||
label16.Name = "label16";
|
||||
label16.Size = new Size(70, 15);
|
||||
label16.TabIndex = 19;
|
||||
@ -784,25 +817,25 @@
|
||||
label12.TabIndex = 18;
|
||||
label12.Text = "Deg";
|
||||
//
|
||||
// numericUpDown_OF_Accur
|
||||
// numericUpDown_OF_Noise
|
||||
//
|
||||
numericUpDown_OF_Accur.DecimalPlaces = 1;
|
||||
numericUpDown_OF_Accur.Location = new Point(69, 51);
|
||||
numericUpDown_OF_Accur.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
|
||||
numericUpDown_OF_Accur.Name = "numericUpDown_OF_Accur";
|
||||
numericUpDown_OF_Accur.Size = new Size(40, 23);
|
||||
numericUpDown_OF_Accur.TabIndex = 17;
|
||||
numericUpDown_OF_Accur.Value = new decimal(new int[] { 1, 0, 0, 0 });
|
||||
numericUpDown_OF_Noise.DecimalPlaces = 1;
|
||||
numericUpDown_OF_Noise.Location = new Point(69, 51);
|
||||
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);
|
||||
numericUpDown_OF_Noise.TabIndex = 17;
|
||||
numericUpDown_OF_Noise.Value = new decimal(new int[] { 1, 0, 0, 0 });
|
||||
//
|
||||
// label13
|
||||
//
|
||||
label13.AutoSize = true;
|
||||
label13.Location = new Point(7, 53);
|
||||
label13.Name = "label13";
|
||||
label13.Size = new Size(59, 15);
|
||||
label13.Size = new Size(40, 15);
|
||||
label13.TabIndex = 16;
|
||||
label13.Tag = "#accuracy";
|
||||
label13.Text = "Accuracy:";
|
||||
label13.Text = "Noise:";
|
||||
//
|
||||
// numericUpDown_OF_Freq
|
||||
//
|
||||
@ -843,13 +876,13 @@
|
||||
groupBox_Barometer.Controls.Add(label18);
|
||||
groupBox_Barometer.Controls.Add(checkBox_Bar_Enable);
|
||||
groupBox_Barometer.Controls.Add(label9);
|
||||
groupBox_Barometer.Controls.Add(numericUpDown_Bar_Accur);
|
||||
groupBox_Barometer.Controls.Add(numericUpDown_Bar_Noise);
|
||||
groupBox_Barometer.Controls.Add(label8);
|
||||
groupBox_Barometer.Controls.Add(numericUpDown_Bar_Freq);
|
||||
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, 433);
|
||||
groupBox_Barometer.Name = "groupBox_Barometer";
|
||||
groupBox_Barometer.Size = new Size(204, 130);
|
||||
groupBox_Barometer.TabIndex = 3;
|
||||
@ -876,11 +909,12 @@
|
||||
numericUpDown_Bar_Laten.Size = new Size(41, 23);
|
||||
numericUpDown_Bar_Laten.TabIndex = 22;
|
||||
numericUpDown_Bar_Laten.Value = new decimal(new int[] { 3, 0, 0, 65536 });
|
||||
numericUpDown_Bar_Laten.ValueChanged += numericUpDown_Bar_Update;
|
||||
//
|
||||
// label29
|
||||
//
|
||||
label29.AutoSize = true;
|
||||
label29.Location = new Point(5, 103);
|
||||
label29.Location = new Point(9, 103);
|
||||
label29.Name = "label29";
|
||||
label29.Size = new Size(55, 15);
|
||||
label29.TabIndex = 21;
|
||||
@ -902,6 +936,7 @@
|
||||
textBox_Bar_Pressure.Size = new Size(61, 23);
|
||||
textBox_Bar_Pressure.TabIndex = 19;
|
||||
textBox_Bar_Pressure.Text = "102258";
|
||||
textBox_Bar_Pressure.TextChanged += numericUpDown_Bar_Update;
|
||||
//
|
||||
// label18
|
||||
//
|
||||
@ -925,6 +960,7 @@
|
||||
checkBox_Bar_Enable.Tag = "#en";
|
||||
checkBox_Bar_Enable.Text = "En";
|
||||
checkBox_Bar_Enable.UseVisualStyleBackColor = true;
|
||||
checkBox_Bar_Enable.CheckedChanged += numericUpDown_Bar_Update;
|
||||
//
|
||||
// label9
|
||||
//
|
||||
@ -935,26 +971,26 @@
|
||||
label9.TabIndex = 12;
|
||||
label9.Text = "Pa";
|
||||
//
|
||||
// numericUpDown_Bar_Accur
