+++

DroneSimulator/FormMain.Designer.cs

@@ -56,6 +56,7 @@
       tabPage_Model = new TabPage();
       panel_Menu_Model = new Panel();
       groupBox1 = new GroupBox();
+      checkBox_Model_Range_Real = new CheckBox();
       label55 = new Label();
       numericUpDown_Range_Laten = new NumericUpDown();
       label56 = new Label();
@@ -70,6 +71,7 @@
       label46 = new Label();
       label47 = new Label();
       groupBox_OF = new GroupBox();
+      checkBox_Model_OF_Real = new CheckBox();
       label40 = new Label();
       numericUpDown_OF_Lens = new NumericUpDown();
       label39 = new Label();
@@ -91,6 +93,7 @@
       label14 = new Label();
       label15 = new Label();
       groupBox_Barometer = new GroupBox();
+      checkBox_Model_Bar_Real = new CheckBox();
       label30 = new Label();
       numericUpDown_Bar_Laten = new NumericUpDown();
       label29 = new Label();
@@ -105,6 +108,7 @@
       label5 = new Label();
       label7 = new Label();
       groupBox_GPS = new GroupBox();
+      checkBox_Model_Pos_Real = new CheckBox();
       label2 = new Label();
       numericUpDown_Pos_Laten = new NumericUpDown();
       label4 = new Label();
@@ -122,6 +126,7 @@
       numericUpDown_Mag_Freq = new NumericUpDown();
       label22 = new Label();
       groupBox_Gyr = new GroupBox();
+      checkBox_Model_Gyr_Real = new CheckBox();
       label51 = new Label();
       numericUpDown_Gyr_Laten = new NumericUpDown();
       label52 = new Label();
@@ -138,6 +143,7 @@
       numericUpDown_Gyr_Freq = new NumericUpDown();
       label21 = new Label();
       groupBox_Acc = new GroupBox();
+      checkBox_Model_Acc_Real = new CheckBox();
       label49 = new Label();
       numericUpDown_Acc_Laten = new NumericUpDown();
       label50 = new Label();
@@ -150,9 +156,6 @@
       label23 = new Label();
       numericUpDown_Acc_Freq = new NumericUpDown();
       label20 = new Label();
-      groupBox2 = new GroupBox();
-      radioButton1 = new RadioButton();
-      radioButton_Real = new RadioButton();
       tabPage_Area = new TabPage();
       groupBox4 = new GroupBox();
       numericUpDown_Area_Wind_RotResist = new NumericUpDown();
@@ -233,7 +236,6 @@
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Scale_Rigth).BeginInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Noise).BeginInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Freq).BeginInit();
-      groupBox2.SuspendLayout();
       tabPage_Area.SuspendLayout();
       groupBox4.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_RotResist).BeginInit();
@@ -516,7 +518,6 @@
       panel_Menu_Model.Controls.Add(groupBox_Mag);
       panel_Menu_Model.Controls.Add(groupBox_Gyr);
       panel_Menu_Model.Controls.Add(groupBox_Acc);
-      panel_Menu_Model.Controls.Add(groupBox2);
       panel_Menu_Model.Dock = DockStyle.Fill;
       panel_Menu_Model.Location = new Point(3, 3);
       panel_Menu_Model.Name = "panel_Menu_Model";
@@ -525,6 +526,7 @@
       // 
       // groupBox1
       // 
+      groupBox1.Controls.Add(checkBox_Model_Range_Real);
       groupBox1.Controls.Add(label55);
       groupBox1.Controls.Add(numericUpDown_Range_Laten);
       groupBox1.Controls.Add(label56);
@@ -539,13 +541,25 @@
       groupBox1.Controls.Add(label46);
       groupBox1.Controls.Add(label47);
       groupBox1.Dock = DockStyle.Top;
-      groupBox1.Location = new Point(0, 732);
+      groupBox1.Location = new Point(0, 688);
       groupBox1.Name = "groupBox1";
       groupBox1.Size = new Size(204, 133);
       groupBox1.TabIndex = 8;
       groupBox1.TabStop = false;
       groupBox1.Text = "Range";
       // 
+      // checkBox_Model_Range_Real
+      // 
+      checkBox_Model_Range_Real.AutoSize = true;
+      checkBox_Model_Range_Real.Location = new Point(156, 20);
+      checkBox_Model_Range_Real.Name = "checkBox_Model_Range_Real";
