Update

DroneClient/Drone.cs

@@ -1,4 +1,5 @@
-using System.Drawing;
+using System.Diagnostics.Metrics;
+using System.Drawing;
 using System.Runtime.InteropServices;
 
 namespace DroneClient
@@ -8,8 +9,11 @@ namespace DroneClient
 
     public float AccX, AccY, AccZ;
     public float GyrX, GyrY, GyrZ;
+    public uint TimeAcc, TimeGyr;
+
     public float PosX, PosY;
     public float LaserRange;
+    public uint TimeRange;
 
     public float MotorUL, MotorUR, MotorDL, MotorDR;
 
@@ -70,22 +74,44 @@ namespace DroneClient
       return getBytes(mot4);
     }
 
-    private byte[]? RecvDataIMU(byte[] data)
+    private byte[]? RecvDataAcc(byte[] data)
     {
-      DroneData.DataIMU imu = (DroneData.DataIMU)fromBytes(data, typeof(DroneData.DataIMU));
+      DroneData.DataAcc imu = (DroneData.DataAcc)fromBytes(data, typeof(DroneData.DataAcc));
 
       AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z;
-      GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
+
+      TimeAcc= imu.Time;
 
       return new byte[0];
     }
 
-    private byte[]? RecvDataPos(byte[] data)
+    private byte[]? RecvDataGyr(byte[] data)
     {
-      DroneData.DataPos pos = (DroneData.DataPos)fromBytes(data, typeof(DroneData.DataPos));
+      DroneData.DataGyr imu = (DroneData.DataGyr)fromBytes(data, typeof(DroneData.DataGyr));
+
+      GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
+
+      TimeGyr = imu.Time;
+
+      return new byte[0];
+    }
+
+    private byte[]? RecvDataRange(byte[] data)
+    {
+      DroneData.DataRange pos = (DroneData.DataRange)fromBytes(data, typeof(DroneData.DataRange));
+
+      LaserRange = pos.LiDAR;
+
+      TimeRange = pos.Time;
+
+      return new byte[0];
+    }
+
+    private byte[]? RecvDataLocal(byte[] data)
+    {
+      DroneData.DataLocal pos = (DroneData.DataLocal)fromBytes(data, typeof(DroneData.DataLocal));
 
       PosX = pos.Local.X; PosY = pos.Local.Y;
-      LaserRange = pos.LiDAR;
 
       return new byte[0];
     }
@@ -96,7 +122,7 @@ namespace DroneClient
 
       switch (head.Type)
       {
-        case DroneData.DataType.DataIMU:
+        case DroneData.DataType.DataAcc:
           {
             if (head.Mode == DroneData.DataMode.Request)
             {
@@ -108,11 +134,11 @@ namespace DroneClient
             else
             {
               // Пришли данные
-              return RecvDataIMU(body);
+              return RecvDataAcc(body);
             }
           }
 
-        case DroneData.DataType.DataPos:
+        case DroneData.DataType.DataGyr:
           {
             if (head.Mode == DroneData.DataMode.Request)
             {
@@ -124,7 +150,39 @@ namespace DroneClient
             else
             {
               // Пришли данные
-              return RecvDataPos(body);
+              return RecvDataGyr(body);
+            }
+          }
+
+        case DroneData.DataType.DataRange:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              // ... //
+              //
+              return zero;
+            }
+            else
+            {
+              // Пришли данные
+              return RecvDataRange(body);
+            }
+          }
+
+        case DroneData.DataType.DataLocal:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              // ... //
+              //
+              return zero;
+            }
+            else
+            {
+              // Пришли данные
+              return RecvDataLocal(body);
             }
           }
 
@@ -193,24 +251,46 @@ namespace DroneClient
 
     public byte[] SendReqest()
     {
-      DroneData.DataHead imu = new DroneData.DataHead();
+      DroneData.DataHead acc = new DroneData.DataHead();
-      imu.Size = DroneData.DataHead.StrLen;
+      acc.Size = DroneData.DataHead.StrLen;
-      imu.Mode = DroneData.DataMode.Request;
+      acc.Mode = DroneData.DataMode.Request;
-      imu.Type = DroneData.DataType.DataIMU;
+      acc.Type = DroneData.DataType.DataAcc;
 
-      DroneData.DataHead pos = new DroneData.DataHead();
+      DroneData.DataHead gyr = new DroneData.DataHead();
-      pos.Size = DroneData.DataHead.StrLen;
+      gyr.Size = DroneData.DataHead.StrLen;
-      pos.Mode = DroneData.DataMode.Request;
+      gyr.Mode = DroneData.DataMode.Request;
-      pos.Type = DroneData.DataType.DataPos;
+      gyr.Type = DroneData.DataType.DataGyr;
 
-      byte[] si = getBytes(imu);
+      DroneData.DataHead range = new DroneData.DataHead();
-      byte[] sp = getBytes(pos);
+      range.Size = DroneData.DataHead.StrLen;
-      byte[] sm = SendDataMotor4();
+      range.Mode = DroneData.DataMode.Request;
+      range.Type = DroneData.DataType.DataRange;
 
-      byte[] send = new byte[si.Length + sp.Length + sm.Length];
+      DroneData.DataHead local = new DroneData.DataHead();
-      si.CopyTo(send, 0);
+      local.Size = DroneData.DataHead.StrLen;
-      sp.CopyTo(send, si.Length);
+      local.Mode = DroneData.DataMode.Request;
-      sm.CopyTo(send, si.Length + sp.Length);
+      local.Type = DroneData.DataType.DataLocal;
+
+      List<byte[]> list = new List<byte[]>();
+
+      list.Add(getBytes(acc));
+      list.Add(getBytes(gyr));
+      list.Add(getBytes(range));
+      list.Add(getBytes(local));
+      list.Add(SendDataMotor4());
+
+      int count = 0;
+
+      foreach (byte[] d in list) count += d.Length;
+
+      byte[] send = new byte[count];
+
+      count = 0;
+      foreach (byte[] d in list)
+      {
+        d.CopyTo(send, count);
+        count += d.Length;
+      }
 
       return send;
     }

DroneClient/DroneData.cs

@@ -12,7 +12,7 @@ namespace DroneData
     None = 0, Head = 1,
 
     // Output
-    DataIMU = 1001, DataPos = 1002, 
+    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
 
     // Input
     DataMotor4 = 2001, DataMotor6 = 2002
@@ -25,32 +25,66 @@ namespace DroneData
     public DataMode Mode;
     public DataType Type;
 