|
||||
// numericUpDown_Bar_Noise
|
||||
//
|
||||
numericUpDown_Bar_Accur.DecimalPlaces = 1;
|
||||
numericUpDown_Bar_Accur.Increment = new decimal(new int[] { 1, 0, 0, 65536 });
|
||||
numericUpDown_Bar_Accur.Location = new Point(68, 72);
|
||||
numericUpDown_Bar_Accur.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
|
||||
numericUpDown_Bar_Accur.Name = "numericUpDown_Bar_Accur";
|
||||
numericUpDown_Bar_Accur.Size = new Size(40, 23);
|
||||
numericUpDown_Bar_Accur.TabIndex = 11;
|
||||
numericUpDown_Bar_Accur.Value = new decimal(new int[] { 1, 0, 0, 0 });
|
||||
numericUpDown_Bar_Noise.DecimalPlaces = 1;
|
||||
numericUpDown_Bar_Noise.Location = new Point(68, 72);
|
||||
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);
|
||||
numericUpDown_Bar_Noise.TabIndex = 11;
|
||||
numericUpDown_Bar_Noise.Value = new decimal(new int[] { 1, 0, 0, 0 });
|
||||
numericUpDown_Bar_Noise.ValueChanged += numericUpDown_Bar_Update;
|
||||
//
|
||||
// label8
|
||||
//
|
||||
label8.AutoSize = true;
|
||||
label8.Location = new Point(6, 74);
|
||||
label8.Location = new Point(23, 74);
|
||||
label8.Name = "label8";
|
||||
label8.Size = new Size(59, 15);
|
||||
label8.Size = new Size(40, 15);
|
||||
label8.TabIndex = 10;
|
||||
label8.Tag = "#accuracy";
|
||||
label8.Text = "Accuracy:";
|
||||
label8.Text = "Noise:";
|
||||
//
|
||||
// numericUpDown_Bar_Freq
|
||||
//
|
||||
@ -965,6 +1001,7 @@
|
||||
numericUpDown_Bar_Freq.Size = new Size(40, 23);
|
||||
numericUpDown_Bar_Freq.TabIndex = 7;
|
||||
numericUpDown_Bar_Freq.Value = new decimal(new int[] { 50, 0, 0, 0 });
|
||||
numericUpDown_Bar_Freq.ValueChanged += numericUpDown_Bar_Update;
|
||||
//
|
||||
// label5
|
||||
//
|
||||
@ -978,7 +1015,7 @@
|
||||
// label7
|
||||
//
|
||||
label7.AutoSize = true;
|
||||
label7.Location = new Point(5, 45);
|
||||
label7.Location = new Point(1, 45);
|
||||
label7.Name = "label7";
|
||||
label7.Size = new Size(65, 15);
|
||||
label7.TabIndex = 8;
|
||||
@ -991,7 +1028,7 @@
|
||||
groupBox_GPS.Controls.Add(numericUpDown12);
|
||||
groupBox_GPS.Controls.Add(label4);
|
||||
groupBox_GPS.Controls.Add(label6);
|
||||
groupBox_GPS.Controls.Add(numericUpDown13);
|
||||
groupBox_GPS.Controls.Add(numericUpDown_Pos_Noise);
|
||||
groupBox_GPS.Controls.Add(label10);
|
||||
groupBox_GPS.Controls.Add(numericUpDown14);
|
||||
groupBox_GPS.Controls.Add(label11);
|
||||
@ -999,7 +1036,7 @@
|
||||
groupBox_GPS.Controls.Add(checkBox_GPS_Enable);
|
||||
groupBox_GPS.Dock = DockStyle.Top;
|
||||
groupBox_GPS.Enabled = false;
|
||||
groupBox_GPS.Location = new Point(0, 283);
|
||||
groupBox_GPS.Location = new Point(0, 327);
|
||||
groupBox_GPS.Name = "groupBox_GPS";
|
||||
groupBox_GPS.Size = new Size(204, 106);
|
||||
groupBox_GPS.TabIndex = 2;
|
||||
@ -1044,26 +1081,26 @@
|
||||
label6.TabIndex = 29;
|
||||
label6.Text = "m";
|
||||
//
|
||||
// numericUpDown13
|
||||
// numericUpDown_Pos_Noise
|
||||
//
|
||||
numericUpDown13.DecimalPlaces = 1;
|
||||
numericUpDown13.Increment = new decimal(new int[] { 1, 0, 0, 65536 });
|
||||
numericUpDown13.Location = new Point(69, 46);
|
||||
numericUpDown13.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
|
||||
numericUpDown13.Name = "numericUpDown13";
|
||||
numericUpDown13.Size = new Size(40, 23);
|
