From 0de214c9a1488d02889ab269166bf9fc78d25b0a Mon Sep 17 00:00:00 2001 From: Dana Markova Date: Mon, 28 Jul 2025 13:21:36 +0300 Subject: [PATCH] first commit --- Debug/.Fly_build_cache | 24 + Debug/.ninja_deps | Bin 0 -> 71320 bytes Debug/.ninja_log | 110 + Debug/BrowseInfo/.ninja_deps | Bin 0 -> 74556 bytes Debug/BrowseInfo/.ninja_log | 349 + Debug/BrowseInfo/Fly.pbd | Bin 0 -> 1897289 bytes Debug/BrowseInfo/Fly.pbd.browse | Bin 0 -> 1897289 bytes Debug/BrowseInfo/Fly.pbw | 224388 +++++++++++++++ Debug/BrowseInfo/Fly_part0.pbi | Bin 0 -> 375788 bytes Debug/BrowseInfo/Fly_part1.pbi | Bin 0 -> 1604323 bytes Debug/BrowseInfo/Fly_part2.pbi | Bin 0 -> 1350791 bytes Debug/BrowseInfo/Fly_part3.pbi | Bin 0 -> 1324544 bytes Debug/BrowseInfo/Fly_part4.pbi | Bin 0 -> 343305 bytes Debug/BrowseInfo/Fly_part5.pbi | Bin 0 -> 1748087 bytes Debug/BrowseInfo/build.ninja | 304 + .../dev_16932516800620494331.dir/bar.pbi | Bin 0 -> 308247 bytes .../dev_16932516800620494331.dir/bar.pbi.dep | 40 + 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C:\iar\ewarm-9.60.3\arm\inc\libcpp\__support\iar\raise.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\math.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\ycheck.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\yvals.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Defaults.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Config_Full.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Product.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_float_setup.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\enable_if.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__undef_macros \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_floating_point.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\integral_constant.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\remove_cv.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\remove_const.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\remove_volatile.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_integral.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_same.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\promote.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__utility\declval.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\cstddef \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__assert \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__verbose_abort \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__availability \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\version \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\stddef.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\stddef.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\ysizet.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\limits \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_arithmetic.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_signed.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\stdlib.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\stdlib.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Product_stdlib.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\dev\imu.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\dev\bar.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\utils\med2.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\dev\ori.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\utils\quat.h diff --git a/Debug/BrowseInfo/dev_16932516800620494331.dir/ori.xcl b/Debug/BrowseInfo/dev_16932516800620494331.dir/ori.xcl new file mode 100644 index 0000000..787de26 --- /dev/null +++ b/Debug/BrowseInfo/dev_16932516800620494331.dir/ori.xcl @@ -0,0 +1,531 @@ +"D:\Works\GIT\SKB reps\WoodDroneWithServo\dev\ori.cpp" +-std=c++17 +-ferror-limit=0 +-fbracket-depth=512 +-funsigned-char +-MD +-MF +D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\BrowseInfo\dev_16932516800620494331.dir\ori.pbi.dep +-o +D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\BrowseInfo\dev_16932516800620494331.dir\ori.pbi +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\utils\ +-I 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eC5i=vG1j~5;b+t)eTl%;FRF>Esc4(_&;B1QM!91E literal 0 HcmV?d00001 diff --git a/Debug/BrowseInfo/drv_9119342922082540178.dir/servo.pbi.dep b/Debug/BrowseInfo/drv_9119342922082540178.dir/servo.pbi.dep new file mode 100644 index 0000000..7870724 --- /dev/null +++ b/Debug/BrowseInfo/drv_9119342922082540178.dir/servo.pbi.dep @@ -0,0 +1,23 @@ +D:\Works\GIT\SKB\ reps\WoodDroneWithServo\Debug\BrowseInfo\drv_9119342922082540178.dir\servo.pbi: \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\servo.cpp \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\servo.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\stm32g4xx.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\stm32g431xx.h \ + C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include\core_cm4.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\stdint.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__config \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__config_site \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__support\iar\raise.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\stdint.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\ycheck.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\yvals.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Defaults.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Config_Full.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Product.h \ + C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include\cmsis_version.h \ + C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include\cmsis_compiler.h \ + C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include\cmsis_iccarm.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\aarch32\iccarm_builtin.h \ + C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include\mpu_armv7.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\system_stm32g4xx.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\gpio.h diff --git a/Debug/BrowseInfo/drv_9119342922082540178.dir/servo.xcl b/Debug/BrowseInfo/drv_9119342922082540178.dir/servo.xcl new file mode 100644 index 0000000..17e270e --- /dev/null +++ b/Debug/BrowseInfo/drv_9119342922082540178.dir/servo.xcl @@ -0,0 +1,531 @@ +"D:\Works\GIT\SKB reps\WoodDroneWithServo\drv\servo.cpp" +-std=c++17 +-ferror-limit=0 +-fbracket-depth=512 +-funsigned-char +-MD +-MF +D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\BrowseInfo\drv_9119342922082540178.dir\servo.pbi.dep +-o +D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\BrowseInfo\drv_9119342922082540178.dir\servo.pbi +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\utils\ +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\DSP\Include +-I +C:\iar\ewarm-9.60.3\arm\inc\libcpp +-I +C:\iar\ewarm-9.60.3\arm\inc\c\aarch32 +-I +C:\iar\ewarm-9.60.3\arm\inc +-I +C:\iar\ewarm-9.60.3\arm\inc\c +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\utils +-I 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C:\iar\ewarm-9.60.3\arm\inc\libcpp\__config_site \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__support\iar\raise.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\stdint.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\ycheck.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\yvals.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Defaults.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Config_Full.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Product.h \ + C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include\cmsis_version.h \ + C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include\cmsis_compiler.h \ + C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include\cmsis_iccarm.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\aarch32\iccarm_builtin.h \ + C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include\mpu_armv7.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\system_stm32g4xx.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\tim.h diff --git a/Debug/BrowseInfo/drv_9119342922082540178.dir/tim.xcl b/Debug/BrowseInfo/drv_9119342922082540178.dir/tim.xcl new file mode 100644 index 0000000..be029e2 --- /dev/null +++ b/Debug/BrowseInfo/drv_9119342922082540178.dir/tim.xcl @@ -0,0 +1,531 @@ +"D:\Works\GIT\SKB reps\WoodDroneWithServo\drv\tim.cpp" +-std=c++17 +-ferror-limit=0 +-fbracket-depth=512 +-funsigned-char +-MD +-MF +D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\BrowseInfo\drv_9119342922082540178.dir\tim.pbi.dep +-o +D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\BrowseInfo\drv_9119342922082540178.dir\tim.pbi +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\utils\ +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\DSP\Include +-I +C:\iar\ewarm-9.60.3\arm\inc\libcpp +-I +C:\iar\ewarm-9.60.3\arm\inc\c\aarch32 +-I +C:\iar\ewarm-9.60.3\arm\inc +-I +C:\iar\ewarm-9.60.3\arm\inc\c +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\utils +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\DSP\Include +-D__CHAR_BITS__=8 +-D__CHAR_BIT__=8 +-D__CHAR_MAX__=0xff +-D__CHAR_MIN__=0 +-D__CHAR_SIZE__=1 +-D__UNSIGNED_CHAR_MAX__=0xff +-D__SIGNED_CHAR_MAX__=127 +-D__SIGNED_CHAR_MIN__=(-__SIGNED_CHAR_MAX__-1) +-D__CHAR_ALIGN__=1 +-D__SHORT_SIZE__=2 +-D__UNSIGNED_SHORT_MAX__=0xffff +-D__SIGNED_SHORT_MAX__=32767 +-D__SIGNED_SHORT_MIN__=(-__SIGNED_SHORT_MAX__-1) +-D__SHORT_ALIGN__=2 +-D__INT_SIZE__=4 +-D__UNSIGNED_INT_MAX__=0xffffffffU +-D__SIGNED_INT_MAX__=2147483647 +-D__SIGNED_INT_MIN__=(-__SIGNED_INT_MAX__-1) +-D__INT_ALIGN__=4 +-D__LONG_SIZE__=4 +-D__UNSIGNED_LONG_MAX__=0xffffffffUL +-D__SIGNED_LONG_MAX__=2147483647L +-D__SIGNED_LONG_MIN__=(-__SIGNED_LONG_MAX__-1) +-D__LONG_ALIGN__=4 +-D__LONG_LONG_SIZE__=8 +-D__UNSIGNED_LONG_LONG_MAX__=0xffffffffffffffffULL 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new file mode 100644
index 0000000..504553b
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+-D__VAR_MEMORY_LIST2__(_P1)=__VAR_MEM_HELPER2__(__data, 0 ,  _P1 )
+-D__VAR_MEMORY_LIST3__(_P1,_P2)=__VAR_MEM_HELPER3__(__data, 0 ,  _P1 ,  _P2 )
+-D__VARD_MEMORY_LIST1__()=__VARD_MEM_HELPER1__(__data, 0, _ )
+-D__HEAP_MEMORY_LIST1__()=__HEAP_MEM_HELPER1__(__data, 0 )
+-D__HEAP_MEMORY_LIST2__(_P1)=__HEAP_MEM_HELPER2__(__data, 0 ,  _P1 )
+-D__HEAP_MEMORY_LIST3__(_P1,_P2)=__HEAP_MEM_HELPER3__(__data, 0 ,  _P1 ,  _P2 )
+-D__HVAR_MEMORY_LIST1__()=__HVAR_MEM_HELPER1__(__data, 0 )
+-D__HEAPD_MEMORY_LIST1__()=__HEAPD_MEM_HELPER1__(__data, 0, _ )
+-D__HEAPU_MEMORY_LIST1__()=__HEAPU_MEM_HELPER1__(__data, 0 )
+-D__TOPM_DATA_MEMORY_LIST1__()=
+-D__TOPM_DATA_MEMORY_LIST2__(_P1)=
+-D__TOPM_DATA_MEMORY_LIST3__(_P1,_P2)=
+-D__TOPP_DATA_MEMORY_LIST1__()=__TOPP_DATA_MEM_HELPER1__(__data, 0 )
+-D__TOPP_DATA_MEMORY_LIST2__(_P1)=__TOPP_DATA_MEM_HELPER2__(__data, 0 ,  _P1 )
+-D__TOPP_DATA_MEMORY_LIST3__(_P1,_P2)=__TOPP_DATA_MEM_HELPER3__(__data, 0 ,  _P1 ,  _P2 )
+-D__DATA_MEM0_SIZE_TYPE__=unsigned int
+-D__DATA_MEM0_INDEX_TYPE__=signed int
+-D__iar_fp2bits32(x)=0
+-D__iar_fp2bits64(x)=0
+-D__iar_fpgethi64(x)=0
+-D__iar_atomic_add_fetch(x,y,z)=0
+-D__iar_atomic_sub_fetch(x,y,z)=0
+-D__iar_atomic_load(x,y)=0ULL
+-D__iar_atomic_compare_exchange_weak(a,b,c,d,e)=0
diff --git a/Debug/BrowseInfo/utils_199339518998427007.dir/filt.pbi b/Debug/BrowseInfo/utils_199339518998427007.dir/filt.pbi
new file mode 100644
index 0000000000000000000000000000000000000000..cacf213ad1993ca26d9a7a0d96123cc2aca2b4f8
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new file mode 100644
index 0000000..51f6c58
--- /dev/null
+++ b/Debug/BrowseInfo/utils_199339518998427007.dir/filt.xcl
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diff --git a/Debug/BrowseInfo/utils_199339518998427007.dir/med2.xcl b/Debug/BrowseInfo/utils_199339518998427007.dir/med2.xcl
new file mode 100644
index 0000000..c7eb5dd
--- /dev/null
+++ b/Debug/BrowseInfo/utils_199339518998427007.dir/med2.xcl
@@ -0,0 +1,531 @@
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diff --git a/Debug/BrowseInfo/utils_199339518998427007.dir/mot.pbi.dep b/Debug/BrowseInfo/utils_199339518998427007.dir/mot.pbi.dep
new file mode 100644
index 0000000..8f3eab5
--- /dev/null
+++ b/Debug/BrowseInfo/utils_199339518998427007.dir/mot.pbi.dep
@@ -0,0 +1,4 @@
+D:\Works\GIT\SKB\ reps\WoodDroneWithServo\Debug\BrowseInfo\utils_199339518998427007.dir\mot.pbi: \
+  D:\Works\GIT\SKB\ reps\WoodDroneWithServo\utils\mot.cpp \
+  D:\Works\GIT\SKB\ reps\WoodDroneWithServo\utils\mot.h \
+  D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\pwm.h
diff --git a/Debug/BrowseInfo/utils_199339518998427007.dir/mot.xcl b/Debug/BrowseInfo/utils_199339518998427007.dir/mot.xcl
new file mode 100644
index 0000000..343c590
--- /dev/null
+++ b/Debug/BrowseInfo/utils_199339518998427007.dir/mot.xcl
@@ -0,0 +1,531 @@
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diff --git a/Debug/BrowseInfo/utils_199339518998427007.dir/move.pbi.dep b/Debug/BrowseInfo/utils_199339518998427007.dir/move.pbi.dep
new file mode 100644
index 0000000..69e0e1e
--- /dev/null
+++ b/Debug/BrowseInfo/utils_199339518998427007.dir/move.pbi.dep
@@ -0,0 +1,40 @@
+D:\Works\GIT\SKB\ reps\WoodDroneWithServo\Debug\BrowseInfo\utils_199339518998427007.dir\move.pbi: \
+  D:\Works\GIT\SKB\ reps\WoodDroneWithServo\utils\move.cpp \
+  D:\Works\GIT\SKB\ reps\WoodDroneWithServo\utils\move.h \
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new file mode 100644
index 0000000..023ec5c
--- /dev/null
+++ b/Debug/BrowseInfo/utils_199339518998427007.dir/pid.pbi.dep
@@ -0,0 +1,3 @@
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+  D:\Works\GIT\SKB\ reps\WoodDroneWithServo\utils\pid.h
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new file mode 100644
index 0000000..88c4298
--- /dev/null
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new file mode 100644
index 0000000..a9008f4
--- /dev/null
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@@ -0,0 +1,531 @@
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diff --git a/Debug/BrowseInfo/utils_199339518998427007.dir/quat.pbi.dep b/Debug/BrowseInfo/utils_199339518998427007.dir/quat.pbi.dep
new file mode 100644
index 0000000..4a09011
--- /dev/null
+++ b/Debug/BrowseInfo/utils_199339518998427007.dir/quat.pbi.dep
@@ -0,0 +1,39 @@
+D:\Works\GIT\SKB\ reps\WoodDroneWithServo\Debug\BrowseInfo\utils_199339518998427007.dir\quat.pbi: \
+  D:\Works\GIT\SKB\ reps\WoodDroneWithServo\utils\quat.cpp \
+  D:\Works\GIT\SKB\ reps\WoodDroneWithServo\utils\quat.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\math.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__config \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__config_site \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__support\iar\raise.h \
+  C:\iar\ewarm-9.60.3\arm\inc\c\math.h \
+  C:\iar\ewarm-9.60.3\arm\inc\c\ycheck.h \
+  C:\iar\ewarm-9.60.3\arm\inc\c\yvals.h \
+  C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Defaults.h \
+  C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Config_Full.h \
+  C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Product.h \
+  C:\iar\ewarm-9.60.3\arm\inc\c\DLib_float_setup.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\enable_if.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__undef_macros \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_floating_point.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\integral_constant.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\remove_cv.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\remove_const.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\remove_volatile.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_integral.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_same.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\promote.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__utility\declval.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\cstddef \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__assert \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__verbose_abort \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__availability \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\version \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\stddef.h \
+  C:\iar\ewarm-9.60.3\arm\inc\c\stddef.h \
+  C:\iar\ewarm-9.60.3\arm\inc\c\ysizet.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\limits \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_arithmetic.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_signed.h \
+  C:\iar\ewarm-9.60.3\arm\inc\libcpp\stdlib.h \
+  C:\iar\ewarm-9.60.3\arm\inc\c\stdlib.h \
+  C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Product_stdlib.h
diff --git a/Debug/BrowseInfo/utils_199339518998427007.dir/quat.xcl b/Debug/BrowseInfo/utils_199339518998427007.dir/quat.xcl
new file mode 100644
index 0000000..1869a36
--- /dev/null
+++ b/Debug/BrowseInfo/utils_199339518998427007.dir/quat.xcl
@@ -0,0 +1,531 @@
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zTZ1V3Qp#OhT&aKQuxu7Yq!$Rw$U
z{-pHK9Yqs9bL?&aMd}&D8Pr0hc5?%&%R!7#NPJB+g;8g|oCyP}-rPW$#HmR?w^1}<
zbXLSzIq3~aIyuheIIyz!$M5;igy9Or>$f``ZJV_!uh-aYF96wlZ=QE}LJ
z6K>-X#a;91t4`(*-}&qjXX(f%G<){!{iXYI|Ew=nb4%`>I@-}+`J+`2(m6rrfMYis
z4_PN<{U@MXnO!z7-!Mj9=#teB4RmC=HvpI8|F!ivq-~>piC+{xA0qjgd5^B@*|OYX
z?VRV!Mod$Ojb8oejIzcG&b{3whsAhmFkLf*uOLKn_xb);N
za0~I#4H>hJ{TmLY4H>ZO<(YsiY{GxW9;{LnGxUdj1ZAzRDqA!ko_psmm^%+)XK88q
zobq`rwksZQ_)R>H+dk81H9CUulqIe^27W%1>}Q5>rC}Dgk9Hb{F!+&^}Ot_PH4mFIT
z@M-OhFuheK+-JHQI0}dLH^NxmN}4YWH*l2ZJpN~lVY)3?S9<~NfMb9lfNbo>3?~?N
zzr#e^us`X-s)=ReozG{m)y-CLx31qT{164+isElX+1npXxRd^m7DW%qn24H+)aM^|
f9v-u!^Uq^G>|6&+yk7R0Zi<0N4pscbk?;IJszO34

literal 0
HcmV?d00001

diff --git a/Debug/List/Fly.map b/Debug/List/Fly.map
new file mode 100644
index 0000000..84cf8e8
--- /dev/null
+++ b/Debug/List/Fly.map
@@ -0,0 +1,1293 @@
+###############################################################################
+#
+# IAR ELF Linker V9.60.3.422/W64 for ARM                  22/Jul/2025  19:20:28
+# Copyright 2007-2024 IAR Systems AB.
+#
+#    Output file  =  D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\Exe\Fly.out
+#    Map file     =
+#        D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\List\Fly.map
+#    Command line =
+#        -f "D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\Exe\Fly.out.rsp"
+#        ("D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\dev_16932516800620494331.dir\bar.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\dev_16932516800620494331.dir\com.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\dev_16932516800620494331.dir\eep.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\utils_199339518998427007.dir\filt.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\dev_16932516800620494331.dir\flow.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\drv_9119342922082540178.dir\gpio.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\dev_16932516800620494331.dir\gps.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\drv_9119342922082540178.dir\i2c.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\dev_16932516800620494331.dir\ibus.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\dev_16932516800620494331.dir\imu.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\drv_9119342922082540178.dir\iwdg.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\dev_16932516800620494331.dir\led.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\dev_16932516800620494331.dir\mag.o"
+#        "D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\Obj\main.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\utils_199339518998427007.dir\med2.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\utils_199339518998427007.dir\mot.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\utils_199339518998427007.dir\move.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\dev_16932516800620494331.dir\ori.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\utils_199339518998427007.dir\pid.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\utils_199339518998427007.dir\prot.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\drv_9119342922082540178.dir\pwm.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\utils_199339518998427007.dir\quat.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\drv_9119342922082540178.dir\servo.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\drv_9119342922082540178.dir\spi.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\startup_stm32g431xx.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\system_stm32g4xx.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\drv_9119342922082540178.dir\tick.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\drv_9119342922082540178.dir\tim.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\dev_16932516800620494331.dir\tof.o"
+#        "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Obj\drv_9119342922082540178.dir\uart.o"
+#        --no_out_extension -o "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Exe\Fly.out" --redirect
+#        _Printf=_PrintfFullNoMb --redirect _Scanf=_ScanfFullNoMb --map
+#        "D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\List\Fly.map" --config
+#        C:\iar\ewarm-9.60.3\arm/config/linker/ST/stm32g431xB.icf --entry
+#        __iar_program_start
+#        C:\iar\ewarm-9.60.3\arm\CMSIS\Lib\IAR\iar_cortexM4lf_math.a --vfe
+#        --text_out locale --no_free_heap --cpu=Cortex-M4 --fpu=VFPv4_sp)
+#        --dependencies=n "D:\Works\GIT\SKB
+#        reps\WoodDroneWithServo\Debug\Exe\Fly.out.iar_deps"
+#
+###############################################################################
+
+*******************************************************************************
+*** RUNTIME MODEL ATTRIBUTES
+***
+
+CppFlavor                     = *
+__CPP_Exceptions              = Disabled
+__CPP_Language                = C++14
+__CPP_Library                 = libc++
+__CPP_Runtime                 = 1
+__SystemLibrary               = DLib
+__dlib_dynamic_initialization = normal
+__dlib_version                = 6
+
+
+*******************************************************************************
+*** HEAP SELECTION
+***
+
+The no free heap was selected because of --no_free_heap.
+
+
+*******************************************************************************
+*** PLACEMENT SUMMARY
+***
+
+"A0":  place at address 0x800'0000 { ro section .intvec };
+"P1":  place in [from 0x800'0000 to 0x801'ffff] { ro };
+define block CSTACK with size = 2K, alignment = 8 { };
+define block PROC_STACK with size = 0, alignment = 8 { };
+define block HEAP with size = 4K, alignment = 8 { };
+"P3":  place in [from 0x2000'0000 to 0x2000'3fff] |
+                [from 0x2000'4000 to 0x2000'57ff] {
+          rw, block CSTACK, block PROC_STACK, block HEAP };
+initialize by copy { rw };
+
+No sections matched the following patterns:
+
+  ro section otp_data  in "P4"
+  section .textrw      in "P2"
+
+
+  Section                Kind         Address  Alignment    Size  Object
+  -------                ----         -------  ---------    ----  ------
+"A0":                                                      0x1d8
+  .intvec                ro code   0x800'0000          4   0x1d8  startup_stm32g431xx.o [1]
+                                 - 0x800'01d8              0x1d8
+
+"P1":                                                     0x6b94
+  .text                  ro code   0x800'01d8          4   0xb70  main.o [1]
+  .text                  ro code   0x800'0d48          4   0x154  bar.o [2]
+  .text                  ro code   0x800'0e9c          4    0xfe  imu.o [2]
+  .text                  ro code   0x800'0f9a          2    0x2a  copy_init3.o [7]
+  .text                  ro code   0x800'0fc4          4    0x10  iwdg.o [3]
+  .text                  ro code   0x800'0fd4          4    0xa6  ABImemcpy.o [7]
+  .rodata                const     0x800'107a          2     0x2  xlocale_c.o [5]
+  .text                  ro code   0x800'107c          4   0x610  ori.o [2]
+  .text                  ro code   0x800'168c          4    0xa8  tof.o [2]
+  .text                  ro code   0x800'1734          4   0x328  flow.o [2]
+  .text                  ro code   0x800'1a5c          4    0xe0  move.o [4]
+  .text                  ro code   0x800'1b3c          2    0xac  pid.o [4]
+  .text                  ro code   0x800'1be8          4   0x8b4  gps.o [2]
+  .text                  ro code   0x800'249c          4   0x1f8  pwm.o [3]
+  .text                  ro code   0x800'2694          4   0x154  mot.o [4]
+  .text                  ro code   0x800'27e8          4   0x174  gpio.o [3]
+  .text                  ro code   0x800'295c          4    0x3c  led.o [2]
+  .text                  ro code   0x800'2998          4    0x3e  eep.o [2]
+  .rodata                const     0x800'29d6          2     0x2  xlocale_c.o [5]
+  .text                  ro code   0x800'29d8          4    0xe4  tim.o [3]
+  .text                  ro code   0x800'2abc          4    0x84  tick.o [3]
+  .text                  ro code   0x800'2b40          4   0x14e  ibus.o [2]
+  .rodata                const     0x800'2c8e                0x1  xlocale_c.o [5]
+  .text                  ro code   0x800'2c90          4   0x364  uart.o [3]
+  .text                  ro code   0x800'2ff4          4    0xa8  servo.o [3]
+  .text                  ro code   0x800'309c          4   0x962  prot.o [4]
+  .text                  ro code   0x800'3a00          4   0x4b4  quat.o [4]
+  .text                  ro code   0x800'3eb4          4   0x32c  pow32.o [6]
+  .text                  ro code   0x800'41e0          4   0x3ac  i2c.o [3]
+  .text                  ro code   0x800'458c          2     0x8  ori.o [2]
+  .text                  ro code   0x800'4594          2   0x1a8  med2.o [4]
+  .text                  ro code   0x800'473c          4   0x154  spi.o [3]
+  .text                  ro code   0x800'4890          4    0x1e  sqrtf.o [6]
+  .text                  ro code   0x800'48ae          2    0x14  gps.o [2]
+  .text                  ro code   0x800'48c4          4   0x25e  DblAddSub.o [6]
+  .text                  ro code   0x800'4b24          4    0x68  DblToFlt.o [6]
+  .text                  ro code   0x800'4b8c          4   0x1d0  cos_sin32.o [6]
+  .text                  ro code   0x800'4d5c          4    0x68  memcmp.o [7]
+  .text                  ro code   0x800'4dc4          2    0x90  iar_Stolx.o [5]
+  .text                  ro code   0x800'4e54          4   0x27c  strto32.o [6]
+  .text                  ro code   0x800'50d0          4    0x22  S32ToDbl.o [6]
+  .text                  ro code   0x800'50f4          4     0xe  math_wrappers64.o [6]
+  .text                  ro code   0x800'5104          4   0x246  DblDiv.o [6]
+  .text                  ro code   0x800'534c          4   0x136  iar_Stoulx.o [5]
+  .text                  ro code   0x800'5484          4    0x66  ABImemset.o [7]
+  .text                  ro code   0x800'54ec          4    0x2e  FltToU64.o [6]
+  .text                  ro code   0x800'551c          4     0x6  ABImemclr4.o [7]
+  .text                  ro code   0x800'5524          4    0x48  FltToDbl.o [6]
+  .text                  ro code   0x800'556c          4    0x7c  quat.o [4]
+  .text                  ro code   0x800'55e8          4    0x6a  atan2f.o [6]
+  .text                  ro code   0x800'5654          4    0x80  quat.o [4]
+  .text                  ro code   0x800'56d4          4    0x48  frexpf.o [6]
+  .text                  ro code   0x800'571c          4   0x1ac  iar_Exp32.o [6]
+  .text                  ro code   0x800'58c8          2    0x14  isspace.o [5]
+  .text                  ro code   0x800'58dc          4    0xc4  ldexpf.o [6]
+  .text                  ro code   0x800'59a0          2   0x122  iar_Stopfx.o [5]
+  .text                  ro code   0x800'5ac4          4   0x1b8  iar_Stoflt.o [5]
+  .text                  ro code   0x800'5c7c          4   0x20c  iar_Stoxflt.o [5]
+  .text                  ro code   0x800'5e88          4   0x360  strto64.o [6]
+  .text                  ro code   0x800'61e8          2    0x14  tolower.o [5]
+  .text                  ro code   0x800'61fc          4    0x58  memchr.o [7]
+  .text                  ro code   0x800'6254          4    0x32  ABImemset48.o [7]
+  .text                  ro code   0x800'6288          4    0xa4  xatanf.o [6]
+  .text                  ro code   0x800'632c          4    0x48  atanf.o [6]
+  .text                  ro code   0x800'6374          4    0x4c  xlocale_c.o [5]
+  .text                  ro code   0x800'63c0          2    0x14  isalpha.o [5]
+  .text                  ro code   0x800'63d4          4   0x1aa  DblMul.o [6]
+  .text                  ro code   0x800'6580          4    0x70  frexp.o [6]
+  .text                  ro code   0x800'65f0          4   0x13a  ldexp.o [6]
+  .rodata                const     0x800'672c          4    0x50  iar_Stoulx.o [5]
+  .text                  ro code   0x800'677c          4    0x1c  system_stm32g4xx.o [1]
+  .rodata                const     0x800'6798          8    0x48  strto64.o [6]
+  .text                  ro code   0x800'67e0          2    0x38  zero_init3.o [7]
+  .text                  ro code   0x800'6818          4    0x28  data_init.o [7]
+  .text                  ro code   0x800'6840          4    0x22  fpinit_M.o [6]
+  .iar.init_table        const     0x800'6864          4    0x28  - Linker created -
+  .text                  ro code   0x800'688c          4    0x20  cmain_call_ctors.o [7]
+  .text                  ro code   0x800'68ac          4    0x18  cppinit.o [5]
+  .text                  ro code   0x800'68c4          4    0x1e  cmain.o [7]
+  .text                  ro code   0x800'68e2          2     0x4  low_level_init.o [5]
+  .text                  ro code   0x800'68e6          2     0x4  exit.o [5]
+  .text                  ro code   0x800'68ec          4     0xa  cexit.o [7]
+  .text                  ro code   0x800'68f8          4     0xc  XXexit.o [7]
+  .text                  ro code   0x800'6904          4    0x1c  cstartup_M.o [7]
+  .rodata                const     0x800'6920          4    0x10  prot.o [4]
+  .rodata                const     0x800'6930          4    0x10  quat.o [4]
+  .rodata                const     0x800'6940          4    0x10  quat.o [4]
+  .rodata                const     0x800'6950          4    0x10  quat.o [4]
+  .rodata                const     0x800'6960          4    0x10  quat.o [4]
+  .text                  ro code   0x800'6970          4    0x10  startup_stm32g431xx.o [1]
+  .rodata                const     0x800'6980          4     0xc  flow.o [2]
+  .rodata                const     0x800'698c          4     0xc  ori.o [2]
+  .rodata                const     0x800'6998          4     0xc  prot.o [4]
+  .rodata                const     0x800'69a4          4     0xc  quat.o [4]
+  .rodata                const     0x800'69b0          4     0x8  gps.o [2]
+  .rodata                const     0x800'69b8          4     0x8  gps.o [2]
+  .rodata                const     0x800'69c0          4     0x8  gps.o [2]
+  .rodata                const     0x800'69c8          4     0x8  gps.o [2]
+  .rodata                const     0x800'69d0          4     0x8  gps.o [2]
+  .rodata                const     0x800'69d8          4     0x8  prot.o [4]
+  .rodata                const     0x800'69e0          4     0x8  prot.o [4]
+  .rodata                const     0x800'69e8          4     0x8  prot.o [4]
+  .rodata                const     0x800'69f0          4     0x8  prot.o [4]
+  SHT$$PREINIT_ARRAY               0x800'69f8                0x0  
+  SHT$$INIT_ARRAY                  0x800'69f8                0x8  
+    .init_array          const     0x800'69f8          4     0x4  gps.o [2]
+    .init_array          const     0x800'69fc          4     0x4  ori.o [2]
+  __iar_tls$$INIT_ARRAY            0x800'6a00                0x0  
+  .rodata                const     0x800'6a00          4     0x4  flow.o [2]
+  .rodata                const     0x800'6a04          4     0x4  prot.o [4]
+  .rodata                const     0x800'6a08          4     0x4  prot.o [4]
+  .rodata                const     0x800'6a0c          4     0x4  quat.o [4]
+  .rodata                const     0x800'6a10          4     0x4  quat.o [4]
+  .rodata                const     0x800'6a14          4     0x4  quat.o [4]
+  .text                  ro code   0x800'6a18          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a1c          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a20          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a24          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a28          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a2c          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a30          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a34          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a38          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a3c          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a40          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a44          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a48          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a4c          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a50          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a54          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a58          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a5c          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a60          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a64          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a68          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a6c          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a70          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a74          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a78          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a7c          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a80          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a84          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a88          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a8c          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a90          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a94          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a98          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6a9c          2     0x4  startup_stm32g431xx.o [1]
+  .text                  ro code   0x800'6aa0          2     0x4  startup_stm32g431xx.o [1]
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+  .text                  ro code   0x800'6b30          2     0x4  startup_stm32g431xx.o [1]
+  .rodata                const     0x800'6b34                0x0  zero_init3.o [7]
+  .rodata                const     0x800'6b34                0x0  copy_init3.o [7]
+  Initializer bytes      const     0x800'6b34          4   0x238  
+                                 - 0x800'6d6c             0x6b94
+
+"P3", part 1 of 3:                                         0x238
+  P3 s0                           0x2000'0000              0x238  
+    .data                inited   0x2000'0000          4    0x48  xlocale_c.o [5]
+    .data                inited   0x2000'0048          4    0x38  xlocale_c.o [5]
+    .data                inited   0x2000'0080          4    0x30  main.o [1]
+    .data                inited   0x2000'00b0          4    0x30  main.o [1]
+    .data                inited   0x2000'00e0          4    0x30  main.o [1]
+    .data                inited   0x2000'0110          4    0x24  uart.o [3]
+    .data                inited   0x2000'0134          4    0x24  uart.o [3]
+    .data                inited   0x2000'0158          4    0x24  uart.o [3]
+    .data                inited   0x2000'017c          4    0x24  uart.o [3]
+    .data                inited   0x2000'01a0          4    0x14  gps.o [2]
+    .data                inited   0x2000'01b4          4    0x14  i2c.o [3]
+    .data                inited   0x2000'01c8          4    0x14  i2c.o [3]
+    .data                inited   0x2000'01dc          4    0x10  ori.o [2]
+    .data                inited   0x2000'01ec          4    0x10  quat.o [4]