+    public uint Time; // Îáùåå âðåìÿ
+
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
   }
 
   public struct XYZ { public float X, Y, Z; }
 
-  public struct DataIMU
+  public struct DataAcc
   {
     public DataHead Head;
-    public XYZ Acc, Gyr, Mag;
+    public XYZ Acc;
 
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU));
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
   }
 
-  public struct DataPos
+  public struct DataGyr
+  {
+    public DataHead Head;
+    public XYZ Gyr;
+
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
+  }
+
+  public struct DataMag
+  {
+    public DataHead Head;
+    public XYZ Mag;
+
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
+  }
+
+  public struct DataLocal
   {
     public DataHead Head;
     public XYZ Local; // Ëîêàëüíûå êîîðäèíàòû
+
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
+  }
+
+  public struct DataRange
+  {
+    public DataHead Head;
     public float LiDAR; // Äàò÷èê ïîñàäêè
 
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos));
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
   }
 
   public struct DataMotor4
   {
     public DataHead Head;
-    public ulong Count;
     public float UL, UR, DL, DR;
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
@@ -59,7 +93,6 @@ namespace DroneData
   public struct DataMotor6
   {
     public DataHead Head;
-    public ulong Count;
     public float UL, UR, LL, RR, DL, DR;
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));

DroneClient/FormMain.Designer.cs

@@ -65,6 +65,9 @@
       label_Pow = new Label();
       button_ML = new Button();
       button_MR = new Button();
+      label_time_acc = new Label();
+      label_time_range = new Label();
+      label_time_gyr = new Label();
       groupBox1.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Server_Port).BeginInit();
       groupBox2.SuspendLayout();
@@ -156,6 +159,7 @@
       // 
       // groupBox2
       // 
+      groupBox2.Controls.Add(label_time_acc);
       groupBox2.Controls.Add(label_Acc_Z);
       groupBox2.Controls.Add(label7);
       groupBox2.Controls.Add(label_Acc_Y);
@@ -164,7 +168,7 @@
       groupBox2.Controls.Add(label1);
       groupBox2.Location = new Point(6, 86);
       groupBox2.Name = "groupBox2";
-      groupBox2.Size = new Size(78, 100);
+      groupBox2.Size = new Size(78, 118);
       groupBox2.TabIndex = 5;
       groupBox2.TabStop = false;
       groupBox2.Text = "Acc";
@@ -216,6 +220,7 @@
       // 
       // groupBox3
       // 
+      groupBox3.Controls.Add(label_time_gyr);
       groupBox3.Controls.Add(label_Gyr_Z);
       groupBox3.Controls.Add(label9);
       groupBox3.Controls.Add(label_Gyr_Y);
@@ -224,7 +229,7 @@
       groupBox3.Controls.Add(label13);
       groupBox3.Location = new Point(95, 86);
       groupBox3.Name = "groupBox3";
-      groupBox3.Size = new Size(78, 100);
+      groupBox3.Size = new Size(78, 118);
       groupBox3.TabIndex = 6;
       groupBox3.TabStop = false;
       groupBox3.Text = "Gyr";
@@ -285,6 +290,7 @@
       // 
       // groupBox4
       // 
+      groupBox4.Controls.Add(label_time_range);
       groupBox4.Controls.Add(label_Pos_L);
       groupBox4.Controls.Add(label6);
       groupBox4.Controls.Add(label_Pos_Y);
@@ -293,7 +299,7 @@
       groupBox4.Controls.Add(label14);
       groupBox4.Location = new Point(188, 86);
       groupBox4.Name = "groupBox4";
-      groupBox4.Size = new Size(78, 100);
+      groupBox4.Size = new Size(78, 118);
       groupBox4.TabIndex = 7;
       groupBox4.TabStop = false;
       groupBox4.Text = "Pos";
@@ -437,6 +443,33 @@
       button_MR.MouseDown += button_UU_MouseDown;
       button_MR.MouseUp += button_UU_MouseUp;
       // 
+      // 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_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_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";
+      // 
       // Form_Main
       // 
       AutoScaleDimensions = new SizeF(7F, 15F);
@@ -509,5 +542,9 @@
     private Label label_Pow;
     private Button button_ML;
     private Button button_MR;
+    private Label label4;
+    private Label label_time_acc;
+    private Label label_time_range;
+    private Label label_time_gyr;
   }
 }

DroneClient/FormMain.cs

@@ -95,14 +95,20 @@ namespace DroneSimulator
       label_Acc_Y.Text = dataDrone.AccY.ToString();
       label_Acc_Z.Text = dataDrone.AccZ.ToString();
 
+      label_time_acc.Text = dataDrone.TimeAcc.ToString();
+
       label_Gyr_X.Text = dataDrone.GyrX.ToString();
       label_Gyr_Y.Text = dataDrone.GyrY.ToString();
       label_Gyr_Z.Text = dataDrone.GyrZ.ToString();
 
+      label_time_gyr.Text = dataDrone.TimeGyr.ToString();
+
       label_Pos_X.Text = dataDrone.PosX.ToString();
       label_Pos_Y.Text = dataDrone.PosY.ToString();
       label_Pos_L.Text = dataDrone.LaserRange.ToString();
 
+      label_time_range.Text = dataDrone.TimeRange.ToString();
+
       netClient.SendData(dataDrone.SendReqest());
     }
 

DroneClientCpp/Drone.cpp

@@ -59,53 +59,89 @@ namespace DroneClient {
         return GetBytes(mot4);
     }
 
-    // Реализация приватного метода RecvDataIMU
+    array<Byte>^ Drone::RecvDataAcc(array<Byte>^ data)
-    array<Byte>^ Drone::RecvDataIMU(array<Byte>^ data)
     {
-        DroneData::DataIMU imu = (DroneData::DataIMU)FromBytes(data, DroneData::DataIMU::typeid);
+        DroneData::DataAcc imu = (DroneData::DataAcc)FromBytes(data, DroneData::DataAcc::typeid);
 
         AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z;
-        GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
+        TimeAcc = imu.Time;
 
         return gcnew array<Byte>(0);
     }
 
-    // Реализация приватного метода RecvDataPos
+    array<Byte>^ Drone::RecvDataGyr(array<Byte>^ data)
-    array<Byte>^ Drone::RecvDataPos(array<Byte>^ data)
     {
-        DroneData::DataPos pos = (DroneData::DataPos)FromBytes(data, DroneData::DataPos::typeid);
+      DroneData::DataGyr imu = (DroneData::DataGyr)FromBytes(data, DroneData::DataGyr::typeid);
+
+      GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
+      TimeGyr = imu.Time;
+
+      return gcnew array<Byte>(0);
+    }
+
+    array<Byte>^ Drone::RecvDataRange(array<Byte>^ data)
+    {
+      DroneData::DataRange pos = (DroneData::DataRange)FromBytes(data, DroneData::DataRange::typeid);
+
+      LaserRange = pos.LiDAR;
+      TimeRange = pos.Time;
+
+      return gcnew array<Byte>(0);
+    }
+
+    array<Byte>^ Drone::RecvDataLocal(array<Byte>^ data)
+    {
+        DroneData::DataLocal pos = (DroneData::DataLocal)FromBytes(data, DroneData::DataLocal::typeid);
 
         PosX = pos.Local.X; PosY = pos.Local.Y;
-        LaserRange = pos.LiDAR;
 
         return gcnew array<Byte>(0);
     }
 
-    // Реализация приватного метода ClientRequestResponse
     array<Byte>^ Drone::ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body)
     {
         array<Byte>^ zero = gcnew array<Byte>(0);
 
         switch (head.Type)
         {
-        case DroneData::DataType::DataIMU:
+        case DroneData::DataType::DataAcc:
             if (head.Mode == DroneData::DataMode::Request)
             {
                 return zero; // Запрос данных (не реализовано)
             }
             else
             {
-                return RecvDataIMU(body); // Пришли данные
+                return RecvDataAcc(body); // Пришли данные
             }
 
-        case DroneData::DataType::DataPos:
+        case DroneData::DataType::DataGyr:
           if (head.Mode == DroneData::DataMode::Request)
           {
             return zero; // Запрос данных (не реализовано)
           }
           else
           {
-                return RecvDataPos(body); // Пришли данные
+            return RecvDataGyr(body); // Пришли данные
+          }
+
+        case DroneData::DataType::DataRange:
+            if (head.Mode == DroneData::DataMode::Request)
+            {
+                return zero; // Запрос данных (не реализовано)
+            }
+            else
+            {
+                return RecvDataRange(body); // Пришли данные
+            }
+
+        case DroneData::DataType::DataLocal:
+          if (head.Mode == DroneData::DataMode::Request)
+          {
+            return zero; // Запрос данных (не реализовано)
+          }
+          else
+          {
+            return RecvDataLocal(body); // Пришли данные
           }
 
         case DroneData::DataType::DataMotor4:
@@ -133,7 +169,7 @@ namespace DroneClient {
     }
 
     // Реализация метода DataStream
-    System::Collections::Generic::List<array<Byte>^>^ Drone::DataStream(array<Byte>^ data, int size)
+    List<array<Byte>^>^ Drone::DataStream(array<Byte>^ data, int size)
     {
         System::Collections::Generic::List<array<Byte>^>^ ret = gcnew System::Collections::Generic::List<array<Byte>^>();
 
@@ -173,24 +209,46 @@ namespace DroneClient {
     // Реализация метода SendRequest
     array<Byte>^ Drone::SendRequest()
     {
-        DroneData::DataHead imu;
+      DroneData::DataHead^ acc = gcnew DroneData::DataHead();
-        imu.Size = DroneData::DataHead::StrLen;
+      acc->Size = DroneData::DataHead::StrLen;
-        imu.Mode = DroneData::DataMode::Request;
+      acc->Mode = DroneData::DataMode::Request;
-        imu.Type = DroneData::DataType::DataIMU;
+      acc->Type = DroneData::DataType::DataAcc;
 
-        DroneData::DataHead pos;
+      DroneData::DataHead^ gyr = gcnew DroneData::DataHead();
-        pos.Size = DroneData::DataHead::StrLen;
+      gyr->Size = DroneData::DataHead::StrLen;
-        pos.Mode = DroneData::DataMode::Request;
+      gyr->Mode = DroneData::DataMode::Request;
-        pos.Type = DroneData::DataType::DataPos;
+      gyr->Type = DroneData::DataType::DataGyr;
 
-        array<Byte>^ si = GetBytes(imu);
+      DroneData::DataHead^ range = gcnew DroneData::DataHead();
-        array<Byte>^ sp = GetBytes(pos);
+      range->Size = DroneData::DataHead::StrLen;
-        array<Byte>^ sm = SendDataMotor4();
+      range->Mode = DroneData::DataMode::Request;
+      range->Type = DroneData::DataType::DataRange;
 
-        array<Byte>^ send = gcnew array<Byte>(si->Length + sp->Length + sm->Length);
+      DroneData::DataHead^ local = gcnew DroneData::DataHead();
-        Array::Copy(si, 0, send, 0, si->Length);
+      local->Size = DroneData::DataHead::StrLen;
-        Array::Copy(sp, 0, send, si->Length, sp->Length);
+      local->Mode = DroneData::DataMode::Request;
-        Array::Copy(sm, 0, send, si->Length + sp->Length, sm->Length);
+      local->Type = DroneData::DataType::DataLocal;
+
+      List<array<byte>^>^ list = gcnew List<array<byte>^>();
+
+      list->Add(GetBytes(acc));
+      list->Add(GetBytes(gyr));
+      list->Add(GetBytes(range));
+      list->Add(GetBytes(local));
+      list->Add(SendDataMotor4());
+
+      int count = 0;
+
+      for each(array<byte>^ d in list) count += d->Length;
+
+      array<byte>^ send = gcnew array<byte>(count);
+
+      count = 0;
+      for each (array<byte> ^ d in list)
+      {
+        d->CopyTo(send, count);
+        count += d->Length;
+      }
 
       return send;
     }

DroneClientCpp/Drone.h

@@ -18,8 +18,11 @@ namespace DroneClient {
     public:
         float AccX, AccY, AccZ;
         float GyrX, GyrY, GyrZ;
+        unsigned int TimeAcc, TimeGyr;
+
         float PosX, PosY;
         float LaserRange;
+        unsigned int TimeRange;
 
         float MotorUL, MotorUR, MotorDL, MotorDR;
 
@@ -28,8 +31,10 @@ namespace DroneClient {
 
     private:
         array<Byte>^ SendDataMotor4();
-        array<Byte>^ RecvDataIMU(array<Byte>^ data);
+        array<Byte>^ RecvDataAcc(array<Byte>^ data);
-        array<Byte>^ RecvDataPos(array<Byte>^ data);
+        array<Byte>^ RecvDataGyr(array<Byte>^ data);
+        array<Byte>^ RecvDataRange(array<Byte>^ data);
+        array<Byte>^ RecvDataLocal(array<Byte>^ data);
         array<Byte>^ ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body);
 
         literal int DroneStreamCount = 512;