||||
numericUpDown13.TabIndex = 28;
|
||||
numericUpDown13.Value = new decimal(new int[] { 1, 0, 0, 0 });
|
||||
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.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
|
||||
numericUpDown_Pos_Noise.Name = "numericUpDown_Pos_Noise";
|
||||
numericUpDown_Pos_Noise.Size = new Size(40, 23);
|
||||
numericUpDown_Pos_Noise.TabIndex = 28;
|
||||
numericUpDown_Pos_Noise.Value = new decimal(new int[] { 1, 0, 0, 65536 });
|
||||
//
|
||||
// label10
|
||||
//
|
||||
label10.AutoSize = true;
|
||||
label10.Location = new Point(7, 48);
|
||||
label10.Location = new Point(23, 48);
|
||||
label10.Name = "label10";
|
||||
label10.Size = new Size(59, 15);
|
||||
label10.Size = new Size(40, 15);
|
||||
label10.TabIndex = 27;
|
||||
label10.Tag = "#accuracy";
|
||||
label10.Text = "Accuracy:";
|
||||
label10.Text = "Noise:";
|
||||
//
|
||||
// numericUpDown14
|
||||
//
|
||||
@ -1087,7 +1124,7 @@
|
||||
// label48
|
||||
//
|
||||
label48.AutoSize = true;
|
||||
label48.Location = new Point(6, 19);
|
||||
label48.Location = new Point(2, 19);
|
||||
label48.Name = "label48";
|
||||
label48.Size = new Size(65, 15);
|
||||
label48.TabIndex = 25;
|
||||
@ -1116,7 +1153,7 @@
|
||||
groupBox_Mag.Controls.Add(label22);
|
||||
groupBox_Mag.Dock = DockStyle.Top;
|
||||
groupBox_Mag.Enabled = false;
|
||||
groupBox_Mag.Location = new Point(0, 232);
|
||||
groupBox_Mag.Location = new Point(0, 276);
|
||||
groupBox_Mag.Name = "groupBox_Mag";
|
||||
groupBox_Mag.Size = new Size(204, 51);
|
||||
groupBox_Mag.TabIndex = 5;
|
||||
@ -1187,7 +1224,7 @@
|
||||
groupBox_Gyr.Controls.Add(label21);
|
||||
groupBox_Gyr.Dock = DockStyle.Top;
|
||||
groupBox_Gyr.Enabled = false;
|
||||
groupBox_Gyr.Location = new Point(0, 110);
|
||||
groupBox_Gyr.Location = new Point(0, 154);
|
||||
groupBox_Gyr.Name = "groupBox_Gyr";
|
||||
groupBox_Gyr.Size = new Size(204, 122);
|
||||
groupBox_Gyr.TabIndex = 7;
|
||||
@ -1359,7 +1396,7 @@
|
||||
groupBox_Acc.Controls.Add(label20);
|
||||
groupBox_Acc.Dock = DockStyle.Top;
|
||||
groupBox_Acc.Enabled = false;
|
||||
groupBox_Acc.Location = new Point(0, 0);
|
||||
groupBox_Acc.Location = new Point(0, 44);
|
||||
groupBox_Acc.Name = "groupBox_Acc";
|
||||
groupBox_Acc.Size = new Size(204, 110);
|
||||
groupBox_Acc.TabIndex = 6;
|
||||
@ -1485,11 +1522,33 @@
|
||||
label20.TabIndex = 2;
|
||||
label20.Text = "Freq:";
|
||||
//
|
||||
// groupBox2
|
||||
//
|
||||
groupBox2.Controls.Add(checkBox_Mode_Real);
|
||||
groupBox2.Dock = DockStyle.Top;
|
||||
groupBox2.Location = new Point(0, 0);
|
||||
groupBox2.Name = "groupBox2";
|
||||
groupBox2.Size = new Size(204, 44);
|
||||
groupBox2.TabIndex = 9;
|
||||
groupBox2.TabStop = false;
|
||||
groupBox2.Text = "Mode";
|
||||
//
|
||||
// checkBox_Mode_Real
|
||||
//
|
||||
checkBox_Mode_Real.AutoSize = true;
|
||||
checkBox_Mode_Real.Location = new Point(10, 22);
|
||||
checkBox_Mode_Real.Name = "checkBox_Mode_Real";
|
||||
checkBox_Mode_Real.Size = new Size(107, 19);
|
||||
checkBox_Mode_Real.TabIndex = 0;
|
||||
checkBox_Mode_Real.Text = "Real simulation";
|
||||
checkBox_Mode_Real.UseVisualStyleBackColor = true;
|
||||
checkBox_Mode_Real.CheckedChanged += checkBox_Mode_Real_CheckedChanged;
|
||||
//
|
||||
// tabPage_Area
|