+    .data                inited   0x2000'01fc          4     0x8  ori.o [2]
+    .data                inited   0x2000'0204          4     0x4  move.o [4]
+    .data                inited   0x2000'0208          4     0x4  ori.o [2]
+    .data                inited   0x2000'020c          4     0x4  ori.o [2]
+    .data                inited   0x2000'0210          4     0x4  ori.o [2]
+    .data                inited   0x2000'0214          4     0x4  ori.o [2]
+    .data                inited   0x2000'0218          4     0x4  ori.o [2]
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+    .data                inited   0x2000'0228          4     0x4  ori.o [2]
+    .data                inited   0x2000'022c          4     0x4  system_stm32g4xx.o [1]
+    .data                inited   0x2000'0230          2     0x2  main.o [1]
+    .data                inited   0x2000'0232          2     0x2  main.o [1]
+    .data                inited   0x2000'0234                0x1  prot.o [4]
+                                - 0x2000'0238              0x238
+
+"P3", part 2 of 3:                                        0x118c
+  .bss                   zero     0x2000'0238          4   0x194  gps.o [2]
+  .bss                   zero     0x2000'03cc          4   0x104  uart.o [3]
+  .bss                   zero     0x2000'04d0          4   0x104  uart.o [3]
+  .bss                   zero     0x2000'05d4          4   0x104  uart.o [3]
+  .bss                   zero     0x2000'06d8          4   0x104  uart.o [3]
+  .bss                   zero     0x2000'07dc          4   0x104  uart.o [3]
+  .bss                   zero     0x2000'08e0          4   0x104  uart.o [3]
+  .bss                   zero     0x2000'09e4          4   0x104  uart.o [3]
+  .bss                   zero     0x2000'0ae8          4   0x104  uart.o [3]
+  .bss                   zero     0x2000'0bec          4   0x100  gps.o [2]
+  .bss                   zero     0x2000'0cec          4   0x100  prot.o [4]
+  .bss                   zero     0x2000'0dec          4   0x100  prot.o [4]
+  .bss                   zero     0x2000'0eec          4    0xf0  ori.o [2]
+  .bss                   zero     0x2000'0fdc          4    0xc8  ori.o [2]
+  .bss                   zero     0x2000'10a4          4    0x70  ori.o [2]
+  .bss                   zero     0x2000'1114          4    0x34  ori.o [2]
+  .bss                   zero     0x2000'1148          8    0x48  gps.o [2]
+  .bss                   zero     0x2000'1190          8    0x48  prot.o [4]
+  .bss                   zero     0x2000'11d8          4    0x24  ibus.o [2]
+  .bss                   zero     0x2000'11fc          4    0x1c  main.o [1]
+  .bss                   zero     0x2000'1218          4    0x1c  main.o [1]
+  .bss                   zero     0x2000'1234          4     0xc  main.o [1]
+  .bss                   zero     0x2000'1240          8    0x18  gps.o [2]
+  .bss                   zero     0x2000'1258          8    0x18  gps.o [2]
+  .bss                   zero     0x2000'1270          8    0x18  main.o [1]
+  .bss                   zero     0x2000'1288          8    0x18  prot.o [4]
+  .bss                   zero     0x2000'12a0          4     0xc  tof.o [2]
+  .bss                   zero     0x2000'12ac          4     0x8  main.o [1]
+  .bss                   zero     0x2000'12b4          4     0x8  main.o [1]
+  .bss                   zero     0x2000'12bc          4     0x4  bar.o [2]
+  .bss                   zero     0x2000'12c0          4     0x4  bar.o [2]
+  .bss                   zero     0x2000'12c4          4     0x4  gps.o [2]
+  .bss                   zero     0x2000'12c8          4     0x4  gps.o [2]
+  .bss                   zero     0x2000'12cc          4     0x4  gps.o [2]
+  .bss                   zero     0x2000'12d0          4     0x4  ibus.o [2]
+  .bss                   zero     0x2000'12d4          4     0x4  ibus.o [2]
+  .bss                   zero     0x2000'12d8          4     0x4  main.o [1]
+  .bss                   zero     0x2000'12dc          4     0x4  main.o [1]
+  .bss                   zero     0x2000'12e0          4     0x4  main.o [1]
+  .bss                   zero     0x2000'12e4          4     0x4  main.o [1]
+  .bss                   zero     0x2000'12e8          4     0x4  main.o [1]
+  .bss                   zero     0x2000'12ec          4     0x4  main.o [1]
+  .bss                   zero     0x2000'12f0          4     0x4  main.o [1]
+  .bss                   zero     0x2000'12f4          4     0x4  main.o [1]
+  .bss                   zero     0x2000'12f8          4     0x4  main.o [1]
+  .bss                   zero     0x2000'12fc          4     0x4  main.o [1]
+  .bss                   zero     0x2000'1300          4     0x4  main.o [1]
+  .bss                   zero     0x2000'1304          4     0x4  main.o [1]
+  .bss                   zero     0x2000'1308          4     0x4  main.o [1]
+  .bss                   zero     0x2000'130c          4     0x4  main.o [1]
+  .bss                   zero     0x2000'1310          4     0x4  main.o [1]
+  .bss                   zero     0x2000'1314          4     0x4  main.o [1]
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+  .bss                   zero     0x2000'131c          4     0x4  main.o [1]
+  .bss                   zero     0x2000'1320          4     0x4  main.o [1]
+  .bss                   zero     0x2000'1324          4     0x4  main.o [1]
+  .bss                   zero     0x2000'1328          4     0x4  move.o [4]
+  .bss                   zero     0x2000'132c          4     0x4  move.o [4]
+  .bss                   zero     0x2000'1330          4     0x4  move.o [4]
+  .bss                   zero     0x2000'1334          4     0x4  move.o [4]
+  .bss                   zero     0x2000'1338          4     0x4  move.o [4]
+  .bss                   zero     0x2000'133c          4     0x4  move.o [4]
+  .bss                   zero     0x2000'1340          4     0x4  ori.o [2]
+  .bss                   zero     0x2000'1344          4     0x4  ori.o [2]
+  .bss                   zero     0x2000'1348          4     0x4  ori.o [2]
+  .bss                   zero     0x2000'134c          4     0x4  ori.o [2]
+  .bss                   zero     0x2000'1350          4     0x4  ori.o [2]
+  .bss                   zero     0x2000'1354          4     0x4  ori.o [2]
+  .bss                   zero     0x2000'1358          4     0x4  ori.o [2]
+  .bss                   zero     0x2000'135c          4     0x4  ori.o [2]
+  .bss                   zero     0x2000'1360          4     0x4  ori.o [2]
+  .bss                   zero     0x2000'1364          4     0x4  ori.o [2]
+  .bss                   zero     0x2000'1368          4     0x4  ori.o [2]
+  .bss                   zero     0x2000'136c          4     0x4  ori.o [2]
+  .bss                   zero     0x2000'1370          4     0x4  ori.o [2]
+  .bss                   zero     0x2000'1374          4     0x4  prot.o [4]
+  .bss                   zero     0x2000'1378          4     0x4  prot.o [4]
+  .bss                   zero     0x2000'137c          4     0x4  prot.o [4]
+  .bss                   zero     0x2000'1380          4     0x4  prot.o [4]
+  .bss                   zero     0x2000'1384          4     0x4  quat.o [4]
+  .bss                   zero     0x2000'1388          4     0x4  tick.o [3]
+  .bss                   zero     0x2000'138c          4     0x4  tim.o [3]
+  .bss                   zero     0x2000'1390          4     0x4  tof.o [2]
+  .bss                   zero     0x2000'1394          4     0x4  tof.o [2]
+  .bss                   zero     0x2000'1398          2     0x2  main.o [1]
+  .bss                   zero     0x2000'139a          2     0x2  main.o [1]
+  .bss                   zero     0x2000'139c          2     0x2  main.o [1]
+  .bss                   zero     0x2000'139e          2     0x2  main.o [1]
+  .bss                   zero     0x2000'13a0          2     0x2  main.o [1]
+  .bss                   zero     0x2000'13a2          2     0x2  main.o [1]
+  .bss                   zero     0x2000'13a4          2     0x2  main.o [1]
+  .bss                   zero     0x2000'13a6          2     0x2  main.o [1]
+  .bss                   zero     0x2000'13a8          2     0x2  main.o [1]
+  .bss                   zero     0x2000'13aa          2     0x2  main.o [1]
+  .bss                   zero     0x2000'13ac                0x1  gps.o [2]
+  .bss                   zero     0x2000'13ad                0x1  gps.o [2]
+  .bss                   zero     0x2000'13ae                0x1  gps.o [2]
+  .bss                   zero     0x2000'13af                0x1  gps.o [2]
+  .bss                   zero     0x2000'13b0                0x1  gps.o [2]
+  .bss                   zero     0x2000'13b1                0x1  gps.o [2]
+  .bss                   zero     0x2000'13b2                0x1  ibus.o [2]
+  .bss                   zero     0x2000'13b3                0x1  ibus.o [2]
+  .bss                   zero     0x2000'13b4                0x1  main.o [1]
+  .bss                   zero     0x2000'13b5                0x1  main.o [1]
+  .bss                   zero     0x2000'13b6                0x1  main.o [1]
+  .bss                   zero     0x2000'13b7                0x1  main.o [1]
+  .bss                   zero     0x2000'13b8                0x1  main.o [1]
+  .bss                   zero     0x2000'13b9                0x1  main.o [1]
+  .bss                   zero     0x2000'13ba                0x1  main.o [1]
+  .bss                   zero     0x2000'13bb                0x1  main.o [1]
+  .bss                   zero     0x2000'13bc                0x1  ori.o [2]
+  .bss                   zero     0x2000'13bd                0x1  prot.o [4]
+  .bss                   zero     0x2000'13be                0x1  prot.o [4]
+  .bss                   zero     0x2000'13bf                0x1  prot.o [4]
+  .bss                   zero     0x2000'13c0                0x1  pwm.o [3]
+                                - 0x2000'13c1             0x1189
+
+"P3", part 3 of 3:                                         0x800
+  CSTACK                          0x2000'13c8          8   0x800  
+    CSTACK               uninit   0x2000'13c8              0x800  
+                                - 0x2000'1bc8              0x800
+
+Unused ranges:
+
+         From           To      Size
+         ----           --      ----
+   0x800'6d6c   0x801'ffff  0x1'9294
+  0x2000'13c4  0x2000'13c7       0x4
+  0x2000'1bc8  0x2000'3fff    0x2438
+  0x2000'4000  0x2000'57ff    0x1800
+
+
+*******************************************************************************
+*** INIT TABLE
+***
+
+          Address      Size
+          -------      ----
+Zero (__iar_zero_init3)
+    1 destination range, total size 0x1189:
+          0x2000'0238  0x1189
+
+Copy (__iar_copy_init3)
+    1 source range, total size 0x238 (100% of destination):
+           0x800'6b34   0x238
+    1 destination range, total size 0x235:
+          0x2000'0000   0x235
+
+Extra (__iar_cstart_call_ctors)
+
+
+
+*******************************************************************************
+*** MODULE SUMMARY
+***
+
+    Module                 ro code  ro data  rw data
+    ------                 -------  -------  -------
+command line/config:
+    ------------------------------------------------
+    Total:
+
+D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\Obj: [1]
+    main.o                   2'928      148      364
+    startup_stm32g431xx.o      772
+    system_stm32g4xx.o          28        4        4
+    ------------------------------------------------
+    Total:                   3'728      152      368
+
+D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\Obj\dev_16932516800620494331.dir: [2]
+    bar.o                      340                 8
+    eep.o                       62
+    flow.o                     808       16
+    gps.o                    2'248       64      818
+    ibus.o                     334                46
+    imu.o                      254
+    led.o                       60
+    ori.o                    1'560       76      717
+    tof.o                      168                20
+    ------------------------------------------------
+    Total:                   5'834      156    1'609
+
+D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\Obj\drv_9119342922082540178.dir: [3]
+    gpio.o                     372
+    i2c.o                      940       40       40
+    iwdg.o                      16
+    pwm.o                      504                 1
+    servo.o                    168
+    spi.o                      340
+    tick.o                     132                 4
+    tim.o                      228                 4
+    uart.o                     868      144    2'224
+    ------------------------------------------------
+    Total:                   3'568      184    2'273
+
+D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\Obj\utils_199339518998427007.dir: [4]
+    med2.o                     424
+    mot.o                      340
+    move.o                     224        4       28
+    pid.o                      172
+    prot.o                   2'402       69      628
+    quat.o                   1'456      104       20
+    ------------------------------------------------
+    Total:                   5'018      177      676
+
+dl7M_tlf.a: [5]
+    cppinit.o                   24
+    exit.o                       4
+    iar_Stoflt.o               440
+    iar_Stolx.o                144
+    iar_Stopfx.o               290
+    iar_Stoulx.o               310       80
+    iar_Stoxflt.o              524
+    isalpha.o                   20
+    isspace.o                   20
+    low_level_init.o             4
+    tolower.o                   20
+    xlocale_c.o                 76      133      128
+    ------------------------------------------------
+    Total:                   1'876      213      128
+
+m7M_tls.a: [6]
+    DblAddSub.o                606
+    DblDiv.o                   582
+    DblMul.o                   426
+    DblToFlt.o                 104
+    FltToDbl.o                  72
+    FltToU64.o                  46
+    S32ToDbl.o                  34
+    atan2f.o                   106
+    atanf.o                     72
+    cos_sin32.o                464
+    fpinit_M.o                  34
+    frexp.o                    112
+    frexpf.o                    72
+    iar_Exp32.o                428
+    ldexp.o                    314
+    ldexpf.o                   196
+    math_wrappers64.o           14
+    pow32.o                    812
+    sqrtf.o                     30
+    strto32.o                  636
+    strto64.o                  864       72
+    xatanf.o                   164
+    ------------------------------------------------
+    Total:                   6'188       72
+
+rt7M_tl.a: [7]
+    ABImemclr4.o                 6
+    ABImemcpy.o                166
+    ABImemset.o                102
+    ABImemset48.o               50
+    XXexit.o                    12
+    cexit.o                     10
+    cmain.o                     30
+    cmain_call_ctors.o          32
+    copy_init3.o                42
+    cstartup_M.o                28
+    data_init.o                 40
+    memchr.o                    88
+    memcmp.o                   104
+    zero_init3.o                56
+    ------------------------------------------------
+    Total:                     766
+
+    Gaps                        33        4
+    Linker created                       43    2'048
+----------------------------------------------------
+    Grand Total:            27'011    1'001    7'102
+
+
+*******************************************************************************
+*** ENTRY LIST
+***
+
+Entry                       Address   Size  Type      Object
+-----                       -------   ----  ----      ------
+.iar.init_table$$Base    0x800'6864          --   Gb  - Linker created -
+.iar.init_table$$Limit   0x800'688c          --   Gb  - Linker created -
+?main                    0x800'68c5         Code  Gb  cmain.o [7]
+ADC1_2_IRQHandler        0x800'6a7d         Code  Wk  startup_stm32g431xx.o [1]
+AccelInfo()              0x800'339d   0x78  Code  Gb  prot.o [4]
+BAR_GetAltitude(float, float)
+                         0x800'0d49   0x30  Code  Gb  bar.o [2]
+BAR_GetData(float *)     0x800'0db9   0xc8  Code  Gb  bar.o [2]
+BAR_GetData(float *)::bar
+                        0x2000'12bc    0x4  Data  Lc  bar.o [2]
+BAR_GetData(float *)::temp
+                        0x2000'12c0    0x4  Data  Lc  bar.o [2]
+BAR_Init()               0x800'0d99   0x1e  Code  Gb  bar.o [2]
+BAR_Med                 0x2000'01dc   0x10  Data  Gb  ori.o [2]
+BAR_MedData             0x2000'0fdc   0xc8  Data  Gb  ori.o [2]
+BAR_MedIndex            0x2000'1114   0x34  Data  Gb  ori.o [2]
+Base_Alt                0x2000'12c8    0x4  Data  Lc  gps.o [2]
+Base_BeginXYZ           0x2000'1258   0x18  Data  Gb  gps.o [2]
+Base_Fix                0x2000'13b1    0x1  Data  Lc  gps.o [2]
+Base_Geo                0x2000'12cc    0x4  Data  Lc  gps.o [2]
+Base_Noise              0x2000'0bec  0x100  Data  Lc  gps.o [2]
+Base_Used               0x2000'13b0    0x1  Data  Lc  gps.o [2]
+BatteryInfo()            0x800'3263   0x48  Code  Gb  prot.o [4]
+Buffer                  0x2000'11d8   0x24  Data  Lc  ibus.o [2]
+BusFault_Handler         0x800'6a25         Code  Wk  startup_stm32g431xx.o [1]
+COMP1_2_3_IRQHandler     0x800'6b05         Code  Wk  startup_stm32g431xx.o [1]
+COMP4_IRQHandler         0x800'6b09         Code  Wk  startup_stm32g431xx.o [1]
+CORDIC_IRQHandler        0x800'6b2d         Code  Wk  startup_stm32g431xx.o [1]
+CRS_IRQHandler           0x800'6b0d         Code  Wk  startup_stm32g431xx.o [1]
+CSTACK$$Base            0x2000'13c8          --   Gb  - Linker created -
+CSTACK$$Limit           0x2000'1bc8          --   Gb  - Linker created -
+CheckSum                0x2000'12d0    0x4  Data  Lc  ibus.o [2]
+CommandAck(PayloadCommandAck &)
+                         0x800'34db   0x22  Code  Gb  prot.o [4]
+CreateMessageHeaders(HeaderBegin *&, unsigned long, MESSAGES_ID)
+                         0x800'321f   0x44  Code  Gb  prot.o [4]
+DMA1_Channel1_IRQHandler
+                         0x800'6a65         Code  Wk  startup_stm32g431xx.o [1]
+DMA1_Channel2_IRQHandler
+                         0x800'6a69         Code  Wk  startup_stm32g431xx.o [1]
+DMA1_Channel3_IRQHandler
+                         0x800'6a6d         Code  Wk  startup_stm32g431xx.o [1]
+DMA1_Channel4_IRQHandler
+                         0x800'6a71         Code  Wk  startup_stm32g431xx.o [1]
+DMA1_Channel5_IRQHandler
+                         0x800'6a75         Code  Wk  startup_stm32g431xx.o [1]
+DMA1_Channel6_IRQHandler
+                         0x800'6a79         Code  Wk  startup_stm32g431xx.o [1]
+DMA2_Channel1_IRQHandler
+                         0x800'6aed         Code  Wk  startup_stm32g431xx.o [1]
+DMA2_Channel2_IRQHandler
+                         0x800'6af1         Code  Wk  startup_stm32g431xx.o [1]
+DMA2_Channel3_IRQHandler
+                         0x800'6af5         Code  Wk  startup_stm32g431xx.o [1]
+DMA2_Channel4_IRQHandler
+                         0x800'6af9         Code  Wk  startup_stm32g431xx.o [1]
+DMA2_Channel5_IRQHandler
+                         0x800'6afd         Code  Wk  startup_stm32g431xx.o [1]
+DMA2_Channel6_IRQHandler
+                         0x800'6b29         Code  Wk  startup_stm32g431xx.o [1]
+DMAMUX_OVR_IRQHandler    0x800'6b25         Code  Wk  startup_stm32g431xx.o [1]
+DataBAR                 0x2000'12ac    0x8  Data  Gb  main.o [1]
+DataGPS                 0x2000'1270   0x18  Data  Gb  main.o [1]
+DataIMU                 0x2000'1218   0x1c  Data  Gb  main.o [1]
+DataMAG                 0x2000'12b4    0x8  Data  Gb  main.o [1]
+DataORI                 0x2000'10a4   0x70  Data  Gb  ori.o [2]
+DebugMon_Handler         0x800'6a31         Code  Wk  startup_stm32g431xx.o [1]
+Dtentox                  0x800'4e55  0x154  Code  Lc  strto32.o [6]
+Dtentox                  0x800'5e89  0x1d8  Code  Lc  strto64.o [6]
+EEP_Init()               0x800'299f    0x8  Code  Gb  eep.o [2]
+EEP_Read(unsigned short, void *, unsigned short)
+                         0x800'29a7   0x30  Code  Gb  eep.o [2]
+EXTI0_IRQHandler         0x800'6a51         Code  Wk  startup_stm32g431xx.o [1]
+EXTI15_10_IRQHandler     0x800'6ac1         Code  Wk  startup_stm32g431xx.o [1]
+EXTI1_IRQHandler         0x800'6a55         Code  Wk  startup_stm32g431xx.o [1]
+EXTI2_IRQHandler         0x800'6a59         Code  Wk  startup_stm32g431xx.o [1]
+EXTI3_IRQHandler         0x800'6a5d         Code  Wk  startup_stm32g431xx.o [1]
+EXTI4_IRQHandler         0x800'6a61         Code  Wk  startup_stm32g431xx.o [1]
+EXTI9_5_IRQHandler       0x800'6a91         Code  Wk  startup_stm32g431xx.o [1]
+FDCAN1_IT0_IRQHandler    0x800'6a89         Code  Wk  startup_stm32g431xx.o [1]
+FDCAN1_IT1_IRQHandler    0x800'6a8d         Code  Wk  startup_stm32g431xx.o [1]
+FLASH_IRQHandler         0x800'6a49         Code  Wk  startup_stm32g431xx.o [1]
+FLOW_GetMotion(short *, short *, unsigned char *)
+                         0x800'19f9   0x56  Code  Gb  flow.o [2]
+FLOW_Init()              0x800'1755  0x2a4  Code  Gb  flow.o [2]
+FMAC_IRQHandler          0x800'6b31         Code  Wk  startup_stm32g431xx.o [1]
+FPU_IRQHandler           0x800'6b15         Code  Wk  startup_stm32g431xx.o [1]
+GPIO_InitPin(unsigned long)
+                         0x800'27e9  0x174  Code  Gb  gpio.o [3]
+GPS_BaseInfoData        0x2000'1148   0x48  Data  Lc  gps.o [2]
+GPS_CallBack            0x2000'12c4    0x4  Data  Gb  gps.o [2]
+GPS_GetBaseInfo(GPS_BaseInfo &)
+                         0x800'2427   0x2e  Code  Gb  gps.o [2]
+GPS_GetCoordinates(Point &, bool &)
+                         0x800'23fd   0x2a  Code  Gb  gps.o [2]
+GPS_Info::GPS_Info()     0x800'48af   0x14  Code  Wk  gps.o [2]
+GPS_Init()               0x800'23d9   0x24  Code  Gb  gps.o [2]
+GPS_LocalDistance(Point, Point, float &, float &)
+                         0x800'1bf5   0xb6  Code  Gb  gps.o [2]
+GPS_Protocols           0x2000'01a0   0x14  Data  Lc  gps.o [2]
+GPS_Update()             0x800'1cbd  0x264  Code  Gb  gps.o [2]
+GPS_VisibleGLO          0x2000'13ad    0x1  Data  Lc  gps.o [2]
+GPS_VisibleGPS          0x2000'13ac    0x1  Data  Lc  gps.o [2]
+GetAngle(float, float, float)
+                         0x800'5655   0x80  Code  Wk  quat.o [4]
+GetCoordinates_Coord    0x2000'1240   0x18  Data  Gb  gps.o [2]
+GetCoordinates_Update   0x2000'13af    0x1  Data  Gb  gps.o [2]
+GetCoordinates_Valid    0x2000'13ae    0x1  Data  Gb  gps.o [2]
+GetPos(ORI_Data &)::land
+                        0x2000'1368    0x4  Data  Lc  ori.o [2]
+GetPos(ORI_Data &)::static guard for land
+                        0x2000'13bc    0x1  Data  Lc  ori.o [2]
+GpsInfo()                0x800'3415   0x6e  Code  Gb  prot.o [4]
+GyroInfo()               0x800'334b   0x50  Code  Gb  prot.o [4]
+GyroShift               0x2000'01fc    0x8  Data  Lc  ori.o [2]
+HardFault_Handler        0x800'6a1d         Code  Wk  startup_stm32g431xx.o [1]
+HeaderBegin::CheckCRC()
+                         0x800'309d   0x34  Code  Gb  prot.o [4]
+HeaderBegin::SetCRC()    0x800'30d1   0x26  Code  Gb  prot.o [4]
+I2C1_Data               0x2000'01b4   0x14  Data  Lc  i2c.o [3]
+I2C1_ER_IRQHandler       0x800'6ab1         Code  Wk  startup_stm32g431xx.o [1]
+I2C1_EV_IRQHandler       0x800'43d5    0xc  Code  Gb  i2c.o [3]
+I2C1_Init()              0x800'4417   0x32  Code  Gb  i2c.o [3]
+I2C1_Read(unsigned char, void *, unsigned char)
+                         0x800'4535   0x1a  Code  Gb  i2c.o [3]
+I2C1_Stop()              0x800'454f    0xa  Code  Gb  i2c.o [3]
+I2C1_Write(unsigned char, unsigned char)
+                         0x800'4507   0x14  Code  Gb  i2c.o [3]
+I2C1_Write(unsigned char, void const *, unsigned char)
+                         0x800'451b   0x1a  Code  Gb  i2c.o [3]
+I2C2_Data               0x2000'01c8   0x14  Data  Lc  i2c.o [3]
+I2C2_ER_IRQHandler       0x800'6ab5         Code  Wk  startup_stm32g431xx.o [1]
+I2C2_EV_IRQHandler       0x800'43e1    0xc  Code  Gb  i2c.o [3]
+I2C3_ER_IRQHandler       0x800'6b21         Code  Wk  startup_stm32g431xx.o [1]
+I2C3_EV_IRQHandler       0x800'6b1d         Code  Wk  startup_stm32g431xx.o [1]
+IBUS_Init(unsigned long)
+                         0x800'2b41    0xc  Code  Gb  ibus.o [2]
+IBUS_Update(IBUS_Data &, bool &)
+                         0x800'2c41   0x4e  Code  Gb  ibus.o [2]
+IMU_Get(IMU_Data &)      0x800'0f29   0x72  Code  Gb  imu.o [2]
+IMU_Init()               0x800'0ee1   0x42  Code  Gb  imu.o [2]
+Index                   0x2000'137c    0x4  Data  Lc  prot.o [4]
+InertialInfo()           0x800'3483   0x58  Code  Gb  prot.o [4]
+Info                    0x2000'0238  0x194  Data  Lc  gps.o [2]
+Joy_pitch               0x2000'139a    0x2  Data  Gb  main.o [1]
+Joy_roll                0x2000'139c    0x2  Data  Gb  main.o [1]
+Joy_throt               0x2000'1398    0x2  Data  Gb  main.o [1]
+Joy_yaw                 0x2000'139e    0x2  Data  Gb  main.o [1]
+Joypad                  0x2000'11fc   0x1c  Data  Gb  main.o [1]
+JoypadOff               0x2000'13b4    0x1  Data  Gb  main.o [1]
+LED_Init()               0x800'295d   0x16  Code  Gb  led.o [2]
+LED_Set(bool)            0x800'2973   0x1c  Code  Gb  led.o [2]
+LPTIM1_IRQHandler        0x800'6add         Code  Wk  startup_stm32g431xx.o [1]
+LPUART1_BufferRecv      0x2000'09e4  0x104  Data  Lc  uart.o [3]
+LPUART1_BufferSend      0x2000'0ae8  0x104  Data  Lc  uart.o [3]
+LPUART1_Data            0x2000'017c   0x24  Data  Lc  uart.o [3]
+LPUART1_IRQHandler       0x800'2d67    0xa  Code  Gb  uart.o [3]
+LPUART1_Init(unsigned long)
+                         0x800'2e45   0x3e  Code  Gb  uart.o [3]
+LPUART1_Recv(void *, unsigned long)
+                         0x800'2f73   0x12  Code  Gb  uart.o [3]
+LPUART1_Send(void const *, unsigned long)
+                         0x800'2f85   0x12  Code  Gb  uart.o [3]
+Len                     0x2000'13b3    0x1  Data  Lc  ibus.o [2]
+Length                  0x2000'1378    0x4  Data  Lc  prot.o [4]
+MED2_Init(MED2_Data &)   0x800'4595   0x2e  Code  Gb  med2.o [4]
+MED2_Update(long, MED2_Data &)
+                         0x800'45c3  0x17a  Code  Gb  med2.o [4]
+MEGA_ACC                0x2000'021c    0x4  Data  Lc  ori.o [2]
+MEGA_Alt_Buff           0x2000'0eec   0xf0  Data  Lc  ori.o [2]
+MEGA_BAR                0x2000'1340    0x4  Data  Lc  ori.o [2]
+MEGA_BAR_CNT            0x2000'0218    0x4  Data  Lc  ori.o [2]
+MEGA_BAR_MAX            0x2000'020c    0x4  Data  Lc  ori.o [2]
+MEGA_BAR_MIN            0x2000'0208    0x4  Data  Lc  ori.o [2]
+MEGA_BAR_MUL            0x2000'0210    0x4  Data  Lc  ori.o [2]
+MEGA_BAR_POW            0x2000'0214    0x4  Data  Lc  ori.o [2]
+MEGA_Index              0x2000'135c    0x4  Data  Lc  ori.o [2]
+MainFlyMode             0x2000'1374    0x4  Data  Gb  prot.o [4]
+MainUpdate(unsigned char)
+                         0x800'30f7  0x110  Code  Gb  prot.o [4]
+Main_GPS                0x2000'1190   0x48  Data  Lc  prot.o [4]
+Main_StatusMode         0x2000'13bd    0x1  Data  Gb  prot.o [4]
+Main_SysMode            0x2000'13be    0x1  Data  Gb  prot.o [4]
+Main_Update()            0x800'01d9  0x870  Code  Gb  main.o [1]
+Main_Update()::autopilot
+                        0x2000'13b8    0x1  Data  Lc  main.o [1]
+Main_Update()::flow     0x2000'1234    0xc  Data  Lc  main.o [1]
+Main_Update()::heigh    0x2000'12dc    0x4  Data  Lc  main.o [1]
+Main_Update()::mx       0x2000'12e0    0x4  Data  Lc  main.o [1]
+Main_Update()::my       0x2000'12e4    0x4  Data  Lc  main.o [1]
+Main_Update()::pitch    0x2000'13a8    0x2  Data  Lc  main.o [1]
+Main_Update()::pov_z    0x2000'13a4    0x2  Data  Lc  main.o [1]
+Main_Update()::roll     0x2000'13aa    0x2  Data  Lc  main.o [1]
+Main_Update()::throt    0x2000'13a6    0x2  Data  Lc  main.o [1]
+Main_Update()::timer    0x2000'12d8    0x4  Data  Lc  main.o [1]
+Main_Update(){10}{15}{16}::add_power
+                        0x2000'12e8    0x4  Data  Lc  main.o [1]
+Main_Update(){10}{15}{16}::count
+                        0x2000'12ec    0x4  Data  Lc  main.o [1]
+Main_Update(){10}{15}{16}::delta_h
+                        0x2000'12f4    0x4  Data  Lc  main.o [1]
+Main_Update(){10}{15}{16}::last_h
+                        0x2000'12f0    0x4  Data  Lc  main.o [1]
+Main_Update(){10}{21}{22}::count
+                        0x2000'1300    0x4  Data  Lc  main.o [1]
+Main_Update(){10}{21}{22}::delta_a
+                        0x2000'12fc    0x4  Data  Lc  main.o [1]
+Main_Update(){10}{21}{22}::last_a
+                        0x2000'12f8    0x4  Data  Lc  main.o [1]
+Main_Update(){10}{21}{24}::count
+                        0x2000'1314    0x4  Data  Lc  main.o [1]
+Main_Update(){10}{21}{24}::delta_x
+                        0x2000'1304    0x4  Data  Lc  main.o [1]
+Main_Update(){10}{21}{24}::delta_y
+                        0x2000'1308    0x4  Data  Lc  main.o [1]
+Main_Update(){10}{21}{24}::ldx
+                        0x2000'130c    0x4  Data  Lc  main.o [1]
+Main_Update(){10}{21}{24}::ldy
+                        0x2000'1310    0x4  Data  Lc  main.o [1]
+MegaFilterAcc(ORI_Data &)::delay_speed
+                        0x2000'1364    0x4  Data  Lc  ori.o [2]
+MegaFilterAcc(ORI_Data &)::i_speed
+                        0x2000'1360    0x4  Data  Lc  ori.o [2]
+MegaFilterAlt(long, float, float &, float &)::alt_acc
+                        0x2000'134c    0x4  Data  Lc  ori.o [2]
+MegaFilterAlt(long, float, float &, float &)::alt_speed
+                        0x2000'1348    0x4  Data  Lc  ori.o [2]
+MegaFilterAlt(long, float, float &, float &)::count
+                        0x2000'1350    0x4  Data  Lc  ori.o [2]
+MegaFilterAlt(long, float, float &, float &)::falt
+                        0x2000'1344    0x4  Data  Lc  ori.o [2]
+MegaFilterAlt(long, float, float &, float &){1}::last_b
+                        0x2000'1354    0x4  Data  Lc  ori.o [2]
+MegaFilterAlt(long, float, float &, float &){1}::last_s
+                        0x2000'1358    0x4  Data  Lc  ori.o [2]
+MemManage_Handler        0x800'6a21         Code  Wk  startup_stm32g431xx.o [1]
+MessageData             0x2000'0dec  0x100  Data  Lc  prot.o [4]
+Mode                    0x2000'13bf    0x1  Data  Lc  prot.o [4]
+Motion(Vec3, bool, float, float, float, unsigned long)
+                         0x800'1a5d   0xe0  Code  Gb  move.o [4]
+Motion(Vec3, bool, float, float, float, unsigned long)::a_x
+                        0x2000'1330    0x4  Data  Lc  move.o [4]
+Motion(Vec3, bool, float, float, float, unsigned long)::a_y
+                        0x2000'1334    0x4  Data  Lc  move.o [4]
+Motion(Vec3, bool, float, float, float, unsigned long)::angle_shift
+                        0x2000'0204    0x4  Data  Lc  move.o [4]
+Motion(Vec3, bool, float, float, float, unsigned long)::high
+                        0x2000'132c    0x4  Data  Lc  move.o [4]
+Motion(Vec3, bool, float, float, float, unsigned long)::len
+                        0x2000'1328    0x4  Data  Lc  move.o [4]
+Motion(Vec3, bool, float, float, float, unsigned long)::v_x
+                        0x2000'1338    0x4  Data  Lc  move.o [4]
+Motion(Vec3, bool, float, float, float, unsigned long)::v_y
+                        0x2000'133c    0x4  Data  Lc  move.o [4]
+NMI_Handler              0x800'6a19         Code  Wk  startup_stm32g431xx.o [1]
+NormAcc_X               0x2000'0220    0x4  Data  Lc  ori.o [2]
+NormAcc_Y               0x2000'0224    0x4  Data  Lc  ori.o [2]
+NormAcc_Z               0x2000'0228    0x4  Data  Lc  ori.o [2]
+ORI_Data::ORI_Data()     0x800'458d    0x8  Code  Wk  ori.o [2]
+ORI_Get(ORI_Data &, unsigned long, IMU_Data &, BAR_Data)
+                         0x800'1465  0x1aa  Code  Gb  ori.o [2]
+ORI_Get(ORI_Data &, unsigned long, IMU_Data &, BAR_Data)::bar_zero
+                        0x2000'136c    0x4  Data  Lc  ori.o [2]
+ORI_Get(ORI_Data &, unsigned long, IMU_Data &, BAR_Data)::zero_count
+                        0x2000'1370    0x4  Data  Lc  ori.o [2]
+ORI_Init()               0x800'1325    0xe  Code  Gb  ori.o [2]
+PID_Update(float, float, PID_Data &, float)
+                         0x800'1b5b   0x8e  Code  Gb  pid.o [4]
+PID_X                   0x2000'0080   0x30  Data  Gb  main.o [1]
+PID_Y                   0x2000'00b0   0x30  Data  Gb  main.o [1]
+PID_Z                   0x2000'00e0   0x30  Data  Gb  main.o [1]
+PROT_Nav                0x2000'0234    0x1  Data  Gb  prot.o [4]
+PROT_Update()            0x800'39e1   0x1e  Code  Gb  prot.o [4]
+PVD_PVM_IRQHandler       0x800'6a3d         Code  Wk  startup_stm32g431xx.o [1]
+PWM_Enable              0x2000'13c0    0x1  Data  Gb  pwm.o [3]
+PWM_Init(unsigned long)
+                         0x800'2517   0x54  Code  Gb  pwm.o [3]
+PWM_SetAll(unsigned short)
+                         0x800'260f   0x38  Code  Gb  pwm.o [3]
+PWM_SetQuad(short *, unsigned short, unsigned short)
+                         0x800'258b   0x84  Code  Gb  pwm.o [3]
+PendSV_Handler           0x800'6a35         Code  Wk  startup_stm32g431xx.o [1]
+PingIWDG()               0x800'0fc5    0xa  Code  Gb  iwdg.o [3]
+PointGPS                0x2000'1288   0x18  Data  Gb  prot.o [4]
+Pos                     0x2000'13b2    0x1  Data  Lc  ibus.o [2]
+ProtoData               0x2000'0cec  0x100  Data  Lc  prot.o [4]
+QUAD_Set2(short, short, short, short)
+                         0x800'2695  0x14e  Code  Gb  mot.o [4]
+QuatGoToZero()           0x800'3e69    0xe  Code  Gb  quat.o [4]
+RCC_IRQHandler           0x800'6a4d         Code  Wk  startup_stm32g431xx.o [1]
+RNG_IRQHandler           0x800'6b19         Code  Wk  startup_stm32g431xx.o [1]
+RTC_Alarm_IRQHandler     0x800'6ac5         Code  Wk  startup_stm32g431xx.o [1]
+RTC_TAMP_LSECSS_IRQHandler
+                         0x800'6a41         Code  Wk  startup_stm32g431xx.o [1]
+RTC_WKUP_IRQHandler      0x800'6a45         Code  Wk  startup_stm32g431xx.o [1]
+Region$$Table$$Base      0x800'6864          --   Gb  - Linker created -
+Region$$Table$$Limit     0x800'688c          --   Gb  - Linker created -
+Reset_Handler            0x800'6971         Code  Wk  startup_stm32g431xx.o [1]
+SAI1_IRQHandler          0x800'6b11         Code  Wk  startup_stm32g431xx.o [1]
+SHT$$INIT_ARRAY$$Base    0x800'69f8          --   Gb  - Linker created -
+SHT$$INIT_ARRAY$$Limit   0x800'6a00          --   Gb  - Linker created -
+SHT$$PREINIT_ARRAY$$Base
+                         0x800'69f8          --   Gb  - Linker created -
+SHT$$PREINIT_ARRAY$$Limit
+                         0x800'69f8          --   Gb  - Linker created -
+SPI1_IRQHandler          0x800'6ab9         Code  Wk  startup_stm32g431xx.o [1]
+SPI1_Init()              0x800'4753   0x3c  Code  Gb  spi.o [3]
+SPI1_TransferCons(void const *, unsigned long, void *, unsigned long)
+                         0x800'4817   0x38  Code  Gb  spi.o [3]
+SPI1_TransferParallel(void const *, void *, unsigned long)
+                         0x800'484f   0x22  Code  Gb  spi.o [3]
+SPI2_IRQHandler          0x800'6abd         Code  Wk  startup_stm32g431xx.o [1]
+SPI3_IRQHandler          0x800'6ae1         Code  Wk  startup_stm32g431xx.o [1]
+SVC_Handler              0x800'6a2d         Code  Wk  startup_stm32g431xx.o [1]
+SWAconnect              0x2000'13b9    0x1  Data  Gb  main.o [1]
+SendMes(HeaderBegin *)   0x800'3207   0x18  Code  Gb  prot.o [4]
+Servo_init(unsigned long)
+                         0x800'303f   0x34  Code  Gb  servo.o [3]
+Servo_update(unsigned short)
+                         0x800'3073    0xa  Code  Gb  servo.o [3]
+SysInfo()                0x800'32ab   0xa0  Code  Gb  prot.o [4]
+SysTick_Handler          0x800'2ae9    0xa  Code  Gb  tick.o [3]
+SystemCoreClock         0x2000'022c    0x4  Data  Gb  system_stm32g4xx.o [1]
+SystemInit               0x800'677d   0x14  Code  Gb  system_stm32g4xx.o [1]
+TICK_GetCount()          0x800'2b1d    0x6  Code  Gb  tick.o [3]
+TICK_Init()              0x800'2af3   0x2a  Code  Gb  tick.o [3]
+TIM1_BRK_TIM15_IRQHandler
+                         0x800'6a95         Code  Wk  startup_stm32g431xx.o [1]
+TIM1_CC_IRQHandler       0x800'6aa1         Code  Wk  startup_stm32g431xx.o [1]
+TIM1_TRG_COM_TIM17_IRQHandler
+                         0x800'6a9d         Code  Wk  startup_stm32g431xx.o [1]
+TIM1_UP_TIM16_IRQHandler
+                         0x800'6a99         Code  Wk  startup_stm32g431xx.o [1]
