+++

DroneSimulator/RealMode.cs

@@ -10,7 +10,7 @@ namespace DroneSimulator
 {
   internal class RealMode
   {
-    public static bool RealSimulation;
+    
 
     internal class Accelerometer
     {
@@ -19,6 +19,7 @@ namespace DroneSimulator
       public static float ScaleLeft;
       public static float ScaleRight;
       public static float Lateness;
+      public static bool RealSimulation;
 
       private uint last = 0;
 
@@ -81,6 +82,7 @@ namespace DroneSimulator
       public static float Noise;
       public static Vector3 Shift;
       public static float Lateness;
+      public static bool RealSimulation;
 
       private uint last = 0;
 
@@ -145,6 +147,7 @@ namespace DroneSimulator
       public static uint Freq;
       public static float Noise;
       public static float Lateness;
+      public static bool RealSimulation;
 
       private uint last = 0;
 
@@ -159,6 +162,12 @@ namespace DroneSimulator
 
       public void Update(Vector3 value, uint time)
       {
+        if (!Enable)
+        {
+          result = Vector3.NaN;
+          return;
+        }
+
         if (!RealSimulation)
         {
           result = value;
@@ -166,12 +175,6 @@ namespace DroneSimulator
           return;
         }
 
-        if (!Enable)
-        {
-          result = Vector3.NaN;
-          return;
-        }
-
         int noise = (int)(Noise * 1000);
         value.X += ((float)rand.Next(-noise, noise)) / 1000;
         value.Y += ((float)rand.Next(-noise, noise)) / 1000;
@@ -207,6 +210,7 @@ namespace DroneSimulator
       public static uint Freq;
       public static float Noise;
       public static float Lateness;
+      public static bool RealSimulation;
 
       private uint last = 0;
 
@@ -223,6 +227,12 @@ namespace DroneSimulator
       {
         value = Pressure - value;
 
+        if (!Enable)
+        {
+          result = float.NaN;
+          return;
+        }
+
         if (!RealSimulation)
         {
           result = value;
@@ -230,12 +240,6 @@ namespace DroneSimulator
           return; 
         }
 
-        if (!Enable)
-        {
-          result = float.NaN;
-          return;
-        }
-
         int noise = (int)(Noise * 1000);
         value += ((float)rand.Next(-noise, noise)) / 1000;
 
@@ -272,6 +276,7 @@ namespace DroneSimulator
       public static float Error;
       public static uint Wait;
       public static float Lens;
+      public static bool RealSimulation;
 
       private uint last = 0;
 
@@ -287,6 +292,12 @@ namespace DroneSimulator
       public Vector2 result;
       public void Update(Vector2 value, float Range, uint time)
       {
+        if (!Enable)
+        {
+          result = Vector2.NaN;
+          return;
+        }
+
         if (!RealSimulation)
         {
           result = value;
@@ -294,12 +305,6 @@ namespace DroneSimulator
           return;
         }
 
-        if (!Enable)
-        {
-          result = Vector2.NaN;
-          return;
-        }
-
         value *= Lens;
 
         if (rand.Next(0, 1000) < (Error * 10))
@@ -350,6 +355,7 @@ namespace DroneSimulator
       public static uint Freq;
       public static float Noise;
       public static float Lateness;
+      public static bool RealSimulation;
 
       private uint last = 0;
 
@@ -364,6 +370,12 @@ namespace DroneSimulator
 
       public void Update(float value, uint time)
       {
+        if (!Enable)
+        {
+          result = float.NaN;
+          return;
+        }
+
         if (!RealSimulation)
         {
           result = value;
@@ -371,13 +383,7 @@ namespace DroneSimulator
           return;
         }
 
-        if (!Enable)
-        {
-          result = float.NaN;
-          return;
-        }
-
-        if (value > MaxHeight) value = -1;
+        if (value > MaxHeight) value = MaxHeight;
         else
         {
           int noise = (int)(Noise * 1000);