||||
//
|
||||
tabPage_Area.Location = new Point(4, 24);
|
||||
tabPage_Area.Name = "tabPage_Area";
|
||||
tabPage_Area.Size = new Size(210, 849);
|
||||
tabPage_Area.Size = new Size(210, 889);
|
||||
tabPage_Area.TabIndex = 2;
|
||||
tabPage_Area.Tag = "#area";
|
||||
tabPage_Area.Text = "Area";
|
||||
@ -1502,7 +1561,7 @@
|
||||
groupBox_Navi.Dock = DockStyle.Right;
|
||||
groupBox_Navi.Location = new Point(684, 24);
|
||||
groupBox_Navi.Name = "groupBox_Navi";
|
||||
groupBox_Navi.Size = new Size(200, 877);
|
||||
groupBox_Navi.Size = new Size(200, 917);
|
||||
groupBox_Navi.TabIndex = 3;
|
||||
groupBox_Navi.TabStop = false;
|
||||
groupBox_Navi.Tag = "#navigation";
|
||||
@ -1515,7 +1574,7 @@
|
||||
panel1.Dock = DockStyle.Fill;
|
||||
panel1.Location = new Point(3, 42);
|
||||
panel1.Name = "panel1";
|
||||
panel1.Size = new Size(194, 832);
|
||||
panel1.Size = new Size(194, 872);
|
||||
panel1.TabIndex = 3;
|
||||
//
|
||||
// button_Drone_Color
|
||||
@ -1552,47 +1611,18 @@
|
||||
timer_Test.Interval = 10;
|
||||
timer_Test.Tick += timer_Test_Tick;
|
||||
//
|
||||
// label55
|
||||
//
|
||||
label55.AutoSize = true;
|
||||
label55.Location = new Point(115, 105);
|
||||
label55.Name = "label55";
|
||||
label55.Size = new Size(24, 15);
|
||||
label55.TabIndex = 35;
|
||||
label55.Text = "sec";
|
||||
//
|
||||
// numericUpDown18
|
||||
//
|
||||
numericUpDown18.DecimalPlaces = 2;
|
||||
numericUpDown18.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
|
||||
numericUpDown18.Location = new Point(68, 103);
|
||||
numericUpDown18.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
|
||||
numericUpDown18.Name = "numericUpDown18";
|
||||
numericUpDown18.Size = new Size(41, 23);
|
||||
numericUpDown18.TabIndex = 34;
|
||||
numericUpDown18.Value = new decimal(new int[] { 1, 0, 0, 65536 });
|
||||
//
|
||||
// label56
|
||||
//
|
||||
label56.AutoSize = true;
|
||||
label56.Location = new Point(5, 105);
|
||||
label56.Name = "label56";
|
||||
label56.Size = new Size(55, 15);
|
||||
label56.TabIndex = 33;
|
||||
label56.Text = "Lateness:";
|
||||
//
|
||||
// Form_Main
|
||||
//
|
||||
AutoScaleDimensions = new SizeF(7F, 15F);
|
||||
AutoScaleMode = AutoScaleMode.Font;
|
||||
ClientSize = new Size(884, 901);
|
||||
ClientSize = new Size(884, 941);
|
||||
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, 940);
|
||||
MinimumSize = new Size(900, 980);
|
||||
Name = "Form_Main";
|
||||
Text = "Drone Simulator V1.0";
|
||||
FormClosing += Form_Main_FormClosing;
|
||||
@ -1614,8 +1644,9 @@
|
||||
panel_Menu_Model.ResumeLayout(false);
|
||||
groupBox1.ResumeLayout(false);
|
||||
groupBox1.PerformLayout();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown18).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown9).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown10).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_Range_Noise).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown11).EndInit();
|
||||
groupBox_OF.ResumeLayout(false);
|
||||
groupBox_OF.PerformLayout();
|
||||
@ -1623,17 +1654,17 @@
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown8).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown7).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown1).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Accur).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Noise).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Freq).EndInit();