+TIM2_IRQHandler          0x800'6aa5         Code  Wk  startup_stm32g431xx.o [1]
+TIM3_IRQHandler          0x800'6aa9         Code  Wk  startup_stm32g431xx.o [1]
+TIM4_IRQHandler          0x800'6aad         Code  Wk  startup_stm32g431xx.o [1]
+TIM6_DAC_IRQHandler      0x800'6ae9         Code  Wk  startup_stm32g431xx.o [1]
+TIM7_IRQHandler          0x800'2a23   0x10  Code  Gb  tim.o [3]
+TIM7_Init(long)          0x800'2a33   0x32  Code  Gb  tim.o [3]
+TIM7_Proc               0x2000'138c    0x4  Data  Lc  tim.o [3]
+TIM7_Update(unsigned long, void (*)())
+                         0x800'2a65   0x2a  Code  Gb  tim.o [3]
+TIM8_BRK_IRQHandler      0x800'6acd         Code  Wk  startup_stm32g431xx.o [1]
+TIM8_CC_IRQHandler       0x800'6ad9         Code  Wk  startup_stm32g431xx.o [1]
+TIM8_TRG_COM_IRQHandler
+                         0x800'6ad5         Code  Wk  startup_stm32g431xx.o [1]
+TIM8_UP_IRQHandler       0x800'6ad1         Code  Wk  startup_stm32g431xx.o [1]
+TOF_GetRange()           0x800'171d    0x8  Code  Gb  tof.o [2]
+TOF_Init()               0x800'168d    0xc  Code  Gb  tof.o [2]
+TOF_Range               0x2000'1390    0x4  Data  Lc  tof.o [2]
+TOF_Update2()            0x800'1699   0x84  Code  Gb  tof.o [2]
+TOF_Update2()::buffer   0x2000'12a0    0xc  Data  Lc  tof.o [2]
+TOF_Update2()::index    0x2000'1394    0x4  Data  Lc  tof.o [2]
+TO_DEG                   0x800'6a0c    0x4  Data  Lc  quat.o [4]
+TO_RAD                   0x800'6a10    0x4  Data  Lc  quat.o [4]
+Tick                    0x2000'1388    0x4  Data  Lc  tick.o [3]
+Time                    0x2000'12d4    0x4  Data  Lc  ibus.o [2]
+Timer                   0x2000'1380    0x4  Data  Lc  prot.o [4]
+UART1_BufferRecv        0x2000'07dc  0x104  Data  Lc  uart.o [3]
+UART1_BufferSend        0x2000'08e0  0x104  Data  Lc  uart.o [3]
+UART1_Data              0x2000'0158   0x24  Data  Lc  uart.o [3]
+UART1_Init(unsigned long)
+                         0x800'2e09   0x3c  Code  Gb  uart.o [3]
+UART1_Recv(void *, unsigned long)
+                         0x800'2f61   0x12  Code  Gb  uart.o [3]
+UART2_BufferRecv        0x2000'05d4  0x104  Data  Lc  uart.o [3]
+UART2_BufferSend        0x2000'06d8  0x104  Data  Lc  uart.o [3]
+UART2_Data              0x2000'0134   0x24  Data  Lc  uart.o [3]
+UART2_Init(unsigned long)
+                         0x800'2dcd   0x3c  Code  Gb  uart.o [3]
+UART2_Recv(void *, unsigned long)
+                         0x800'2f3d   0x12  Code  Gb  uart.o [3]
+UART2_Send(void const *, unsigned long)
+                         0x800'2f4f   0x12  Code  Gb  uart.o [3]
+UART3_BufferRecv        0x2000'03cc  0x104  Data  Lc  uart.o [3]
+UART3_BufferSend        0x2000'04d0  0x104  Data  Lc  uart.o [3]
+UART3_Data              0x2000'0110   0x24  Data  Lc  uart.o [3]
+UART3_Init(unsigned long)
+                         0x800'2d91   0x3c  Code  Gb  uart.o [3]
+UART3_Recv(void *, unsigned long)
+                         0x800'2f2b   0x12  Code  Gb  uart.o [3]
+UART4_IRQHandler         0x800'6ae5         Code  Wk  startup_stm32g431xx.o [1]
+UCPD1_IRQHandler         0x800'6b01         Code  Wk  startup_stm32g431xx.o [1]
+USART1_IRQHandler        0x800'2d5d    0xa  Code  Gb  uart.o [3]
+USART2_IRQHandler        0x800'2d53    0xa  Code  Gb  uart.o [3]
+USART3_IRQHandler        0x800'2d49    0xa  Code  Gb  uart.o [3]
+USBWakeUp_IRQHandler     0x800'6ac9         Code  Wk  startup_stm32g431xx.o [1]
+USB_HP_IRQHandler        0x800'6a81         Code  Wk  startup_stm32g431xx.o [1]
+USB_LP_IRQHandler        0x800'6a85         Code  Wk  startup_stm32g431xx.o [1]
+UsageFault_Handler       0x800'6a29         Code  Wk  startup_stm32g431xx.o [1]
+WWDG_IRQHandler          0x800'6a39         Code  Wk  startup_stm32g431xx.o [1]
+WorkAccGyroMag(Vec3, Vec3, Vec3, float, float)
+                         0x800'3d45  0x124  Code  Gb  quat.o [4]
+WorkAccGyroMag(Vec3, Vec3, Vec3, float, float)::error
+                        0x2000'1384    0x4  Data  Lc  quat.o [4]
+[local to bar_cpp]::BAR_SetReg(unsigned char, unsigned char)
+                         0x800'0d79   0x1e  Code  Lc  bar.o [2]
+[local to eep_cpp]::Rev16(short)
+                         0x800'2999    0x6  Code  Lc  eep.o [2]
+[local to flow_cpp]::WriteReg(char, char)
+                         0x800'1735   0x20  Code  Lc  flow.o [2]
+[local to gps_cpp]::GPS_CallBack_GSV(GPS_PROTO, void *)
+                         0x800'1f21  0x4b8  Code  Lc  gps.o [2]
+[local to i2c_cpp]::EV_IRQHandler(I2C_Data &)
+                         0x800'4231  0x1a4  Code  Lc  i2c.o [3]
+[local to i2c_cpp]::Init(I2C_TypeDef *, IRQn_Type)
+                         0x800'43ed   0x2a  Code  Lc  i2c.o [3]
+[local to i2c_cpp]::Read(I2C_TypeDef *, unsigned char, unsigned char *, unsigned char)
+                         0x800'4465   0x46  Code  Lc  i2c.o [3]
+[local to i2c_cpp]::Stop(I2C_TypeDef *)
+                         0x800'4449   0x1c  Code  Lc  i2c.o [3]
+[local to i2c_cpp]::Write(I2C_TypeDef *, unsigned char, unsigned char const *, unsigned char)
+                         0x800'44ad   0x5a  Code  Lc  i2c.o [3]
+[local to i2c_cpp]::__NVIC_EnableIRQ(IRQn_Type)
+                         0x800'41e1   0x20  Code  Lc  i2c.o [3]
+[local to i2c_cpp]::__NVIC_SetPriority(IRQn_Type, unsigned int)
+                         0x800'4201   0x30  Code  Lc  i2c.o [3]
+[local to ibus_cpp]::Parse(IBUS_Data &, char)
+                         0x800'2b4d   0xe0  Code  Lc  ibus.o [2]
+[local to imu_cpp]::IMU_GetReg(unsigned char)
+                         0x800'0ec1   0x20  Code  Lc  imu.o [2]
+[local to imu_cpp]::IMU_SetReg(unsigned char, unsigned char)
+                         0x800'0ea3   0x1e  Code  Lc  imu.o [2]
+[local to imu_cpp]::Rev16(short)
+                         0x800'0e9d    0x6  Code  Lc  imu.o [2]
+[local to ori_cpp]::GetPos(ORI_Data &)
+                         0x800'1335   0x6e  Code  Lc  ori.o [2]
+[local to ori_cpp]::MegaFilterAcc(ORI_Data &)
+                         0x800'11e9  0x13c  Code  Lc  ori.o [2]
+[local to ori_cpp]::MegaFilterAlt(long, float, float &, float &)
+                         0x800'1089  0x15e  Code  Lc  ori.o [2]
+[local to ori_cpp]::NormalizeAcc(short &, short &, short &, short)
+                         0x800'13a3   0xb6  Code  Lc  ori.o [2]
+[local to pid_cpp]::Saturation(float, float, float)
+                         0x800'1b3d   0x1e  Code  Lc  pid.o [4]
+[local to prot_cpp]::CategoriesParameters(PayloadCategoriesParameters *)
+                         0x800'3865   0x84  Code  Lc  prot.o [4]
+[local to prot_cpp]::ConnectionTest()
+                         0x800'3733   0x22  Code  Lc  prot.o [4]
+[local to prot_cpp]::CountMenuCategories()
+                         0x800'3779   0x3c  Code  Lc  prot.o [4]
+[local to prot_cpp]::MenuCategories(PayloadMenuCategories *)
+                         0x800'37b5   0xb0  Code  Lc  prot.o [4]
+[local to prot_cpp]::ProcessingCommand(CommandObj *)
+                         0x800'36af   0x84  Code  Lc  prot.o [4]
+[local to prot_cpp]::ProcessingCommandChangeNav(PayloadCommandChangeNav *)
+                         0x800'35e1   0x24  Code  Lc  prot.o [4]
+[local to prot_cpp]::ProcessingCommandChangeSpeed(PayloadCommandChangeSpeed *)
+                         0x800'35c3   0x1e  Code  Lc  prot.o [4]
+[local to prot_cpp]::ProcessingCommandContinue()
+                         0x800'3559   0x1c  Code  Lc  prot.o [4]
+[local to prot_cpp]::ProcessingCommandGoHome()
+                         0x800'353d   0x1c  Code  Lc  prot.o [4]
+[local to prot_cpp]::ProcessingCommandGoToGlobal(PayloadCommandGoToGlobal *)
+                         0x800'3605   0x5a  Code  Lc  prot.o [4]
+[local to prot_cpp]::ProcessingCommandGoToLocal(PayloadCommandGoToLocal *)
+                         0x800'3665   0x1e  Code  Lc  prot.o [4]
+[local to prot_cpp]::ProcessingCommandLand()
+                         0x800'34fd   0x24  Code  Lc  prot.o [4]
+[local to prot_cpp]::ProcessingCommandPause()
+                         0x800'3521   0x1c  Code  Lc  prot.o [4]
+[local to prot_cpp]::ProcessingCommandSetParameter(PayloadCommandSetParameter *)
+                         0x800'3683   0x2c  Code  Lc  prot.o [4]
+[local to prot_cpp]::ProcessingCommandStartEngine()
+                         0x800'3575   0x2a  Code  Lc  prot.o [4]
+[local to prot_cpp]::ProcessingCommandStopEngine()
+                         0x800'359f   0x24  Code  Lc  prot.o [4]
+[local to prot_cpp]::ProcessingMessage(HeaderMessages *)
+                         0x800'394d   0x94  Code  Lc  prot.o [4]
+[local to prot_cpp]::StatusCommand(PayloadStatusCommand *)
+                         0x800'3755   0x24  Code  Lc  prot.o [4]
+[local to pwm_cpp]::InitTIM(TIM_TypeDef *, unsigned long, unsigned long)
+                         0x800'24cd   0x4a  Code  Lc  pwm.o [3]
+[local to pwm_cpp]::Mid(unsigned short, unsigned short, unsigned short)
+                         0x800'249d   0x30  Code  Lc  pwm.o [3]
+[local to pwm_cpp]::Stop()
+                         0x800'256b   0x20  Code  Lc  pwm.o [3]
+[local to quat_cpp]::GyroQuaternion(Quaternion &, float, float, float)
+                         0x800'3bfb   0x98  Code  Lc  quat.o [4]
+[local to quat_cpp]::backRotateVectorByQuaternion(Quaternion const &, Vec3 const &)
+                         0x800'3b67   0x94  Code  Lc  quat.o [4]
+[local to quat_cpp]::quaternionMultiply(Quaternion const &, Quaternion const &)
+                         0x800'3a01   0xe2  Code  Lc  quat.o [4]
+[local to quat_cpp]::quaternionToPitchRollYaw(Quaternion const &, Vec3 &)
+                         0x800'3c95   0xb0  Code  Lc  quat.o [4]
+[local to quat_cpp]::rotateVectorByQuaternion(Quaternion const &, Vec3 const &)
+                         0x800'3ae3   0x84  Code  Lc  quat.o [4]
+[local to servo_cpp]::InitTIM16(TIM_TypeDef *, unsigned long, unsigned long)
+                         0x800'2ff5   0x4a  Code  Lc  servo.o [3]
+[local to spi_cpp]::CS_IMU(bool)
+                         0x800'47f1   0x26  Code  Lc  spi.o [3]
+[local to spi_cpp]::Init(SPI_TypeDef *)
+                         0x800'473d   0x16  Code  Lc  spi.o [3]
+[local to spi_cpp]::Trans(SPI_TypeDef *, void const *, void *, unsigned long)
+                         0x800'4791   0x5e  Code  Lc  spi.o [3]
+[local to tick_cpp]::__NVIC_SetPriority(IRQn_Type, unsigned int)
+                         0x800'2abd   0x2c  Code  Lc  tick.o [3]
+[local to tim_cpp]::__NVIC_EnableIRQ(IRQn_Type)
+                         0x800'29d9   0x1e  Code  Lc  tim.o [3]
+[local to tim_cpp]::__NVIC_SetPriority(IRQn_Type, unsigned int)
+                         0x800'29f7   0x2c  Code  Lc  tim.o [3]
+[local to uart_cpp]::IRQHandler(UART_Data &)
+                         0x800'2cdd   0x6c  Code  Lc  uart.o [3]
+[local to uart_cpp]::Init(USART_TypeDef *, unsigned long, unsigned long)
+                         0x800'2d71   0x20  Code  Lc  uart.o [3]
+[local to uart_cpp]::Recv(UART_Data &, void *, unsigned long)
+                         0x800'2e83   0x56  Code  Lc  uart.o [3]
+[local to uart_cpp]::Send(UART_Data &, void const *, unsigned long)
+                         0x800'2ed9   0x52  Code  Lc  uart.o [3]
+[local to uart_cpp]::__NVIC_EnableIRQ(IRQn_Type)
+                         0x800'2c91   0x20  Code  Lc  uart.o [3]
+[local to uart_cpp]::__NVIC_SetPriority(IRQn_Type, unsigned int)
+                         0x800'2cb1   0x2c  Code  Lc  uart.o [3]
+_LocaleC_isalpha         0x800'637b    0xc  Code  Gb  xlocale_c.o [5]
+_LocaleC_islower         0x800'6375    0x4  Code  Gb  xlocale_c.o [5]
+_LocaleC_isspace         0x800'6391   0x14  Code  Gb  xlocale_c.o [5]
+_LocaleC_isupper         0x800'6379    0x2  Code  Gb  xlocale_c.o [5]
+_LocaleC_tolower         0x800'63a5    0xc  Code  Gb  xlocale_c.o [5]
+_Locale_lconv           0x2000'0048   0x38  Data  Lc  xlocale_c.o [5]
+__aeabi_d2f              0x800'4b25         Code  Gb  DblToFlt.o [6]
+__aeabi_dadd             0x800'48c5         Code  Gb  DblAddSub.o [6]
+__aeabi_ddiv             0x800'5105         Code  Gb  DblDiv.o [6]
+__aeabi_dmul             0x800'63d5         Code  Gb  DblMul.o [6]
+__aeabi_dsub             0x800'4a41         Code  Gb  DblAddSub.o [6]
+__aeabi_f2d              0x800'5525         Code  Gb  FltToDbl.o [6]
+__aeabi_f2ulz            0x800'54ed         Code  Gb  FltToU64.o [6]
+__aeabi_i2d              0x800'50d1         Code  Gb  S32ToDbl.o [6]
+__aeabi_memclr4          0x800'551d         Code  Gb  ABImemclr4.o [7]
+__aeabi_memcpy           0x800'0fd5         Code  Gb  ABImemcpy.o [7]
+__aeabi_memcpy4          0x800'0ff5         Code  Gb  ABImemcpy.o [7]
+__aeabi_memcpy8          0x800'0ff5         Code  Gb  ABImemcpy.o [7]
+__aeabi_memset           0x800'5485         Code  Gb  ABImemset.o [7]
+__call_ctors             0x800'68ad   0x18  Code  Gb  cppinit.o [5]
+__cmain                  0x800'68c5         Code  Gb  cmain.o [7]
+__exit                   0x800'68f9         Code  Gb  XXexit.o [7]
+__iar_Exp32              0x800'571d  0x1ac  Code  Gb  iar_Exp32.o [6]
+__iar_Memchr             0x800'61fd         Code  Gb  memchr.o [7]
+__iar_Memset             0x800'5485         Code  Gb  ABImemset.o [7]
+__iar_Memset4_word       0x800'6255         Code  Gb  ABImemset48.o [7]
+__iar_Memset8_word       0x800'6255         Code  Gb  ABImemset48.o [7]
+__iar_Memset_word        0x800'548d         Code  Gb  ABImemset.o [7]
+__iar_Sin32              0x800'4b8d  0x18c  Code  Lc  cos_sin32.o [6]
+__iar_Sto                0x800'61e1    0x4  Code  Lc  strto64.o [6]
+__iar_Sto32              0x800'4fa9   0xec  Code  Gb  strto32.o [6]
+__iar_Sto64              0x800'6069  0x140  Code  Gb  strto64.o [6]
+__iar_Stoflt             0x800'5ac5  0x1b8  Code  Gb  iar_Stoflt.o [5]
+__iar_Stolx              0x800'4dc5   0x8c  Code  Gb  iar_Stolx.o [5]
+__iar_Stopfx             0x800'59a1  0x122  Code  Gb  iar_Stopfx.o [5]
+__iar_Stoulx             0x800'534d  0x12a  Code  Gb  iar_Stoulx.o [5]
+__iar_Stoxflt            0x800'5c7d  0x1d8  Code  Gb  iar_Stoxflt.o [5]
+__iar_Stoxflt::digits    0x800'5e58   0x18  Data  Lc  iar_Stoxflt.o [5]
+__iar_Stoxflt::vals      0x800'5e70   0x18  Data  Lc  iar_Stoxflt.o [5]
+__iar_atan2_32           0x800'55e9         Code  Gb  atan2f.o [6]
+__iar_atan32             0x800'632d         Code  Gb  atanf.o [6]
+__iar_copy_init3         0x800'0f9b   0x2a  Code  Gb  copy_init3.o [7]
+__iar_cos32              0x800'4d59    0x4  Code  Gb  cos_sin32.o [6]
+__iar_cos_medium32       0x800'4d59    0x4  Code  Gb  cos_sin32.o [6]
+__iar_cos_mediumf        0x800'4d59    0x4  Code  Gb  cos_sin32.o [6]
+__iar_cstart_call_ctors
+                         0x800'688d   0x20  Code  Gb  cmain_call_ctors.o [7]
+__iar_data_init3         0x800'6819   0x28  Code  Gb  data_init.o [7]
+__iar_frexp              0x800'658d         Code  Gb  frexp.o [6]
+__iar_frexp32            0x800'56d5         Code  Gb  frexpf.o [6]
+__iar_frexpf             0x800'56e9         Code  Gb  frexpf.o [6]
+__iar_frexpl             0x800'658d         Code  Gb  frexp.o [6]
+__iar_globLocale        0x2000'0000   0x48  Data  Lc  xlocale_c.o [5]
+__iar_global_Locale      0x800'63b1    0x4  Code  Gb  xlocale_c.o [5]
+__iar_init_vfp           0x800'6841         Code  Gb  fpinit_M.o [6]
+__iar_ldexp32            0x800'58dd         Code  Gb  ldexpf.o [6]
+__iar_ldexp64            0x800'65f1         Code  Gb  ldexp.o [6]
+__iar_pow32              0x800'3eb5  0x2f0  Code  Gb  pow32.o [6]
+__iar_pow_medium32       0x800'3eb5  0x2f0  Code  Gb  pow32.o [6]
+__iar_pow_mediumf        0x800'3eb5  0x2f0  Code  Gb  pow32.o [6]
+__iar_program_start      0x800'6905         Code  Gb  cstartup_M.o [7]
+__iar_scalbln32          0x800'58dd         Code  Gb  ldexpf.o [6]
+__iar_scalbln64          0x800'65f1         Code  Gb  ldexp.o [6]
+__iar_scalbn32           0x800'58dd         Code  Gb  ldexpf.o [6]
+__iar_scalbn64           0x800'65f1         Code  Gb  ldexp.o [6]
+__iar_softfp___iar_frexp64
+                         0x800'6581         Code  Gb  frexp.o [6]
+__iar_softfp_frexp       0x800'6581         Code  Gb  frexp.o [6]
+__iar_softfp_frexpl      0x800'6581         Code  Gb  frexp.o [6]
+__iar_sqrt32             0x800'4891         Code  Gb  sqrtf.o [6]
+__iar_tls$$INIT_ARRAY$$Base
+                         0x800'6a00          --   Gb  - Linker created -
+__iar_tls$$INIT_ARRAY$$Limit
+                         0x800'6a00          --   Gb  - Linker created -
+__iar_vfp_strtod         0x800'50fb    0x8  Code  Gb  math_wrappers64.o [6]
+__iar_xatanf             0x800'6289         Code  Gb  xatanf.o [6]
+__iar_zero_init3         0x800'67e1   0x38  Code  Gb  zero_init3.o [7]
+__low_level_init         0x800'68e3    0x4  Code  Gb  low_level_init.o [5]
+__sti__routine           0x800'1be9    0xc  Code  Lc  gps.o [2]
+__sti__routine           0x800'107d    0xc  Code  Lc  ori.o [2]
+__vector_table           0x800'0000         Data  Gb  startup_stm32g431xx.o [1]
+_call_main               0x800'68d1         Code  Gb  cmain.o [7]
+_exit                    0x800'68ed         Code  Gb  cexit.o [7]
+atan2f                   0x800'55e9         Code  Gb  atan2f.o [6]
+atanf                    0x800'632d         Code  Gb  atanf.o [6]
+bar_ready               0x2000'13b6    0x1  Data  Gb  main.o [1]
+cosf                     0x800'4d59    0x4  Code  Gb  cos_sin32.o [6]
+digits                   0x800'6754   0x28  Data  Lc  iar_Stoulx.o [5]
+exit                     0x800'68e7    0x4  Code  Gb  exit.o [5]
+frexpf                   0x800'56d5         Code  Gb  frexpf.o [6]
+imu_ready               0x2000'13b5    0x1  Data  Gb  main.o [1]
+isalpha                  0x800'63c1   0x14  Code  Gb  isalpha.o [5]
+isspace                  0x800'58c9   0x14  Code  Gb  isspace.o [5]
+ldexp                    0x800'65f1         Code  Gb  ldexp.o [6]
+ldexpf                   0x800'58dd         Code  Gb  ldexpf.o [6]
+ldexpl                   0x800'65f1         Code  Gb  ldexp.o [6]
+localeconv               0x800'63b5    0x4  Code  Gb  xlocale_c.o [5]
+mag_ready               0x2000'13b7    0x1  Data  Gb  main.o [1]
+main                     0x800'0a61  0x1f8  Code  Gb  main.o [1]
+main::ServoClose        0x2000'0232    0x2  Data  Lc  main.o [1]
+main::ServoOpen         0x2000'0230    0x2  Data  Lc  main.o [1]
+main{2}::Fixed          0x2000'1320    0x4  Data  Lc  main.o [1]
+main{2}::joy_tick       0x2000'1318    0x4  Data  Lc  main.o [1]
+main{2}::led            0x2000'13bb    0x1  Data  Lc  main.o [1]
+main{2}::led_tick       0x2000'131c    0x4  Data  Lc  main.o [1]
+main{2}::log_tick       0x2000'1324    0x4  Data  Lc  main.o [1]
+main{2}::static guard for joy_tick
+                        0x2000'13ba    0x1  Data  Lc  main.o [1]
+memchr                   0x800'61fd         Code  Gb  memchr.o [7]
+memcmp                   0x800'4d5d         Code  Gb  memcmp.o [7]
+ndigs                    0x800'672c   0x28  Data  Lc  iar_Stoulx.o [5]
+normalizeQuaternion(Quaternion &)
+                         0x800'556d   0x7c  Code  Wk  quat.o [4]
+period                   0x800'6a14    0x4  Data  Lc  quat.o [4]
+powf                     0x800'3eb5  0x2f0  Code  Gb  pow32.o [6]
+pows                     0x800'50b8   0x18  Data  Lc  strto32.o [6]
+pows                     0x800'6798   0x48  Data  Lc  strto64.o [6]
+qCurrent                0x2000'01ec   0x10  Data  Lc  quat.o [4]
+scalbln                  0x800'65f1         Code  Gb  ldexp.o [6]
+scalblnf                 0x800'58dd         Code  Gb  ldexpf.o [6]
+scalblnl                 0x800'65f1         Code  Gb  ldexp.o [6]
+scalbn                   0x800'65f1         Code  Gb  ldexp.o [6]
+scalbnf                  0x800'58dd         Code  Gb  ldexpf.o [6]
+scalbnl                  0x800'65f1         Code  Gb  ldexp.o [6]
+sqrtf                    0x800'4891         Code  Gb  sqrtf.o [6]
+strtod                   0x800'61e5    0x4  Code  Gb  strto64.o [6]
+strtof                   0x800'50b1    0x6  Code  Gb  strto32.o [6]
+strtol                   0x800'4e51    0x4  Code  Gb  iar_Stolx.o [5]
+strtold                  0x800'61e5    0x4  Code  Gb  strto64.o [6]
+strtoul                  0x800'547d    0x2  Code  Gb  iar_Stoulx.o [5]
+test_p                  0x2000'13a0    0x2  Data  Gb  main.o [1]
+test_r                  0x2000'13a2    0x2  Data  Gb  main.o [1]
+tolower                  0x800'61e9   0x14  Code  Gb  tolower.o [5]
+
+
+[1] = D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\Obj
+[2] = D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\Obj\dev_16932516800620494331.dir
+[3] = D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\Obj\drv_9119342922082540178.dir
+[4] = D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\Obj\utils_199339518998427007.dir
+[5] = dl7M_tlf.a
+[6] = m7M_tls.a
+[7] = rt7M_tl.a
+
+  27'011 bytes of readonly  code memory
+   1'001 bytes of readonly  data memory
+   7'102 bytes of readwrite data memory
+
+Errors: none
+Warnings: none
diff --git a/Debug/Obj/dev_16932516800620494331.dir/bar.o b/Debug/Obj/dev_16932516800620494331.dir/bar.o
new file mode 100644
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diff --git a/Debug/Obj/dev_16932516800620494331.dir/mag.o b/Debug/Obj/dev_16932516800620494331.dir/mag.o
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diff --git a/Debug/Obj/dev_16932516800620494331.dir/tof.o b/Debug/Obj/dev_16932516800620494331.dir/tof.o
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diff --git a/Debug/Obj/drv_9119342922082540178.dir/gpio.o b/Debug/Obj/drv_9119342922082540178.dir/gpio.o
new file mode 100644
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diff --git a/Debug/Obj/drv_9119342922082540178.dir/iwdg.o b/Debug/Obj/drv_9119342922082540178.dir/iwdg.o
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diff --git a/Debug/Obj/drv_9119342922082540178.dir/pwm.o b/Debug/Obj/drv_9119342922082540178.dir/pwm.o
new file mode 100644
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diff --git a/Debug/Obj/drv_9119342922082540178.dir/servo.o b/Debug/Obj/drv_9119342922082540178.dir/servo.o
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diff --git a/Debug/Obj/drv_9119342922082540178.dir/uart.o b/Debug/Obj/drv_9119342922082540178.dir/uart.o
new file mode 100644
index 0000000000000000000000000000000000000000..80ebd3e837b313743f7627ff84bc13f7c03884df
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diff --git a/Debug/Obj/utils_199339518998427007.dir/pid.o b/Debug/Obj/utils_199339518998427007.dir/pid.o
new file mode 100644
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diff --git a/Fly.ewp b/Fly.ewp
new file mode 100644
index 0000000..111a97b
--- /dev/null
+++ b/Fly.ewp
@@ -0,0 +1,2683 @@
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diff --git a/Fly.ewt b/Fly.ewt
new file mode 100644
index 0000000..e4d0d7b
--- /dev/null
+++ b/Fly.ewt
@@ -0,0 +1,3142 @@
+
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+                
+            
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+            RuntimeChecking
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+                2
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+                
+                
+                
+            
+        
+    
+    
+        dev
+        
+            $PROJ_DIR$\dev\bar.cpp
+        
+        
+            $PROJ_DIR$\dev\bar.h
+        
+        
+            $PROJ_DIR$\dev\com.cpp
+        
+        
+            $PROJ_DIR$\dev\com.h
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+        
+            $PROJ_DIR$\dev\eep.cpp
+        
+        
+            $PROJ_DIR$\dev\eep.h
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+        
+            $PROJ_DIR$\dev\flow.cpp
+        
+        
+            $PROJ_DIR$\dev\flow.h
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+        
+            $PROJ_DIR$\dev\gps.cpp
+        
+        
+            $PROJ_DIR$\dev\gps.h
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+            $PROJ_DIR$\dev\ibus.cpp
+        
+        
+            $PROJ_DIR$\dev\ibus.h
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+        
+            $PROJ_DIR$\dev\imu.cpp
+        
+        
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+        
+            $PROJ_DIR$\dev\led.cpp
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+        
+            $PROJ_DIR$\dev\led.h
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+        
+            $PROJ_DIR$\dev\mag.cpp
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+        
+            $PROJ_DIR$\dev\mag.h
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+        
+            $PROJ_DIR$\dev\ori.cpp
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+            $PROJ_DIR$\dev\tof.cpp
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+        
+            $PROJ_DIR$\dev\tof.h
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+    
+    
+        drv
+        
+            $PROJ_DIR$\drv\gpio.cpp
+        
+        
+            $PROJ_DIR$\drv\gpio.h
+        
+        
+            $PROJ_DIR$\drv\i2c.cpp
+        
+        
+            $PROJ_DIR$\drv\i2c.h
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+        
+            $PROJ_DIR$\drv\iwdg.cpp
+        
+        
+            $PROJ_DIR$\drv\iwdg.h
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+        
+            $PROJ_DIR$\drv\pwm.cpp
+        
+        
+            $PROJ_DIR$\drv\pwm.h
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+        
+            $PROJ_DIR$\drv\servo.cpp
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+        
+            $PROJ_DIR$\drv\servo.h
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+        
+            $PROJ_DIR$\drv\spi.cpp
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+        
+            $PROJ_DIR$\drv\spi.h
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+        
+            $PROJ_DIR$\drv\tick.cpp
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+        
+            $PROJ_DIR$\drv\tick.h
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+        
+            $PROJ_DIR$\drv\tim.cpp
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+        
+            $PROJ_DIR$\drv\tim.h
+        
+        
+            $PROJ_DIR$\drv\uart.cpp
+        
+        
+            $PROJ_DIR$\drv\uart.h
+        
+    
+    
+        utils
+        
+            $PROJ_DIR$\utils\filt.cpp
+        
+        
+            $PROJ_DIR$\utils\filt.h
+        
+        
+            $PROJ_DIR$\utils\med.cpp
+        
+        
+            $PROJ_DIR$\utils\med.h
+        
+        
+            $PROJ_DIR$\utils\med2.cpp
+        
+        
+            $PROJ_DIR$\utils\med2.h
+        
+        
+            $PROJ_DIR$\utils\mot.cpp
+        
+        
+            $PROJ_DIR$\utils\mot.h
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+        
+            $PROJ_DIR$\utils\move.cpp
+        
+        
+            $PROJ_DIR$\utils\move.h
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+        
+            $PROJ_DIR$\utils\pid.cpp
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+        
+            $PROJ_DIR$\utils\pid.h
+        
+        
+            $PROJ_DIR$\utils\prot.cpp
+        
+        
+            $PROJ_DIR$\utils\prot.h
+        
+        
+            $PROJ_DIR$\utils\prot_head.h
+        
+        
+            $PROJ_DIR$\utils\quat.cpp
+        
+        
+            $PROJ_DIR$\utils\quat.h
+        
+    
+    
+        $PROJ_DIR$\main.cpp
+    
+    
+        $PROJ_DIR$\startup_stm32g431xx.s
+    
+    
+        $PROJ_DIR$\stm32g431xx.h
+    
+    
+        $PROJ_DIR$\stm32g431xx_flash.icf
+    
+    
+        $PROJ_DIR$\stm32g431xx_sram.icf
+    
+    
+        $PROJ_DIR$\system_stm32g4xx.c
+        
+            Debug
+        
+    
+    
+        $PROJ_DIR$\system_stm32g4xx.h
+    
+
diff --git a/Fly.eww b/Fly.eww
new file mode 100644
index 0000000..cdaf474
--- /dev/null
+++ b/Fly.eww
@@ -0,0 +1,7 @@
+
+
+    
+        $WS_DIR$\Fly.ewp
+    
+    
+
diff --git a/Graph/Filter/FilterGPS.sln b/Graph/Filter/FilterGPS.sln
new file mode 100644
index 0000000..9cfee17
--- /dev/null
+++ b/Graph/Filter/FilterGPS.sln
@@ -0,0 +1,20 @@
+
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Visual Studio 2010
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HexapodControl", "HexapodControl\HexapodControl.vcxproj", "{5E2A1E52-680F-4834-9D61-9CB14992F2E6}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Win32 = Debug|Win32
+		Release|Win32 = Release|Win32
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{5E2A1E52-680F-4834-9D61-9CB14992F2E6}.Debug|Win32.ActiveCfg = Debug|Win32
+		{5E2A1E52-680F-4834-9D61-9CB14992F2E6}.Debug|Win32.Build.0 = Debug|Win32
+		{5E2A1E52-680F-4834-9D61-9CB14992F2E6}.Release|Win32.ActiveCfg = Release|Win32
+		{5E2A1E52-680F-4834-9D61-9CB14992F2E6}.Release|Win32.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal
diff --git a/Graph/Filter/HexapodControl.suo b/Graph/Filter/HexapodControl.suo
new file mode 100644
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HcmV?d00001

diff --git a/Graph/Filter/HexapodControl/AssemblyInfo.cpp b/Graph/Filter/HexapodControl/AssemblyInfo.cpp
new file mode 100644
index 0000000..44e1909
--- /dev/null
+++ b/Graph/Filter/HexapodControl/AssemblyInfo.cpp
@@ -0,0 +1,40 @@
+#include "stdafx.h"
+
+using namespace System;
+using namespace System::Reflection;
+using namespace System::Runtime::CompilerServices;
+using namespace System::Runtime::InteropServices;
+using namespace System::Security::Permissions;
+
+//
+// General Information about an assembly is controlled through the following
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+//
+[assembly:AssemblyTitleAttribute("FilterGPS")];
+[assembly:AssemblyDescriptionAttribute("")];
+[assembly:AssemblyConfigurationAttribute("")];
+[assembly:AssemblyCompanyAttribute("Microsoft")];
+[assembly:AssemblyProductAttribute("FilterGPS")];
+[assembly:AssemblyCopyrightAttribute("Copyright (c) Microsoft 2024")];
+[assembly:AssemblyTrademarkAttribute("")];
+[assembly:AssemblyCultureAttribute("")];
+
+//
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version
+//      Build Number
+//      Revision
+//
+// You can specify all the value or you can default the Revision and Build Numbers
+// by using the '*' as shown below:
+
+[assembly:AssemblyVersionAttribute("1.0.*")];
+
+[assembly:ComVisible(false)];
+
+[assembly:CLSCompliantAttribute(true)];
+
+[assembly:SecurityPermission(SecurityAction::RequestMinimum, UnmanagedCode = true)];
diff --git a/Graph/Filter/HexapodControl/Filter.h b/Graph/Filter/HexapodControl/Filter.h
new file mode 100644
index 0000000..76db0fd
--- /dev/null
+++ b/Graph/Filter/HexapodControl/Filter.h
@@ -0,0 +1,53 @@
+#pragma once
+class Filter
+{
+  public:
+
+    float Freq;
+
+    struct
+    {
+      float Value;
+      //---
+      float Min, Max;
+      //---
+      bool EnAcc;
+      float Acc;
+      //---
+      bool EnGPS;
+      float Width, Length;
+      //---
+    }Position;
+
+    
+
+    struct
+    {
+      float ValueAccGPS;
+      float ValueGPS;
+      float Value;
+      //---
+      float Min, Max;
+      //---
+      bool EnAcc;
+      float Acc;
+      float AccGPS;
+      //---
+      bool EnGPS;
+      float Width, Length;
+    }Speed;
+
+    struct
+    {
+      float Pos[100];
+      float Acc[100];
+      float Spd[100];
+      long Size, Index;
+    }Delay;
+
+    float* Update(bool valid, float gps, float acc);
+
+    float Limit(float Value, float Min, float Max);
+    float Minimum(float Value1, float Value2);
+
+};
diff --git a/Graph/Filter/HexapodControl/Form1.h b/Graph/Filter/HexapodControl/Form1.h
new file mode 100644
index 0000000..cf3f8d7
--- /dev/null
+++ b/Graph/Filter/HexapodControl/Form1.h
@@ -0,0 +1,1752 @@
+#pragma once
+#include 
+#include 
+#include 
+#include 
+
+#include "Filter.h"
+
+float Filter::Limit(float Value, float Min, float Max)
+{
+	if (Value > Max) return Max;
+	if (Value < Min) return Min;
+	return Value;
+}
+
+float Filter::Minimum(float Value1, float Value2)
+{
+	if (Value1 < Value2) return Value1;
+	return Value2;
+}
+
+float* Filter::Update(bool valid, float gps, float acc)
+{
+	const float ga = 9.80665;
+
+	Delay.Acc[Delay.Index] = acc;
+	Delay.Pos[Delay.Index] = Position.Value;
+	Delay.Spd[Delay.Index++] = Speed.Value;
+	if (Delay.Index >= Delay.Size) Delay.Index = 0;
+
+	float prev = Delay.Acc[Delay.Index];
+	float shift = gps - Delay.Pos[Delay.Index];
+
+	float coef_a = 1;
+	if (Position.EnAcc) coef_a = Position.Acc / fabsf(prev);
+	float coef_p = 1;
+	if (Position.EnGPS) coef_p = powf(fabsf(shift * Position.Length), Position.Width);
+
+	float coef1 = Minimum(coef_a, coef_p);
+	coef1 = Limit(coef1, Position.Min, Position.Max);
+
+	
+
+	static int count = 0;
+	static float last = gps, acc_gps = 0;
+	count++;
+	if (valid)
+	{
+		Speed.ValueGPS = (gps - last) * Freq / count;
+		last = gps;
+		Speed.ValueAccGPS= (Speed.ValueGPS- acc_gps) * Freq / count;
+		acc_gps = Speed.ValueGPS;
+		count = 0;
+	}
+
+	for (int a = 0; a < Delay.Size; a++) Delay.Pos[a] += shift * coef1;
+	Position.Value += shift * coef1 + (Speed.Value / Freq) * (1 - coef1);
+
+	// SPEED
+
+	shift = Speed.ValueGPS - Delay.Spd[Delay.Index];
+
+	coef_a = 1;
+	if (Speed.EnAcc) coef_a = Speed.Acc / fabsf(prev);
+	float coef_g = 1;
+	if (Speed.EnAcc) coef_g = Speed.AccGPS / fabsf(Speed.ValueAccGPS);
+	float coef_s = 1;
+	if (Speed.EnGPS) coef_s = powf(fabsf(shift * Speed.Length), Speed.Width);
+
+	float coef2 = Minimum(coef_a, Minimum(coef_s, coef_g));
+	coef2 = Limit(coef2, Speed.Min, Speed.Max);
+
+	for (int a = 0; a < Delay.Size; a++) Delay.Spd[a] += shift * coef2;
+	Speed.Value += shift * coef2 + (acc * ga / Freq) * (1 - coef2);
+
+	static float coef[2];
+	coef[0] = coef1;
+	coef[1] = coef2;
+
+	return coef;
+}
+
+Filter MainFilter;
+
+HANDLE PortCOM;
+HANDLE FileLOG;
+HANDLE MainThread;
+
+bool OnlineFilter = false;
+
+bool AxeInverse = false;
+
+float PlotsData[6];
+float PlotsCoef[2] = { 0, 0 };
+bool PlotsReady = false;
+
+struct TeleLog
+{
+	float Valid;
+	float PosX, PosY, PosZ;
+	float AccX, AccY, AccZ;
+};
+
+int TeleAxe = 0;
+
+void SaveLogFile(HANDLE file, unsigned char data[28], unsigned long size)
+{
+	TeleLog log;
+	memcpy(&log, data, size);
+
+	if (TeleAxe == 0) { PlotsData[0] = log.PosX; PlotsData[1] = log.AccX; }
+	if (TeleAxe == 1) { PlotsData[0] = log.PosY; PlotsData[1] = log.AccY; }
+	if (TeleAxe == 2) { PlotsData[0] = log.PosZ; PlotsData[1] = log.AccZ; }
+
+	if (AxeInverse) PlotsData[1] = -PlotsData[1];
+
+	PlotsReady = true;
+
+	if (OnlineFilter)
+	{
+		bool valid = log.Valid;
+		float gps = PlotsData[0], acc = PlotsData[1];
+
+		float* coef = MainFilter.Update(valid, gps, acc);
+
+		PlotsCoef[0] = coef[0];
+		PlotsCoef[1] = coef[1];
+
+		PlotsData[3] = MainFilter.Speed.Value;
+		PlotsData[5] = MainFilter.Position.Value;
+	}
+
+	if (!file) return;
+
+	char buf[1024];
+	sprintf(buf, "%d|%f|%f|%f|%f|%f|%f\r\n", (int)log.Valid, log.PosX, log.PosY, log.PosZ, log.AccX, log.AccY, log.AccZ);
+
+	WriteFile(file, buf, strlen(buf), 0, 0);
+}
+
+unsigned long __stdcall RecvThread(void*)
+{
+	long wait = 0;
+
+	private enum class RecvModeEnum : char { Begin, Data };
+
+	bool mode = false;
+
+	unsigned char data[29];
+	unsigned long size;
+
+	unsigned long len;
+
+	while (1)
+	{
+		if (!PortCOM)
+		{
+			CloseHandle(MainThread);
+			CloseHandle(FileLOG);
+			MainThread = 0;
+			return 0;
+		}
+
+		if (wait < GetTickCount()) mode = false;
+
+		if (!mode)
+		{
+			wait = GetTickCount() + 20;
+
+			ReadFile(PortCOM, data, 1, &len, 0);
+			if (!len) continue;
+			if (data[0] == 'Z') mode = true;
+			size = 0;
+		}
+
+		if (mode)
+		{
+			ReadFile(PortCOM, data + size, sizeof(data) - size, &len, 0);
+			if (!len) continue;
+			size += len;
+			if (size < sizeof(data)) continue;
+
+			if (data[28] == 'V') SaveLogFile(FileLOG, data, sizeof(data) - 1);
+
+			mode = false;
+		}
+
+	}
+}
+
+namespace HexapodControl
+{
+
+	using namespace System;
+	using namespace System::ComponentModel;
+	using namespace System::Collections;
+	using namespace System::Windows::Forms;
+	using namespace System::Data;
+	using namespace System::Drawing;
+	using namespace System::IO;
+
+	/// 
        
+	/// Summary for Form1
+	///
+	/// WARNING: If you change the name of this class, you will need to change the
+	///          'Resource File Name' property for the managed resource compiler tool
+	///          associated with all .resx files this class depends on.  Otherwise,
+	///          the designers will not be able to interact properly with localized
+	///          resources associated with this form.