DroneClientCpp/DroneData.h

@@ -16,17 +16,23 @@ namespace DroneData {
     public enum class DataType : unsigned short
     {
       None = 0, Head = 1,
-        DataIMU = 1001, DataPos = 1002,
+
+      // Output
+      DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
+
+      // Input
       DataMotor4 = 2001, DataMotor6 = 2002
     };
 
     public value struct DataHead
     {
     public:
-        int Size;
+      long Size;
         DataMode Mode;
         DataType Type;
 
+        unsigned long Time;
+
         static const int StrLen = sizeof(DataHead);
     };
 
@@ -36,30 +42,65 @@ namespace DroneData {
         float X, Y, Z;
     };
 
-    public value struct DataIMU
+    public value struct DataAcc
     {
     public:
         DataHead Head;
-        XYZ Acc, Gyr, Mag;
+        XYZ Acc;
 
-        static const int StrLen = sizeof(DataIMU);
+        unsigned long Time;
+
+        static const int StrLen = sizeof(DataAcc);
     };
 
-    public value struct DataPos
+    public value struct DataGyr
+    {
+    public:
+      DataHead Head;
+      XYZ Gyr;
+
+      unsigned long Time;
+
+      static const int StrLen = sizeof(DataGyr);
+    };
+
+    public value struct DataMag
+    {
+    public:
+      DataHead Head;
+      XYZ Mag;
+
+      unsigned long Time;
+
+      static const int StrLen = sizeof(DataMag);
+    };
+
+    public value struct DataRange
+    {
+    public:
+        DataHead Head;
+        float LiDAR;
+
+        unsigned long Time;
+
+        static const int StrLen = sizeof(DataRange);
+    };
+
+    public value struct DataLocal
     {
     public:
       DataHead Head;
       XYZ Local;
-        float LiDAR;
 
-        static const int StrLen = sizeof(DataPos);
+      unsigned long Time;
+
+      static const int StrLen = sizeof(DataLocal);
     };
 
     public value struct DataMotor4
     {
     public:
         DataHead Head;
-        unsigned long long Count;
         float UL, UR, DL, DR;
 
         static const int StrLen = sizeof(DataMotor4);
@@ -69,7 +110,6 @@ namespace DroneData {
     {
     public:
         DataHead Head;
-        unsigned long long Count;
         float UL, UR, LL, RR, DL, DR;
 
         static const int StrLen = sizeof(DataMotor6);

DroneClientCpp/NetClient.cpp

@@ -40,7 +40,7 @@ namespace DroneSimulator {
         IPEndPoint^ ep = gcnew IPEndPoint(IPAddress::Parse(Addr), Port);
         ServerSocket = gcnew Socket(AddressFamily::InterNetwork, SocketType::Stream, ProtocolType::Tcp);
 
-        try { ServerSocket->Connect(ep); }
+        try { if (ServerSocket) ServerSocket->Connect(ep); }
         catch (...) { ServerSocket->Close(); return ClientState::Error; }
 
         Connected = true;
@@ -49,7 +49,7 @@ namespace DroneSimulator {
 
         ReceiveData^ receiveData = gcnew ReceiveData(DataServer->buffer, ServerData::size, ServerSocket);
 
-        try { ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData); }
+        try { if (ServerSocket) ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData); }
         catch (...) {}
 
         return ClientState::Connected;
@@ -58,9 +58,9 @@ namespace DroneSimulator {
     // Реализация метода Close
     void NetClient::Close()
     {
-        try { ServerSocket->Shutdown(SocketShutdown::Both); }
+        try { if(ServerSocket) ServerSocket->Shutdown(SocketShutdown::Both); }
         catch (...) {}
-        ServerSocket->Close();
+        if(ServerSocket) ServerSocket->Close();
         Connected = false;
     }
 
@@ -69,7 +69,7 @@ namespace DroneSimulator {
     {
         if (ServerSocket != nullptr && Connected)
         {
-            try { ServerSocket->Send(data); }
+            try { if (ServerSocket) ServerSocket->Send(data); }
             catch (...) {}
         }
     }
@@ -86,7 +86,7 @@ namespace DroneSimulator {
 
         if (bytes == 0)
         {
-            ServerSocket->Close();
+          if (ServerSocket) ServerSocket->Close();
             Connected = false;
 
             if (ServerSocket != nullptr)
@@ -99,7 +99,7 @@ namespace DroneSimulator {
 
         ReceiveCallback(gcnew ReceiveData(cd->Buffer, bytes, ServerSocket));
 
-        try { ServerSocket->BeginReceive(cd->Buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), cd); }
+        try { if (ServerSocket) ServerSocket->BeginReceive(cd->Buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), cd); }
         catch (...) {}
     }
 }

DroneSimulator/Drone.cs

@@ -21,6 +21,8 @@ namespace DroneSimulator
     public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
     public float LaserRange; // Имитация: Дальномер
 
+    private uint DataTimer;
+
     private const float Gravity = 9.8f;
 
     private const float TO_GRAD = 180 / MathF.PI;
@@ -72,33 +74,6 @@ namespace DroneSimulator
       return mem;
     }
 
-    /*public struct DataOut
-    {
-      public float AccX, AccY, AccZ;
-      public float GyrX, GyrY, GyrZ;
-      public float PosX, PosY;
-      public float LaserRange;
-    }
-
-    public DataOut GetDataOut()
-    {
-      DataOut data = new DataOut();
-
-      data.AccX = Acc.X; data.AccY = Acc.Y; data.AccZ = Acc.Z;
-      data.GyrX = Gyr.X; data.GyrY = Gyr.Y; data.GyrZ = Gyr.Z;
-
-      data.PosX = PosXYZ.X; data.PosY = PosXYZ.Y;
-
-      data.LaserRange = LaserRange;
-
-      return data;
-    }
-
-    public struct DataIn
-    {
-      public float MotorUL, MotorUR, MotorDL, MotorDR;
-    }*/
-
     public struct DataVisual
     {
       public int ID; // Идентификатор
@@ -264,6 +239,8 @@ namespace DroneSimulator
         if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
         else LaserRange = float.MaxValue;
       }
+
+      DataTimer = (uint)tick;
     }
 
     private float Range(float pow)
@@ -292,33 +269,79 @@ namespace DroneSimulator
       SetQadroPow(mot.UL, mot.UR, mot.DL, mot.DR);
     }
 