+      checkBox_Model_Range_Real.Size = new Size(48, 19);
+      checkBox_Model_Range_Real.TabIndex = 41;
+      checkBox_Model_Range_Real.Tag = "#en";
+      checkBox_Model_Range_Real.Text = "Real";
+      checkBox_Model_Range_Real.UseVisualStyleBackColor = true;
+      checkBox_Model_Range_Real.CheckedChanged += numericUpDown_Range_Update;
+      // 
       // label55
       // 
       label55.AutoSize = true;
@@ -681,6 +695,7 @@
       // 
       // groupBox_OF
       // 
+      groupBox_OF.Controls.Add(checkBox_Model_OF_Real);
       groupBox_OF.Controls.Add(label40);
       groupBox_OF.Controls.Add(numericUpDown_OF_Lens);
       groupBox_OF.Controls.Add(label39);
@@ -702,13 +717,25 @@
       groupBox_OF.Controls.Add(label14);
       groupBox_OF.Controls.Add(label15);
       groupBox_OF.Dock = DockStyle.Top;
-      groupBox_OF.Location = new Point(0, 563);
+      groupBox_OF.Location = new Point(0, 519);
       groupBox_OF.Name = "groupBox_OF";
       groupBox_OF.Size = new Size(204, 169);
       groupBox_OF.TabIndex = 4;
       groupBox_OF.TabStop = false;
       groupBox_OF.Text = "Optical flow";
       // 
+      // checkBox_Model_OF_Real
+      // 
+      checkBox_Model_OF_Real.AutoSize = true;
+      checkBox_Model_OF_Real.Location = new Point(156, 78);
+      checkBox_Model_OF_Real.Name = "checkBox_Model_OF_Real";
+      checkBox_Model_OF_Real.Size = new Size(48, 19);
+      checkBox_Model_OF_Real.TabIndex = 40;
+      checkBox_Model_OF_Real.Tag = "#en";
+      checkBox_Model_OF_Real.Text = "Real";
+      checkBox_Model_OF_Real.UseVisualStyleBackColor = true;
+      checkBox_Model_OF_Real.CheckedChanged += numericUpDown_OF_Update;
+      // 
       // label40
       // 
       label40.AutoSize = true;
@@ -916,6 +943,7 @@
       // 
       // groupBox_Barometer
       // 
+      groupBox_Barometer.Controls.Add(checkBox_Model_Bar_Real);
       groupBox_Barometer.Controls.Add(label30);
       groupBox_Barometer.Controls.Add(numericUpDown_Bar_Laten);
       groupBox_Barometer.Controls.Add(label29);
@@ -930,7 +958,7 @@
       groupBox_Barometer.Controls.Add(label5);
       groupBox_Barometer.Controls.Add(label7);
       groupBox_Barometer.Dock = DockStyle.Top;
-      groupBox_Barometer.Location = new Point(0, 433);
+      groupBox_Barometer.Location = new Point(0, 389);
       groupBox_Barometer.Name = "groupBox_Barometer";
       groupBox_Barometer.Size = new Size(204, 130);
       groupBox_Barometer.TabIndex = 3;
@@ -938,6 +966,18 @@
       groupBox_Barometer.Tag = "#barometer";
       groupBox_Barometer.Text = "Barometer";
       // 
+      // checkBox_Model_Bar_Real
+      // 
+      checkBox_Model_Bar_Real.AutoSize = true;
+      checkBox_Model_Bar_Real.Location = new Point(157, 43);
+      checkBox_Model_Bar_Real.Name = "checkBox_Model_Bar_Real";
+      checkBox_Model_Bar_Real.Size = new Size(48, 19);
+      checkBox_Model_Bar_Real.TabIndex = 39;
+      checkBox_Model_Bar_Real.Tag = "#en";
+      checkBox_Model_Bar_Real.Text = "Real";
+      checkBox_Model_Bar_Real.UseVisualStyleBackColor = true;
+      checkBox_Model_Bar_Real.CheckedChanged += numericUpDown_Bar_Update;
+      // 
       // label30
       // 
       label30.AutoSize = true;
@@ -1072,6 +1112,7 @@
       // 
       // groupBox_GPS
       // 
+      groupBox_GPS.Controls.Add(checkBox_Model_Pos_Real);
       groupBox_GPS.Controls.Add(label2);
       groupBox_GPS.Controls.Add(numericUpDown_Pos_Laten);
       groupBox_GPS.Controls.Add(label4);
@@ -1083,13 +1124,25 @@
       groupBox_GPS.Controls.Add(label48);
       groupBox_GPS.Controls.Add(checkBox_Pos_Enable);
       groupBox_GPS.Dock = DockStyle.Top;
-      groupBox_GPS.Location = new Point(0, 327);
+      groupBox_GPS.Location = new Point(0, 283);
       groupBox_GPS.Name = "groupBox_GPS";
       groupBox_GPS.Size = new Size(204, 106);
       groupBox_GPS.TabIndex = 2;
       groupBox_GPS.TabStop = false;