+	/// 
+	public ref class Form1 : public System::Windows::Forms::Form
+	{
+	public:
+		Form1(void)
+		{
+			InitializeComponent();
+			//
+
+		}
+
+	protected:
+		/// 
+		/// Clean up any resources being used.
+		
+		String^ RecordsFolder = "";
+	private: System::Windows::Forms::OpenFileDialog^ openFileDialog_Open;
+	private: System::Windows::Forms::Button^ button_File;
+	private: System::Windows::Forms::GroupBox^ groupBox1;
+	private: System::Windows::Forms::CheckedListBox^ checkedListBox_List;
+	private: System::Windows::Forms::CheckBox^ checkBox_Auto;
+	private: System::Windows::Forms::Label^ label2;
+	private: System::Windows::Forms::Label^ label1;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Graph_MinY;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Track;
+	private: System::Windows::Forms::Label^ label3;
+	private: System::Windows::Forms::Panel^ panel_Opt;
+
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Gain;
+
+	private: System::Windows::Forms::Label^ label4;
+	private: System::Windows::Forms::Button^ button_Gain_Clear;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Shift;
+	private: System::Windows::Forms::Label^ label5;
+	private: System::Windows::Forms::Panel^ panel2;
+	private: System::Windows::Forms::RadioButton^ radioButton_Z;
+	private: System::Windows::Forms::RadioButton^ radioButton_Y;
+	private: System::Windows::Forms::RadioButton^ radioButton_X;
+	private: System::Windows::Forms::Button^ button_Update;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Freq;
+	private: System::Windows::Forms::Label^ label7;
+	private: System::Windows::Forms::Label^ label6;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Move;
+
+	private: System::Windows::Forms::Label^ label8;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Pos_Min;
+
+
+	private: System::Windows::Forms::Label^ label11;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Pos_Max;
+
+
+	private: System::Windows::Forms::Label^ label10;
+	private: System::Windows::Forms::Label^ label9;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Delay;
+
+	private: System::Windows::Forms::Label^ label12;
+	private: System::Windows::Forms::Label^ label14;
+	private: System::Windows::Forms::Label^ label13;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Pos_Acc;
+
+	private: System::Windows::Forms::Label^ label15;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Pos_Width;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Pos_Length;
+
+
+	private: System::Windows::Forms::Label^ label16;
+	private: System::Windows::Forms::Label^ label17;
+	private: System::Windows::Forms::CheckBox^ checkBox_Pos_EnGPS;
+	private: System::Windows::Forms::CheckBox^ checkBox_Pos_EnAcc;
+
+	private: System::Windows::Forms::DataVisualization::Charting::Chart^ chart_Coef;
+	private: System::Windows::Forms::CheckBox^ checkBox_Speed_EnGPS;
+
+	private: System::Windows::Forms::CheckBox^ checkBox_Speed_EnAcc;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Speed_Width;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Speed_Length;
+	private: System::Windows::Forms::Label^ label18;
+	private: System::Windows::Forms::Label^ label19;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Speed_Acc;
+	private: System::Windows::Forms::Label^ label20;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Speed_Max;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Speed_Min;
+	private: System::Windows::Forms::Label^ label21;
+	private: System::Windows::Forms::Label^ label22;
+	private: System::Windows::Forms::Label^ label23;
+	private: System::Windows::Forms::Panel^ panel3;
+	private: System::Windows::Forms::Panel^ panel4;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Speed_AccGPS;
+	private: System::Windows::Forms::Label^ label24;
+	private: System::Windows::Forms::Button^ button_Connect;
+
+	private: System::Windows::Forms::ComboBox^ comboBox_Port;
+	private: System::Windows::Forms::Timer^ timer_Tick;
+	private: System::Windows::Forms::Button^ button_Record;
+	private: System::Windows::Forms::CheckBox^ checkBox_Filter;
+	private: System::Windows::Forms::CheckBox^ checkBox_Inverse;
+	private: System::Windows::Forms::ComboBox^ comboBox_Baud;
+
+
+
+
+
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Graph_MaxY;
+
+	protected:
+
+	protected:
+		/// 
+		~Form1()
+		{
+			if (components)
+			{
+				delete components;
+			}
+		}
+	private: System::Windows::Forms::DataVisualization::Charting::Chart^ chart_Graph;
+	protected:
+
+
+	private: System::Windows::Forms::Panel^ panel1;
+
+
+
+	private: System::Windows::Forms::GroupBox^ groupBox_P1;
+
+
+
+
+
+
+
+	private: System::ComponentModel::IContainer^ components;
+	private:
+		/// 
+		/// Required designer variable.
+		/// 
+
+
+#pragma region Windows Form Designer generated code
+		/// 
+		/// Required method for Designer support - do not modify
+		/// the contents of this method with the code editor.
+		/// 
+		void InitializeComponent(void)
+		{
+			this->components = (gcnew System::ComponentModel::Container());
+			System::Windows::Forms::DataVisualization::Charting::ChartArea^ chartArea1 = (gcnew System::Windows::Forms::DataVisualization::Charting::ChartArea());
+			System::Windows::Forms::DataVisualization::Charting::Legend^ legend1 = (gcnew System::Windows::Forms::DataVisualization::Charting::Legend());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series1 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series2 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series3 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series4 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series5 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series6 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::ChartArea^ chartArea2 = (gcnew System::Windows::Forms::DataVisualization::Charting::ChartArea());
+			System::Windows::Forms::DataVisualization::Charting::Legend^ legend2 = (gcnew System::Windows::Forms::DataVisualization::Charting::Legend());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series7 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series8 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			this->chart_Graph = (gcnew System::Windows::Forms::DataVisualization::Charting::Chart());
+			this->panel1 = (gcnew System::Windows::Forms::Panel());
+			this->panel2 = (gcnew System::Windows::Forms::Panel());
+			this->checkBox_Inverse = (gcnew System::Windows::Forms::CheckBox());
+			this->numericUpDown_Speed_AccGPS = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label24 = (gcnew System::Windows::Forms::Label());
+			this->checkBox_Speed_EnGPS = (gcnew System::Windows::Forms::CheckBox());
+			this->checkBox_Speed_EnAcc = (gcnew System::Windows::Forms::CheckBox());
+			this->numericUpDown_Speed_Width = (gcnew System::Windows::Forms::NumericUpDown());
+			this->numericUpDown_Speed_Length = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label18 = (gcnew System::Windows::Forms::Label());
+			this->label19 = (gcnew System::Windows::Forms::Label());
+			this->numericUpDown_Speed_Acc = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label20 = (gcnew System::Windows::Forms::Label());
+			this->numericUpDown_Speed_Max = (gcnew System::Windows::Forms::NumericUpDown());
+			this->numericUpDown_Speed_Min = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label21 = (gcnew System::Windows::Forms::Label());
+			this->label22 = (gcnew System::Windows::Forms::Label());
+			this->label23 = (gcnew System::Windows::Forms::Label());
+			this->checkBox_Pos_EnGPS = (gcnew System::Windows::Forms::CheckBox());
+			this->checkBox_Pos_EnAcc = (gcnew System::Windows::Forms::CheckBox());
+			this->numericUpDown_Pos_Width = (gcnew System::Windows::Forms::NumericUpDown());
+			this->numericUpDown_Pos_Length = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label16 = (gcnew System::Windows::Forms::Label());
+			this->label17 = (gcnew System::Windows::Forms::Label());
+			this->numericUpDown_Pos_Acc = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label15 = (gcnew System::Windows::Forms::Label());
+			this->numericUpDown_Pos_Max = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label14 = (gcnew System::Windows::Forms::Label());
+			this->numericUpDown_Delay = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label13 = (gcnew System::Windows::Forms::Label());
+			this->label12 = (gcnew System::Windows::Forms::Label());
+			this->numericUpDown_Pos_Min = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label11 = (gcnew System::Windows::Forms::Label());
+			this->label10 = (gcnew System::Windows::Forms::Label());
+			this->label9 = (gcnew System::Windows::Forms::Label());
+			this->numericUpDown_Freq = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label7 = (gcnew System::Windows::Forms::Label());
+			this->label6 = (gcnew System::Windows::Forms::Label());
+			this->button_Update = (gcnew System::Windows::Forms::Button());
+			this->panel3 = (gcnew System::Windows::Forms::Panel());
+			this->comboBox_Baud = (gcnew System::Windows::Forms::ComboBox());
+			this->button_Record = (gcnew System::Windows::Forms::Button());
+			this->checkBox_Filter = (gcnew System::Windows::Forms::CheckBox());
+			this->button_Connect = (gcnew System::Windows::Forms::Button());
+			this->comboBox_Port = (gcnew System::Windows::Forms::ComboBox());
+			this->button_File = (gcnew System::Windows::Forms::Button());
+			this->radioButton_Z = (gcnew System::Windows::Forms::RadioButton());
+			this->radioButton_X = (gcnew System::Windows::Forms::RadioButton());
+			this->radioButton_Y = (gcnew System::Windows::Forms::RadioButton());
+			this->groupBox_P1 = (gcnew System::Windows::Forms::GroupBox());
+			this->chart_Coef = (gcnew System::Windows::Forms::DataVisualization::Charting::Chart());
+			this->openFileDialog_Open = (gcnew System::Windows::Forms::OpenFileDialog());
+			this->groupBox1 = (gcnew System::Windows::Forms::GroupBox());
+			this->panel_Opt = (gcnew System::Windows::Forms::Panel());
+			this->numericUpDown_Move = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label8 = (gcnew System::Windows::Forms::Label());
+			this->numericUpDown_Shift = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label5 = (gcnew System::Windows::Forms::Label());
+			this->button_Gain_Clear = (gcnew System::Windows::Forms::Button());
+			this->numericUpDown_Gain = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label4 = (gcnew System::Windows::Forms::Label());
+			this->panel4 = (gcnew System::Windows::Forms::Panel());
+			this->checkedListBox_List = (gcnew System::Windows::Forms::CheckedListBox());
+			this->checkBox_Auto = (gcnew System::Windows::Forms::CheckBox());
+			this->numericUpDown_Track = (gcnew System::Windows::Forms::NumericUpDown());
+			this->numericUpDown_Graph_MaxY = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label3 = (gcnew System::Windows::Forms::Label());
+			this->numericUpDown_Graph_MinY = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label2 = (gcnew System::Windows::Forms::Label());
+			this->label1 = (gcnew System::Windows::Forms::Label());
+			this->timer_Tick = (gcnew System::Windows::Forms::Timer(this->components));
+			(cli::safe_cast(this->chart_Graph))->BeginInit();
+			this->panel1->SuspendLayout();
+			this->panel2->SuspendLayout();
+			(cli::safe_cast(this->numericUpDown_Speed_AccGPS))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Speed_Width))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Speed_Length))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Speed_Acc))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Speed_Max))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Speed_Min))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Pos_Width))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Pos_Length))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Pos_Acc))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Pos_Max))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Delay))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Pos_Min))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Freq))->BeginInit();
+			this->panel3->SuspendLayout();
+			this->groupBox_P1->SuspendLayout();
+			(cli::safe_cast(this->chart_Coef))->BeginInit();
+			this->groupBox1->SuspendLayout();
+			this->panel_Opt->SuspendLayout();
+			(cli::safe_cast(this->numericUpDown_Move))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Shift))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Gain))->BeginInit();
+			this->panel4->SuspendLayout();
+			(cli::safe_cast(this->numericUpDown_Track))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Graph_MaxY))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Graph_MinY))->BeginInit();
+			this->SuspendLayout();
+			// 
+			// chart_Graph
+			// 
+			chartArea1->AxisY->Interval = 1;
+			chartArea1->Name = L"ChartArea1";
+			this->chart_Graph->ChartAreas->Add(chartArea1);
+			this->chart_Graph->Dock = System::Windows::Forms::DockStyle::Fill;
+			legend1->Name = L"Legend1";
+			this->chart_Graph->Legends->Add(legend1);
+			this->chart_Graph->Location = System::Drawing::Point(3, 16);
+			this->chart_Graph->Name = L"chart_Graph";
+			series1->ChartArea = L"ChartArea1";
+			series1->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series1->Color = System::Drawing::Color::Blue;
+			series1->Legend = L"Legend1";
+			series1->Name = L"GPS";
+			series1->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series1->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series2->ChartArea = L"ChartArea1";
+			series2->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series2->Color = System::Drawing::Color::Red;
+			series2->Legend = L"Legend1";
+			series2->Name = L"ACC";
+			series2->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series2->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series3->ChartArea = L"ChartArea1";
+			series3->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series3->Color = System::Drawing::Color::Fuchsia;
+			series3->Legend = L"Legend1";
+			series3->Name = L"a_spd";
+			series3->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series3->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series4->BorderWidth = 2;
+			series4->ChartArea = L"ChartArea1";
+			series4->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series4->Color = System::Drawing::Color::Black;
+			series4->Legend = L"Legend1";
+			series4->Name = L"f_spd";
+			series5->ChartArea = L"ChartArea1";
+			series5->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series5->Color = System::Drawing::Color::Green;
+			series5->Legend = L"Legend1";
+			series5->Name = L"s_pos";
+			series6->BorderWidth = 2;
+			series6->ChartArea = L"ChartArea1";
+			series6->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series6->Color = System::Drawing::Color::Tomato;
+			series6->Legend = L"Legend1";
+			series6->Name = L"f_pos";
+			this->chart_Graph->Series->Add(series1);
+			this->chart_Graph->Series->Add(series2);
+			this->chart_Graph->Series->Add(series3);
+			this->chart_Graph->Series->Add(series4);
+			this->chart_Graph->Series->Add(series5);
+			this->chart_Graph->Series->Add(series6);
+			this->chart_Graph->Size = System::Drawing::Size(689, 544);
+			this->chart_Graph->TabIndex = 1;
+			this->chart_Graph->Text = L"chart1";
+			// 
+			// panel1
+			// 
+			this->panel1->Controls->Add(this->panel2);
+			this->panel1->Controls->Add(this->panel3);
+			this->panel1->Dock = System::Windows::Forms::DockStyle::Left;
+			this->panel1->Location = System::Drawing::Point(0, 0);
+			this->panel1->Name = L"panel1";
+			this->panel1->Size = System::Drawing::Size(135, 688);
+			this->panel1->TabIndex = 2;
+			// 
+			// panel2
+			// 
+			this->panel2->BorderStyle = System::Windows::Forms::BorderStyle::Fixed3D;
+			this->panel2->Controls->Add(this->checkBox_Inverse);
+			this->panel2->Controls->Add(this->numericUpDown_Speed_AccGPS);
+			this->panel2->Controls->Add(this->label24);
+			this->panel2->Controls->Add(this->checkBox_Speed_EnGPS);
+			this->panel2->Controls->Add(this->checkBox_Speed_EnAcc);
+			this->panel2->Controls->Add(this->numericUpDown_Speed_Width);
+			this->panel2->Controls->Add(this->numericUpDown_Speed_Length);
+			this->panel2->Controls->Add(this->label18);
+			this->panel2->Controls->Add(this->label19);
+			this->panel2->Controls->Add(this->numericUpDown_Speed_Acc);
+			this->panel2->Controls->Add(this->label20);
+			this->panel2->Controls->Add(this->numericUpDown_Speed_Max);
+			this->panel2->Controls->Add(this->numericUpDown_Speed_Min);
+			this->panel2->Controls->Add(this->label21);
+			this->panel2->Controls->Add(this->label22);
+			this->panel2->Controls->Add(this->label23);
+			this->panel2->Controls->Add(this->checkBox_Pos_EnGPS);
+			this->panel2->Controls->Add(this->checkBox_Pos_EnAcc);
+			this->panel2->Controls->Add(this->numericUpDown_Pos_Width);
+			this->panel2->Controls->Add(this->numericUpDown_Pos_Length);
+			this->panel2->Controls->Add(this->label16);
+			this->panel2->Controls->Add(this->label17);
+			this->panel2->Controls->Add(this->numericUpDown_Pos_Acc);
+			this->panel2->Controls->Add(this->label15);
+			this->panel2->Controls->Add(this->numericUpDown_Pos_Max);
+			this->panel2->Controls->Add(this->label14);
+			this->panel2->Controls->Add(this->numericUpDown_Delay);
+			this->panel2->Controls->Add(this->label13);
+			this->panel2->Controls->Add(this->label12);
+			this->panel2->Controls->Add(this->numericUpDown_Pos_Min);
+			this->panel2->Controls->Add(this->label11);
+			this->panel2->Controls->Add(this->label10);
+			this->panel2->Controls->Add(this->label9);
+			this->panel2->Controls->Add(this->numericUpDown_Freq);
+			this->panel2->Controls->Add(this->label7);
+			this->panel2->Controls->Add(this->label6);
+			this->panel2->Controls->Add(this->button_Update);
+			this->panel2->Dock = System::Windows::Forms::DockStyle::Top;
+			this->panel2->Location = System::Drawing::Point(0, 157);
+			this->panel2->Name = L"panel2";
+			this->panel2->Size = System::Drawing::Size(135, 532);
+			this->panel2->TabIndex = 5;
+			// 
+			// checkBox_Inverse
+			// 
+			this->checkBox_Inverse->AutoSize = true;
+			this->checkBox_Inverse->Location = System::Drawing::Point(10, 36);
+			this->checkBox_Inverse->Name = L"checkBox_Inverse";
+			this->checkBox_Inverse->Size = System::Drawing::Size(102, 17);
+			this->checkBox_Inverse->TabIndex = 42;
+			this->checkBox_Inverse->Text = L"Axe acc inverse";
+			this->checkBox_Inverse->UseVisualStyleBackColor = true;
+			this->checkBox_Inverse->CheckedChanged += gcnew System::EventHandler(this, &Form1::checkBox_Inverse_CheckedChanged);
+			// 
+			// numericUpDown_Speed_AccGPS
+			// 
+			this->numericUpDown_Speed_AccGPS->DecimalPlaces = 4;
+			this->numericUpDown_Speed_AccGPS->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 196608 });
+			this->numericUpDown_Speed_AccGPS->Location = System::Drawing::Point(57, 432);
+			this->numericUpDown_Speed_AccGPS->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 262144 });
+			this->numericUpDown_Speed_AccGPS->Name = L"numericUpDown_Speed_AccGPS";
+			this->numericUpDown_Speed_AccGPS->Size = System::Drawing::Size(65, 20);
+			this->numericUpDown_Speed_AccGPS->TabIndex = 41;
+			this->numericUpDown_Speed_AccGPS->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 2, 0, 0, 131072 });
+			this->numericUpDown_Speed_AccGPS->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Base_Max_ValueChanged);
+			// 
+			// label24
+			// 
+			this->label24->AutoSize = true;
+			this->label24->Location = System::Drawing::Point(6, 434);
+			this->label24->Name = L"label24";
+			this->label24->Size = System::Drawing::Size(51, 13);
+			this->label24->TabIndex = 40;
+			this->label24->Text = L"AccGPS:";
+			// 
+			// checkBox_Speed_EnGPS
+			// 
+			this->checkBox_Speed_EnGPS->AutoSize = true;
+			this->checkBox_Speed_EnGPS->Location = System::Drawing::Point(107, 471);
+			this->checkBox_Speed_EnGPS->Name = L"checkBox_Speed_EnGPS";
+			this->checkBox_Speed_EnGPS->Size = System::Drawing::Size(15, 14);
+			this->checkBox_Speed_EnGPS->TabIndex = 39;
+			this->checkBox_Speed_EnGPS->UseVisualStyleBackColor = true;
+			this->checkBox_Speed_EnGPS->CheckedChanged += gcnew System::EventHandler(this, &Form1::checkBox_Pos_EnAcc_CheckedChanged);
+			// 
+			// checkBox_Speed_EnAcc
+			// 
+			this->checkBox_Speed_EnAcc->AutoSize = true;
+			this->checkBox_Speed_EnAcc->Location = System::Drawing::Point(107, 407);
+			this->checkBox_Speed_EnAcc->Name = L"checkBox_Speed_EnAcc";
+			this->checkBox_Speed_EnAcc->Size = System::Drawing::Size(15, 14);
+			this->checkBox_Speed_EnAcc->TabIndex = 38;
+			this->checkBox_Speed_EnAcc->UseVisualStyleBackColor = true;
+			this->checkBox_Speed_EnAcc->CheckedChanged += gcnew System::EventHandler(this, &Form1::checkBox_Pos_EnAcc_CheckedChanged);
+			// 
+			// numericUpDown_Speed_Width
+			// 
+			this->numericUpDown_Speed_Width->DecimalPlaces = 1;
+			this->numericUpDown_Speed_Width->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 65536 });
+			this->numericUpDown_Speed_Width->Location = System::Drawing::Point(36, 469);
+			this->numericUpDown_Speed_Width->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 10, 0, 0, 0 });
+			this->numericUpDown_Speed_Width->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Speed_Width->Name = L"numericUpDown_Speed_Width";
+			this->numericUpDown_Speed_Width->Size = System::Drawing::Size(65, 20);
+			this->numericUpDown_Speed_Width->TabIndex = 35;
+			this->numericUpDown_Speed_Width->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 2, 0, 0, 0 });
+			this->numericUpDown_Speed_Width->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Base_Max_ValueChanged);
+			// 
+			// numericUpDown_Speed_Length
+			// 
+			this->numericUpDown_Speed_Length->DecimalPlaces = 1;
+			this->numericUpDown_Speed_Length->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 65536 });
+			this->numericUpDown_Speed_Length->Location = System::Drawing::Point(36, 495);
+			this->numericUpDown_Speed_Length->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 65536 });
+			this->numericUpDown_Speed_Length->Name = L"numericUpDown_Speed_Length";
+			this->numericUpDown_Speed_Length->Size = System::Drawing::Size(65, 20);
+			this->numericUpDown_Speed_Length->TabIndex = 37;
+			this->numericUpDown_Speed_Length->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Speed_Length->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Base_Max_ValueChanged);
+			// 
+			// label18
+			// 
+			this->label18->AutoSize = true;
+			this->label18->Location = System::Drawing::Point(6, 497);
+			this->label18->Name = L"label18";
+			this->label18->Size = System::Drawing::Size(28, 13);
+			this->label18->TabIndex = 36;
+			this->label18->Text = L"Len:";
+			// 
+			// label19
+			// 
+			this->label19->AutoSize = true;
+			this->label19->Location = System::Drawing::Point(6, 471);
+			this->label19->Name = L"label19";
+			this->label19->Size = System::Drawing::Size(29, 13);
+			this->label19->TabIndex = 34;
+			this->label19->Text = L"Wid:";
+			// 
+			// numericUpDown_Speed_Acc
+			// 
+			this->numericUpDown_Speed_Acc->DecimalPlaces = 4;
+			this->numericUpDown_Speed_Acc->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 196608 });
+			this->numericUpDown_Speed_Acc->Location = System::Drawing::Point(36, 406);
+			this->numericUpDown_Speed_Acc->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 262144 });
+			this->numericUpDown_Speed_Acc->Name = L"numericUpDown_Speed_Acc";
+			this->numericUpDown_Speed_Acc->Size = System::Drawing::Size(65, 20);
+			this->numericUpDown_Speed_Acc->TabIndex = 33;
+			this->numericUpDown_Speed_Acc->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 2, 0, 0, 131072 });
+			this->numericUpDown_Speed_Acc->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Base_Max_ValueChanged);
+			// 
+			// label20
+			// 
+			this->label20->AutoSize = true;
+			this->label20->Location = System::Drawing::Point(6, 408);
+			this->label20->Name = L"label20";
+			this->label20->Size = System::Drawing::Size(29, 13);
+			this->label20->TabIndex = 32;
+			this->label20->Text = L"Acc:";
+			// 
+			// numericUpDown_Speed_Max
+			// 
+			this->numericUpDown_Speed_Max->DecimalPlaces = 4;
+			this->numericUpDown_Speed_Max->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 131072 });
+			this->numericUpDown_Speed_Max->Location = System::Drawing::Point(36, 349);
+			this->numericUpDown_Speed_Max->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Speed_Max->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 262144 });
+			this->numericUpDown_Speed_Max->Name = L"numericUpDown_Speed_Max";
+			this->numericUpDown_Speed_Max->Size = System::Drawing::Size(83, 20);
+			this->numericUpDown_Speed_Max->TabIndex = 29;
+			this->numericUpDown_Speed_Max->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Speed_Max->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Base_Max_ValueChanged);
+			// 
+			// numericUpDown_Speed_Min
+			// 
+			this->numericUpDown_Speed_Min->DecimalPlaces = 4;
+			this->numericUpDown_Speed_Min->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 131072 });
+			this->numericUpDown_Speed_Min->Location = System::Drawing::Point(36, 375);
+			this->numericUpDown_Speed_Min->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Speed_Min->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 262144 });
+			this->numericUpDown_Speed_Min->Name = L"numericUpDown_Speed_Min";
+			this->numericUpDown_Speed_Min->Size = System::Drawing::Size(83, 20);
+			this->numericUpDown_Speed_Min->TabIndex = 31;
+			this->numericUpDown_Speed_Min->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 262144 });
+			this->numericUpDown_Speed_Min->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Base_Max_ValueChanged);
+			// 
+			// label21
+			// 
+			this->label21->AutoSize = true;
+			this->label21->Location = System::Drawing::Point(6, 377);
+			this->label21->Name = L"label21";
+			this->label21->Size = System::Drawing::Size(27, 13);
+			this->label21->TabIndex = 30;
+			this->label21->Text = L"Min:";
+			// 
+			// label22
+			// 
+			this->label22->AutoSize = true;
+			this->label22->Location = System::Drawing::Point(6, 351);
+			this->label22->Name = L"label22";
+			this->label22->Size = System::Drawing::Size(30, 13);
+			this->label22->TabIndex = 28;
+			this->label22->Text = L"Max:";
+			// 
+			// label23
+			// 
+			this->label23->AutoSize = true;
+			this->label23->Location = System::Drawing::Point(40, 333);
+			this->label23->Name = L"label23";
+			this->label23->Size = System::Drawing::Size(38, 13);
+			this->label23->TabIndex = 27;
+			this->label23->Text = L"Speed";
+			// 
+			// checkBox_Pos_EnGPS
+			// 
+			this->checkBox_Pos_EnGPS->AutoSize = true;
+			this->checkBox_Pos_EnGPS->Location = System::Drawing::Point(107, 270);
+			this->checkBox_Pos_EnGPS->Name = L"checkBox_Pos_EnGPS";
+			this->checkBox_Pos_EnGPS->Size = System::Drawing::Size(15, 14);
+			this->checkBox_Pos_EnGPS->TabIndex = 25;
+			this->checkBox_Pos_EnGPS->UseVisualStyleBackColor = true;
+			this->checkBox_Pos_EnGPS->CheckedChanged += gcnew System::EventHandler(this, &Form1::checkBox_Pos_EnAcc_CheckedChanged);
+			// 
+			// checkBox_Pos_EnAcc
+			// 
+			this->checkBox_Pos_EnAcc->AutoSize = true;
+			this->checkBox_Pos_EnAcc->Location = System::Drawing::Point(107, 234);
+			this->checkBox_Pos_EnAcc->Name = L"checkBox_Pos_EnAcc";
+			this->checkBox_Pos_EnAcc->Size = System::Drawing::Size(15, 14);
+			this->checkBox_Pos_EnAcc->TabIndex = 24;
+			this->checkBox_Pos_EnAcc->UseVisualStyleBackColor = true;
+			this->checkBox_Pos_EnAcc->CheckedChanged += gcnew System::EventHandler(this, &Form1::checkBox_Pos_EnAcc_CheckedChanged);
+			// 
+			// numericUpDown_Pos_Width
+			// 
+			this->numericUpDown_Pos_Width->DecimalPlaces = 1;
+			this->numericUpDown_Pos_Width->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 65536 });
+			this->numericUpDown_Pos_Width->Location = System::Drawing::Point(36, 268);
+			this->numericUpDown_Pos_Width->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 10, 0, 0, 0 });
+			this->numericUpDown_Pos_Width->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Pos_Width->Name = L"numericUpDown_Pos_Width";
+			this->numericUpDown_Pos_Width->Size = System::Drawing::Size(65, 20);
+			this->numericUpDown_Pos_Width->TabIndex = 21;
+			this->numericUpDown_Pos_Width->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 2, 0, 0, 0 });
+			this->numericUpDown_Pos_Width->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Base_Max_ValueChanged);
+			// 
+			// numericUpDown_Pos_Length
+			// 
+			this->numericUpDown_Pos_Length->DecimalPlaces = 1;
+			this->numericUpDown_Pos_Length->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 65536 });
+			this->numericUpDown_Pos_Length->Location = System::Drawing::Point(36, 294);
+			this->numericUpDown_Pos_Length->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 65536 });
+			this->numericUpDown_Pos_Length->Name = L"numericUpDown_Pos_Length";
+			this->numericUpDown_Pos_Length->Size = System::Drawing::Size(65, 20);
+			this->numericUpDown_Pos_Length->TabIndex = 23;
+			this->numericUpDown_Pos_Length->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Pos_Length->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Base_Max_ValueChanged);
+			// 
+			// label16
+			// 
+			this->label16->AutoSize = true;
+			this->label16->Location = System::Drawing::Point(6, 296);
+			this->label16->Name = L"label16";
+			this->label16->Size = System::Drawing::Size(28, 13);
+			this->label16->TabIndex = 22;
+			this->label16->Text = L"Len:";
+			// 
+			// label17
+			// 
+			this->label17->AutoSize = true;
+			this->label17->Location = System::Drawing::Point(6, 270);
+			this->label17->Name = L"label17";
+			this->label17->Size = System::Drawing::Size(29, 13);
+			this->label17->TabIndex = 20;
+			this->label17->Text = L"Wid:";
+			// 
+			// numericUpDown_Pos_Acc
+			// 
+			this->numericUpDown_Pos_Acc->DecimalPlaces = 4;
+			this->numericUpDown_Pos_Acc->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 196608 });
+			this->numericUpDown_Pos_Acc->Location = System::Drawing::Point(36, 233);
+			this->numericUpDown_Pos_Acc->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 262144 });
+			this->numericUpDown_Pos_Acc->Name = L"numericUpDown_Pos_Acc";
+			this->numericUpDown_Pos_Acc->Size = System::Drawing::Size(65, 20);
+			this->numericUpDown_Pos_Acc->TabIndex = 19;
+			this->numericUpDown_Pos_Acc->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 2, 0, 0, 131072 });
+			this->numericUpDown_Pos_Acc->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Base_Max_ValueChanged);
+			// 
+			// label15
+			// 
+			this->label15->AutoSize = true;
+			this->label15->Location = System::Drawing::Point(6, 235);
+			this->label15->Name = L"label15";
+			this->label15->Size = System::Drawing::Size(29, 13);
+			this->label15->TabIndex = 18;
+			this->label15->Text = L"Acc:";
+			// 
+			// numericUpDown_Pos_Max
+			// 
+			this->numericUpDown_Pos_Max->DecimalPlaces = 4;
+			this->numericUpDown_Pos_Max->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 131072 });
+			this->numericUpDown_Pos_Max->Location = System::Drawing::Point(36, 176);
+			this->numericUpDown_Pos_Max->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Pos_Max->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 262144 });
+			this->numericUpDown_Pos_Max->Name = L"numericUpDown_Pos_Max";
+			this->numericUpDown_Pos_Max->Size = System::Drawing::Size(83, 20);
+			this->numericUpDown_Pos_Max->TabIndex = 11;
+			this->numericUpDown_Pos_Max->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Pos_Max->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Base_Max_ValueChanged);
+			// 
+			// label14
+			// 
+			this->label14->AutoSize = true;
+			this->label14->Location = System::Drawing::Point(46, 96);
+			this->label14->Name = L"label14";
+			this->label14->Size = System::Drawing::Size(29, 13);
+			this->label14->TabIndex = 17;
+			this->label14->Text = L"GPS";
+			// 
+			// numericUpDown_Delay
+			// 
+			this->numericUpDown_Delay->Location = System::Drawing::Point(43, 112);
+			this->numericUpDown_Delay->Name = L"numericUpDown_Delay";
+			this->numericUpDown_Delay->Size = System::Drawing::Size(45, 20);