-    private byte[] SendDataIMU()
+    private byte[] SendDataAcc()
     {
-      DroneData.DataIMU imu = new DroneData.DataIMU();
+      DroneData.DataAcc acc = new DroneData.DataAcc();
 
-      imu.Head.Size = Marshal.SizeOf(typeof(DroneData.DataIMU));
+      acc.Head.Size = Marshal.SizeOf(typeof(DroneData.DataAcc));
-      imu.Head.Mode = DroneData.DataMode.Response;
+      acc.Head.Mode = DroneData.DataMode.Response;
-      imu.Head.Type = DroneData.DataType.DataIMU;
+      acc.Head.Type = DroneData.DataType.DataAcc;
+      acc.Head.Time = (uint)Environment.TickCount;
 
-      imu.Acc.X = Acc.X; imu.Acc.Y = Acc.Y; imu.Acc.Z = Acc.Z;
+      acc.Acc.X = Acc.X; acc.Acc.Y = Acc.Y; acc.Acc.Z = Acc.Z;
-      imu.Gyr.X = Gyr.X; imu.Gyr.Y = Gyr.Y; imu.Gyr.Z = Gyr.Z;
+      acc.Time = DataTimer;
-      imu.Mag.X = 0; imu.Mag.Y = 0; imu.Mag.Z = 0;
 
-      return getBytes(imu);
+      return getBytes(acc);
     }
 
-    private byte[] SendDataPos()
+    private byte[] SendDataGyr()
     {
-      DroneData.DataPos pos = new DroneData.DataPos();
+      DroneData.DataGyr gyr = new DroneData.DataGyr();
 
-      pos.Head.Size = Marshal.SizeOf(typeof(DroneData.DataPos));
+      gyr.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGyr));
-      pos.Head.Mode = DroneData.DataMode.Response;
+      gyr.Head.Mode = DroneData.DataMode.Response;
-      pos.Head.Type = DroneData.DataType.DataPos;
+      gyr.Head.Type = DroneData.DataType.DataGyr;
+      gyr.Head.Time = (uint)Environment.TickCount;
 
-      pos.Local.X = PosXYZ.X; pos.Local.Y = PosXYZ.Y; pos.Local.Z = PosXYZ.Z;
+      gyr.Gyr.X = Gyr.X; gyr.Gyr.Y = Gyr.Y; gyr.Gyr.Z = Gyr.Z;
-      pos.LiDAR = LaserRange;
+      gyr.Time = DataTimer;
 
-      return getBytes(pos);
+      return getBytes(gyr);
+    }
+
+    private byte[] SendDataMag()
+    {
+      DroneData.DataMag mag = new DroneData.DataMag();
+
+      mag.Head.Size = Marshal.SizeOf(typeof(DroneData.DataMag));
+      mag.Head.Mode = DroneData.DataMode.Response;
+      mag.Head.Type = DroneData.DataType.DataMag;
+      mag.Head.Time = (uint)Environment.TickCount;
+
+      mag.Mag.X = 0; mag.Mag.Y = 0; mag.Mag.Z = 0;
+      mag.Time = DataTimer;
+
+      return getBytes(mag);
+    }
+
+    private byte[] SendDataRange()
+    {
+      DroneData.DataRange range = new DroneData.DataRange();
+
+      range.Head.Size = Marshal.SizeOf(typeof(DroneData.DataRange));
+      range.Head.Mode = DroneData.DataMode.Response;
+      range.Head.Type = DroneData.DataType.DataRange;
+      range.Head.Time = (uint)Environment.TickCount;
+
+      range.LiDAR = LaserRange;
+      range.Time = DataTimer;
+
+      return getBytes(range);
+    }
+
+    private byte[] SendDataLocal()
+    {
+      DroneData.DataLocal local = new DroneData.DataLocal();
+
+      local.Head.Size = Marshal.SizeOf(typeof(DroneData.DataLocal));
+      local.Head.Mode = DroneData.DataMode.Response;
+      local.Head.Type = DroneData.DataType.DataLocal;
+      local.Head.Time = (uint)Environment.TickCount;
+
+      local.Local.X = PosXYZ.X; local.Local.Y = PosXYZ.Y; local.Local.Z = PosXYZ.Z;
+      local.Time = DataTimer;
+
+      return getBytes(local);
     }
 
     private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
@@ -327,12 +350,12 @@ namespace DroneSimulator
 
       switch (head.Type)
       {
-        case DroneData.DataType.DataIMU:
+        case DroneData.DataType.DataAcc:
           {
             if (head.Mode == DroneData.DataMode.Request)
             {
               // Запрос данных
-              return SendDataIMU();
+              return SendDataAcc();
             }
             else
             {
@@ -343,12 +366,60 @@ namespace DroneSimulator
             }
           }
 
-        case DroneData.DataType.DataPos:
+        case DroneData.DataType.DataGyr:
           {
             if (head.Mode == DroneData.DataMode.Request)
             {
               // Запрос данных
-              return SendDataPos();
+              return SendDataGyr();
+            }
+            else
+            {
+              // Пришли данные
+              // ... //
+              //
+              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)
+            {
+              // Запрос данных
+              return SendDataRange();
+            }
+            else
+            {
+              // Пришли данные
+              // ... //
+              //
+              return zero;
+            }
+          }
+
+        case DroneData.DataType.DataLocal:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              return SendDataLocal();
             }
             else
             {

DroneSimulator/DroneData.cs

@@ -12,7 +12,7 @@ namespace DroneData
     None = 0, Head = 1,
 
     // Output
-    DataIMU = 1001, DataPos = 1002, 
+    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, 
 
     // Input
     DataMotor4 = 2001, DataMotor6 = 2002
@@ -25,32 +25,66 @@ namespace DroneData
     public DataMode Mode;
     public DataType Type;
 
+    public uint Time; // Îáùåå âðåìÿ
+
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
   }
 
   public struct XYZ { public float X, Y, Z; }
 
-  public struct DataIMU
+  public struct DataAcc
   {
     public DataHead Head;
-    public XYZ Acc, Gyr, Mag;
+    public XYZ Acc;
 
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU));
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
   }
 