|
||||
groupBox_Barometer.ResumeLayout(false);
|
||||
groupBox_Barometer.PerformLayout();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Laten).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Accur).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Noise).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Freq).EndInit();
|
||||
groupBox_GPS.ResumeLayout(false);
|
||||
groupBox_GPS.PerformLayout();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown12).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown13).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_Pos_Noise).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown14).EndInit();
|
||||
groupBox_Mag.ResumeLayout(false);
|
||||
groupBox_Mag.PerformLayout();
|
||||
@ -1654,9 +1685,10 @@
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown3).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Noise).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Freq).EndInit();
|
||||
groupBox2.ResumeLayout(false);
|
||||
groupBox2.PerformLayout();
|
||||
groupBox_Navi.ResumeLayout(false);
|
||||
panel1.ResumeLayout(false);
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown18).EndInit();
|
||||
ResumeLayout(false);
|
||||
PerformLayout();
|
||||
}
|
||||
@ -1700,11 +1732,11 @@
|
||||
private Label label5;
|
||||
private Label label7;
|
||||
private Label label9;
|
||||
private NumericUpDown numericUpDown_Bar_Accur;
|
||||
private NumericUpDown numericUpDown_Bar_Noise;
|
||||
private Label label8;
|
||||
private GroupBox groupBox_OF;
|
||||
private Label label12;
|
||||
private NumericUpDown numericUpDown_OF_Accur;
|
||||
private NumericUpDown numericUpDown_OF_Noise;
|
||||
private Label label13;
|
||||
private NumericUpDown numericUpDown_OF_Freq;
|
||||
private Label label14;
|
||||
@ -1764,7 +1796,7 @@
|
||||
private Label label42;
|
||||
private Label label43;
|
||||
private Label label44;
|
||||
private NumericUpDown numericUpDown10;
|
||||
private NumericUpDown numericUpDown_Range_Noise;
|
||||
private Label label45;
|
||||
private NumericUpDown numericUpDown11;
|
||||
private Label label46;
|
||||
@ -1773,7 +1805,7 @@
|
||||
private NumericUpDown numericUpDown12;
|
||||
private Label label4;
|
||||
private Label label6;
|
||||
private NumericUpDown numericUpDown13;
|
||||
private NumericUpDown numericUpDown_Pos_Noise;
|
||||
private Label label10;
|
||||
private NumericUpDown numericUpDown14;
|
||||
private Label label11;
|
||||
@ -1790,5 +1822,7 @@
|
||||
private Label label55;
|
||||
private NumericUpDown numericUpDown18;
|
||||
private Label label56;
|
||||
private GroupBox groupBox2;
|
||||
private CheckBox checkBox_Mode_Real;
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
using System.Text;
|
||||
using System.Text;
|
||||
using System.Numerics;
|
||||
using System.Windows.Forms;
|
||||
using static System.Net.Mime.MediaTypeNames;
|
||||
@ -22,6 +22,9 @@ namespace DroneSimulator
|
||||
public Form_Main()
|
||||
{
|
||||
InitializeComponent();
|
||||
|
||||
RealMode.RealSimulation = checkBox_Mode_Real.Checked;
|
||||
numericUpDown_Bar_Update(null, null);
|