+			this->numericUpDown_Delay->TabIndex = 15;
+			this->numericUpDown_Delay->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 30, 0, 0, 0 });
+			this->numericUpDown_Delay->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Base_Max_ValueChanged);
+			// 
+			// label13
+			// 
+			this->label13->AutoSize = true;
+			this->label13->Location = System::Drawing::Point(89, 114);
+			this->label13->Name = L"label13";
+			this->label13->Size = System::Drawing::Size(38, 13);
+			this->label13->TabIndex = 16;
+			this->label13->Text = L"frames";
+			// 
+			// label12
+			// 
+			this->label12->AutoSize = true;
+			this->label12->Location = System::Drawing::Point(6, 114);
+			this->label12->Name = L"label12";
+			this->label12->Size = System::Drawing::Size(37, 13);
+			this->label12->TabIndex = 14;
+			this->label12->Text = L"Delay:";
+			// 
+			// numericUpDown_Pos_Min
+			// 
+			this->numericUpDown_Pos_Min->DecimalPlaces = 4;
+			this->numericUpDown_Pos_Min->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 131072 });
+			this->numericUpDown_Pos_Min->Location = System::Drawing::Point(36, 202);
+			this->numericUpDown_Pos_Min->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Pos_Min->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 262144 });
+			this->numericUpDown_Pos_Min->Name = L"numericUpDown_Pos_Min";
+			this->numericUpDown_Pos_Min->Size = System::Drawing::Size(83, 20);
+			this->numericUpDown_Pos_Min->TabIndex = 13;
+			this->numericUpDown_Pos_Min->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 262144 });
+			this->numericUpDown_Pos_Min->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Base_Max_ValueChanged);
+			// 
+			// label11
+			// 
+			this->label11->AutoSize = true;
+			this->label11->Location = System::Drawing::Point(6, 204);
+			this->label11->Name = L"label11";
+			this->label11->Size = System::Drawing::Size(27, 13);
+			this->label11->TabIndex = 12;
+			this->label11->Text = L"Min:";
+			// 
+			// label10
+			// 
+			this->label10->AutoSize = true;
+			this->label10->Location = System::Drawing::Point(6, 178);
+			this->label10->Name = L"label10";
+			this->label10->Size = System::Drawing::Size(30, 13);
+			this->label10->TabIndex = 10;
+			this->label10->Text = L"Max:";
+			// 
+			// label9
+			// 
+			this->label9->AutoSize = true;
+			this->label9->Location = System::Drawing::Point(40, 160);
+			this->label9->Name = L"label9";
+			this->label9->Size = System::Drawing::Size(44, 13);
+			this->label9->TabIndex = 9;
+			this->label9->Text = L"Position";
+			// 
+			// numericUpDown_Freq
+			// 
+			this->numericUpDown_Freq->Location = System::Drawing::Point(43, 62);
+			this->numericUpDown_Freq->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 200, 0, 0, 0 });
+			this->numericUpDown_Freq->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 10, 0, 0, 0 });
+			this->numericUpDown_Freq->Name = L"numericUpDown_Freq";
+			this->numericUpDown_Freq->Size = System::Drawing::Size(58, 20);
+			this->numericUpDown_Freq->TabIndex = 7;
+			this->numericUpDown_Freq->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 25, 0, 0, 0 });
+			this->numericUpDown_Freq->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Base_Max_ValueChanged);
+			// 
+			// label7
+			// 
+			this->label7->AutoSize = true;
+			this->label7->Location = System::Drawing::Point(105, 64);
+			this->label7->Name = L"label7";
+			this->label7->Size = System::Drawing::Size(20, 13);
+			this->label7->TabIndex = 8;
+			this->label7->Text = L"Hz";
+			// 
+			// label6
+			// 
+			this->label6->AutoSize = true;
+			this->label6->Location = System::Drawing::Point(6, 64);
+			this->label6->Name = L"label6";
+			this->label6->Size = System::Drawing::Size(31, 13);
+			this->label6->TabIndex = 1;
+			this->label6->Text = L"Freq:";
+			// 
+			// button_Update
+			// 
+			this->button_Update->Location = System::Drawing::Point(26, 7);
+			this->button_Update->Name = L"button_Update";
+			this->button_Update->Size = System::Drawing::Size(75, 23);
+			this->button_Update->TabIndex = 0;
+			this->button_Update->Text = L"UPDATE";
+			this->button_Update->UseVisualStyleBackColor = true;
+			this->button_Update->Click += gcnew System::EventHandler(this, &Form1::button_Update_Click);
+			// 
+			// panel3
+			// 
+			this->panel3->Controls->Add(this->comboBox_Baud);
+			this->panel3->Controls->Add(this->button_Record);
+			this->panel3->Controls->Add(this->checkBox_Filter);
+			this->panel3->Controls->Add(this->button_Connect);
+			this->panel3->Controls->Add(this->comboBox_Port);
+			this->panel3->Controls->Add(this->button_File);
+			this->panel3->Controls->Add(this->radioButton_Z);
+			this->panel3->Controls->Add(this->radioButton_X);
+			this->panel3->Controls->Add(this->radioButton_Y);
+			this->panel3->Dock = System::Windows::Forms::DockStyle::Top;
+			this->panel3->Location = System::Drawing::Point(0, 0);
+			this->panel3->Name = L"panel3";
+			this->panel3->Size = System::Drawing::Size(135, 157);
+			this->panel3->TabIndex = 9;
+			// 
+			// comboBox_Baud
+			// 
+			this->comboBox_Baud->FormattingEnabled = true;
+			this->comboBox_Baud->Items->AddRange(gcnew cli::array< System::Object^  >(3) { L"57600", L"115200", L"230400" });
+			this->comboBox_Baud->Location = System::Drawing::Point(5, 43);
+			this->comboBox_Baud->Name = L"comboBox_Baud";
+			this->comboBox_Baud->Size = System::Drawing::Size(124, 21);
+			this->comboBox_Baud->TabIndex = 26;
+			this->comboBox_Baud->Text = L"57600";
+			// 
+			// button_Record
+			// 
+			this->button_Record->BackColor = System::Drawing::Color::Gainsboro;
+			this->button_Record->Location = System::Drawing::Point(75, 72);
+			this->button_Record->Name = L"button_Record";
+			this->button_Record->Size = System::Drawing::Size(54, 23);
+			this->button_Record->TabIndex = 11;
+			this->button_Record->Text = L"Record";
+			this->button_Record->UseVisualStyleBackColor = false;
+			this->button_Record->Click += gcnew System::EventHandler(this, &Form1::button_Record_Click);
+			// 
+			// checkBox_Filter
+			// 
+			this->checkBox_Filter->AutoSize = true;
+			this->checkBox_Filter->Location = System::Drawing::Point(5, 77);
+			this->checkBox_Filter->Name = L"checkBox_Filter";
+			this->checkBox_Filter->Size = System::Drawing::Size(72, 17);
+			this->checkBox_Filter->TabIndex = 25;
+			this->checkBox_Filter->Text = L"Online Filt";
+			this->checkBox_Filter->UseVisualStyleBackColor = true;
+			this->checkBox_Filter->CheckedChanged += gcnew System::EventHandler(this, &Form1::checkBox_Filter_CheckedChanged);
+			// 
+			// button_Connect
+			// 
+			this->button_Connect->Location = System::Drawing::Point(5, 14);
+			this->button_Connect->Name = L"button_Connect";
+			this->button_Connect->Size = System::Drawing::Size(64, 23);
+			this->button_Connect->TabIndex = 10;
+			this->button_Connect->Text = L"Connect";
+			this->button_Connect->UseVisualStyleBackColor = true;
+			this->button_Connect->Click += gcnew System::EventHandler(this, &Form1::button_Connect_Click);
+			// 
+			// comboBox_Port
+			// 
+			this->comboBox_Port->FormattingEnabled = true;
+			this->comboBox_Port->Location = System::Drawing::Point(75, 16);
+			this->comboBox_Port->Name = L"comboBox_Port";
+			this->comboBox_Port->Size = System::Drawing::Size(54, 21);
+			this->comboBox_Port->TabIndex = 9;
+			this->comboBox_Port->DropDown += gcnew System::EventHandler(this, &Form1::comboBox_Port_DropDown);
+			// 
+			// button_File
+			// 
+			this->button_File->Location = System::Drawing::Point(5, 101);
+			this->button_File->Name = L"button_File";
+			this->button_File->Size = System::Drawing::Size(124, 23);
+			this->button_File->TabIndex = 4;
+			this->button_File->Text = L"Open from File";
+			this->button_File->UseVisualStyleBackColor = true;
+			this->button_File->Click += gcnew System::EventHandler(this, &Form1::button_File_Click);
+			// 
+			// radioButton_Z
+			// 
+			this->radioButton_Z->AutoSize = true;
+			this->radioButton_Z->Location = System::Drawing::Point(97, 130);
+			this->radioButton_Z->Name = L"radioButton_Z";
+			this->radioButton_Z->Size = System::Drawing::Size(32, 17);
+			this->radioButton_Z->TabIndex = 8;
+			this->radioButton_Z->Text = L"Z";
+			this->radioButton_Z->UseVisualStyleBackColor = true;
+			this->radioButton_Z->CheckedChanged += gcnew System::EventHandler(this, &Form1::radioButton_X_CheckedChanged);
+			// 
+			// radioButton_X
+			// 
+			this->radioButton_X->AutoSize = true;
+			this->radioButton_X->Checked = true;
+			this->radioButton_X->Location = System::Drawing::Point(8, 130);
+			this->radioButton_X->Name = L"radioButton_X";
+			this->radioButton_X->Size = System::Drawing::Size(32, 17);
+			this->radioButton_X->TabIndex = 6;
+			this->radioButton_X->TabStop = true;
+			this->radioButton_X->Text = L"X";
+			this->radioButton_X->UseVisualStyleBackColor = true;
+			this->radioButton_X->CheckedChanged += gcnew System::EventHandler(this, &Form1::radioButton_X_CheckedChanged);
+			// 
+			// radioButton_Y
+			// 
+			this->radioButton_Y->AutoSize = true;
+			this->radioButton_Y->Location = System::Drawing::Point(51, 130);
+			this->radioButton_Y->Name = L"radioButton_Y";
+			this->radioButton_Y->Size = System::Drawing::Size(32, 17);
+			this->radioButton_Y->TabIndex = 7;
+			this->radioButton_Y->Text = L"Y";
+			this->radioButton_Y->UseVisualStyleBackColor = true;
+			this->radioButton_Y->CheckedChanged += gcnew System::EventHandler(this, &Form1::radioButton_X_CheckedChanged);
+			// 
+			// groupBox_P1
+			// 
+			this->groupBox_P1->Controls->Add(this->chart_Graph);
+			this->groupBox_P1->Controls->Add(this->chart_Coef);
+			this->groupBox_P1->Dock = System::Windows::Forms::DockStyle::Fill;
+			this->groupBox_P1->Location = System::Drawing::Point(135, 0);
+			this->groupBox_P1->MinimumSize = System::Drawing::Size(676, 688);
+			this->groupBox_P1->Name = L"groupBox_P1";
+			this->groupBox_P1->Size = System::Drawing::Size(695, 688);
+			this->groupBox_P1->TabIndex = 3;
+			this->groupBox_P1->TabStop = false;
+			// 
+			// chart_Coef
+			// 
+			chartArea2->AxisY->Maximum = 1;
+			chartArea2->AxisY->Minimum = 0;
+			chartArea2->Name = L"ChartArea1";
+			this->chart_Coef->ChartAreas->Add(chartArea2);
+			this->chart_Coef->Dock = System::Windows::Forms::DockStyle::Bottom;
+			legend2->Name = L"Legend1";
+			this->chart_Coef->Legends->Add(legend2);
+			this->chart_Coef->Location = System::Drawing::Point(3, 560);
+			this->chart_Coef->Name = L"chart_Coef";
+			series7->BorderWidth = 2;
+			series7->ChartArea = L"ChartArea1";
+			series7->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series7->Color = System::Drawing::Color::Red;
+			series7->Legend = L"Legend1";
+			series7->Name = L"cof_p";
+			series8->ChartArea = L"ChartArea1";
+			series8->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series8->Color = System::Drawing::Color::FromArgb(static_cast(static_cast(0)), static_cast(static_cast(192)),
+				static_cast(static_cast(0)));
+			series8->Legend = L"Legend1";
+			series8->Name = L"cof_s";
+			this->chart_Coef->Series->Add(series7);
+			this->chart_Coef->Series->Add(series8);
+			this->chart_Coef->Size = System::Drawing::Size(689, 125);
+			this->chart_Coef->TabIndex = 2;
+			this->chart_Coef->Text = L"chart1";
+			// 
+			// openFileDialog_Open
+			// 
+			this->openFileDialog_Open->FileName = L"openFileDialog1";
+			this->openFileDialog_Open->Multiselect = true;
+			// 
+			// groupBox1
+			// 
+			this->groupBox1->Controls->Add(this->panel_Opt);
+			this->groupBox1->Controls->Add(this->panel4);
+			this->groupBox1->Dock = System::Windows::Forms::DockStyle::Right;
+			this->groupBox1->Location = System::Drawing::Point(830, 0);
+			this->groupBox1->Name = L"groupBox1";
+			this->groupBox1->Size = System::Drawing::Size(128, 688);
+			this->groupBox1->TabIndex = 4;
+			this->groupBox1->TabStop = false;
+			this->groupBox1->Text = L" options ";
+			// 
+			// panel_Opt
+			// 
+			this->panel_Opt->BorderStyle = System::Windows::Forms::BorderStyle::Fixed3D;
+			this->panel_Opt->Controls->Add(this->numericUpDown_Move);
+			this->panel_Opt->Controls->Add(this->label8);
+			this->panel_Opt->Controls->Add(this->numericUpDown_Shift);
+			this->panel_Opt->Controls->Add(this->label5);
+			this->panel_Opt->Controls->Add(this->button_Gain_Clear);
+			this->panel_Opt->Controls->Add(this->numericUpDown_Gain);
+			this->panel_Opt->Controls->Add(this->label4);
+			this->panel_Opt->Dock = System::Windows::Forms::DockStyle::Top;
+			this->panel_Opt->Enabled = false;
+			this->panel_Opt->Location = System::Drawing::Point(3, 261);
+			this->panel_Opt->Name = L"panel_Opt";
+			this->panel_Opt->Size = System::Drawing::Size(122, 154);
+			this->panel_Opt->TabIndex = 8;
+			// 
+			// numericUpDown_Move
+			// 
+			this->numericUpDown_Move->Location = System::Drawing::Point(36, 60);
+			this->numericUpDown_Move->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 10000, 0, 0, 0 });
+			this->numericUpDown_Move->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 10000, 0, 0, System::Int32::MinValue });
+			this->numericUpDown_Move->Name = L"numericUpDown_Move";
+			this->numericUpDown_Move->Size = System::Drawing::Size(75, 20);
+			this->numericUpDown_Move->TabIndex = 8;
+			this->numericUpDown_Move->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Shift_ValueChanged);
+			// 
+			// label8
+			// 
+			this->label8->AutoSize = true;
+			this->label8->Location = System::Drawing::Point(2, 62);
+			this->label8->Name = L"label8";
+			this->label8->Size = System::Drawing::Size(37, 13);
+			this->label8->TabIndex = 7;
+			this->label8->Text = L"Move:";
+			// 
+			// numericUpDown_Shift
+			// 
+			this->numericUpDown_Shift->DecimalPlaces = 3;
+			this->numericUpDown_Shift->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 65536 });
+			this->numericUpDown_Shift->Location = System::Drawing::Point(36, 8);
+			this->numericUpDown_Shift->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 32000, 0, 0, 0 });
+			this->numericUpDown_Shift->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 32000, 0, 0, System::Int32::MinValue });
+			this->numericUpDown_Shift->Name = L"numericUpDown_Shift";
+			this->numericUpDown_Shift->Size = System::Drawing::Size(75, 20);
+			this->numericUpDown_Shift->TabIndex = 6;
+			this->numericUpDown_Shift->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Shift_ValueChanged);
+			// 
+			// label5
+			// 
+			this->label5->AutoSize = true;
+			this->label5->Location = System::Drawing::Point(6, 10);
+			this->label5->Name = L"label5";
+			this->label5->Size = System::Drawing::Size(31, 13);
+			this->label5->TabIndex = 5;
+			this->label5->Text = L"Shift:";
+			// 
+			// button_Gain_Clear
+			// 
+			this->button_Gain_Clear->Location = System::Drawing::Point(9, 86);
+			this->button_Gain_Clear->Name = L"button_Gain_Clear";
+			this->button_Gain_Clear->Size = System::Drawing::Size(102, 23);
+			this->button_Gain_Clear->TabIndex = 4;
+			this->button_Gain_Clear->Text = L"clean";
+			this->button_Gain_Clear->UseVisualStyleBackColor = true;
+			this->button_Gain_Clear->Click += gcnew System::EventHandler(this, &Form1::button_Gain_Clear_Click);
+			// 
+			// numericUpDown_Gain
+			// 
+			this->numericUpDown_Gain->DecimalPlaces = 3;
+			this->numericUpDown_Gain->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 131072 });
+			this->numericUpDown_Gain->Location = System::Drawing::Point(36, 34);
+			this->numericUpDown_Gain->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1000, 0, 0, 0 });
+			this->numericUpDown_Gain->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 196608 });
+			this->numericUpDown_Gain->Name = L"numericUpDown_Gain";
+			this->numericUpDown_Gain->Size = System::Drawing::Size(75, 20);
+			this->numericUpDown_Gain->TabIndex = 3;
+			this->numericUpDown_Gain->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Gain->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Shift_ValueChanged);
+			// 
+			// label4
+			// 
+			this->label4->AutoSize = true;
+			this->label4->Location = System::Drawing::Point(6, 36);
+			this->label4->Name = L"label4";
+			this->label4->Size = System::Drawing::Size(32, 13);
+			this->label4->TabIndex = 0;
+			this->label4->Text = L"Gain:";
+			// 
+			// panel4
+			// 
+			this->panel4->Controls->Add(this->checkedListBox_List);
+			this->panel4->Controls->Add(this->checkBox_Auto);
+			this->panel4->Controls->Add(this->numericUpDown_Track);
+			this->panel4->Controls->Add(this->numericUpDown_Graph_MaxY);
+			this->panel4->Controls->Add(this->label3);
+			this->panel4->Controls->Add(this->numericUpDown_Graph_MinY);
+			this->panel4->Controls->Add(this->label2);
+			this->panel4->Controls->Add(this->label1);
+			this->panel4->Dock = System::Windows::Forms::DockStyle::Top;
+			this->panel4->Location = System::Drawing::Point(3, 16);
+			this->panel4->Name = L"panel4";
+			this->panel4->Size = System::Drawing::Size(122, 245);
+			this->panel4->TabIndex = 9;
+			// 
+			// checkedListBox_List
+			// 
+			this->checkedListBox_List->Dock = System::Windows::Forms::DockStyle::Top;
+			this->checkedListBox_List->FormattingEnabled = true;
+			this->checkedListBox_List->Location = System::Drawing::Point(0, 0);
+			this->checkedListBox_List->Name = L"checkedListBox_List";
+			this->checkedListBox_List->Size = System::Drawing::Size(122, 109);
+			this->checkedListBox_List->TabIndex = 0;
+			this->checkedListBox_List->SelectedIndexChanged += gcnew System::EventHandler(this, &Form1::checkedListBox_List_SelectedIndexChanged);
+			this->checkedListBox_List->DoubleClick += gcnew System::EventHandler(this, &Form1::checkedListBox_List_SelectedIndexChanged);
+			// 
+			// checkBox_Auto
+			// 
+			this->checkBox_Auto->AutoSize = true;
+			this->checkBox_Auto->Location = System::Drawing::Point(20, 118);
+			this->checkBox_Auto->Name = L"checkBox_Auto";
+			this->checkBox_Auto->Size = System::Drawing::Size(47, 17);
+			this->checkBox_Auto->TabIndex = 1;
+			this->checkBox_Auto->Text = L"auto";
+			this->checkBox_Auto->UseVisualStyleBackColor = true;
+			this->checkBox_Auto->CheckedChanged += gcnew System::EventHandler(this, &Form1::checkBox_Auto_CheckedChanged);
+			// 
+			// numericUpDown_Track
+			// 
+			this->numericUpDown_Track->Location = System::Drawing::Point(44, 203);
+			this->numericUpDown_Track->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Track->Name = L"numericUpDown_Track";
+			this->numericUpDown_Track->Size = System::Drawing::Size(57, 20);
+			this->numericUpDown_Track->TabIndex = 7;
+			this->numericUpDown_Track->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 10, 0, 0, 0 });
+			// 
+			// numericUpDown_Graph_MaxY
+			// 
+			this->numericUpDown_Graph_MaxY->Location = System::Drawing::Point(53, 143);
+			this->numericUpDown_Graph_MaxY->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 10, 0, 0, 0 });
+			this->numericUpDown_Graph_MaxY->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Graph_MaxY->Name = L"numericUpDown_Graph_MaxY";
+			this->numericUpDown_Graph_MaxY->Size = System::Drawing::Size(60, 20);
+			this->numericUpDown_Graph_MaxY->TabIndex = 2;
+			this->numericUpDown_Graph_MaxY->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 3, 0, 0, 0 });
+			this->numericUpDown_Graph_MaxY->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Graph_MaxY_ValueChanged);
+			// 
+			// label3
+			// 
+			this->label3->AutoSize = true;
+			this->label3->Location = System::Drawing::Point(6, 205);
+			this->label3->Name = L"label3";
+			this->label3->Size = System::Drawing::Size(38, 13);
+			this->label3->TabIndex = 6;
+			this->label3->Text = L"Track:";
+			// 
+			// numericUpDown_Graph_MinY
+			// 
+			this->numericUpDown_Graph_MinY->Location = System::Drawing::Point(53, 169);
+			this->numericUpDown_Graph_MinY->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, System::Int32::MinValue });
+			this->numericUpDown_Graph_MinY->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 10, 0, 0, System::Int32::MinValue });
+			this->numericUpDown_Graph_MinY->Name = L"numericUpDown_Graph_MinY";
+			this->numericUpDown_Graph_MinY->Size = System::Drawing::Size(60, 20);
+			this->numericUpDown_Graph_MinY->TabIndex = 3;
+			this->numericUpDown_Graph_MinY->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 3, 0, 0, System::Int32::MinValue });
+			this->numericUpDown_Graph_MinY->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Graph_MaxY_ValueChanged);
+			// 
+			// label2
+			// 
+			this->label2->AutoSize = true;
+			this->label2->Location = System::Drawing::Point(9, 171);
+			this->label2->Name = L"label2";
+			this->label2->Size = System::Drawing::Size(37, 13);
+			this->label2->TabIndex = 5;
+			this->label2->Text = L"Min Y:";
+			// 
+			// label1
+			// 
+			this->label1->AutoSize = true;
+			this->label1->Location = System::Drawing::Point(6, 145);
+			this->label1->Name = L"label1";
+			this->label1->Size = System::Drawing::Size(40, 13);
+			this->label1->TabIndex = 4;
+			this->label1->Text = L"Max Y:";
+			// 
+			// timer_Tick
+			// 
+			this->timer_Tick->Interval = 1;
+			this->timer_Tick->Tick += gcnew System::EventHandler(this, &Form1::timer_Tick_Tick);
+			// 
+			// Form1
+			// 
+			this->AutoScaleDimensions = System::Drawing::SizeF(6, 13);
+			this->AutoScaleMode = System::Windows::Forms::AutoScaleMode::Font;
+			this->ClientSize = System::Drawing::Size(958, 688);
+			this->Controls->Add(this->groupBox_P1);
+			this->Controls->Add(this->groupBox1);
+			this->Controls->Add(this->panel1);
+			this->MinimumSize = System::Drawing::Size(974, 727);
+			this->Name = L"Form1";
+			this->Text = L"Filter Tuning GPS";
+			this->Load += gcnew System::EventHandler(this, &Form1::Form1_Load);
+			(cli::safe_cast(this->chart_Graph))->EndInit();
+			this->panel1->ResumeLayout(false);
+			this->panel2->ResumeLayout(false);
+			this->panel2->PerformLayout();
+			(cli::safe_cast(this->numericUpDown_Speed_AccGPS))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Speed_Width))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Speed_Length))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Speed_Acc))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Speed_Max))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Speed_Min))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Pos_Width))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Pos_Length))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Pos_Acc))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Pos_Max))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Delay))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Pos_Min))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Freq))->EndInit();
+			this->panel3->ResumeLayout(false);
+			this->panel3->PerformLayout();
+			this->groupBox_P1->ResumeLayout(false);
+			(cli::safe_cast(this->chart_Coef))->EndInit();
+			this->groupBox1->ResumeLayout(false);
+			this->panel_Opt->ResumeLayout(false);
+			this->panel_Opt->PerformLayout();
+			(cli::safe_cast(this->numericUpDown_Move))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Shift))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Gain))->EndInit();
+			this->panel4->ResumeLayout(false);
+			this->panel4->PerformLayout();
+			(cli::safe_cast(this->numericUpDown_Track))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Graph_MaxY))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Graph_MinY))->EndInit();
+			this->ResumeLayout(false);
+
+		}
+#pragma endregion
+
+	  private: void ToCharString(String^ str1, char* str2)
+	  {
+	  	for (int a = 0; a < str1->Length; a++) *str2++ = str1[a];
+	  	*str2 = '\0';
+	  }
+
+    private: System::Void Form1_Load(System::Object^ sender, System::EventArgs^ e) 
+		{
+			try
+			{
+				String^ folder = Environment::GetFolderPath(Environment::SpecialFolder::ApplicationData);
+				String^ specificFolder = Path::Combine(folder, "Telem");
+				//---
+				RecordsFolder = Path::Combine(specificFolder, "Records");
+				Directory::CreateDirectory(RecordsFolder);
+
+				openFileDialog_Open->InitialDirectory = RecordsFolder;
+			}
+			catch(...) { }
+
+			for each (auto s in chart_Graph->Series)
+			{
+				checkedListBox_List->Items->Add(s->Name, true);
+			}
+
+			MainDataRecord->Clear();
+			for (int a = 0; a < MainDataGain->Length; a++) { MainDataGain[a] = 1; MainDataShift[a] = 0; MainDataMove[a] = 0; }
+
+			numericUpDown_Graph_MaxY_ValueChanged(sender, e);
+    }
+
+		private: System::Collections::Generic::List^ MainDataVaildGPS = gcnew System::Collections::Generic::List();
+		private: System::Collections::Generic::List^>^ MainDataRecord = gcnew System::Collections::Generic::List^>();
+		private: array^ MainDataGain = gcnew array(6);
+	  private: array^ MainDataShift = gcnew array(6);
+		private: array^ MainDataMove = gcnew array(6);
+
+	  private: System::Void button_File_Click(System::Object^ sender, System::EventArgs^ e)
+		{
+			if (button_Connect->Text != "Connect")
+			{
+				CloseHandle(PortCOM);
+				PortCOM = 0;
+				timer_Tick->Enabled = false;
+				button_Connect->Text = "Connect";
+			}
+
+			if (openFileDialog_Open->ShowDialog() != System::Windows::Forms::DialogResult::OK) return;
+
+			MainDataVaildGPS->Clear();
+			MainDataRecord->Clear();
+			panel_Opt->Enabled = true;
+
+			System::Globalization::CultureInfo^ nonInvariantCulture = gcnew System::Globalization::CultureInfo("en-US");
+			nonInvariantCulture->NumberFormat->NumberDecimalSeparator = ".";
+			System::Threading::Thread::CurrentThread->CurrentCulture = nonInvariantCulture;
+
+			array^ text = File::ReadAllLines(openFileDialog_Open->FileName);
+
+			for each (String ^ line in text)
+			{
+				array^ elems =line->Split('|');
+				if (elems->Length != 7) break;
+				array^ values = gcnew array(MainDataGain->Length);
+
+				int shift = 0;
+				if (radioButton_Y->Checked) shift = 1;
+				if (radioButton_Z->Checked) shift = 2;
+
+				MainDataVaildGPS->Add(Convert::ToSingle(elems[0]));
+
+				values[0] = Convert::ToSingle(elems[1 + shift]);
+				values[1] = Convert::ToSingle(elems[4 + shift]);
+				
+				MainDataRecord->Add(values);
+			}
+			//---
+			memset(&MainFilter, 0, sizeof(MainFilter));
+			//---
+			button_Gain_Clear_Click(sender, e);
+	  }
+
+		private: bool Update_GainShift = true;
+
+	  private: System::Void checkedListBox_List_SelectedIndexChanged(System::Object^ sender, System::EventArgs^ e) 
+		{
+			for (int a = 0; a < checkedListBox_List->Items->Count; a++)
+			{
+				chart_Graph->Series[a]->Enabled = checkedListBox_List->GetItemChecked(a);
+			}
+			int index = checkedListBox_List->SelectedIndex;
+			if (index == -1) return;
+			Update_GainShift = false;
+			numericUpDown_Gain->Value = (Decimal)MainDataGain[index];
+			numericUpDown_Shift->Value = (Decimal)MainDataShift[index];
+			numericUpDown_Move->Value = (Decimal)MainDataMove[index];
+			Update_GainShift = true;
+	  }
+
+    private: System::Void checkBox_Auto_CheckedChanged(System::Object^ sender, System::EventArgs^ e)
+		{
+			if (checkBox_Auto->Checked)
+			{
+				chart_Graph->ChartAreas[0]->AxisY->Interval = double::NaN;
+				chart_Graph->ChartAreas[0]->AxisY->Minimum = double::NaN;
+				chart_Graph->ChartAreas[0]->AxisY->Maximum = double::NaN;
+				numericUpDown_Graph_MinY->Enabled = false;
+				numericUpDown_Graph_MaxY->Enabled = false;
+			}
+			else
+			{
+				chart_Graph->ChartAreas[0]->AxisY->Interval = 1;
+				numericUpDown_Graph_MaxY_ValueChanged(sender, e);
+				numericUpDown_Graph_MinY->Enabled = true;
+				numericUpDown_Graph_MaxY->Enabled = true;
+			}
+    }
+    private: System::Void numericUpDown_Graph_MaxY_ValueChanged(System::Object^ sender, System::EventArgs^ e)
+		{
+			chart_Graph->ChartAreas[0]->AxisY->Minimum = (double)numericUpDown_Graph_MinY->Value;
+			chart_Graph->ChartAreas[0]->AxisY->Maximum = (double)numericUpDown_Graph_MaxY->Value;
+    }
+
+	  private: System::Void button_Gain_Clear_Click(System::Object^ sender, System::EventArgs^ e)
+		{
+			for (int a = 0; a < MainDataGain->Length; a++)
+			{
+				MainDataGain[a] = 1;
+				MainDataShift[a] = 0;
+				MainDataMove[a] = 0;
+				chart_Graph->Series[a]->Points->Clear();
+			}
+			Update_GainShift = false;
+			numericUpDown_Gain->Value = 1;
+			numericUpDown_Shift->Value = 0;
+			numericUpDown_Move->Value = 0;
+			Update_GainShift = true;
+			//---
+			RedrawChart();
+	  }
+
+		private: System::Void numericUpDown_Shift_ValueChanged(System::Object^ sender, System::EventArgs^ e)
+		{
+			if (!Update_GainShift) return;
+			int index = checkedListBox_List->SelectedIndex;
+			if (index == -1) return;
+			MainDataGain[index] = Convert::ToSingle(numericUpDown_Gain->Value);
+			MainDataShift[index] = Convert::ToSingle(numericUpDown_Shift->Value);
+			MainDataMove[index] = Convert::ToSingle(numericUpDown_Move->Value);
+			//---
+			RedrawChart();
+		}
+
+		private: void RedrawChart()
+		{
+			for each (auto s in chart_Graph->Series) s->Points->Clear();
+
+			for (int a = 0; a < MainDataRecord->Count; a++)
+			{
+				array^ values = MainDataRecord[a];
+				for (int b = 0; b < chart_Graph->Series->Count; b++) chart_Graph->Series[b]->Points->AddXY(a + 1 + MainDataMove[b], (MainDataShift[b] + values[b]) * MainDataGain[b]);
+			}
+		}
+
+    private: System::Void button_Update_Click(System::Object^ sender, System::EventArgs^ e)
+		{
+			const float ga = 9.80665;
+			const float freq = (float)numericUpDown_Freq->Value;
+
+			memset(&MainFilter, 0, sizeof(MainFilter));
+
+			MainFilter.Freq = freq;
+			MainFilter.Position.Max = (float)numericUpDown_Pos_Max->Value;
+			MainFilter.Position.Min = (float)numericUpDown_Pos_Min->Value;
+
+			MainFilter.Position.EnAcc = checkBox_Pos_EnAcc->Checked;
+			MainFilter.Position.Acc = (float)numericUpDown_Pos_Acc->Value;
+
+			MainFilter.Position.EnGPS = checkBox_Pos_EnGPS->Checked;
+			MainFilter.Position.Width = (float)numericUpDown_Pos_Width->Value;
+			MainFilter.Position.Length = (float)numericUpDown_Pos_Length->Value;
+
+			MainFilter.Delay.Size = (int)numericUpDown_Delay->Value;
+
+			MainFilter.Speed.Max = (float)numericUpDown_Speed_Max->Value;
+			MainFilter.Speed.Min = (float)numericUpDown_Speed_Min->Value;
+
+			chart_Coef->ChartAreas[0]->AxisY->Maximum = max((double)numericUpDown_Speed_Max->Value, (double)numericUpDown_Pos_Max->Value);
+								 
+			MainFilter.Speed.EnAcc = checkBox_Speed_EnAcc->Checked;
+			MainFilter.Speed.Acc = (float)numericUpDown_Speed_Acc->Value;
+			MainFilter.Speed.AccGPS = (float)numericUpDown_Speed_AccGPS->Value;
+								 
+			MainFilter.Speed.EnGPS = checkBox_Speed_EnGPS->Checked;
+			MainFilter.Speed.Width = (float)numericUpDown_Speed_Width->Value;
+			MainFilter.Speed.Length = (float)numericUpDown_Speed_Length->Value;
+			
+			if (button_Connect->Text != "Connect") return;
+
+			float speed = 0, position = 0;
+
+			chart_Coef->Series[0]->Points->Clear();
+			chart_Coef->Series[1]->Points->Clear();
+
+			for (int a=0; a< MainDataRecord->Count; a++)
+			{
+				bool valid = MainDataVaildGPS[a];
+				auto l = MainDataRecord[a];
+				float gps = l[0], acc = l[1];
+
+				speed += acc * ga / freq;
+				position += speed / freq;
+				l[2] = speed;
+				l[4] = position;
+
+				float* coef = MainFilter.Update(valid, gps, acc);
+
+				chart_Coef->Series[0]->Points->AddY((double)coef[0]);
+				chart_Coef->Series[1]->Points->AddY((double)coef[1]);
+
+				l[3] = MainFilter.Speed.Value;
+				l[5] = MainFilter.Position.Value;
+			}
+
+			RedrawChart();
+    }
+    
+    private: System::Void numericUpDown_Base_Max_ValueChanged(System::Object^ sender, System::EventArgs^ e)
+		{
+			button_Update_Click(sender, e);
+    }
+
+    private: System::Void checkBox_Pos_EnAcc_CheckedChanged(System::Object^ sender, System::EventArgs^ e)
+		{
+			button_Update_Click(sender, e);
+    }
+
+    private: System::Void comboBox_Port_DropDown(System::Object^ sender, System::EventArgs^ e)
+		{
+			comboBox_Port->Items->Clear();
+			for each (String ^ p in System::IO::Ports::SerialPort::GetPortNames())
+			{
+				comboBox_Port->Items->Add(p);
+			}
+    }
+
+    private: System::Void button_Connect_Click(System::Object^ sender, System::EventArgs^ e)
+		{
+			if (button_Connect->Text == "Connect")
+			{
+				long baud;
+				try
+				{
+					baud = Convert::ToInt32(comboBox_Baud->Text);
+					comboBox_Baud->Text = baud.ToString();
+				}
+				catch (...)