-  public struct DataPos
+  public struct DataGyr
+  {
+    public DataHead Head;
+    public XYZ Gyr;
+
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
+  }
+
+  public struct DataMag
+  {
+    public DataHead Head;
+    public XYZ Mag;
+
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
+  }
+
+  public struct DataLocal
   {
     public DataHead Head;
     public XYZ Local; // Ëîêàëüíûå êîîðäèíàòû
+
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
+  }
+
+  public struct DataRange
+  {
+    public DataHead Head;
     public float LiDAR; // Äàò÷èê ïîñàäêè
 
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos));
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
   }
 
   public struct DataMotor4
   {
     public DataHead Head;
-    public ulong Count;
     public float UL, UR, DL, DR;
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
@@ -59,7 +93,6 @@ namespace DroneData
   public struct DataMotor6
   {
     public DataHead Head;
-    public ulong Count;
     public float UL, UR, LL, RR, DL, DR;
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));

DroneSimulator/FormMain.Designer.cs

@@ -61,6 +61,37 @@
       comboBox_Drone_Rotor = new ComboBox();
       comboBox_Drone = new ComboBox();
       timer_Test = new System.Windows.Forms.Timer(components);
+      textBox_GPS_Lat = new TextBox();
+      label2 = new Label();
+      groupBox_GPS = new GroupBox();
+      textBox_GPS_Lon = new TextBox();
+      label4 = new Label();
+      numericUpDown_GPS_Freq = new NumericUpDown();
+      label_GPS_Frequency = new Label();
+      label6 = new Label();
+      groupBox_Barometer = new GroupBox();
+      numericUpDown_Bar_Freq = new NumericUpDown();
+      label5 = new Label();
+      label7 = new Label();
+      label8 = new Label();
+      numericUpDown_Bar_Accur = new NumericUpDown();
+      label9 = new Label();
+      label10 = new Label();
+      textBox_GPS_Accur = new NumericUpDown();
+      label11 = new Label();
+      groupBox1 = new GroupBox();
+      label12 = new Label();
+      numericUpDown_OF_Accur = new NumericUpDown();
+      label13 = new Label();
+      numericUpDown_OF_Freq = new NumericUpDown();
+      label14 = new Label();
+      label15 = new Label();
+      checkBox_GPS_Enable = new CheckBox();
+      label16 = new Label();
+      numericUpDown1 = new NumericUpDown();
+      label17 = new Label();
+      checkBox_OF_Enable = new CheckBox();
+      checkBox_Bar_Enable = new CheckBox();
       menuStrip_Menu.SuspendLayout();
       groupBox_Screen.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit();
@@ -72,8 +103,19 @@
       groupBox_Clients.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).BeginInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).BeginInit();
+      tabPage_Model.SuspendLayout();
       groupBox_Navi.SuspendLayout();
       panel1.SuspendLayout();
+      groupBox_GPS.SuspendLayout();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_GPS_Freq).BeginInit();
+      groupBox_Barometer.SuspendLayout();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Freq).BeginInit();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Accur).BeginInit();
+      ((System.ComponentModel.ISupportInitialize)textBox_GPS_Accur).BeginInit();
+      groupBox1.SuspendLayout();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Accur).BeginInit();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Freq).BeginInit();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown1).BeginInit();
       SuspendLayout();
       // 
       // menuStrip_Menu
@@ -326,6 +368,9 @@
       // 
       // tabPage_Model
       // 
+      tabPage_Model.Controls.Add(groupBox1);
+      tabPage_Model.Controls.Add(groupBox_Barometer);
+      tabPage_Model.Controls.Add(groupBox_GPS);
       tabPage_Model.Location = new Point(4, 24);
       tabPage_Model.Name = "tabPage_Model";
       tabPage_Model.Padding = new Padding(3);
@@ -402,6 +447,341 @@
       timer_Test.Interval = 10;
       timer_Test.Tick += timer_Test_Tick;
       // 
+      // textBox_GPS_Lat
+      // 
+      textBox_GPS_Lat.Location = new Point(37, 22);
+      textBox_GPS_Lat.Name = "textBox_GPS_Lat";
+      textBox_GPS_Lat.Size = new Size(92, 23);
+      textBox_GPS_Lat.TabIndex = 0;
+      textBox_GPS_Lat.Text = "47.2125649";
+      // 
+      // label2
+      // 
+      label2.AutoSize = true;
+      label2.Location = new Point(5, 25);
+      label2.Name = "label2";
+      label2.Size = new Size(26, 15);
+      label2.TabIndex = 1;
+      label2.Text = "Lat:";
+      // 
+      // groupBox_GPS
+      // 
+      groupBox_GPS.Controls.Add(checkBox_GPS_Enable);
+      groupBox_GPS.Controls.Add(label10);
+      groupBox_GPS.Controls.Add(textBox_GPS_Accur);
+      groupBox_GPS.Controls.Add(label11);
+      groupBox_GPS.Controls.Add(numericUpDown_GPS_Freq);
+      groupBox_GPS.Controls.Add(label6);
+      groupBox_GPS.Controls.Add(label_GPS_Frequency);
+      groupBox_GPS.Controls.Add(label4);
+      groupBox_GPS.Controls.Add(textBox_GPS_Lon);
+      groupBox_GPS.Controls.Add(label2);
+      groupBox_GPS.Controls.Add(textBox_GPS_Lat);
+      groupBox_GPS.Dock = DockStyle.Top;
+      groupBox_GPS.Enabled = false;
+      groupBox_GPS.Location = new Point(3, 3);
+      groupBox_GPS.Name = "groupBox_GPS";
+      groupBox_GPS.Size = new Size(204, 112);
+      groupBox_GPS.TabIndex = 2;
+      groupBox_GPS.TabStop = false;
+      groupBox_GPS.Text = "GPS";
+      // 
+      // textBox_GPS_Lon
+      // 
+      textBox_GPS_Lon.Location = new Point(37, 51);
+      textBox_GPS_Lon.Name = "textBox_GPS_Lon";
+      textBox_GPS_Lon.Size = new Size(92, 23);
+      textBox_GPS_Lon.TabIndex = 2;
+      textBox_GPS_Lon.Text = "38.9160740";
+      // 
+      // label4
+      // 
+      label4.AutoSize = true;
+      label4.Location = new Point(5, 54);
+      label4.Name = "label4";
+      label4.Size = new Size(30, 15);