       groupBox_GPS.Text = "Position";
       // 
+      // checkBox_Model_Pos_Real
+      // 
+      checkBox_Model_Pos_Real.AutoSize = true;
+      checkBox_Model_Pos_Real.Location = new Point(156, 15);
+      checkBox_Model_Pos_Real.Name = "checkBox_Model_Pos_Real";
+      checkBox_Model_Pos_Real.Size = new Size(48, 19);
+      checkBox_Model_Pos_Real.TabIndex = 38;
+      checkBox_Model_Pos_Real.Tag = "#en";
+      checkBox_Model_Pos_Real.Text = "Real";
+      checkBox_Model_Pos_Real.UseVisualStyleBackColor = true;
+      checkBox_Model_Pos_Real.CheckedChanged += numericUpDown_Pos_Update;
+      // 
       // label2
       // 
       label2.AutoSize = true;
@@ -1204,7 +1257,7 @@
       groupBox_Mag.Controls.Add(label22);
       groupBox_Mag.Dock = DockStyle.Top;
       groupBox_Mag.Enabled = false;
-      groupBox_Mag.Location = new Point(0, 276);
+      groupBox_Mag.Location = new Point(0, 232);
       groupBox_Mag.Name = "groupBox_Mag";
       groupBox_Mag.Size = new Size(204, 51);
       groupBox_Mag.TabIndex = 5;
@@ -1258,6 +1311,7 @@
       // 
       // groupBox_Gyr
       // 
+      groupBox_Gyr.Controls.Add(checkBox_Model_Gyr_Real);
       groupBox_Gyr.Controls.Add(label51);
       groupBox_Gyr.Controls.Add(numericUpDown_Gyr_Laten);
       groupBox_Gyr.Controls.Add(label52);
@@ -1274,13 +1328,25 @@
       groupBox_Gyr.Controls.Add(numericUpDown_Gyr_Freq);
       groupBox_Gyr.Controls.Add(label21);
       groupBox_Gyr.Dock = DockStyle.Top;
-      groupBox_Gyr.Location = new Point(0, 154);
+      groupBox_Gyr.Location = new Point(0, 110);
       groupBox_Gyr.Name = "groupBox_Gyr";
       groupBox_Gyr.Size = new Size(204, 122);
       groupBox_Gyr.TabIndex = 7;
       groupBox_Gyr.TabStop = false;
       groupBox_Gyr.Text = "Gyroscope";
       // 
+      // checkBox_Model_Gyr_Real
+      // 
+      checkBox_Model_Gyr_Real.AutoSize = true;
+      checkBox_Model_Gyr_Real.Location = new Point(153, 101);
+      checkBox_Model_Gyr_Real.Name = "checkBox_Model_Gyr_Real";
+      checkBox_Model_Gyr_Real.Size = new Size(48, 19);
+      checkBox_Model_Gyr_Real.TabIndex = 37;
+      checkBox_Model_Gyr_Real.Tag = "#en";
+      checkBox_Model_Gyr_Real.Text = "Real";
+      checkBox_Model_Gyr_Real.UseVisualStyleBackColor = true;
+      checkBox_Model_Gyr_Real.CheckedChanged += numericUpDown_Gyr_Update;
+      // 
       // label51
       // 
       label51.AutoSize = true;
@@ -1438,6 +1504,7 @@
       // 
       // groupBox_Acc
       // 
+      groupBox_Acc.Controls.Add(checkBox_Model_Acc_Real);
       groupBox_Acc.Controls.Add(label49);
       groupBox_Acc.Controls.Add(numericUpDown_Acc_Laten);
       groupBox_Acc.Controls.Add(label50);
@@ -1451,13 +1518,25 @@
       groupBox_Acc.Controls.Add(numericUpDown_Acc_Freq);
       groupBox_Acc.Controls.Add(label20);
       groupBox_Acc.Dock = DockStyle.Top;
-      groupBox_Acc.Location = new Point(0, 44);
+      groupBox_Acc.Location = new Point(0, 0);
       groupBox_Acc.Name = "groupBox_Acc";
       groupBox_Acc.Size = new Size(204, 110);
       groupBox_Acc.TabIndex = 6;
       groupBox_Acc.TabStop = false;
       groupBox_Acc.Text = "Accelerometer";
       // 
+      // checkBox_Model_Acc_Real
+      // 
+      checkBox_Model_Acc_Real.AutoSize = true;
+      checkBox_Model_Acc_Real.Location = new Point(156, 91);
+      checkBox_Model_Acc_Real.Name = "checkBox_Model_Acc_Real";
+      checkBox_Model_Acc_Real.Size = new Size(48, 19);
+      checkBox_Model_Acc_Real.TabIndex = 36;
+      checkBox_Model_Acc_Real.Tag = "#en";
+      checkBox_Model_Acc_Real.Text = "Real";
+      checkBox_Model_Acc_Real.UseVisualStyleBackColor = true;
+      checkBox_Model_Acc_Real.CheckedChanged += numericUpDown_Acc_Update;
+      // 
       // label49
       // 
       label49.AutoSize = true;
@@ -1582,42 +1661,6 @@
       label20.TabIndex = 2;
       label20.Text = "Freq:";
       // 
-      // groupBox2