+				{
+					MessageBox::Show("Error to set baud", "Error", MessageBoxButtons::OK, MessageBoxIcon::Error);
+					return;
+				}
+
+				char text[128] = "\\\\.\\";
+
+				ToCharString(comboBox_Port->Text, text + 4);
+
+				PortCOM = CreateFileA(text, GENERIC_READ | GENERIC_WRITE, 0, 0, OPEN_EXISTING, 0, 0);
+				if (PortCOM == INVALID_HANDLE_VALUE)
+				{
+					PortCOM = 0;
+					MessageBox::Show("Error to connect", "Error", MessageBoxButtons::OK, MessageBoxIcon::Error);
+					return;
+				}
+				//---
+				DCB serial = { sizeof(serial) };
+				GetCommState(PortCOM, &serial);
+				serial.BaudRate = baud;
+				serial.ByteSize = 8;
+				serial.StopBits = ONESTOPBIT;
+				serial.Parity = NOPARITY;
+				SetCommState(PortCOM, &serial);
+				//---
+				COMMTIMEOUTS tim;
+				GetCommTimeouts(PortCOM, &tim);
+				tim.ReadIntervalTimeout = 1;
+				tim.ReadTotalTimeoutConstant = 1;
+				tim.ReadTotalTimeoutMultiplier = 1;
+				SetCommTimeouts(PortCOM, &tim);
+				//---
+				timer_Tick->Enabled = true;
+				button_Connect->Text = "Disonnect";
+				//---
+				for (int a = 0; a < chart_Graph->Series->Count; a++) chart_Graph->Series[a]->Points->Clear();
+				//---
+				MainThread = CreateThread(0, 0, RecvThread, 0, 0, 0);
+			}
+			else
+			{
+				CloseHandle(PortCOM);
+				PortCOM = 0;
+				timer_Tick->Enabled = false;
+				button_Connect->Text = "Connect";
+			}
+    }
+
+    private: System::Void timer_Tick_Tick(System::Object^ sender, System::EventArgs^ e)
+		{
+			if (!PlotsReady) return;
+			PlotsReady = false;
+
+			for (int a = 0; a < chart_Graph->Series->Count; a++)
+			{
+				chart_Graph->Series[a]->Points->AddY((double)PlotsData[a]);
+				while (chart_Graph->Series[a]->Points->Count > numericUpDown_Track->Value * numericUpDown_Freq->Value) chart_Graph->Series[a]->Points->RemoveAt(0);
+			}
+
+			for (int a = 0; a < chart_Coef->Series->Count; a++)
+			{
+				chart_Coef->Series[a]->Points->AddY((double)PlotsCoef[a]);
+				while (chart_Coef->Series[a]->Points->Count > numericUpDown_Track->Value * numericUpDown_Freq->Value) chart_Coef->Series[a]->Points->RemoveAt(0);
+			}
+    }
+
+    private: System::Void button_Record_Click(System::Object^ sender, System::EventArgs^ e)
+		{
+			if (button_Record->Text == "Stop")
+			{
+				if (FileLOG) CloseHandle(FileLOG);
+				FileLOG = 0;
+				button_Record->Text = "Record";
+				button_Record->BackColor = Color::Gainsboro;
+				return;
+			}
+
+			DateTime dt = DateTime::Now;
+			String^ file = Path::Combine(RecordsFolder, "record=" + dt.ToString("yyyy-MM-dd+HH_mm_ss") + ".tel");
+			try
+			{
+				char text[256];
+
+				ToCharString(file, text);
+
+				FileLOG = CreateFileA(text, GENERIC_READ | GENERIC_WRITE, 0, 0, CREATE_NEW, 0, 0);
+				if (FileLOG == INVALID_HANDLE_VALUE)
+				{
+					FileLOG = 0;
+					MessageBox::Show("Error to create file", "Error", MessageBoxButtons::OK, MessageBoxIcon::Error);
+					return;
+				}
+				button_Record->Text = "Stop";
+				button_Record->BackColor = Color::Tomato;
+			}
+			catch (...)
+			{
+				MessageBox::Show("Incorrect save file!", "Error", MessageBoxButtons::OK, MessageBoxIcon::Error);
+			}
+    }
+
+    private: System::Void checkBox_Filter_CheckedChanged(System::Object^ sender, System::EventArgs^ e)
+		{
+			OnlineFilter = checkBox_Filter->Checked;
+			button_Update_Click(sender, e);
+    }
+
+    private: System::Void radioButton_X_CheckedChanged(System::Object^ sender, System::EventArgs^ e)
+		{
+			if (sender == radioButton_X && radioButton_X->Checked) TeleAxe = 0;
+			if (sender == radioButton_Y && radioButton_Y->Checked) TeleAxe = 1;
+			if (sender == radioButton_Z && radioButton_Z->Checked) TeleAxe = 2;
+    }
+
+    private: System::Void checkBox_Inverse_CheckedChanged(System::Object^ sender, System::EventArgs^ e)
+		{
+			AxeInverse = checkBox_Inverse->Checked;
+    }
+};
+}
diff --git a/Graph/Filter/HexapodControl/Form1.resx b/Graph/Filter/HexapodControl/Form1.resx
new file mode 100644
index 0000000..cb35878
--- /dev/null
+++ b/Graph/Filter/HexapodControl/Form1.resx
@@ -0,0 +1,129 @@
+
+
+  
+  
+    
+    
+      
+        
+          
+            
+              
+                
+              
+              
+              
+              
+              
+            
+          
+          
+            
+              
+              
+            
+          
+          
+            
+              
+                
+                
+              
+              
+              
+              
+              
+            
+          
+          
+            
+              
+                
+              
+              
+            
+          
+        
+      
+    
+  
+  
+    text/microsoft-resx
+  
+  
+    2.0
+  
+  
+    System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089
+  
+  
+    System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089
+  
+  
+    11, 12
+  
+  
+    178, 12
+  
+  
+    40
+  
+
\ No newline at end of file
diff --git a/Graph/Filter/HexapodControl/HexapodControl.cpp b/Graph/Filter/HexapodControl/HexapodControl.cpp
new file mode 100644
index 0000000..6e715e6
--- /dev/null
+++ b/Graph/Filter/HexapodControl/HexapodControl.cpp
@@ -0,0 +1,18 @@
+// HexapodControl.cpp : main project file.
+
+#include "stdafx.h"
+#include "Form1.h"
+
+using namespace HexapodControl;
+
+[STAThreadAttribute]
+int main(array ^args)
+{
+	// Enabling Windows XP visual effects before any controls are created
+	Application::EnableVisualStyles();
+	Application::SetCompatibleTextRenderingDefault(false); 
+
+	// Create the main window and run it
+	Application::Run(gcnew Form1());
+	return 0;
+}
diff --git a/Graph/Filter/HexapodControl/HexapodControl.vcproj b/Graph/Filter/HexapodControl/HexapodControl.vcproj
new file mode 100644
index 0000000..1a2c8ca
--- /dev/null
+++ b/Graph/Filter/HexapodControl/HexapodControl.vcproj
@@ -0,0 +1,272 @@
+
+
+	
+		
+	
+	
+	
+	
+		
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+		
+		
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+		
+	
+	
+		
+		
+		
+		
+		
+	
+	
+		
+			
+			
+			
+			
+			
+				
+					
+				
+				
+					
+				
+			
+		
+		
+			
+				
+				
+			
+			
+			
+			
+			
+		
+		
+			
+			
+			
+			
+		
+		
+		
+	
+	
+	
+
diff --git a/Graph/Filter/HexapodControl/HexapodControl.vcproj.computer-m4a.PREDATOR.user b/Graph/Filter/HexapodControl/HexapodControl.vcproj.computer-m4a.PREDATOR.user
new file mode 100644
index 0000000..f6e293c
--- /dev/null
+++ b/Graph/Filter/HexapodControl/HexapodControl.vcproj.computer-m4a.PREDATOR.user
@@ -0,0 +1,65 @@
+
+
+	
+		
+			
+		
+		
+			
+		
+	
+
diff --git a/Graph/Filter/HexapodControl/HexapodControl.vcproj.computer-m4a.USER.user b/Graph/Filter/HexapodControl/HexapodControl.vcproj.computer-m4a.USER.user
new file mode 100644
index 0000000..f6e293c
--- /dev/null
+++ b/Graph/Filter/HexapodControl/HexapodControl.vcproj.computer-m4a.USER.user
@@ -0,0 +1,65 @@
+
+
+	
+		
+			
+		
+		
+			
+		
+	
+
diff --git a/Graph/Filter/HexapodControl/HexapodControl.vcxproj b/Graph/Filter/HexapodControl/HexapodControl.vcxproj
new file mode 100644
index 0000000..6f54a3e
--- /dev/null
+++ b/Graph/Filter/HexapodControl/HexapodControl.vcxproj
@@ -0,0 +1,144 @@
+
+
+  
+    
+      Debug
+      Win32
+    
+    
+      Release
+      Win32
+    
+  
+  
+    {5E2A1E52-680F-4834-9D61-9CB14992F2E6}
+    HexapodControl
+    ManagedCProj
+    FilterGPS
+    10.0
+  
+  
+  
+    Application
+    Unicode
+    true
+    true
+    v143
+  
+  
+    Application
+    Unicode
+    true
+    v143
+  
+  
+  
+  
+  
+    
+  
+  
+    
+  
+  
+  
+    <_ProjectFileVersion>10.0.30319.1
+    $(SolutionDir)$(Configuration)\
+    $(Configuration)\
+    true
+    $(SolutionDir)$(Configuration)\
+    $(Configuration)\
+    false
+  
+  
+    
+      Disabled
+      WIN32;_DEBUG;%(PreprocessorDefinitions)
+      MultiThreadedDebugDLL
+      NotUsing
+      Level3
+      ProgramDatabase
+      Default
+    
+    
+      Winmm.lib
+      true
+      true
+      Windows
+      main
+      MachineX86
+    
+  
+  
+    
+      WIN32;NDEBUG;%(PreprocessorDefinitions)
+      MultiThreadedDLL
+      Use
+      Level3
+      ProgramDatabase
+      MaxSpeed
+    
+    
+      Winmm.lib
+      true
+      Windows
+      main
+      MachineX86
+    
+  
+  
+    
+      true
+      true
+    
+    
+      true
+      true
+    
+    
+      true
+      true
+    
+    
+      true
+      true
+    
+    
+    
+      true
+      true
+    
+  
+  
+    
+    
+    
+      Create
+      Create
+    
+  
+  
+    
+    
+      CppForm
+    
+    
+    
+  
+  
+    
+    
+  
+  
+    
+  
+  
+    
+      Form1.h
+      Designer
+    
+  
+  
+  
+  
+
\ No newline at end of file
diff --git a/Graph/Filter/HexapodControl/HexapodControl.vcxproj.filters b/Graph/Filter/HexapodControl/HexapodControl.vcxproj.filters
new file mode 100644
index 0000000..b9bdc7b
--- /dev/null
+++ b/Graph/Filter/HexapodControl/HexapodControl.vcxproj.filters
@@ -0,0 +1,53 @@
+
+
+  
+    
+      {4FC737F1-C7A5-4376-A066-2A32D752A2FF}
+      cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx
+    
+    
+      {93995380-89BD-4b04-88EB-625FBE52EBFB}
+      h;hpp;hxx;hm;inl;inc;xsd
+    
+    
+      {67DA6AB6-F800-4c08-8B7A-83BB121AAD01}
+      rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav
+    
+  
+  
+    
+      Source Files
+    
+    
+      Source Files
+    
+    
+      Source Files
+    
+  
+  
+    
+      Header Files
+    
+    
+      Header Files
+    
+    
+      Header Files
+    
+    
+      Header Files
+    
+  
+  
+    
+      Resource Files
+    
+    
+  
+  
+    
+      Resource Files
+    
+  
+
\ No newline at end of file
diff --git a/Graph/Filter/HexapodControl/HexapodControl.vcxproj.user b/Graph/Filter/HexapodControl/HexapodControl.vcxproj.user
new file mode 100644
index 0000000..ace9a86
--- /dev/null
+++ b/Graph/Filter/HexapodControl/HexapodControl.vcxproj.user
@@ -0,0 +1,3 @@
+
+
+
\ No newline at end of file
diff --git a/Graph/Filter/HexapodControl/ReadMe.txt b/Graph/Filter/HexapodControl/ReadMe.txt
new file mode 100644
index 0000000..b3d0ed8
--- /dev/null
+++ b/Graph/Filter/HexapodControl/ReadMe.txt
@@ -0,0 +1,33 @@
+========================================================================
+    APPLICATION : HexapodControl Project Overview
+========================================================================
+
+AppWizard has created this HexapodControl Application for you.  
+
+This file contains a summary of what you will find in each of the files that
+make up your HexapodControl application.
+
+HexapodControl.vcproj
+    This is the main project file for VC++ projects generated using an Application Wizard. 
+    It contains information about the version of Visual C++ that generated the file, and 
+    information about the platforms, configurations, and project features selected with the
+    Application Wizard.
+
+HexapodControl.cpp
+    This is the main application source file.
+    Contains the code to display the form.
+
+Form1.h
+    Contains the implementation of your form class and InitializeComponent() function.
+
+AssemblyInfo.cpp
+    Contains custom attributes for modifying assembly metadata.
+
+/////////////////////////////////////////////////////////////////////////////
+Other standard files:
+
+StdAfx.h, StdAfx.cpp
+    These files are used to build a precompiled header (PCH) file
+    named HexapodControl.pch and a precompiled types file named StdAfx.obj.
+
+/////////////////////////////////////////////////////////////////////////////
diff --git a/Graph/Filter/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.cpp b/Graph/Filter/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.cpp
new file mode 100644
index 0000000..62124be
--- /dev/null
+++ b/Graph/Filter/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.cpp
@@ -0,0 +1,2 @@
+#using 
+[assembly: System::Runtime::Versioning::TargetFrameworkAttribute(L".NETFramework,Version=v4.7.2", FrameworkDisplayName=L".NET Framework 4.7.2")];
diff --git a/Graph/Filter/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.obj b/Graph/Filter/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.obj
new file mode 100644
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new file mode 100644
index 0000000..268ae3f
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diff --git a/Graph/Filter/HexapodControl/app.rc b/Graph/Filter/HexapodControl/app.rc
new file mode 100644
index 0000000..1914548
--- /dev/null
+++ b/Graph/Filter/HexapodControl/app.rc
@@ -0,0 +1,63 @@
+// Microsoft Visual C++ generated resource script.
+//
+#include "resource.h"
+
+#define APSTUDIO_READONLY_SYMBOLS
+
+/////////////////////////////////////////////////////////////////////////////
+#undef APSTUDIO_READONLY_SYMBOLS
+
+/////////////////////////////////////////////////////////////////////////////
+// English (U.S.) resources
+
+
+/////////////////////////////////////////////////////////////////////////////
+//
+// Icon
+//
+
+// Icon placed first or with lowest ID value becomes application icon
+
+LANGUAGE 25, 1
+#pragma code_page(1251)
+1           ICON         "app.ico"
+
+#ifdef APSTUDIO_INVOKED
+/////////////////////////////////////////////////////////////////////////////
+//
+// TEXTINCLUDE
+//
+
+1 TEXTINCLUDE  
+BEGIN
+    "resource.h\0"
+    "\0"
+END
+
+2 TEXTINCLUDE  
+BEGIN
+    "#include ""afxres.h""\r\n"
+    "\0"
+END
+
+3 TEXTINCLUDE  
+BEGIN
+    "\0"
+END
+
+#endif    // APSTUDIO_INVOKED
+
+/////////////////////////////////////////////////////////////////////////////
+
+
+
+#ifndef APSTUDIO_INVOKED
+/////////////////////////////////////////////////////////////////////////////
+//
+// Generated from the TEXTINCLUDE 3 resource.
+//
+
+
+/////////////////////////////////////////////////////////////////////////////
+#endif    // not APSTUDIO_INVOKED
+
diff --git a/Graph/Filter/HexapodControl/resource.h b/Graph/Filter/HexapodControl/resource.h
new file mode 100644
index 0000000..d5ac7c4
--- /dev/null
+++ b/Graph/Filter/HexapodControl/resource.h
@@ -0,0 +1,3 @@
+//{{NO_DEPENDENCIES}}
+// Microsoft Visual C++ generated include file.
+// Used by app.rc
diff --git a/Graph/Filter/HexapodControl/stdafx.cpp b/Graph/Filter/HexapodControl/stdafx.cpp
new file mode 100644
index 0000000..7f3adb2
--- /dev/null
+++ b/Graph/Filter/HexapodControl/stdafx.cpp
@@ -0,0 +1,7 @@
+// stdafx.cpp : source file that includes just the standard includes
+// HexapodControl.pch will be the pre-compiled header
+// stdafx.obj will contain the pre-compiled type information
+
+#include "stdafx.h"
+
+
diff --git a/Graph/Filter/HexapodControl/stdafx.h b/Graph/Filter/HexapodControl/stdafx.h
new file mode 100644
index 0000000..46bef73
--- /dev/null
+++ b/Graph/Filter/HexapodControl/stdafx.h
@@ -0,0 +1,6 @@
+// stdafx.h : include file for standard system include files,
+// or project specific include files that are used frequently, but
+// are changed infrequently
+#pragma once
+
+// TODO: reference additional headers your program requires here
diff --git a/Graph/Filter/Release/FilterGPS.exe b/Graph/Filter/Release/FilterGPS.exe
new file mode 100644
index 0000000000000000000000000000000000000000..0778fa078d5b5e6ed1aa4b9cb1bd4cc05d2db5b8
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diff --git a/Graph/Filter/Release/FilterGPS.exe.metagen b/Graph/Filter/Release/FilterGPS.exe.metagen
new file mode 100644
index 0000000..13a48e6
--- /dev/null
+++ b/Graph/Filter/Release/FilterGPS.exe.metagen
@@ -0,0 +1,21 @@
+  HexapodControl.Form1.resources - Embedded, ContainedInManifestFile, 
+ImageRuntimeVersion: v4.0.30319
+Assembly FilterGPS, Version=1.0.*, Culture=Invariant Language (Invariant Country): 
+	hash=SHA1, flags=PublicKey
+Assembly mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Assembly System.Data, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Assembly System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Assembly System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a: 
+	hash=None, flags=None
+Assembly System.Windows.Forms.DataVisualization, Version=4.0.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35: 
+	hash=None, flags=None
+Assembly System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Assembly System.Xml, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Class HexapodControl.Form1: AutoLayout, AnsiClass, Class, Public, BeforeFieldInit
+  :System.Windows.Forms.Form
+    Void .ctor(): PrivateScope, Public, HideBySig, SpecialName, RTSpecialName
diff --git a/Graph/Filter/Release/FilterGPS.pdb b/Graph/Filter/Release/FilterGPS.pdb
new file mode 100644
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diff --git a/Graph/Graph/FilterGPS.sln b/Graph/Graph/FilterGPS.sln
new file mode 100644
index 0000000..9cfee17
--- /dev/null
+++ b/Graph/Graph/FilterGPS.sln
@@ -0,0 +1,20 @@
+
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Visual Studio 2010
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HexapodControl", "HexapodControl\HexapodControl.vcxproj", "{5E2A1E52-680F-4834-9D61-9CB14992F2E6}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Win32 = Debug|Win32
+		Release|Win32 = Release|Win32
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{5E2A1E52-680F-4834-9D61-9CB14992F2E6}.Debug|Win32.ActiveCfg = Debug|Win32
+		{5E2A1E52-680F-4834-9D61-9CB14992F2E6}.Debug|Win32.Build.0 = Debug|Win32
+		{5E2A1E52-680F-4834-9D61-9CB14992F2E6}.Release|Win32.ActiveCfg = Release|Win32
+		{5E2A1E52-680F-4834-9D61-9CB14992F2E6}.Release|Win32.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal
diff --git a/Graph/Graph/HexapodControl.suo b/Graph/Graph/HexapodControl.suo
new file mode 100644
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diff --git a/Graph/Graph/HexapodControl/AssemblyInfo.cpp b/Graph/Graph/HexapodControl/AssemblyInfo.cpp
new file mode 100644
index 0000000..44e1909
--- /dev/null
+++ b/Graph/Graph/HexapodControl/AssemblyInfo.cpp
@@ -0,0 +1,40 @@
+#include "stdafx.h"
+
+using namespace System;
+using namespace System::Reflection;
+using namespace System::Runtime::CompilerServices;
+using namespace System::Runtime::InteropServices;
+using namespace System::Security::Permissions;
+
+//
+// General Information about an assembly is controlled through the following
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+//
+[assembly:AssemblyTitleAttribute("FilterGPS")];
+[assembly:AssemblyDescriptionAttribute("")];
+[assembly:AssemblyConfigurationAttribute("")];
+[assembly:AssemblyCompanyAttribute("Microsoft")];
+[assembly:AssemblyProductAttribute("FilterGPS")];
+[assembly:AssemblyCopyrightAttribute("Copyright (c) Microsoft 2024")];
+[assembly:AssemblyTrademarkAttribute("")];
+[assembly:AssemblyCultureAttribute("")];
+
+//
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version
+//      Build Number
+//      Revision
+//
+// You can specify all the value or you can default the Revision and Build Numbers
+// by using the '*' as shown below:
+
+[assembly:AssemblyVersionAttribute("1.0.*")];
+
+[assembly:ComVisible(false)];
+
+[assembly:CLSCompliantAttribute(true)];
+
+[assembly:SecurityPermission(SecurityAction::RequestMinimum, UnmanagedCode = true)];
diff --git a/Graph/Graph/HexapodControl/Filter.h b/Graph/Graph/HexapodControl/Filter.h
new file mode 100644
index 0000000..76db0fd
--- /dev/null
+++ b/Graph/Graph/HexapodControl/Filter.h
@@ -0,0 +1,53 @@
+#pragma once
+class Filter
+{
+  public:
+
+    float Freq;
+
+    struct
+    {
+      float Value;
+      //---
+      float Min, Max;
+      //---
+      bool EnAcc;
+      float Acc;
+      //---
+      bool EnGPS;
+      float Width, Length;
+      //---
+    }Position;
+
+    
+
+    struct
+    {
+      float ValueAccGPS;
+      float ValueGPS;
+      float Value;
+      //---
+      float Min, Max;
+      //---
+      bool EnAcc;
+      float Acc;
+      float AccGPS;
+      //---
+      bool EnGPS;
+      float Width, Length;
+    }Speed;
+
+    struct
+    {
+      float Pos[100];
+      float Acc[100];
+      float Spd[100];
+      long Size, Index;
+    }Delay;
+
+    float* Update(bool valid, float gps, float acc);
+
+    float Limit(float Value, float Min, float Max);
+    float Minimum(float Value1, float Value2);
+
+};
diff --git a/Graph/Graph/HexapodControl/Form1.h b/Graph/Graph/HexapodControl/Form1.h
new file mode 100644
index 0000000..573921f
--- /dev/null
+++ b/Graph/Graph/HexapodControl/Form1.h
@@ -0,0 +1,692 @@
+#pragma once
+#include 
+#include 
+#include 
+#include 
+
+#include "Filter.h"
+
+HANDLE PortCOM;
+HANDLE MainThread;
+
+bool OnlineFilter = false;
+
+bool AxeInverse = false;
+
+float PlotsData[6];
+bool PlotsReady = false;
+
+struct TeleLog
+{
+	short GyrX, GyrY, GyrZ;
+	short AccX, AccY, AccZ;
+};
+
+int TeleAxe = 0;
+
+void SaveLogFile(unsigned char data[12], unsigned long size)
+{
+	TeleLog log;
+	memcpy(&log, data, size);
+
+	PlotsData[0] = log.GyrX; PlotsData[3] = log.AccX;
+	PlotsData[1] = log.GyrY; PlotsData[4] = log.AccY;
+	PlotsData[2] = log.GyrZ; PlotsData[5] = log.AccZ;
+
+	PlotsReady = true;
+}
+
+unsigned long __stdcall RecvThread(void*)
+{
+	long wait = 0;
+
+	private enum class RecvModeEnum : char { Begin, Data };
+
+	bool mode = false;
+
+	unsigned char data[13];
+	unsigned long size;
+
+	unsigned long len;
+
+	while (1)
+	{
+		if (!PortCOM)
+		{
+			CloseHandle(MainThread);
+			MainThread = 0;
+			return 0;
+		}
+
+		if (wait < GetTickCount()) mode = false;
+
+		if (!mode)
+		{
+			wait = GetTickCount() + 20;
+
+			ReadFile(PortCOM, data, 1, &len, 0);
+			if (!len) continue;
+			if (data[0] == 'Z') mode = true;
+			size = 0;
+		}
+
+		if (mode)
+		{
+			ReadFile(PortCOM, data + size, sizeof(data) - size, &len, 0);
+			if (!len) continue;
+			size += len;
+			if (size < sizeof(data)) continue;
+
+			if (data[12] == 'V') SaveLogFile(data, sizeof(data) - 1);
+
+			mode = false;
+		}
+
+	}
+}
+
+namespace HexapodControl
+{
+
+	using namespace System;
+	using namespace System::ComponentModel;
+	using namespace System::Collections;
+	using namespace System::Windows::Forms;
+	using namespace System::Data;
+	using namespace System::Drawing;
+	using namespace System::IO;
+
+	/// 
          
+	/// Summary for Form1
+	///
+	/// WARNING: If you change the name of this class, you will need to change the
+	///          'Resource File Name' property for the managed resource compiler tool
+	///          associated with all .resx files this class depends on.  Otherwise,
+	///          the designers will not be able to interact properly with localized
+	///          resources associated with this form.
+	/// 
+	public ref class Form1 : public System::Windows::Forms::Form
+	{
+	public:
+		Form1(void)
+		{
+			InitializeComponent();
+			//
+
+		}
+
+	protected:
+		/// 
+		/// Clean up any resources being used.
+		
+		String^ RecordsFolder = "";
+	private: System::Windows::Forms::OpenFileDialog^ openFileDialog_Open;
+
+	private: System::Windows::Forms::GroupBox^ groupBox1;
+	private: System::Windows::Forms::CheckedListBox^ checkedListBox_List;
+	private: System::Windows::Forms::CheckBox^ checkBox_Auto;
+	private: System::Windows::Forms::Label^ label2;
+	private: System::Windows::Forms::Label^ label1;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Graph_MinY;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Track;
+	private: System::Windows::Forms::Label^ label3;
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+	private: System::Windows::Forms::Panel^ panel3;
+	private: System::Windows::Forms::Panel^ panel4;
+
+
+	private: System::Windows::Forms::Button^ button_Connect;
+
+	private: System::Windows::Forms::ComboBox^ comboBox_Port;
+	private: System::Windows::Forms::Timer^ timer_Tick;
+
+
+
+	private: System::Windows::Forms::ComboBox^ comboBox_Baud;
+
+
+
+
+
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Graph_MaxY;
+
+	protected:
+
+	protected:
+		/// 
+		~Form1()
+		{
+			if (components)
+			{
+				delete components;
+			}
+		}
+	private: System::Windows::Forms::DataVisualization::Charting::Chart^ chart_Graph;
+	protected:
+
+
+	private: System::Windows::Forms::Panel^ panel1;
+
+
+
+	private: System::Windows::Forms::GroupBox^ groupBox_P1;
+
+
+
+
+
+
+
+	private: System::ComponentModel::IContainer^ components;
+	private:
+		/// 
+		/// Required designer variable.
+		/// 
+
+
+#pragma region Windows Form Designer generated code
+		/// 
+		/// Required method for Designer support - do not modify
+		/// the contents of this method with the code editor.
+		/// 
+		void InitializeComponent(void)
+		{
+			this->components = (gcnew System::ComponentModel::Container());
+			System::Windows::Forms::DataVisualization::Charting::ChartArea^ chartArea1 = (gcnew System::Windows::Forms::DataVisualization::Charting::ChartArea());
+			System::Windows::Forms::DataVisualization::Charting::Legend^ legend1 = (gcnew System::Windows::Forms::DataVisualization::Charting::Legend());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series1 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series2 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series3 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series4 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series5 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series6 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			this->chart_Graph = (gcnew System::Windows::Forms::DataVisualization::Charting::Chart());
+			this->panel1 = (gcnew System::Windows::Forms::Panel());
+			this->panel3 = (gcnew System::Windows::Forms::Panel());
+			this->comboBox_Baud = (gcnew System::Windows::Forms::ComboBox());
+			this->button_Connect = (gcnew System::Windows::Forms::Button());
+			this->comboBox_Port = (gcnew System::Windows::Forms::ComboBox());
+			this->groupBox_P1 = (gcnew System::Windows::Forms::GroupBox());
+			this->openFileDialog_Open = (gcnew System::Windows::Forms::OpenFileDialog());
+			this->groupBox1 = (gcnew System::Windows::Forms::GroupBox());
+			this->panel4 = (gcnew System::Windows::Forms::Panel());
+			this->checkedListBox_List = (gcnew System::Windows::Forms::CheckedListBox());
+			this->checkBox_Auto = (gcnew System::Windows::Forms::CheckBox());
+			this->numericUpDown_Track = (gcnew System::Windows::Forms::NumericUpDown());
+			this->numericUpDown_Graph_MaxY = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label3 = (gcnew System::Windows::Forms::Label());
+			this->numericUpDown_Graph_MinY = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label2 = (gcnew System::Windows::Forms::Label());
+			this->label1 = (gcnew System::Windows::Forms::Label());
+			this->timer_Tick = (gcnew System::Windows::Forms::Timer(this->components));
+			(cli::safe_cast(this->chart_Graph))->BeginInit();
+			this->panel1->SuspendLayout();
+			this->panel3->SuspendLayout();
+			this->groupBox_P1->SuspendLayout();
+			this->groupBox1->SuspendLayout();
+			this->panel4->SuspendLayout();
+			(cli::safe_cast(this->numericUpDown_Track))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Graph_MaxY))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Graph_MinY))->BeginInit();
+			this->SuspendLayout();
+			// 
+			// chart_Graph
+			// 
+			chartArea1->Name = L"ChartArea1";
+			this->chart_Graph->ChartAreas->Add(chartArea1);
+			this->chart_Graph->Dock = System::Windows::Forms::DockStyle::Fill;
+			legend1->Name = L"Legend1";
+			this->chart_Graph->Legends->Add(legend1);
+			this->chart_Graph->Location = System::Drawing::Point(3, 16);
+			this->chart_Graph->Name = L"chart_Graph";
+			series1->ChartArea = L"ChartArea1";
+			series1->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series1->Color = System::Drawing::Color::Blue;
+			series1->Legend = L"Legend1";
+			series1->Name = L"GyrX";
+			series1->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series1->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series2->ChartArea = L"ChartArea1";
+			series2->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series2->Color = System::Drawing::Color::Red;
+			series2->Legend = L"Legend1";
+			series2->Name = L"GyrY";
+			series2->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series2->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series3->ChartArea = L"ChartArea1";
+			series3->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series3->Color = System::Drawing::Color::Fuchsia;
+			series3->Legend = L"Legend1";
+			series3->Name = L"GyrZ";
+			series3->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series3->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series4->BorderWidth = 2;
+			series4->ChartArea = L"ChartArea1";
+			series4->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series4->Color = System::Drawing::Color::Black;
+			series4->Legend = L"Legend1";
+			series4->Name = L"AccX";
+			series5->ChartArea = L"ChartArea1";
+			series5->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series5->Color = System::Drawing::Color::Green;
+			series5->Legend = L"Legend1";
+			series5->Name = L"AccY";
+			series6->BorderWidth = 2;
+			series6->ChartArea = L"ChartArea1";
+			series6->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series6->Color = System::Drawing::Color::Tomato;
+			series6->Legend = L"Legend1";
+			series6->Name = L"AccZ";
+			this->chart_Graph->Series->Add(series1);
+			this->chart_Graph->Series->Add(series2);
+			this->chart_Graph->Series->Add(series3);
+			this->chart_Graph->Series->Add(series4);
+			this->chart_Graph->Series->Add(series5);
+			this->chart_Graph->Series->Add(series6);
+			this->chart_Graph->Size = System::Drawing::Size(689, 669);
+			this->chart_Graph->TabIndex = 1;
+			this->chart_Graph->Text = L"chart1";
+			// 
+			// panel1
+			// 
+			this->panel1->Controls->Add(this->panel3);
+			this->panel1->Dock = System::Windows::Forms::DockStyle::Left;
+			this->panel1->Location = System::Drawing::Point(0, 0);
+			this->panel1->Name = L"panel1";
+			this->panel1->Size = System::Drawing::Size(135, 688);
+			this->panel1->TabIndex = 2;
+			// 
+			// panel3
+			// 
+			this->panel3->Controls->Add(this->comboBox_Baud);
+			this->panel3->Controls->Add(this->button_Connect);
+			this->panel3->Controls->Add(this->comboBox_Port);
+			this->panel3->Dock = System::Windows::Forms::DockStyle::Top;
+			this->panel3->Location = System::Drawing::Point(0, 0);
+			this->panel3->Name = L"panel3";
+			this->panel3->Size = System::Drawing::Size(135, 75);
+			this->panel3->TabIndex = 9;
+			// 
+			// comboBox_Baud
+			// 
+			this->comboBox_Baud->FormattingEnabled = true;
+			this->comboBox_Baud->Items->AddRange(gcnew cli::array< System::Object^  >(3) { L"57600", L"115200", L"230400" });
+			this->comboBox_Baud->Location = System::Drawing::Point(5, 43);
+			this->comboBox_Baud->Name = L"comboBox_Baud";
+			this->comboBox_Baud->Size = System::Drawing::Size(124, 21);
+			this->comboBox_Baud->TabIndex = 26;
+			this->comboBox_Baud->Text = L"115200";
+			// 
+			// button_Connect
+			// 
+			this->button_Connect->Location = System::Drawing::Point(5, 14);
+			this->button_Connect->Name = L"button_Connect";
+			this->button_Connect->Size = System::Drawing::Size(64, 23);
+			this->button_Connect->TabIndex = 10;
+			this->button_Connect->Text = L"Connect";
+			this->button_Connect->UseVisualStyleBackColor = true;
+			this->button_Connect->Click += gcnew System::EventHandler(this, &Form1::button_Connect_Click);
+			// 
+			// comboBox_Port
+			// 
+			this->comboBox_Port->FormattingEnabled = true;
+			this->comboBox_Port->Location = System::Drawing::Point(75, 16);
+			this->comboBox_Port->Name = L"comboBox_Port";
+			this->comboBox_Port->Size = System::Drawing::Size(54, 21);
+			this->comboBox_Port->TabIndex = 9;
+			this->comboBox_Port->DropDown += gcnew System::EventHandler(this, &Form1::comboBox_Port_DropDown);
+			// 
+			// groupBox_P1
+			// 
+			this->groupBox_P1->Controls->Add(this->chart_Graph);
+			this->groupBox_P1->Dock = System::Windows::Forms::DockStyle::Fill;
+			this->groupBox_P1->Location = System::Drawing::Point(135, 0);
+			this->groupBox_P1->MinimumSize = System::Drawing::Size(676, 688);
+			this->groupBox_P1->Name = L"groupBox_P1";
+			this->groupBox_P1->Size = System::Drawing::Size(695, 688);
+			this->groupBox_P1->TabIndex = 3;
+			this->groupBox_P1->TabStop = false;
+			// 
+			// openFileDialog_Open
+			// 
+			this->openFileDialog_Open->FileName = L"openFileDialog1";
+			this->openFileDialog_Open->Multiselect = true;
+			// 
+			// groupBox1
+			// 
+			this->groupBox1->Controls->Add(this->panel4);
+			this->groupBox1->Dock = System::Windows::Forms::DockStyle::Right;
+			this->groupBox1->Location = System::Drawing::Point(830, 0);
+			this->groupBox1->Name = L"groupBox1";
+			this->groupBox1->Size = System::Drawing::Size(128, 688);
+			this->groupBox1->TabIndex = 4;
+			this->groupBox1->TabStop = false;
+			this->groupBox1->Text = L" options ";
+			// 
+			// panel4
+			// 
+			this->panel4->Controls->Add(this->checkedListBox_List);
+			this->panel4->Controls->Add(this->checkBox_Auto);
+			this->panel4->Controls->Add(this->numericUpDown_Track);
+			this->panel4->Controls->Add(this->numericUpDown_Graph_MaxY);
+			this->panel4->Controls->Add(this->label3);
+			this->panel4->Controls->Add(this->numericUpDown_Graph_MinY);
+			this->panel4->Controls->Add(this->label2);
+			this->panel4->Controls->Add(this->label1);
+			this->panel4->Dock = System::Windows::Forms::DockStyle::Top;
+			this->panel4->Location = System::Drawing::Point(3, 16);
+			this->panel4->Name = L"panel4";
+			this->panel4->Size = System::Drawing::Size(122, 245);
+			this->panel4->TabIndex = 9;
+			// 
+			// checkedListBox_List
+			// 
+			this->checkedListBox_List->Dock = System::Windows::Forms::DockStyle::Top;
+			this->checkedListBox_List->FormattingEnabled = true;
+			this->checkedListBox_List->Location = System::Drawing::Point(0, 0);
+			this->checkedListBox_List->Name = L"checkedListBox_List";
+			this->checkedListBox_List->Size = System::Drawing::Size(122, 109);
+			this->checkedListBox_List->TabIndex = 0;
+			this->checkedListBox_List->SelectedIndexChanged += gcnew System::EventHandler(this, &Form1::checkedListBox_List_SelectedIndexChanged);
+			this->checkedListBox_List->DoubleClick += gcnew System::EventHandler(this, &Form1::checkedListBox_List_SelectedIndexChanged);
+			// 
+			// checkBox_Auto
+			// 
+			this->checkBox_Auto->AutoSize = true;
+			this->checkBox_Auto->Checked = true;
+			this->checkBox_Auto->CheckState = System::Windows::Forms::CheckState::Checked;
+			this->checkBox_Auto->Location = System::Drawing::Point(20, 118);
+			this->checkBox_Auto->Name = L"checkBox_Auto";
+			this->checkBox_Auto->Size = System::Drawing::Size(47, 17);
+			this->checkBox_Auto->TabIndex = 1;
+			this->checkBox_Auto->Text = L"auto";
+			this->checkBox_Auto->UseVisualStyleBackColor = true;
+			this->checkBox_Auto->CheckedChanged += gcnew System::EventHandler(this, &Form1::checkBox_Auto_CheckedChanged);
+			// 
+			// numericUpDown_Track
+			// 
+			this->numericUpDown_Track->Location = System::Drawing::Point(44, 203);
+			this->numericUpDown_Track->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1000, 0, 0, 0 });
+			this->numericUpDown_Track->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Track->Name = L"numericUpDown_Track";
+			this->numericUpDown_Track->Size = System::Drawing::Size(57, 20);
+			this->numericUpDown_Track->TabIndex = 7;
+			this->numericUpDown_Track->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 200, 0, 0, 0 });
+			// 
+			// numericUpDown_Graph_MaxY
+			// 
+			this->numericUpDown_Graph_MaxY->Location = System::Drawing::Point(53, 143);
+			this->numericUpDown_Graph_MaxY->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 10000, 0, 0, 0 });
+			this->numericUpDown_Graph_MaxY->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Graph_MaxY->Name = L"numericUpDown_Graph_MaxY";
+			this->numericUpDown_Graph_MaxY->Size = System::Drawing::Size(60, 20);
+			this->numericUpDown_Graph_MaxY->TabIndex = 2;
+			this->numericUpDown_Graph_MaxY->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 3, 0, 0, 0 });
+			this->numericUpDown_Graph_MaxY->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Graph_MaxY_ValueChanged);
+			// 
+			// label3
+			// 
+			this->label3->AutoSize = true;
+			this->label3->Location = System::Drawing::Point(6, 205);
+			this->label3->Name = L"label3";
+			this->label3->Size = System::Drawing::Size(38, 13);
+			this->label3->TabIndex = 6;
+			this->label3->Text = L"Track:";
+			// 
+			// numericUpDown_Graph_MinY
+			// 
+			this->numericUpDown_Graph_MinY->Location = System::Drawing::Point(53, 169);
+			this->numericUpDown_Graph_MinY->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, System::Int32::MinValue });
+			this->numericUpDown_Graph_MinY->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 10000, 0, 0, System::Int32::MinValue });
+			this->numericUpDown_Graph_MinY->Name = L"numericUpDown_Graph_MinY";
+			this->numericUpDown_Graph_MinY->Size = System::Drawing::Size(60, 20);
+			this->numericUpDown_Graph_MinY->TabIndex = 3;
+			this->numericUpDown_Graph_MinY->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 3, 0, 0, System::Int32::MinValue });
+			this->numericUpDown_Graph_MinY->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Graph_MaxY_ValueChanged);
+			// 
+			// label2
+			// 
+			this->label2->AutoSize = true;
+			this->label2->Location = System::Drawing::Point(9, 171);
+			this->label2->Name = L"label2";
+			this->label2->Size = System::Drawing::Size(37, 13);
+			this->label2->TabIndex = 5;
+			this->label2->Text = L"Min Y:";
+			// 
+			// label1
+			// 
+			this->label1->AutoSize = true;
+			this->label1->Location = System::Drawing::Point(6, 145);
+			this->label1->Name = L"label1";
+			this->label1->Size = System::Drawing::Size(40, 13);
+			this->label1->TabIndex = 4;
+			this->label1->Text = L"Max Y:";
+			// 
+			// timer_Tick
+			// 
+			this->timer_Tick->Interval = 1;
+			this->timer_Tick->Tick += gcnew System::EventHandler(this, &Form1::timer_Tick_Tick);
+			// 
+			// Form1
+			// 
+			this->AutoScaleDimensions = System::Drawing::SizeF(6, 13);
+			this->AutoScaleMode = System::Windows::Forms::AutoScaleMode::Font;
+			this->ClientSize = System::Drawing::Size(958, 688);
+			this->Controls->Add(this->groupBox_P1);
+			this->Controls->Add(this->groupBox1);
+			this->Controls->Add(this->panel1);
+			this->MinimumSize = System::Drawing::Size(974, 727);
+			this->Name = L"Form1";
+			this->Text = L"Filter Tuning GPS";
+			this->Load += gcnew System::EventHandler(this, &Form1::Form1_Load);
+			(cli::safe_cast(this->chart_Graph))->EndInit();
+			this->panel1->ResumeLayout(false);
+			this->panel3->ResumeLayout(false);
+			this->groupBox_P1->ResumeLayout(false);
+			this->groupBox1->ResumeLayout(false);
+			this->panel4->ResumeLayout(false);
+			this->panel4->PerformLayout();
+			(cli::safe_cast(this->numericUpDown_Track))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Graph_MaxY))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Graph_MinY))->EndInit();
+			this->ResumeLayout(false);
+
+		}
+#pragma endregion
+
+	  private: void ToCharString(String^ str1, char* str2)
+	  {
+	  	for (int a = 0; a < str1->Length; a++) *str2++ = str1[a];
+	  	*str2 = '\0';
+	  }
+
+    private: System::Void Form1_Load(System::Object^ sender, System::EventArgs^ e) 
+		{
+			comboBox_Port_DropDown(sender, e);
+			if (comboBox_Port->Items->Count > 0) comboBox_Port->Text = comboBox_Port->Items[0]->ToString();
+
+			for each (auto s in chart_Graph->Series)
+			{
+				checkedListBox_List->Items->Add(s->Name, true);
+			}
+
+			numericUpDown_Graph_MaxY_ValueChanged(sender, e);
+    }
+
+		private: System::Collections::Generic::List^ MainDataVaildGPS = gcnew System::Collections::Generic::List();
+		private: System::Collections::Generic::List^>^ MainDataRecord = gcnew System::Collections::Generic::List^>();
+
+
+	  private: System::Void checkedListBox_List_SelectedIndexChanged(System::Object^ sender, System::EventArgs^ e) 
+		{
+			for (int a = 0; a < checkedListBox_List->Items->Count; a++)
+			{
+				chart_Graph->Series[a]->Enabled = checkedListBox_List->GetItemChecked(a);
+			}
+	  }
+
+    private: System::Void checkBox_Auto_CheckedChanged(System::Object^ sender, System::EventArgs^ e)
+		{
+			if (checkBox_Auto->Checked)
+			{
+				chart_Graph->ChartAreas[0]->AxisY->Interval = double::NaN;
+				chart_Graph->ChartAreas[0]->AxisY->Minimum = double::NaN;
+				chart_Graph->ChartAreas[0]->AxisY->Maximum = double::NaN;
+				numericUpDown_Graph_MinY->Enabled = false;
+				numericUpDown_Graph_MaxY->Enabled = false;
+			}
+			else
+			{
+				chart_Graph->ChartAreas[0]->AxisY->Interval = double::NaN;
+				numericUpDown_Graph_MaxY_ValueChanged(sender, e);
+				numericUpDown_Graph_MinY->Enabled = true;
+				numericUpDown_Graph_MaxY->Enabled = true;
+			}
+    }
+    private: System::Void numericUpDown_Graph_MaxY_ValueChanged(System::Object^ sender, System::EventArgs^ e)
+		{
+			if (checkBox_Auto->Checked) return;
+			chart_Graph->ChartAreas[0]->AxisY->Minimum = (double)numericUpDown_Graph_MinY->Value;
+			chart_Graph->ChartAreas[0]->AxisY->Maximum = (double)numericUpDown_Graph_MaxY->Value;
+    }
+
+    private: System::Void comboBox_Port_DropDown(System::Object^ sender, System::EventArgs^ e)
+		{
+			comboBox_Port->Items->Clear();
+			for each (String ^ p in System::IO::Ports::SerialPort::GetPortNames())
+			{
+				comboBox_Port->Items->Add(p);
+			}
+    }
+
+    private: System::Void button_Connect_Click(System::Object^ sender, System::EventArgs^ e)
+		{
+			if (button_Connect->Text == "Connect")
+			{
+				long baud;
+				try
+				{
+					baud = Convert::ToInt32(comboBox_Baud->Text);
+					comboBox_Baud->Text = baud.ToString();
+				}
+				catch (...)