+      label4.TabIndex = 3;
+      label4.Text = "Lon:";
+      // 
+      // numericUpDown_GPS_Freq
+      // 
+      numericUpDown_GPS_Freq.Location = new Point(135, 51);
+      numericUpDown_GPS_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
+      numericUpDown_GPS_Freq.Name = "numericUpDown_GPS_Freq";
+      numericUpDown_GPS_Freq.Size = new Size(40, 23);
+      numericUpDown_GPS_Freq.TabIndex = 4;
+      numericUpDown_GPS_Freq.Value = new decimal(new int[] { 10, 0, 0, 0 });
+      // 
+      // label_GPS_Frequency
+      // 
+      label_GPS_Frequency.AutoSize = true;
+      label_GPS_Frequency.Location = new Point(135, 25);
+      label_GPS_Frequency.Name = "label_GPS_Frequency";
+      label_GPS_Frequency.Size = new Size(62, 15);
+      label_GPS_Frequency.TabIndex = 5;
+      label_GPS_Frequency.Tag = "#frequency";
+      label_GPS_Frequency.Text = "Frequency";
+      // 
+      // label6
+      // 
+      label6.AutoSize = true;
+      label6.Location = new Point(176, 54);
+      label6.Name = "label6";
+      label6.Size = new Size(21, 15);
+      label6.TabIndex = 6;
+      label6.Text = "Hz";
+      // 
+      // groupBox_Barometer
+      // 
+      groupBox_Barometer.Controls.Add(checkBox_Bar_Enable);
+      groupBox_Barometer.Controls.Add(label9);
+      groupBox_Barometer.Controls.Add(numericUpDown_Bar_Accur);
+      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(3, 115);
+      groupBox_Barometer.Name = "groupBox_Barometer";
+      groupBox_Barometer.Size = new Size(204, 88);
+      groupBox_Barometer.TabIndex = 3;
+      groupBox_Barometer.TabStop = false;
+      groupBox_Barometer.Tag = "#barometer";
+      groupBox_Barometer.Text = "Barometer";
+      // 
+      // numericUpDown_Bar_Freq
+      // 
+      numericUpDown_Bar_Freq.Location = new Point(69, 22);
+      numericUpDown_Bar_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
+      numericUpDown_Bar_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
+      numericUpDown_Bar_Freq.Name = "numericUpDown_Bar_Freq";
+      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 });
+      // 
+      // label5
+      // 
+      label5.AutoSize = true;
+      label5.Location = new Point(111, 24);
+      label5.Name = "label5";
+      label5.Size = new Size(21, 15);
+      label5.TabIndex = 9;
+      label5.Text = "Hz";
+      // 
+      // label7
+      // 
+      label7.AutoSize = true;
+      label7.Location = new Point(6, 24);
+      label7.Name = "label7";
+      label7.Size = new Size(62, 15);
+      label7.TabIndex = 8;
+      label7.Tag = "#frequency";
+      label7.Text = "Frequency";
+      // 
+      // label8
+      // 
+      label8.AutoSize = true;
+      label8.Location = new Point(7, 53);
+      label8.Name = "label8";
+      label8.Size = new Size(56, 15);
+      label8.TabIndex = 10;
+      label8.Tag = "#accuracy";
+      label8.Text = "Accuracy";
+      // 
+      // numericUpDown_Bar_Accur
+      // 
+      numericUpDown_Bar_Accur.DecimalPlaces = 1;
+      numericUpDown_Bar_Accur.Location = new Point(69, 51);
+      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 });
+      // 
+      // label9
+      // 
+      label9.AutoSize = true;
+      label9.Location = new Point(112, 53);
+      label9.Name = "label9";
+      label9.Size = new Size(20, 15);
+      label9.TabIndex = 12;
+      label9.Text = "Pa";
+      // 
+      // label10
+      // 
+      label10.AutoSize = true;
+      label10.Location = new Point(111, 82);
+      label10.Name = "label10";
+      label10.Size = new Size(18, 15);
+      label10.TabIndex = 15;
+      label10.Text = "m";
+      // 
+      // textBox_GPS_Accur
+      // 
+      textBox_GPS_Accur.DecimalPlaces = 1;
+      textBox_GPS_Accur.Location = new Point(68, 80);
+      textBox_GPS_Accur.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
+      textBox_GPS_Accur.Name = "textBox_GPS_Accur";
+      textBox_GPS_Accur.Size = new Size(40, 23);
+      textBox_GPS_Accur.TabIndex = 14;
+      textBox_GPS_Accur.Value = new decimal(new int[] { 1, 0, 0, 0 });
+      // 
+      // label11
+      // 
+      label11.AutoSize = true;
+      label11.Location = new Point(6, 82);
+      label11.Name = "label11";
+      label11.Size = new Size(56, 15);
+      label11.TabIndex = 13;
+      label11.Tag = "#accuracy";
+      label11.Text = "Accuracy";
+      // 
+      // groupBox1
+      // 
+      groupBox1.Controls.Add(checkBox_OF_Enable);
+      groupBox1.Controls.Add(label17);
+      groupBox1.Controls.Add(numericUpDown1);
+      groupBox1.Controls.Add(label16);
+      groupBox1.Controls.Add(label12);
+      groupBox1.Controls.Add(numericUpDown_OF_Accur);
+      groupBox1.Controls.Add(label13);
+      groupBox1.Controls.Add(numericUpDown_OF_Freq);
+      groupBox1.Controls.Add(label14);
+      groupBox1.Controls.Add(label15);
+      groupBox1.Dock = DockStyle.Top;
+      groupBox1.Enabled = false;
+      groupBox1.Location = new Point(3, 203);
+      groupBox1.Name = "groupBox1";
+      groupBox1.Size = new Size(204, 114);
+      groupBox1.TabIndex = 4;
+      groupBox1.TabStop = false;
+      groupBox1.Text = "Optical flow";
+      // 
+      // label12
+      // 
+      label12.AutoSize = true;
+      label12.Location = new Point(111, 53);
+      label12.Name = "label12";
+      label12.Size = new Size(28, 15);
+      label12.TabIndex = 18;
+      label12.Text = "Deg";
+      // 
+      // numericUpDown_OF_Accur
+      // 
+      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 });
+      // 
+      // label13
+      // 
+      label13.AutoSize = true;
+      label13.Location = new Point(7, 53);
+      label13.Name = "label13";
+      label13.Size = new Size(56, 15);
+      label13.TabIndex = 16;
+      label13.Tag = "#accuracy";
+      label13.Text = "Accuracy";
+      // 
+      // numericUpDown_OF_Freq
+      // 
+      numericUpDown_OF_Freq.Location = new Point(69, 22);