||||
}
|
||||
|
||||
private void ClientConnectionCallback(object o)
|
||||
@ -38,15 +41,6 @@ namespace DroneSimulator
|
||||
Drone drone = new Drone(data.ID);
|
||||
drone.Create(1.0f, 0.5f, 1.0f);
|
||||
|
||||
//
|
||||
drone.dataBarometer.Pressure = 102258;
|
||||
drone.dataBarometer.Accuracy = (float)numericUpDown_Bar_Accur.Value;
|
||||
drone.dataBarometer.Frequency = (int)numericUpDown_Bar_Freq.Value;
|
||||
try { drone.dataBarometer.Pressure = int.Parse(textBox_Bar_Pressure.Text); }
|
||||
catch { MessageBox.Show("Pressure invalid format", "Barometer error", MessageBoxButtons.OK, MessageBoxIcon.Error); }
|
||||
|
||||
//
|
||||
|
||||
screen2D.CreateDrone(Color.Red, data.ID);
|
||||
|
||||
AllDrones.Add(drone);
|
||||
@ -84,7 +78,7 @@ namespace DroneSimulator
|
||||
List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size);
|
||||
|
||||
if (send == null) return;
|
||||
try
|
||||
try
|
||||
{
|
||||
foreach (byte[]? b in send)
|
||||
{
|
||||
@ -108,7 +102,6 @@ namespace DroneSimulator
|
||||
{
|
||||
button_Client_Start.Text = "Stop";
|
||||
button_Client_Start.BackColor = Color.LimeGreen;
|
||||
panel_Menu_Model.Enabled = false;
|
||||
break;
|
||||
}
|
||||
case NetServerClients.ServerState.Stop:
|
||||
@ -116,7 +109,6 @@ namespace DroneSimulator
|
||||
label_Clients_Num.Text = "0";
|
||||
button_Client_Start.Text = "Start";
|
||||
button_Client_Start.BackColor = Color.Transparent;
|
||||
panel_Menu_Model.Enabled = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
@ -215,5 +207,26 @@ namespace DroneSimulator
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private void numericUpDown_Bar_Update(object sender, EventArgs e)
|
||||
{
|
||||
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 checkBox_Mode_Real_CheckedChanged(object sender, EventArgs e)
|
||||
{
|
||||
RealMode.RealSimulation = checkBox_Mode_Real.Checked;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
317
DroneSimulator/RealMode.cs
Normal file
317
DroneSimulator/RealMode.cs
Normal file
@ -0,0 +1,317 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Numerics;
|
||||
using System.Reflection;
|
||||
|
||||
namespace DroneSimulator
|
||||
{
|
||||
internal class RealMode
|
||||
{
|
||||
public static bool RealSimulation;
|
||||
|
||||
internal class Accelerometer
|
||||
{
|
||||
public static uint Freq;
|
||||
public static float Noise;
|
||||
public static float ScaleLeft;
|
||||
public static float ScaleRight;
|
||||
public static float Lateness;
|
||||
|
||||
private uint last = 0;
|
||||
|
||||
private Random rand = new Random();
|
||||
|
||||
private const int count = 1000;
|
||||
private Vector3[] laten = new Vector3[count];
|
||||
private uint index = 0;
|
||||
|
||||
private uint timer = 0;
|
||||
private Vector3 result;
|
||||
|
||||
public void Update(ref Vector3 value, ref uint time)
|
||||
{
|
||||
if (!RealSimulation) 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;
|
||||
}
|
||||
else
|
||||
{
|
||||
value = result;
|
||||
time = timer;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
internal class Gyroscope
|
||||
{
|
||||
public static uint Freq;
|
||||
public static float Noise;
|
||||
public static Vector3 Shift;
|
||||
public static float Lateness;
|
||||
|
||||
private uint last = 0;
|
||||
|