+				{
+					MessageBox::Show("Error to set baud", "Error", MessageBoxButtons::OK, MessageBoxIcon::Error);
+					return;
+				}
+
+				char text[128] = "\\\\.\\";
+
+				ToCharString(comboBox_Port->Text, text + 4);
+
+				PortCOM = CreateFileA(text, GENERIC_READ | GENERIC_WRITE, 0, 0, OPEN_EXISTING, 0, 0);
+				if (PortCOM == INVALID_HANDLE_VALUE)
+				{
+					PortCOM = 0;
+					MessageBox::Show("Error to connect", "Error", MessageBoxButtons::OK, MessageBoxIcon::Error);
+					return;
+				}
+				//---
+				DCB serial = { sizeof(serial) };
+				GetCommState(PortCOM, &serial);
+				serial.BaudRate = baud;
+				serial.ByteSize = 8;
+				serial.StopBits = ONESTOPBIT;
+				serial.Parity = NOPARITY;
+				SetCommState(PortCOM, &serial);
+				//---
+				COMMTIMEOUTS tim;
+				GetCommTimeouts(PortCOM, &tim);
+				tim.ReadIntervalTimeout = 1;
+				tim.ReadTotalTimeoutConstant = 1;
+				tim.ReadTotalTimeoutMultiplier = 1;
+				SetCommTimeouts(PortCOM, &tim);
+				//---
+				timer_Tick->Enabled = true;
+				button_Connect->Text = "Disonnect";
+				//---
+				for (int a = 0; a < chart_Graph->Series->Count; a++) chart_Graph->Series[a]->Points->Clear();
+				//---
+				MainThread = CreateThread(0, 0, RecvThread, 0, 0, 0);
+			}
+			else
+			{
+				CloseHandle(PortCOM);
+				PortCOM = 0;
+				timer_Tick->Enabled = false;
+				button_Connect->Text = "Connect";
+			}
+    }
+
+    private: System::Void timer_Tick_Tick(System::Object^ sender, System::EventArgs^ e)
+		{
+			if (!PlotsReady) return;
+			PlotsReady = false;
+
+			for (int a = 0; a < chart_Graph->Series->Count; a++)
+			{
+				chart_Graph->Series[a]->Points->AddY((double)PlotsData[a]);
+				while (chart_Graph->Series[a]->Points->Count > numericUpDown_Track->Value) chart_Graph->Series[a]->Points->RemoveAt(0);
+			}
+    }
+};
+}
diff --git a/Graph/Graph/HexapodControl/Form1.resx b/Graph/Graph/HexapodControl/Form1.resx
new file mode 100644
index 0000000..cb35878
--- /dev/null
+++ b/Graph/Graph/HexapodControl/Form1.resx
@@ -0,0 +1,129 @@
+
+
+  
+  
+    
+    
+      
+        
+          
+            
+              
+                
+              
+              
+              
+              
+              
+            
+          
+          
+            
+              
+              
+            
+          
+          
+            
+              
+                
+                
+              
+              
+              
+              
+              
+            
+          
+          
+            
+              
+                
+              
+              
+            
+          
+        
+      
+    
+  
+  
+    text/microsoft-resx
+  
+  
+    2.0
+  
+  
+    System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089
+  
+  
+    System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089
+  
+  
+    11, 12
+  
+  
+    178, 12
+  
+  
+    40
+  
+
\ No newline at end of file
diff --git a/Graph/Graph/HexapodControl/HexapodControl.cpp b/Graph/Graph/HexapodControl/HexapodControl.cpp
new file mode 100644
index 0000000..6e715e6
--- /dev/null
+++ b/Graph/Graph/HexapodControl/HexapodControl.cpp
@@ -0,0 +1,18 @@
+// HexapodControl.cpp : main project file.
+
+#include "stdafx.h"
+#include "Form1.h"
+
+using namespace HexapodControl;
+
+[STAThreadAttribute]
+int main(array ^args)
+{
+	// Enabling Windows XP visual effects before any controls are created
+	Application::EnableVisualStyles();
+	Application::SetCompatibleTextRenderingDefault(false); 
+
+	// Create the main window and run it
+	Application::Run(gcnew Form1());
+	return 0;
+}
diff --git a/Graph/Graph/HexapodControl/HexapodControl.vcproj b/Graph/Graph/HexapodControl/HexapodControl.vcproj
new file mode 100644
index 0000000..1a2c8ca
--- /dev/null
+++ b/Graph/Graph/HexapodControl/HexapodControl.vcproj
@@ -0,0 +1,272 @@
+
+
+	
+		
+	
+	
+	
+	
+		
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+		
+		
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+		
+	
+	
+		
+		
+		
+		
+		
+	
+	
+		
+			
+			
+			
+			
+			
+				
+					
+				
+				
+					
+				
+			
+		
+		
+			
+				
+				
+			
+			
+			
+			
+			
+		
+		
+			
+			
+			
+			
+		
+		
+		
+	
+	
+	
+
diff --git a/Graph/Graph/HexapodControl/HexapodControl.vcproj.computer-m4a.PREDATOR.user b/Graph/Graph/HexapodControl/HexapodControl.vcproj.computer-m4a.PREDATOR.user
new file mode 100644
index 0000000..f6e293c
--- /dev/null
+++ b/Graph/Graph/HexapodControl/HexapodControl.vcproj.computer-m4a.PREDATOR.user
@@ -0,0 +1,65 @@
+
+
+	
+		
+			
+		
+		
+			
+		
+	
+
diff --git a/Graph/Graph/HexapodControl/HexapodControl.vcproj.computer-m4a.USER.user b/Graph/Graph/HexapodControl/HexapodControl.vcproj.computer-m4a.USER.user
new file mode 100644
index 0000000..f6e293c
--- /dev/null
+++ b/Graph/Graph/HexapodControl/HexapodControl.vcproj.computer-m4a.USER.user
@@ -0,0 +1,65 @@
+
+
+	
+		
+			
+		
+		
+			
+		
+	
+
diff --git a/Graph/Graph/HexapodControl/HexapodControl.vcxproj b/Graph/Graph/HexapodControl/HexapodControl.vcxproj
new file mode 100644
index 0000000..6f54a3e
--- /dev/null
+++ b/Graph/Graph/HexapodControl/HexapodControl.vcxproj
@@ -0,0 +1,144 @@
+
+
+  
+    
+      Debug
+      Win32
+    
+    
+      Release
+      Win32
+    
+  
+  
+    {5E2A1E52-680F-4834-9D61-9CB14992F2E6}
+    HexapodControl
+    ManagedCProj
+    FilterGPS
+    10.0
+  
+  
+  
+    Application
+    Unicode
+    true
+    true
+    v143
+  
+  
+    Application
+    Unicode
+    true
+    v143
+  
+  
+  
+  
+  
+    
+  
+  
+    
+  
+  
+  
+    <_ProjectFileVersion>10.0.30319.1
+    $(SolutionDir)$(Configuration)\
+    $(Configuration)\
+    true
+    $(SolutionDir)$(Configuration)\
+    $(Configuration)\
+    false
+  
+  
+    
+      Disabled
+      WIN32;_DEBUG;%(PreprocessorDefinitions)
+      MultiThreadedDebugDLL
+      NotUsing
+      Level3
+      ProgramDatabase
+      Default
+    
+    
+      Winmm.lib
+      true
+      true
+      Windows
+      main
+      MachineX86
+    
+  
+  
+    
+      WIN32;NDEBUG;%(PreprocessorDefinitions)
+      MultiThreadedDLL
+      Use
+      Level3
+      ProgramDatabase
+      MaxSpeed
+    
+    
+      Winmm.lib
+      true
+      Windows
+      main
+      MachineX86
+    
+  
+  
+    
+      true
+      true
+    
+    
+      true
+      true
+    
+    
+      true
+      true
+    
+    
+      true
+      true
+    
+    
+    
+      true
+      true
+    
+  
+  
+    
+    
+    
+      Create
+      Create
+    
+  
+  
+    
+    
+      CppForm
+    
+    
+    
+  
+  
+    
+    
+  
+  
+    
+  
+  
+    
+      Form1.h
+      Designer
+    
+  
+  
+  
+  
+
\ No newline at end of file
diff --git a/Graph/Graph/HexapodControl/HexapodControl.vcxproj.filters b/Graph/Graph/HexapodControl/HexapodControl.vcxproj.filters
new file mode 100644
index 0000000..b9bdc7b
--- /dev/null
+++ b/Graph/Graph/HexapodControl/HexapodControl.vcxproj.filters
@@ -0,0 +1,53 @@
+
+
+  
+    
+      {4FC737F1-C7A5-4376-A066-2A32D752A2FF}
+      cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx
+    
+    
+      {93995380-89BD-4b04-88EB-625FBE52EBFB}
+      h;hpp;hxx;hm;inl;inc;xsd
+    
+    
+      {67DA6AB6-F800-4c08-8B7A-83BB121AAD01}
+      rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav
+    
+  
+  
+    
+      Source Files
+    
+    
+      Source Files
+    
+    
+      Source Files
+    
+  
+  
+    
+      Header Files
+    
+    
+      Header Files
+    
+    
+      Header Files
+    
+    
+      Header Files
+    
+  
+  
+    
+      Resource Files
+    
+    
+  
+  
+    
+      Resource Files
+    
+  
+
\ No newline at end of file
diff --git a/Graph/Graph/HexapodControl/HexapodControl.vcxproj.user b/Graph/Graph/HexapodControl/HexapodControl.vcxproj.user
new file mode 100644
index 0000000..ace9a86
--- /dev/null
+++ b/Graph/Graph/HexapodControl/HexapodControl.vcxproj.user
@@ -0,0 +1,3 @@
+
+
+
\ No newline at end of file
diff --git a/Graph/Graph/HexapodControl/ReadMe.txt b/Graph/Graph/HexapodControl/ReadMe.txt
new file mode 100644
index 0000000..b3d0ed8
--- /dev/null
+++ b/Graph/Graph/HexapodControl/ReadMe.txt
@@ -0,0 +1,33 @@
+========================================================================
+    APPLICATION : HexapodControl Project Overview
+========================================================================
+
+AppWizard has created this HexapodControl Application for you.  
+
+This file contains a summary of what you will find in each of the files that
+make up your HexapodControl application.
+
+HexapodControl.vcproj
+    This is the main project file for VC++ projects generated using an Application Wizard. 
+    It contains information about the version of Visual C++ that generated the file, and 
+    information about the platforms, configurations, and project features selected with the
+    Application Wizard.
+
+HexapodControl.cpp
+    This is the main application source file.
+    Contains the code to display the form.
+
+Form1.h
+    Contains the implementation of your form class and InitializeComponent() function.
+
+AssemblyInfo.cpp
+    Contains custom attributes for modifying assembly metadata.
+
+/////////////////////////////////////////////////////////////////////////////
+Other standard files:
+
+StdAfx.h, StdAfx.cpp
+    These files are used to build a precompiled header (PCH) file
+    named HexapodControl.pch and a precompiled types file named StdAfx.obj.
+
+/////////////////////////////////////////////////////////////////////////////
diff --git a/Graph/Graph/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.cpp b/Graph/Graph/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.cpp
new file mode 100644
index 0000000..62124be
--- /dev/null
+++ b/Graph/Graph/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.cpp
@@ -0,0 +1,2 @@
+#using 
+[assembly: System::Runtime::Versioning::TargetFrameworkAttribute(L".NETFramework,Version=v4.7.2", FrameworkDisplayName=L".NET Framework 4.7.2")];
diff --git a/Graph/Graph/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.obj b/Graph/Graph/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.obj
new file mode 100644
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new file mode 100644
index 0000000..268ae3f
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diff --git a/Graph/Graph/HexapodControl/app.ico b/Graph/Graph/HexapodControl/app.ico
new file mode 100644
index 0000000000000000000000000000000000000000..3a5525fd794f7a7c5c8e6187f470ea3af38cd2b6
GIT binary patch
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diff --git a/Graph/Graph/HexapodControl/app.rc b/Graph/Graph/HexapodControl/app.rc
new file mode 100644
index 0000000..1914548
--- /dev/null
+++ b/Graph/Graph/HexapodControl/app.rc
@@ -0,0 +1,63 @@
+// Microsoft Visual C++ generated resource script.
+//
+#include "resource.h"
+
+#define APSTUDIO_READONLY_SYMBOLS
+
+/////////////////////////////////////////////////////////////////////////////
+#undef APSTUDIO_READONLY_SYMBOLS
+
+/////////////////////////////////////////////////////////////////////////////
+// English (U.S.) resources
+
+
+/////////////////////////////////////////////////////////////////////////////
+//
+// Icon
+//
+
+// Icon placed first or with lowest ID value becomes application icon
+
+LANGUAGE 25, 1
+#pragma code_page(1251)
+1           ICON         "app.ico"
+
+#ifdef APSTUDIO_INVOKED
+/////////////////////////////////////////////////////////////////////////////
+//
+// TEXTINCLUDE
+//
+
+1 TEXTINCLUDE  
+BEGIN
+    "resource.h\0"
+    "\0"
+END
+
+2 TEXTINCLUDE  
+BEGIN
+    "#include ""afxres.h""\r\n"
+    "\0"
+END
+
+3 TEXTINCLUDE  
+BEGIN
+    "\0"
+END
+
+#endif    // APSTUDIO_INVOKED
+
+/////////////////////////////////////////////////////////////////////////////
+
+
+
+#ifndef APSTUDIO_INVOKED
+/////////////////////////////////////////////////////////////////////////////
+//
+// Generated from the TEXTINCLUDE 3 resource.
+//
+
+
+/////////////////////////////////////////////////////////////////////////////
+#endif    // not APSTUDIO_INVOKED
+
diff --git a/Graph/Graph/HexapodControl/resource.h b/Graph/Graph/HexapodControl/resource.h
new file mode 100644
index 0000000..d5ac7c4
--- /dev/null
+++ b/Graph/Graph/HexapodControl/resource.h
@@ -0,0 +1,3 @@
+//{{NO_DEPENDENCIES}}
+// Microsoft Visual C++ generated include file.
+// Used by app.rc
diff --git a/Graph/Graph/HexapodControl/stdafx.cpp b/Graph/Graph/HexapodControl/stdafx.cpp
new file mode 100644
index 0000000..7f3adb2
--- /dev/null
+++ b/Graph/Graph/HexapodControl/stdafx.cpp
@@ -0,0 +1,7 @@
+// stdafx.cpp : source file that includes just the standard includes
+// HexapodControl.pch will be the pre-compiled header
+// stdafx.obj will contain the pre-compiled type information
+
+#include "stdafx.h"
+
+
diff --git a/Graph/Graph/HexapodControl/stdafx.h b/Graph/Graph/HexapodControl/stdafx.h
new file mode 100644
index 0000000..46bef73
--- /dev/null
+++ b/Graph/Graph/HexapodControl/stdafx.h
@@ -0,0 +1,6 @@
+// stdafx.h : include file for standard system include files,
+// or project specific include files that are used frequently, but
+// are changed infrequently
+#pragma once
+
+// TODO: reference additional headers your program requires here
diff --git a/Graph/Graph/Release/FilterGPS.exe b/Graph/Graph/Release/FilterGPS.exe
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diff --git a/Graph/Graph/Release/FilterGPS.exe.metagen b/Graph/Graph/Release/FilterGPS.exe.metagen
new file mode 100644
index 0000000..13a48e6
--- /dev/null
+++ b/Graph/Graph/Release/FilterGPS.exe.metagen
@@ -0,0 +1,21 @@
+  HexapodControl.Form1.resources - Embedded, ContainedInManifestFile, 
+ImageRuntimeVersion: v4.0.30319
+Assembly FilterGPS, Version=1.0.*, Culture=Invariant Language (Invariant Country): 
+	hash=SHA1, flags=PublicKey
+Assembly mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Assembly System.Data, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Assembly System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Assembly System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a: 
+	hash=None, flags=None
+Assembly System.Windows.Forms.DataVisualization, Version=4.0.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35: 
+	hash=None, flags=None
+Assembly System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Assembly System.Xml, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Class HexapodControl.Form1: AutoLayout, AnsiClass, Class, Public, BeforeFieldInit
+  :System.Windows.Forms.Form
+    Void .ctor(): PrivateScope, Public, HideBySig, SpecialName, RTSpecialName
diff --git a/Graph/Graph/Release/FilterGPS.pdb b/Graph/Graph/Release/FilterGPS.pdb
new file mode 100644
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diff --git a/Graph/Telemetry/HexapodControl/AssemblyInfo.cpp b/Graph/Telemetry/HexapodControl/AssemblyInfo.cpp
new file mode 100644
index 0000000..760b70a
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/AssemblyInfo.cpp
@@ -0,0 +1,40 @@
+#include "stdafx.h"
+
+using namespace System;
+using namespace System::Reflection;
+using namespace System::Runtime::CompilerServices;
+using namespace System::Runtime::InteropServices;
+using namespace System::Security::Permissions;
+
+//
+// General Information about an assembly is controlled through the following
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+//
+[assembly:AssemblyTitleAttribute("HexapodControl")];
+[assembly:AssemblyDescriptionAttribute("")];
+[assembly:AssemblyConfigurationAttribute("")];
+[assembly:AssemblyCompanyAttribute("Microsoft")];
+[assembly:AssemblyProductAttribute("HexapodControl")];
+[assembly:AssemblyCopyrightAttribute("Copyright (c) Microsoft 2011")];
+[assembly:AssemblyTrademarkAttribute("")];
+[assembly:AssemblyCultureAttribute("")];
+
+//
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version
+//      Build Number
+//      Revision
+//
+// You can specify all the value or you can default the Revision and Build Numbers
+// by using the '*' as shown below:
+
+[assembly:AssemblyVersionAttribute("1.0.*")];
+
+[assembly:ComVisible(false)];
+
+[assembly:CLSCompliantAttribute(true)];
+
+[assembly:SecurityPermission(SecurityAction::RequestMinimum, UnmanagedCode = true)];
diff --git a/Graph/Telemetry/HexapodControl/ConvNorm.h b/Graph/Telemetry/HexapodControl/ConvNorm.h
new file mode 100644
index 0000000..66a6626
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/ConvNorm.h
@@ -0,0 +1,112 @@
+#pragma once
+
+class PhaseNorm
+{
+	public:
+		PhaseNorm(const double v, const double r1, const double r2, const double l, const double c1) : V(v), R1(r1), R2(r2), L(l), C1(c1) {}
+
+		static double Freq;
+		static long Update;
+		static double Quant;
+
+	private:
+		double V;
+		double R1;
+		double R2;
+		double L;
+		double C1;
+
+		double Cf = 0;
+		double Rf = 0;
+
+		double Integ_L = 0;
+		double Integ_C1 = 0;
+
+		double Integ_Cf = 0;
+
+		static double C2;
+		static double Buffer_C2;
+		static double Integ_C2;
+
+		static long Count;
+
+		static unsigned long Step;
+
+	public:
+		double Current;
+		double Voltage;
+		static double Buffer;
+
+	public:
+		
+		void filter(const double r, const double c) { Cf = c; Rf = r; }
+		void set(const double c2);
+		void convert(const bool on, const long compare);
+
+    public:
+		static unsigned long buffer(double Load);
+
+	public:
+		void update(const double v, const double r1, const double r2, const double l, const double c1) { V = v; R1 = r1; R2 = r2; L = l; C1 = c1; }
+		static void freq(double f, long u) { Freq = f; Update = u; Quant = (Freq * Update); }
+};
+
+double PhaseNorm::Freq = 1000.0;
+long PhaseNorm::Update = 100;  // 100%
+double PhaseNorm::Quant = (Freq * Update);
+
+double PhaseNorm::C2;
+double PhaseNorm::Buffer_C2;
+double PhaseNorm::Integ_C2;
+long PhaseNorm::Count;
+double PhaseNorm::Buffer;
+unsigned long PhaseNorm::Step;
+
+void PhaseNorm::set(const double c2)
+{
+	Integ_L = Current = 1;
+	Integ_C1 = Voltage = 5;
+	C2 = c2;
+	Buffer_C2 = Buffer = 5;
+	Integ_C2 = 5;
+	Count = 0;
+	Step = 0;
+}
+
+void PhaseNorm::convert(const bool on, const long compare)
+{
+	double pulse = 1.0 - (((double)compare) / 100.0);
+	if (!on) pulse = 1.0;
+	//---
+	double var1 = V - (Integ_L * R1) - Integ_C1;
+	var1 = var1 / (R1 * C1);
+	Integ_C1 += var1 / Quant;
+	Voltage = Integ_C1;
+	//---
+	double var2 = Integ_C1 - Integ_C2 * pulse;
+	var2 -= Integ_L * R2;
+	var2 /= L;
+	Integ_L += var2 / Quant;
+	Current = Integ_L;
+	//---
+	Buffer_C2 += pulse * Integ_L;
+}
+
+unsigned long PhaseNorm::buffer(double Load)
+{
+	Count++;
+	if (Count >= Update) Count = 0;
+	//---
+	if (Load)
+	{
+		Buffer_C2 -= (1.0 / Load) * Integ_C2;
+	}
+	//---
+	Buffer_C2 /= C2;
+	Integ_C2 += Buffer_C2 / Quant;
+	Buffer_C2 = 0;
+	//---
+	Buffer = Integ_C2;
+	//---
+	return Step++;
+}
diff --git a/Graph/Telemetry/HexapodControl/Converter.h b/Graph/Telemetry/HexapodControl/Converter.h
new file mode 100644
index 0000000..b0aa6fc
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/Converter.h
@@ -0,0 +1,112 @@
+#pragma once
+
+class Phase
+{
+	public:
+		Phase(const double v, const double r1, const double r2, const double l, const double c1) : V(v), R1(r1), R2(r2), L(l), C1(c1) {}
+
+		static double Freq;
+		static long Update;
+		static double Quant;
+
+	private:
+		double V;
+		double R1;
+		double R2;
+		double L;
+		double C1;
+
+		double Cf = 0;
+		double Rf = 0;
+
+		double Integ_L = 0;
+		double Integ_C1 = 0;
+
+		double Integ_Cf = 0;
+
+		static double C2;
+		static double Buffer_C2;
+		static double Integ_C2;
+
+		static long Count;
+
+		static unsigned long Step;
+
+	public:
+		double Current;
+		double Current_Mid;
+		double Voltage;
+		static double Buffer;
+
+	public:
+		
+		void filter(const double r, const double c) { Cf = c; Rf = r; }
+		void set(const double c2);
+		void convert(const bool on, const long compare);
+
+    public:
+		static unsigned long buffer();
+
+	public:
+		void update(const double v, const double r1, const double r2, const double l, const double c1) { V = v; R1 = r1; R2 = r2; L = l; C1 = c1; }
+		static void freq(double f, long u) { Freq = f; Update = u; Quant = (Freq * Update); }
+};
+
+double Phase::Freq = 84000.0;
+long Phase::Update = 100;  // 100%
+double Phase::Quant = (Freq * Update);
+
+double Phase::C2;
+double Phase::Buffer_C2;
+double Phase::Integ_C2;
+long Phase::Count;
+double Phase::Buffer;
+unsigned long Phase::Step;
+
+void Phase::set(const double c2)
+{
+	Integ_L = 0;
+	Integ_C1 = 0;
+	C2 = c2;
+	Buffer_C2 = 0;
+	Integ_C2 = 0;
+	Count = 0;
+	Step = 0;
+}
+
+void Phase::convert(const bool on, const long compare)
+{
+	bool pulse = compare > Count;
+	//---
+	double var1 = V - (Integ_L * R1) - Integ_C1;
+	var1 = var1 / (R1 * C1);
+	Integ_C1 += var1 / Quant;
+	Voltage = Integ_C1;
+	//---
+	double var2 = on ? (pulse ? Integ_C1 : Integ_C1 - Integ_C2) : 0.0;
+	var2 -= Integ_L * R2;
+	var2 /= L;
+	Integ_L += var2 / Quant;
+	Current = Integ_L;
+	//---
+	Buffer_C2 += ((on && pulse) ? 0.0 : Integ_L);
+	//---
+	double filt = Current - Integ_Cf;
+	filt = filt / (Rf * Cf);
+	Integ_Cf += filt / Quant;
+	Current_Mid = Integ_Cf;
+}
+
+unsigned long Phase::buffer()
+{
+	Count++;
+	if (Count >= Update) Count = 0;
+	//---
+	Buffer_C2 /= C2;
+	Integ_C2 += Buffer_C2 / Quant;
+	Buffer_C2 = 0;
+	//---
+	Buffer = Integ_C2;
+	//---
+	return Step++;
+}
diff --git a/Graph/Telemetry/HexapodControl/Form1.h b/Graph/Telemetry/HexapodControl/Form1.h
new file mode 100644
index 0000000..24b2dfc
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/Form1.h
@@ -0,0 +1,862 @@
+#pragma once
+#include 
+#include 
+#include 
+#include 
+#include "Converter.h"
+#include "ConvNorm.h"
+
+struct PointG { double Latitude; double Longitude; };
+
+float GPS_LocalDistance(PointG p1, PointG p2, float& dx, float& dy) // light formula
+{
+	const float pi = 3.14159265359;
+	const float er = 6371000; // Radius of the earth in m
+
+	float lat = p1.Latitude - p2.Latitude;
+	float lon = p1.Longitude - p2.Longitude;
+
+	float y = er / 360 * (lat * pi * 2); // lat
+	dy = y;
+
+	float l = ((float)(p1.Latitude + p2.Latitude)) / 2;
+	float r = cosf(l * pi / 180) * er;
+	float x = r / 360 * (lon * pi * 2); // long
+	dx = x;
+
+	float d = sqrtf(x * x + y * y);
+	return d;
+}
+//------------------------------------------------------------------------------
+
+float PlotsData[7];
+bool PlotsReady = false;
+
+HANDLE PortCOM;
+HANDLE FileLOG;
+HANDLE MainThread;
+
+void SaveLogFile(HANDLE file, unsigned char data[28], unsigned long size)
+{
+	float table[7];
+	memcpy(table, data, size);
+	memcpy(PlotsData, data, size);
+	PlotsReady = true;
+
+	if (!file) return;
+
+	char buf[1024];
+	sprintf(buf, "%d|%f|%f|%f|%f|%f|%f\r\n", (int)table[0], table[1], table[2], table[3], table[4], table[5], table[6]);
+
+	WriteFile(file, buf, strlen(buf), 0, 0);
+}
+
+unsigned long __stdcall RecvThread(void*)
+{
+	long wait = 0;
+
+	private enum class RecvModeEnum : char { Begin, Data };
+
+	bool mode = false;
+
+	unsigned char data[29];
+	unsigned long size;
+
+	unsigned long len;
+
+	while (1)
+	{
+		if (!PortCOM)
+		{
+			CloseHandle(MainThread);
+			CloseHandle(FileLOG);
+			MainThread = 0;
+			return 0;
+		}
+
+		if (wait < GetTickCount()) mode = false;
+
+		if(!mode)
+		{
+			wait = GetTickCount() + 20;
+			
+			ReadFile(PortCOM, data, 1, &len, 0);
+			if (!len) continue;
+			if (data[0] == 'Z') mode = true;
+			size = 0;
+		}
+
+		if(mode)
+		{
+			ReadFile(PortCOM, data + size, sizeof(data) - size, &len, 0);
+			if (!len) continue;
+			size += len;
+			if (size < sizeof(data)) continue;
+
+			if (data[28] == 'V') SaveLogFile(FileLOG, data, sizeof(data) - 1);
+
+			mode = false;
+		}
+		
+	}
+}
+
+namespace HexapodControl
+{
+
+	using namespace System;
+	using namespace System::ComponentModel;
+	using namespace System::Collections;
+	using namespace System::Windows::Forms;
+	using namespace System::Data;
+	using namespace System::Drawing;
+	using namespace System::IO;
+
+	/// 
            
+	/// Summary for Form1
+	///
+	/// WARNING: If you change the name of this class, you will need to change the
+	///          'Resource File Name' property for the managed resource compiler tool
+	///          associated with all .resx files this class depends on.  Otherwise,
+	///          the designers will not be able to interact properly with localized
+	///          resources associated with this form.
+	/// 
+	public ref class Form1 : public System::Windows::Forms::Form
+	{
+	public:
+		Form1(void)
+		{
+			InitializeComponent();
+			//
+
+		}
+
+	protected:
+		/// 
+		/// Clean up any resources being used.
+		
+		String^ RecordsFolder = "";
+	private: System::Windows::Forms::OpenFileDialog^ openFileDialog_Open;
+	private: System::Windows::Forms::Button^ button_File;
+	private: System::Windows::Forms::GroupBox^ groupBox1;
+	private: System::Windows::Forms::CheckedListBox^ checkedListBox_List;
+	private: System::Windows::Forms::CheckBox^ checkBox_Auto;
+	private: System::Windows::Forms::Label^ label2;
+	private: System::Windows::Forms::Label^ label1;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Graph_MinY;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Track;
+	private: System::Windows::Forms::Label^ label3;
+	private: System::Windows::Forms::Panel^ panel_Opt;
+
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Gain;
+
+	private: System::Windows::Forms::Label^ label4;
+	private: System::Windows::Forms::Button^ button_Gain_Clear;
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Shift;
+	private: System::Windows::Forms::Label^ label5;
+
+
+	private: System::Windows::Forms::NumericUpDown^ numericUpDown_Graph_MaxY;
+
+	protected:
+
+	protected:
+		/// 
+		~Form1()
+		{
+			if (components)
+			{
+				delete components;
+			}
+		}
+	private: System::Windows::Forms::DataVisualization::Charting::Chart^ chart_Graph;
+	protected:
+
+
+	private: System::Windows::Forms::Panel^ panel1;
+	private: System::Windows::Forms::Timer^ timer_Tick;
+
+	private: System::Windows::Forms::Button^ button_Start;
+	private: System::Windows::Forms::GroupBox^ groupBox_P1;
+	private: System::Windows::Forms::ComboBox^ comboBox_Port;
+
+	private: System::Windows::Forms::Button^ button_Connect;
+
+
+
+
+	private: System::ComponentModel::IContainer^ components;
+	private:
+		/// 
+		/// Required designer variable.