+      numericUpDown_OF_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
+      numericUpDown_OF_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
+      numericUpDown_OF_Freq.Name = "numericUpDown_OF_Freq";
+      numericUpDown_OF_Freq.Size = new Size(40, 23);
+      numericUpDown_OF_Freq.TabIndex = 13;
+      numericUpDown_OF_Freq.Value = new decimal(new int[] { 100, 0, 0, 0 });
+      // 
+      // label14
+      // 
+      label14.AutoSize = true;
+      label14.Location = new Point(112, 24);
+      label14.Name = "label14";
+      label14.Size = new Size(21, 15);
+      label14.TabIndex = 15;
+      label14.Text = "Hz";
+      // 
+      // label15
+      // 
+      label15.AutoSize = true;
+      label15.Location = new Point(6, 24);
+      label15.Name = "label15";
+      label15.Size = new Size(62, 15);
+      label15.TabIndex = 14;
+      label15.Tag = "#frequency";
+      label15.Text = "Frequency";
+      // 
+      // checkBox_GPS_Enable
+      // 
+      checkBox_GPS_Enable.AutoSize = true;
+      checkBox_GPS_Enable.Checked = true;
+      checkBox_GPS_Enable.CheckState = CheckState.Checked;
+      checkBox_GPS_Enable.Location = new Point(158, 87);
+      checkBox_GPS_Enable.Name = "checkBox_GPS_Enable";
+      checkBox_GPS_Enable.Size = new Size(39, 19);
+      checkBox_GPS_Enable.TabIndex = 16;
+      checkBox_GPS_Enable.Tag = "#en";
+      checkBox_GPS_Enable.Text = "En";
+      checkBox_GPS_Enable.UseVisualStyleBackColor = true;
+      // 
+      // label16
+      // 
+      label16.AutoSize = true;
+      label16.Location = new Point(1, 82);
+      label16.Name = "label16";
+      label16.Size = new Size(67, 15);
+      label16.TabIndex = 19;
+      label16.Tag = "#max_height";
+      label16.Text = "Max height";
+      // 
+      // numericUpDown1
+      // 
+      numericUpDown1.Location = new Point(68, 80);
+      numericUpDown1.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
+      numericUpDown1.Name = "numericUpDown1";
+      numericUpDown1.Size = new Size(40, 23);
+      numericUpDown1.TabIndex = 20;
+      numericUpDown1.Value = new decimal(new int[] { 8, 0, 0, 0 });
+      // 
+      // label17
+      // 
+      label17.AutoSize = true;
+      label17.Location = new Point(111, 82);
+      label17.Name = "label17";
+      label17.Size = new Size(18, 15);
+      label17.TabIndex = 21;
+      label17.Text = "m";
+      // 
+      // checkBox_OF_Enable
+      // 
+      checkBox_OF_Enable.AutoSize = true;
+      checkBox_OF_Enable.Checked = true;
+      checkBox_OF_Enable.CheckState = CheckState.Checked;
+      checkBox_OF_Enable.Location = new Point(158, 89);
+      checkBox_OF_Enable.Name = "checkBox_OF_Enable";
+      checkBox_OF_Enable.Size = new Size(39, 19);
+      checkBox_OF_Enable.TabIndex = 22;
+      checkBox_OF_Enable.Tag = "#en";
+      checkBox_OF_Enable.Text = "En";
+      checkBox_OF_Enable.UseVisualStyleBackColor = true;
+      // 
+      // checkBox_Bar_Enable
+      // 
+      checkBox_Bar_Enable.AutoSize = true;
+      checkBox_Bar_Enable.Checked = true;
+      checkBox_Bar_Enable.CheckState = CheckState.Checked;
+      checkBox_Bar_Enable.Location = new Point(158, 63);
+      checkBox_Bar_Enable.Name = "checkBox_Bar_Enable";
+      checkBox_Bar_Enable.Size = new Size(39, 19);
+      checkBox_Bar_Enable.TabIndex = 17;
+      checkBox_Bar_Enable.Tag = "#en";
+      checkBox_Bar_Enable.Text = "En";
+      checkBox_Bar_Enable.UseVisualStyleBackColor = true;
+      // 
       // Form_Main
       // 
       AutoScaleDimensions = new SizeF(7F, 15F);
@@ -431,8 +811,22 @@
       groupBox_Clients.PerformLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).EndInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).EndInit();
+      tabPage_Model.ResumeLayout(false);
       groupBox_Navi.ResumeLayout(false);
       panel1.ResumeLayout(false);
+      groupBox_GPS.ResumeLayout(false);
+      groupBox_GPS.PerformLayout();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_GPS_Freq).EndInit();
+      groupBox_Barometer.ResumeLayout(false);
+      groupBox_Barometer.PerformLayout();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Freq).EndInit();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Accur).EndInit();
+      ((System.ComponentModel.ISupportInitialize)textBox_GPS_Accur).EndInit();
+      groupBox1.ResumeLayout(false);
+      groupBox1.PerformLayout();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Accur).EndInit();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Freq).EndInit();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown1).EndInit();
       ResumeLayout(false);
       PerformLayout();
     }
@@ -470,5 +864,36 @@
     private Label label1;
     private Label label_Visual_Num;
     private Label label3;
+    private GroupBox groupBox_GPS;
+    private TextBox textBox_GPS_Lon;
+    private Label label2;
+    private TextBox textBox_GPS_Lat;
+    private NumericUpDown numericUpDown_GPS_Freq;
+    private Label label6;
+    private Label label_GPS_Frequency;
+    private Label label4;
+    private GroupBox groupBox_Barometer;
+    private NumericUpDown numericUpDown_Bar_Freq;
+    private Label label5;
+    private Label label7;
+    private Label label9;
+    private NumericUpDown numericUpDown_Bar_Accur;
+    private Label label8;
+    private Label label10;
+    private NumericUpDown textBox_GPS_Accur;
+    private Label label11;
+    private GroupBox groupBox1;
+    private Label label12;
+    private NumericUpDown numericUpDown_OF_Accur;
+    private Label label13;
+    private NumericUpDown numericUpDown_OF_Freq;
+    private Label label14;
+    private Label label15;
+    private CheckBox checkBox_GPS_Enable;
+    private Label label17;
+    private NumericUpDown numericUpDown1;
+    private Label label16;
+    private CheckBox checkBox_OF_Enable;
+    private CheckBox checkBox_Bar_Enable;
   }
 }