||||
private Random rand = new Random();
|
||||
|
||||
private const int count = 1000;
|
||||
private Vector3[] laten = new Vector3[count];
|
||||
private uint index = 0;
|
||||
|
||||
private uint timer = 0;
|
||||
private Vector3 result;
|
||||
|
||||
public void Update(ref Vector3 value, ref uint time)
|
||||
{
|
||||
if (!RealSimulation) 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;
|
||||
}
|
||||
else
|
||||
{
|
||||
value = result;
|
||||
time = timer;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
internal class Magnetometer
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
internal class Position
|
||||
{
|
||||
public static bool Enable;
|
||||
public static uint Freq;
|
||||
public static float Noise;
|
||||
public static float Lateness;
|
||||
|
||||
private uint last = 0;
|
||||
|
||||
private Random rand = new Random();
|
||||
|
||||
private const int count = 1000;
|
||||
private Vector3[] laten = new Vector3[count];
|
||||
private uint index = 0;
|
||||
|
||||
private uint timer = 0;
|
||||
private Vector3 result;
|
||||
|
||||
public void Update(ref Vector3 value, ref uint time)
|
||||
{
|
||||
if (!RealSimulation) return;
|
||||
if (!Enable) { value = result; time = timer; 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;
|
||||
}
|
||||
else
|
||||
{
|
||||
value = result;
|
||||
time = timer;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
internal class Barometer
|
||||
{
|
||||
public static bool Enable;
|
||||
public static float Pressure;
|
||||
public static uint Freq;
|
||||
public static float Noise;
|
||||
public static float Lateness;
|
||||
|
||||
private uint last = 0;
|
||||
|
||||
private Random rand = new Random();
|
||||
|
||||
private const int count = 1000;
|
||||
private float[] laten = new float[count];
|
||||
private uint index = 0;
|
||||
|
||||
private uint timer = 0;
|
||||
private float result;
|
||||
|
||||
public void Update(ref float value, ref uint time)
|
||||
{
|
||||
if (!Enable) { value = result; time = timer; return; }
|
||||
|
||||
value = Pressure - value;
|
||||
|
||||
if (!RealSimulation) 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;
|
||||
}
|
||||
else
|
||||
{
|
||||
value = result;
|
||||
time = timer;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
internal class OpticalFlow
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
internal class Range
|
||||
{
|
||||
public static bool Enable;
|
||||
public static float MaxHeight;
|
||||
public static uint Freq;
|
||||
public static float Noise;
|
||||
public static float Lateness;
|
||||
|
||||
private uint last = 0;
|
||||
|
||||
private Random rand = new Random();
|
||||
|
||||
private const int count = 1000;
|
||||
private float[] laten = new float[count];
|
||||
private uint index = 0;
|
||||
|
||||
private uint timer = 0;
|
||||
private float result;
|
||||
|
||||
public void Update(ref float value, ref uint time)
|
||||
{
|
||||
if (!RealSimulation) return;
|
||||
if (!Enable) { value = result; time = timer; return; }
|
||||
|
||||
if (value > MaxHeight) value = -1;
|
||||
|
||||
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;
|
||||
}
|
||||
else
|
||||
{
|
||||
value = result;
|
||||
time = timer;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user