-      // 
-      groupBox2.Controls.Add(radioButton1);
-      groupBox2.Controls.Add(radioButton_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";
-      // 
-      // radioButton1
-      // 
-      radioButton1.AutoSize = true;
-      radioButton1.Checked = true;
-      radioButton1.Location = new Point(9, 19);
-      radioButton1.Name = "radioButton1";
-      radioButton1.Size = new Size(50, 19);
-      radioButton1.TabIndex = 2;
-      radioButton1.TabStop = true;
-      radioButton1.Text = "Ideal";
-      radioButton1.UseVisualStyleBackColor = true;
-      radioButton1.CheckedChanged += checkBox_Mode_Real_CheckedChanged;
-      // 
-      // radioButton_Real
-      // 
-      radioButton_Real.AutoSize = true;
-      radioButton_Real.Location = new Point(150, 19);
-      radioButton_Real.Name = "radioButton_Real";
-      radioButton_Real.Size = new Size(47, 19);
-      radioButton_Real.TabIndex = 1;
-      radioButton_Real.Text = "Real";
-      radioButton_Real.UseVisualStyleBackColor = true;
-      radioButton_Real.CheckedChanged += checkBox_Mode_Real_CheckedChanged;
-      // 
       // tabPage_Area
       // 
       tabPage_Area.Controls.Add(groupBox4);
@@ -2007,8 +2050,6 @@
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Scale_Rigth).EndInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Noise).EndInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Freq).EndInit();
-      groupBox2.ResumeLayout(false);
-      groupBox2.PerformLayout();
       tabPage_Area.ResumeLayout(false);
       groupBox4.ResumeLayout(false);
       groupBox4.PerformLayout();
@@ -2151,14 +2192,11 @@
     private Label label55;
     private NumericUpDown numericUpDown_Range_Laten;
     private Label label56;
-    private GroupBox groupBox2;
     private ListBox listBox_Drones;
     private Label label39;
     private NumericUpDown numericUpDown_OF_Wait;
     private Label label40;
     private NumericUpDown numericUpDown_OF_Lens;
-    private RadioButton radioButton1;
-    private RadioButton radioButton_Real;
     private GroupBox groupBox3;
     private CheckBox checkBox_Area_Freeze_X;
     private CheckBox checkBox_Area_Freeze_Z;
@@ -2181,5 +2219,11 @@
     private Label label64;
     private NumericUpDown numericUpDown_Area_Wind_RotResist;
     private Label label65;
+    private CheckBox checkBox_Model_Gyr_Real;
+    private CheckBox checkBox_Model_Acc_Real;
+    private CheckBox checkBox_Model_Range_Real;
+    private CheckBox checkBox_Model_OF_Real;
+    private CheckBox checkBox_Model_Bar_Real;
+    private CheckBox checkBox_Model_Pos_Real;
   }
 }

DroneSimulator/FormMain.cs

@@ -23,7 +23,6 @@ namespace DroneSimulator
     {
       InitializeComponent();
 
-      RealMode.RealSimulation = radioButton_Real.Checked;
       numericUpDown_Acc_Update(null, null);
       numericUpDown_Gyr_Update(null, null);
       numericUpDown_Pos_Update(null, null);
@@ -226,6 +225,8 @@ 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
       {
@@ -233,20 +234,16 @@ namespace DroneSimulator
         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 = radioButton_Real.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;
@@ -257,6 +254,8 @@ namespace DroneSimulator
 
     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;
@@ -268,6 +267,8 @@ namespace DroneSimulator
 
     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;
@@ -276,6 +277,8 @@ namespace DroneSimulator
 
     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;
@@ -286,6 +289,8 @@ namespace DroneSimulator
 
     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;

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)
+        if (value > MaxHeight) value = MaxHeight;
-        {
-          result = float.NaN;
-          return;
-        }
-
-        if (value > MaxHeight) value = -1;
         else
         {
           int noise = (int)(Noise * 1000);