+		/// 
+
+
+#pragma region Windows Form Designer generated code
+		/// 
+		/// Required method for Designer support - do not modify
+		/// the contents of this method with the code editor.
+		/// 
+		void InitializeComponent(void)
+		{
+			this->components = (gcnew System::ComponentModel::Container());
+			System::Windows::Forms::DataVisualization::Charting::ChartArea^ chartArea1 = (gcnew System::Windows::Forms::DataVisualization::Charting::ChartArea());
+			System::Windows::Forms::DataVisualization::Charting::Legend^ legend1 = (gcnew System::Windows::Forms::DataVisualization::Charting::Legend());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series1 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series2 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series3 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series4 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series5 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			System::Windows::Forms::DataVisualization::Charting::Series^ series6 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
+			this->chart_Graph = (gcnew System::Windows::Forms::DataVisualization::Charting::Chart());
+			this->panel1 = (gcnew System::Windows::Forms::Panel());
+			this->button_File = (gcnew System::Windows::Forms::Button());
+			this->comboBox_Port = (gcnew System::Windows::Forms::ComboBox());
+			this->button_Connect = (gcnew System::Windows::Forms::Button());
+			this->button_Start = (gcnew System::Windows::Forms::Button());
+			this->timer_Tick = (gcnew System::Windows::Forms::Timer(this->components));
+			this->groupBox_P1 = (gcnew System::Windows::Forms::GroupBox());
+			this->openFileDialog_Open = (gcnew System::Windows::Forms::OpenFileDialog());
+			this->groupBox1 = (gcnew System::Windows::Forms::GroupBox());
+			this->panel_Opt = (gcnew System::Windows::Forms::Panel());
+			this->numericUpDown_Shift = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label5 = (gcnew System::Windows::Forms::Label());
+			this->button_Gain_Clear = (gcnew System::Windows::Forms::Button());
+			this->numericUpDown_Gain = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label4 = (gcnew System::Windows::Forms::Label());
+			this->numericUpDown_Track = (gcnew System::Windows::Forms::NumericUpDown());
+			this->label3 = (gcnew System::Windows::Forms::Label());
+			this->label2 = (gcnew System::Windows::Forms::Label());
+			this->label1 = (gcnew System::Windows::Forms::Label());
+			this->numericUpDown_Graph_MinY = (gcnew System::Windows::Forms::NumericUpDown());
+			this->numericUpDown_Graph_MaxY = (gcnew System::Windows::Forms::NumericUpDown());
+			this->checkBox_Auto = (gcnew System::Windows::Forms::CheckBox());
+			this->checkedListBox_List = (gcnew System::Windows::Forms::CheckedListBox());
+			(cli::safe_cast(this->chart_Graph))->BeginInit();
+			this->panel1->SuspendLayout();
+			this->groupBox_P1->SuspendLayout();
+			this->groupBox1->SuspendLayout();
+			this->panel_Opt->SuspendLayout();
+			(cli::safe_cast(this->numericUpDown_Shift))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Gain))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Track))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Graph_MinY))->BeginInit();
+			(cli::safe_cast(this->numericUpDown_Graph_MaxY))->BeginInit();
+			this->SuspendLayout();
+			// 
+			// chart_Graph
+			// 
+			chartArea1->Name = L"ChartArea1";
+			this->chart_Graph->ChartAreas->Add(chartArea1);
+			this->chart_Graph->Dock = System::Windows::Forms::DockStyle::Fill;
+			legend1->Name = L"Legend1";
+			this->chart_Graph->Legends->Add(legend1);
+			this->chart_Graph->Location = System::Drawing::Point(3, 16);
+			this->chart_Graph->Name = L"chart_Graph";
+			series1->BorderWidth = 2;
+			series1->ChartArea = L"ChartArea1";
+			series1->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series1->Color = System::Drawing::Color::Red;
+			series1->Legend = L"Legend1";
+			series1->Name = L"gX";
+			series1->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series1->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series2->BorderWidth = 2;
+			series2->ChartArea = L"ChartArea1";
+			series2->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series2->Color = System::Drawing::Color::Blue;
+			series2->Legend = L"Legend1";
+			series2->Name = L"gY";
+			series2->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series2->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series3->BorderWidth = 2;
+			series3->ChartArea = L"ChartArea1";
+			series3->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series3->Color = System::Drawing::Color::Green;
+			series3->Legend = L"Legend1";
+			series3->Name = L"gZ";
+			series3->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series3->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series4->ChartArea = L"ChartArea1";
+			series4->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series4->Legend = L"Legend1";
+			series4->Name = L"iX";
+			series4->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series4->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series5->ChartArea = L"ChartArea1";
+			series5->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series5->Legend = L"Legend1";
+			series5->Name = L"iY";
+			series5->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series5->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series6->ChartArea = L"ChartArea1";
+			series6->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
+			series6->Legend = L"Legend1";
+			series6->Name = L"iZ";
+			series6->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			series6->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
+			this->chart_Graph->Series->Add(series1);
+			this->chart_Graph->Series->Add(series2);
+			this->chart_Graph->Series->Add(series3);
+			this->chart_Graph->Series->Add(series4);
+			this->chart_Graph->Series->Add(series5);
+			this->chart_Graph->Series->Add(series6);
+			this->chart_Graph->Size = System::Drawing::Size(689, 669);
+			this->chart_Graph->TabIndex = 1;
+			this->chart_Graph->Text = L"chart1";
+			// 
+			// panel1
+			// 
+			this->panel1->Controls->Add(this->button_File);
+			this->panel1->Controls->Add(this->comboBox_Port);
+			this->panel1->Controls->Add(this->button_Connect);
+			this->panel1->Controls->Add(this->button_Start);
+			this->panel1->Dock = System::Windows::Forms::DockStyle::Left;
+			this->panel1->Location = System::Drawing::Point(0, 0);
+			this->panel1->Name = L"panel1";
+			this->panel1->Size = System::Drawing::Size(135, 688);
+			this->panel1->TabIndex = 2;
+			// 
+			// button_File
+			// 
+			this->button_File->Location = System::Drawing::Point(29, 611);
+			this->button_File->Name = L"button_File";
+			this->button_File->Size = System::Drawing::Size(75, 23);
+			this->button_File->TabIndex = 4;
+			this->button_File->Text = L"File";
+			this->button_File->UseVisualStyleBackColor = true;
+			this->button_File->Click += gcnew System::EventHandler(this, &Form1::button_File_Click);
+			// 
+			// comboBox_Port
+			// 
+			this->comboBox_Port->FormattingEnabled = true;
+			this->comboBox_Port->Location = System::Drawing::Point(8, 12);
+			this->comboBox_Port->Name = L"comboBox_Port";
+			this->comboBox_Port->Size = System::Drawing::Size(121, 21);
+			this->comboBox_Port->TabIndex = 3;
+			this->comboBox_Port->DropDown += gcnew System::EventHandler(this, &Form1::comboBox_Port_DropDown);
+			// 
+			// button_Connect
+			// 
+			this->button_Connect->Location = System::Drawing::Point(8, 39);
+			this->button_Connect->Name = L"button_Connect";
+			this->button_Connect->Size = System::Drawing::Size(121, 23);
+			this->button_Connect->TabIndex = 2;
+			this->button_Connect->Text = L"Connect";
+			this->button_Connect->UseVisualStyleBackColor = true;
+			this->button_Connect->Click += gcnew System::EventHandler(this, &Form1::button_Connect_Click);
+			// 
+			// button_Start
+			// 
+			this->button_Start->Dock = System::Windows::Forms::DockStyle::Bottom;
+			this->button_Start->Location = System::Drawing::Point(0, 653);
+			this->button_Start->Name = L"button_Start";
+			this->button_Start->Size = System::Drawing::Size(135, 35);
+			this->button_Start->TabIndex = 1;
+			this->button_Start->Text = L"Start";
+			this->button_Start->UseVisualStyleBackColor = true;
+			this->button_Start->Click += gcnew System::EventHandler(this, &Form1::button_Start_Click);
+			// 
+			// timer_Tick
+			// 
+			this->timer_Tick->Interval = 10;
+			this->timer_Tick->Tick += gcnew System::EventHandler(this, &Form1::timer_Tick_Tick);
+			// 
+			// groupBox_P1
+			// 
+			this->groupBox_P1->Controls->Add(this->chart_Graph);
+			this->groupBox_P1->Dock = System::Windows::Forms::DockStyle::Fill;
+			this->groupBox_P1->Location = System::Drawing::Point(135, 0);
+			this->groupBox_P1->MinimumSize = System::Drawing::Size(676, 688);
+			this->groupBox_P1->Name = L"groupBox_P1";
+			this->groupBox_P1->Size = System::Drawing::Size(695, 688);
+			this->groupBox_P1->TabIndex = 3;
+			this->groupBox_P1->TabStop = false;
+			// 
+			// openFileDialog_Open
+			// 
+			this->openFileDialog_Open->FileName = L"openFileDialog1";
+			this->openFileDialog_Open->Multiselect = true;
+			// 
+			// groupBox1
+			// 
+			this->groupBox1->Controls->Add(this->panel_Opt);
+			this->groupBox1->Controls->Add(this->numericUpDown_Track);
+			this->groupBox1->Controls->Add(this->label3);
+			this->groupBox1->Controls->Add(this->label2);
+			this->groupBox1->Controls->Add(this->label1);
+			this->groupBox1->Controls->Add(this->numericUpDown_Graph_MinY);
+			this->groupBox1->Controls->Add(this->numericUpDown_Graph_MaxY);
+			this->groupBox1->Controls->Add(this->checkBox_Auto);
+			this->groupBox1->Controls->Add(this->checkedListBox_List);
+			this->groupBox1->Dock = System::Windows::Forms::DockStyle::Right;
+			this->groupBox1->Location = System::Drawing::Point(830, 0);
+			this->groupBox1->Name = L"groupBox1";
+			this->groupBox1->Size = System::Drawing::Size(128, 688);
+			this->groupBox1->TabIndex = 4;
+			this->groupBox1->TabStop = false;
+			this->groupBox1->Text = L" options ";
+			// 
+			// panel_Opt
+			// 
+			this->panel_Opt->BorderStyle = System::Windows::Forms::BorderStyle::Fixed3D;
+			this->panel_Opt->Controls->Add(this->numericUpDown_Shift);
+			this->panel_Opt->Controls->Add(this->label5);
+			this->panel_Opt->Controls->Add(this->button_Gain_Clear);
+			this->panel_Opt->Controls->Add(this->numericUpDown_Gain);
+			this->panel_Opt->Controls->Add(this->label4);
+			this->panel_Opt->Dock = System::Windows::Forms::DockStyle::Bottom;
+			this->panel_Opt->Enabled = false;
+			this->panel_Opt->Location = System::Drawing::Point(3, 245);
+			this->panel_Opt->Name = L"panel_Opt";
+			this->panel_Opt->Size = System::Drawing::Size(122, 440);
+			this->panel_Opt->TabIndex = 8;
+			// 
+			// numericUpDown_Shift
+			// 
+			this->numericUpDown_Shift->DecimalPlaces = 3;
+			this->numericUpDown_Shift->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 65536 });
+			this->numericUpDown_Shift->Location = System::Drawing::Point(36, 8);
+			this->numericUpDown_Shift->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 32000, 0, 0, 0 });
+			this->numericUpDown_Shift->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 32000, 0, 0, System::Int32::MinValue });
+			this->numericUpDown_Shift->Name = L"numericUpDown_Shift";
+			this->numericUpDown_Shift->Size = System::Drawing::Size(75, 20);
+			this->numericUpDown_Shift->TabIndex = 6;
+			this->numericUpDown_Shift->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Gain_ValueChanged);
+			// 
+			// label5
+			// 
+			this->label5->AutoSize = true;
+			this->label5->Location = System::Drawing::Point(6, 10);
+			this->label5->Name = L"label5";
+			this->label5->Size = System::Drawing::Size(31, 13);
+			this->label5->TabIndex = 5;
+			this->label5->Text = L"Shift:";
+			// 
+			// button_Gain_Clear
+			// 
+			this->button_Gain_Clear->Location = System::Drawing::Point(9, 60);
+			this->button_Gain_Clear->Name = L"button_Gain_Clear";
+			this->button_Gain_Clear->Size = System::Drawing::Size(102, 23);
+			this->button_Gain_Clear->TabIndex = 4;
+			this->button_Gain_Clear->Text = L"clean";
+			this->button_Gain_Clear->UseVisualStyleBackColor = true;
+			this->button_Gain_Clear->Click += gcnew System::EventHandler(this, &Form1::button_Gain_Clear_Click);
+			// 
+			// numericUpDown_Gain
+			// 
+			this->numericUpDown_Gain->DecimalPlaces = 3;
+			this->numericUpDown_Gain->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 131072 });
+			this->numericUpDown_Gain->Location = System::Drawing::Point(36, 34);
+			this->numericUpDown_Gain->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1000, 0, 0, 0 });
+			this->numericUpDown_Gain->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 196608 });
+			this->numericUpDown_Gain->Name = L"numericUpDown_Gain";
+			this->numericUpDown_Gain->Size = System::Drawing::Size(75, 20);
+			this->numericUpDown_Gain->TabIndex = 3;
+			this->numericUpDown_Gain->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Gain->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Gain_ValueChanged);
+			// 
+			// label4
+			// 
+			this->label4->AutoSize = true;
+			this->label4->Location = System::Drawing::Point(6, 36);
+			this->label4->Name = L"label4";
+			this->label4->Size = System::Drawing::Size(32, 13);
+			this->label4->TabIndex = 0;
+			this->label4->Text = L"Gain:";
+			// 
+			// numericUpDown_Track
+			// 
+			this->numericUpDown_Track->Location = System::Drawing::Point(41, 219);
+			this->numericUpDown_Track->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
+			this->numericUpDown_Track->Name = L"numericUpDown_Track";
+			this->numericUpDown_Track->Size = System::Drawing::Size(57, 20);
+			this->numericUpDown_Track->TabIndex = 7;
+			this->numericUpDown_Track->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 10, 0, 0, 0 });
+			// 
+			// label3
+			// 
+			this->label3->AutoSize = true;
+			this->label3->Location = System::Drawing::Point(3, 221);
+			this->label3->Name = L"label3";
+			this->label3->Size = System::Drawing::Size(38, 13);
+			this->label3->TabIndex = 6;
+			this->label3->Text = L"Track:";
+			// 
+			// label2
+			// 
+			this->label2->AutoSize = true;
+			this->label2->Location = System::Drawing::Point(6, 187);
+			this->label2->Name = L"label2";
+			this->label2->Size = System::Drawing::Size(37, 13);
+			this->label2->TabIndex = 5;
+			this->label2->Text = L"Min Y:";
+			// 
+			// label1
+			// 
+			this->label1->AutoSize = true;
+			this->label1->Location = System::Drawing::Point(3, 161);
+			this->label1->Name = L"label1";
+			this->label1->Size = System::Drawing::Size(40, 13);
+			this->label1->TabIndex = 4;
+			this->label1->Text = L"Max Y:";
+			// 
+			// numericUpDown_Graph_MinY
+			// 
+			this->numericUpDown_Graph_MinY->Location = System::Drawing::Point(50, 185);
+			this->numericUpDown_Graph_MinY->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 32000, 0, 0, 0 });
+			this->numericUpDown_Graph_MinY->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 32000, 0, 0, System::Int32::MinValue });
+			this->numericUpDown_Graph_MinY->Name = L"numericUpDown_Graph_MinY";
+			this->numericUpDown_Graph_MinY->Size = System::Drawing::Size(75, 20);
+			this->numericUpDown_Graph_MinY->TabIndex = 3;
+			this->numericUpDown_Graph_MinY->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1000, 0, 0, System::Int32::MinValue });
+			this->numericUpDown_Graph_MinY->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Graph_MaxY_ValueChanged);
+			// 
+			// numericUpDown_Graph_MaxY
+			// 
+			this->numericUpDown_Graph_MaxY->Location = System::Drawing::Point(50, 159);
+			this->numericUpDown_Graph_MaxY->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 32000, 0, 0, 0 });
+			this->numericUpDown_Graph_MaxY->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 32000, 0, 0, System::Int32::MinValue });
+			this->numericUpDown_Graph_MaxY->Name = L"numericUpDown_Graph_MaxY";
+			this->numericUpDown_Graph_MaxY->Size = System::Drawing::Size(75, 20);
+			this->numericUpDown_Graph_MaxY->TabIndex = 2;
+			this->numericUpDown_Graph_MaxY->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1000, 0, 0, 0 });
+			this->numericUpDown_Graph_MaxY->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Graph_MaxY_ValueChanged);
+			// 
+			// checkBox_Auto
+			// 
+			this->checkBox_Auto->AutoSize = true;
+			this->checkBox_Auto->Location = System::Drawing::Point(17, 134);
+			this->checkBox_Auto->Name = L"checkBox_Auto";
+			this->checkBox_Auto->Size = System::Drawing::Size(47, 17);
+			this->checkBox_Auto->TabIndex = 1;
+			this->checkBox_Auto->Text = L"auto";
+			this->checkBox_Auto->UseVisualStyleBackColor = true;
+			this->checkBox_Auto->CheckedChanged += gcnew System::EventHandler(this, &Form1::checkBox_Auto_CheckedChanged);
+			// 
+			// checkedListBox_List
+			// 
+			this->checkedListBox_List->Dock = System::Windows::Forms::DockStyle::Top;
+			this->checkedListBox_List->FormattingEnabled = true;
+			this->checkedListBox_List->Location = System::Drawing::Point(3, 16);
+			this->checkedListBox_List->Name = L"checkedListBox_List";
+			this->checkedListBox_List->Size = System::Drawing::Size(122, 109);
+			this->checkedListBox_List->TabIndex = 0;
+			this->checkedListBox_List->SelectedIndexChanged += gcnew System::EventHandler(this, &Form1::checkedListBox_List_SelectedIndexChanged);
+			this->checkedListBox_List->DoubleClick += gcnew System::EventHandler(this, &Form1::checkedListBox_List_SelectedIndexChanged);
+			// 
+			// Form1
+			// 
+			this->AutoScaleDimensions = System::Drawing::SizeF(6, 13);
+			this->AutoScaleMode = System::Windows::Forms::AutoScaleMode::Font;
+			this->ClientSize = System::Drawing::Size(958, 688);
+			this->Controls->Add(this->groupBox_P1);
+			this->Controls->Add(this->groupBox1);
+			this->Controls->Add(this->panel1);
+			this->MinimumSize = System::Drawing::Size(974, 727);
+			this->Name = L"Form1";
+			this->Text = L"Telemetry";
+			this->Load += gcnew System::EventHandler(this, &Form1::Form1_Load);
+			(cli::safe_cast(this->chart_Graph))->EndInit();
+			this->panel1->ResumeLayout(false);
+			this->groupBox_P1->ResumeLayout(false);
+			this->groupBox1->ResumeLayout(false);
+			this->groupBox1->PerformLayout();
+			this->panel_Opt->ResumeLayout(false);
+			this->panel_Opt->PerformLayout();
+			(cli::safe_cast(this->numericUpDown_Shift))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Gain))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Track))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Graph_MinY))->EndInit();
+			(cli::safe_cast(this->numericUpDown_Graph_MaxY))->EndInit();
+			this->ResumeLayout(false);
+
+		}
+#pragma endregion
+
+		private: void ToCharString(String^ str1, char* str2)
+		{
+			for (int a = 0; a < str1->Length; a++) *str2++ = str1[a];
+			*str2 = '\0';
+		}
+
+		private: System::Void button_Connect_Click(System::Object^ sender, System::EventArgs^ e) 
+		{
+			if (button_Connect->Text == "Connect")
+			{
+				char text[128] = "\\\\.\\";
+
+				ToCharString(comboBox_Port->Text, text + 4);
+
+				PortCOM = CreateFileA(text, GENERIC_READ | GENERIC_WRITE, 0, 0, OPEN_EXISTING, 0, 0);
+				if (PortCOM == INVALID_HANDLE_VALUE)
+				{
+					PortCOM = 0;
+					MessageBox::Show("Error to connect", "Error", MessageBoxButtons::OK, MessageBoxIcon::Error);
+					return;
+				}
+				//---
+				DCB serial = { sizeof(serial) };
+				GetCommState(PortCOM, &serial);
+				serial.BaudRate = 460800;
+				serial.ByteSize = 8;
+				serial.StopBits = ONESTOPBIT;
+				serial.Parity = NOPARITY;
+				SetCommState(PortCOM, &serial);
+				//---
+				COMMTIMEOUTS tim;
+				GetCommTimeouts(PortCOM, &tim);
+				tim.ReadIntervalTimeout = 1;
+				tim.ReadTotalTimeoutConstant = 1;
+				tim.ReadTotalTimeoutMultiplier = 1;
+				SetCommTimeouts(PortCOM, &tim);
+				//---
+				timer_Tick->Enabled = true;
+				button_Connect->Text = "Disonnect";
+				//---
+				for (int a = 0; a < chart_Graph->Series->Count; a++) chart_Graph->Series[a]->Points->Clear();
+				//---
+				MainThread = CreateThread(0, 0, RecvThread, 0, 0, 0);
+			}
+			else
+			{
+				CloseHandle(PortCOM);
+				PortCOM = 0;
+			  timer_Tick->Enabled = false;
+				button_Connect->Text = "Connect";
+			}
+		}
+
+		private: System::Void comboBox_Port_DropDown(System::Object^ sender, System::EventArgs^ e)
+		{
+			comboBox_Port->Items->Clear();
+			for each (String ^ p in System::IO::Ports::SerialPort::GetPortNames())
+			{
+				comboBox_Port->Items->Add(p);
+			}
+		}
+
+		private: System::Void timer_Tick_Tick(System::Object^ sender, System::EventArgs^ e) 
+		{
+			if (!PlotsReady) return;
+			PlotsReady = false;
+
+			for (int a = 0; a < chart_Graph->Series->Count; a++)
+			{
+				chart_Graph->Series[a]->Points->AddY((double)PlotsData[a + 1]);
+				while (chart_Graph->Series[a]->Points->Count > numericUpDown_Track->Value * 100) chart_Graph->Series[a]->Points->RemoveAt(0);
+			}
+		}
+
+	  private: System::Void button_Start_Click(System::Object^ sender, System::EventArgs^ e)
+		{
+			if (button_Start->Text=="Stop")
+			{
+				if (FileLOG) CloseHandle(FileLOG);
+				FileLOG = 0;
+				button_Start->Text = "Start";
+				return;
+			}
+
+			DateTime dt = DateTime::Now;
+			String^ file = Path::Combine(RecordsFolder, "record=" + dt.ToString("yyyy-MM-dd+HH_mm_ss") + ".tel");
+			try
+			{
+				char text[256];
+
+				ToCharString(file, text);
+
+				FileLOG = CreateFileA(text, GENERIC_READ | GENERIC_WRITE, 0, 0, CREATE_NEW, 0, 0);
+				if (FileLOG == INVALID_HANDLE_VALUE)
+				{
+					FileLOG = 0;
+					MessageBox::Show("Error to create file", "Error", MessageBoxButtons::OK, MessageBoxIcon::Error); 
+					return;
+				}
+				button_Start->Text = "Stop";
+			}
+			catch(...)
+			{
+				MessageBox::Show("Incorrect save file!", "Error", MessageBoxButtons::OK, MessageBoxIcon::Error);
+			}
+	  }
+
+    private: System::Void Form1_Load(System::Object^ sender, System::EventArgs^ e) 
+		{
+			try
+			{
+				String^ folder = Environment::GetFolderPath(Environment::SpecialFolder::ApplicationData);
+				String^ specificFolder = Path::Combine(folder, "Telem");
+				//---
+				RecordsFolder = Path::Combine(specificFolder, "Records");
+				Directory::CreateDirectory(RecordsFolder);
+
+				openFileDialog_Open->InitialDirectory = RecordsFolder;
+			}
+			catch(...) { }
+
+			for each (auto s in chart_Graph->Series)
+			{
+				checkedListBox_List->Items->Add(s->Name, true);
+			}
+
+			MainDataRecord->Clear();
+			for (int a = 0; a < 6; a++) { MainDataGain[a] = 1; MainDataShift[a] = 0; }
+
+			numericUpDown_Graph_MaxY_ValueChanged(sender, e);
+    }
+
+		private: System::Collections::Generic::List^>^ MainDataRecord = gcnew System::Collections::Generic::List^>();
+		private: array^ MainDataGain = gcnew array(6);
+	  private: array^ MainDataShift = gcnew array(6);
+
+	  private: System::Void button_File_Click(System::Object^ sender, System::EventArgs^ e)
+		{
+			if (openFileDialog_Open->ShowDialog() != System::Windows::Forms::DialogResult::OK) return;
+
+			CloseHandle(PortCOM);
+			PortCOM = 0;
+			timer_Tick->Enabled = false;
+			button_Connect->Text = "Connect";
+
+			for (int a = 0; a < chart_Graph->Series->Count; a++)
+			{
+				chart_Graph->Series[a]->Points->Clear();
+			}
+
+			MainDataRecord->Clear();
+			for (int a = 0; a < 6; a++) { MainDataGain[a] = 1; MainDataShift[a] = 0; }
+			panel_Opt->Enabled = true;
+
+			System::Globalization::CultureInfo^ nonInvariantCulture = gcnew System::Globalization::CultureInfo("en-US");
+			nonInvariantCulture->NumberFormat->NumberDecimalSeparator = ".";
+			System::Threading::Thread::CurrentThread->CurrentCulture = nonInvariantCulture;
+
+			array^ text = File::ReadAllLines(openFileDialog_Open->FileName);
+
+			static bool first = false;
+			static PointG fff = { 47.31941467, 38.78046767 };
+
+			static int counter = 0;
+
+			for each (String ^ line in text)
+			{
+				array^ elems =line->Split(',');
+				if (elems->Length < 6) continue;
+				if (elems[0][0] == 'G')
+				{
+					PointG g;
+
+					for (int a = 3, b=0; a < 6; a++, b++)
+					{
+						double v = Convert::ToDouble(elems[a]);
+						if (b == 1) g.Latitude = v;
+						if (b == 2) g.Longitude = v;
+					}
+
+					if (!first)
+					{
+						first = true;
+						fff = g;
+					}
+
+					static float ldx=0, ldy=0;
+
+					float dx, dy;
+
+					static float cdx = 0, cdy = 0;
+
+					float dis = GPS_LocalDistance(fff, g, dx, dy);
+
+					/*if (counter > 1)
+					{
+						cdx = (cdx*2 + (dx - ldx)) / 3;
+						cdy = (cdy*2 + (dy - ldy)) / 3;
+
+						chart_Graph->Series[0]->Points->AddY(cdx);
+						chart_Graph->Series[1]->Points->AddY(cdy);
+						ldx = dx;
+						ldy = dy;
+						counter = 0;
+					}
+					else counter++;*/
+					
+					chart_Graph->Series[0]->Points->AddY(dx);
+					chart_Graph->Series[1]->Points->AddY(dy);
+					chart_Graph->Series[2]->Points->AddY(dis);
+				}
+			}
+	  }
+
+	  private: System::Void checkedListBox_List_SelectedIndexChanged(System::Object^ sender, System::EventArgs^ e) 
+		{
+			for (int a = 0; a < checkedListBox_List->Items->Count; a++)
+			{
+				chart_Graph->Series[a]->Enabled = checkedListBox_List->GetItemChecked(a);
+			}
+			int index = checkedListBox_List->SelectedIndex;
+			if (index == -1) return;
+			numericUpDown_Gain->Value = (Decimal)MainDataGain[index];
+			numericUpDown_Shift->Value = (Decimal)MainDataShift[index];
+	  }
+    private: System::Void checkBox_Auto_CheckedChanged(System::Object^ sender, System::EventArgs^ e)
+		{
+			if (checkBox_Auto->Checked)
+			{
+				chart_Graph->ChartAreas[0]->AxisY->Minimum = double::NaN;
+				chart_Graph->ChartAreas[0]->AxisY->Maximum = double::NaN;
+				numericUpDown_Graph_MinY->Enabled = false;
+				numericUpDown_Graph_MaxY->Enabled = false;
+			}
+			else
+			{
+				numericUpDown_Graph_MaxY_ValueChanged(sender, e);
+				numericUpDown_Graph_MinY->Enabled = true;
+				numericUpDown_Graph_MaxY->Enabled = true;
+
+			}
+    }
+    private: System::Void numericUpDown_Graph_MaxY_ValueChanged(System::Object^ sender, System::EventArgs^ e)
+		{
+			chart_Graph->ChartAreas[0]->AxisY->Minimum = (double)numericUpDown_Graph_MinY->Value;
+			chart_Graph->ChartAreas[0]->AxisY->Maximum = (double)numericUpDown_Graph_MaxY->Value;
+    }
+
+    private: System::Void numericUpDown_Gain_ValueChanged(System::Object^ sender, System::EventArgs^ e)
+		{
+			int index = checkedListBox_List->SelectedIndex;
+			if (index == -1) return;
+			chart_Graph->Series[index]->Points->Clear();
+			for (int a = 0; a < MainDataRecord->Count; a++)
+			{
+				array^ values = MainDataRecord[a];
+				chart_Graph->Series[index]->Points->AddY((Convert::ToDouble(numericUpDown_Shift->Value) + values[index]) * Convert::ToDouble(numericUpDown_Gain->Value));
+			}
+			MainDataGain[index] = Convert::ToDouble(numericUpDown_Gain->Value);
+			MainDataShift[index] = Convert::ToDouble(numericUpDown_Shift->Value);
+    }
+
+	  private: System::Void button_Gain_Clear_Click(System::Object^ sender, System::EventArgs^ e)
+		{
+			for (int a = 0; a < 6; a++)
+			{
+				MainDataGain[a] = 1;
+				MainDataShift[a] = 0;
+				chart_Graph->Series[a]->Points->Clear();
+			}
+
+			for (int a = 0; a < 6; a++)
+			{
+				for (int b = 0; b < MainDataRecord->Count; b++)
+				{
+					array^ values = MainDataRecord[b];
+					chart_Graph->Series[a]->Points->AddY(values[a]);
+				}
+			}
+
+			numericUpDown_Gain->Value = 1;
+			numericUpDown_Shift->Value = 0;
+	  }
+};
+}
+
diff --git a/Graph/Telemetry/HexapodControl/Form1.resx b/Graph/Telemetry/HexapodControl/Form1.resx
new file mode 100644
index 0000000..c564d7b
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/Form1.resx
@@ -0,0 +1,126 @@
+
+
+  
+  
+    
+    
+      
+        
+          
+            
+              
+                
+              
+              
+              
+              
+              
+            
+          
+          
+            
+              
+              
+            
+          
+          
+            
+              
+                
+                
+              
+              
+              
+              
+              
+            
+          
+          
+            
+              
+                
+              
+              
+            
+          
+        
+      
+    
+  
+  
+    text/microsoft-resx
+  
+  
+    2.0
+  
+  
+    System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089
+  
+  
+    System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089
+  
+  
+    17, 17
+  
+  
+    241, 17
+  
+
\ No newline at end of file
diff --git a/Graph/Telemetry/HexapodControl/HexapodControl.cpp b/Graph/Telemetry/HexapodControl/HexapodControl.cpp
new file mode 100644
index 0000000..6e715e6
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/HexapodControl.cpp
@@ -0,0 +1,18 @@
+// HexapodControl.cpp : main project file.
+
+#include "stdafx.h"
+#include "Form1.h"
+
+using namespace HexapodControl;
+
+[STAThreadAttribute]
+int main(array ^args)
+{
+	// Enabling Windows XP visual effects before any controls are created
+	Application::EnableVisualStyles();
+	Application::SetCompatibleTextRenderingDefault(false); 
+
+	// Create the main window and run it
+	Application::Run(gcnew Form1());
+	return 0;
+}
diff --git a/Graph/Telemetry/HexapodControl/HexapodControl.vcproj b/Graph/Telemetry/HexapodControl/HexapodControl.vcproj
new file mode 100644
index 0000000..1a2c8ca
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/HexapodControl.vcproj
@@ -0,0 +1,272 @@
+
+
+	
+		
+	
+	
+	
+	
+		
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+		
+		
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+			
+		
+	
+	
+		
+		
+		
+		
+		
+	
+	
+		
+			
+			
+			
+			
+			
+				
+					
+				
+				
+					
+				
+			
+		
+		
+			
+				
+				
+			
+			
+			
+			
+			
+		
+		
+			
+			
+			
+			
+		
+		
+		
+	
+	
+	
+
diff --git a/Graph/Telemetry/HexapodControl/HexapodControl.vcproj.computer-m4a.PREDATOR.user b/Graph/Telemetry/HexapodControl/HexapodControl.vcproj.computer-m4a.PREDATOR.user
new file mode 100644
index 0000000..f6e293c
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/HexapodControl.vcproj.computer-m4a.PREDATOR.user
@@ -0,0 +1,65 @@
+
+
+	
+		
+			
+		
+		
+			
+		
+	
+
diff --git a/Graph/Telemetry/HexapodControl/HexapodControl.vcproj.computer-m4a.USER.user b/Graph/Telemetry/HexapodControl/HexapodControl.vcproj.computer-m4a.USER.user
new file mode 100644
index 0000000..f6e293c
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/HexapodControl.vcproj.computer-m4a.USER.user
@@ -0,0 +1,65 @@
+
+
+	
+		
+			
+		
+		
+			
+		
+	
+
diff --git a/Graph/Telemetry/HexapodControl/HexapodControl.vcxproj b/Graph/Telemetry/HexapodControl/HexapodControl.vcxproj
new file mode 100644
index 0000000..138a491
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/HexapodControl.vcxproj
@@ -0,0 +1,145 @@
+
+
+  
+    
+      Debug
+      Win32
+    
+    
+      Release
+      Win32
+    
+  
+  
+    {5E2A1E52-680F-4834-9D61-9CB14992F2E6}
+    HexapodControl
+    ManagedCProj
+    Telemetry
+    10.0
+  
+  
+  
+    Application
+    Unicode
+    true
+    true
+    v143
+  
+  
+    Application
+    Unicode
+    true
+    v143
+  
+  
+  
+  
+  
+    
+  
+  
+    
+  
+  
+  
+    <_ProjectFileVersion>10.0.30319.1
+    $(SolutionDir)$(Configuration)\
+    $(Configuration)\
+    true
+    $(SolutionDir)$(Configuration)\
+    $(Configuration)\
+    false
+  
+  
+    
+      Disabled
+      WIN32;_DEBUG;%(PreprocessorDefinitions)
+      MultiThreadedDebugDLL
+      NotUsing
+      Level3
+      ProgramDatabase
+      Default
+    
+    
+      Winmm.lib
+      true
+      true
+      Windows
+      main
+      MachineX86
+    
+  
+  
+    
+      WIN32;NDEBUG;%(PreprocessorDefinitions)
+      MultiThreadedDLL
+      Use
+      Level3
+      ProgramDatabase
+      MaxSpeed
+    
+    
+      Winmm.lib
+      true
+      Windows
+      main
+      MachineX86
+    
+  
+  
+    
+      true
+      true
+    
+    
+      true
+      true
+    
+    
+      true
+      true
+    
+    
+      true
+      true
+    
+    
+    
+      true
+      true
+    
+  
+  
+    
+    
+    
+      Create
+      Create
+    
+  
+  
+    
+    
+    
+      CppForm
+    
+    
+    
+  
+  
+    
+    
+  
+  
+    
+  
+  
+    
+      Form1.h
+      Designer
+    
+  
+  
+  
+  
+
\ No newline at end of file
diff --git a/Graph/Telemetry/HexapodControl/HexapodControl.vcxproj.filters b/Graph/Telemetry/HexapodControl/HexapodControl.vcxproj.filters
new file mode 100644
index 0000000..93026e8
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/HexapodControl.vcxproj.filters
@@ -0,0 +1,56 @@
+
+
+  
+    
+      {4FC737F1-C7A5-4376-A066-2A32D752A2FF}
+      cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx
+    
+    
+      {93995380-89BD-4b04-88EB-625FBE52EBFB}
+      h;hpp;hxx;hm;inl;inc;xsd
+    
+    
+      {67DA6AB6-F800-4c08-8B7A-83BB121AAD01}
+      rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav
+    
+  
+  
+    
+      Source Files
+    
+    
+      Source Files
+    
+    
+      Source Files
+    
+  
+  
+    
+      Header Files
+    
+    
+      Header Files
+    
+    
+      Header Files
+    
+    
+      Header Files
+    
+    
+      Header Files
+    
+  
+  
+    
+      Resource Files
+    
+    
+  
+  
+    
+      Resource Files
+    
+  
+
\ No newline at end of file
diff --git a/Graph/Telemetry/HexapodControl/HexapodControl.vcxproj.user b/Graph/Telemetry/HexapodControl/HexapodControl.vcxproj.user
new file mode 100644
index 0000000..ace9a86
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/HexapodControl.vcxproj.user
@@ -0,0 +1,3 @@
+
+
+
\ No newline at end of file
diff --git a/Graph/Telemetry/HexapodControl/ReadMe.txt b/Graph/Telemetry/HexapodControl/ReadMe.txt
new file mode 100644
index 0000000..b3d0ed8
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/ReadMe.txt
@@ -0,0 +1,33 @@
+========================================================================
+    APPLICATION : HexapodControl Project Overview
+========================================================================
+
+AppWizard has created this HexapodControl Application for you.  
+
+This file contains a summary of what you will find in each of the files that
+make up your HexapodControl application.
+
+HexapodControl.vcproj
+    This is the main project file for VC++ projects generated using an Application Wizard. 
+    It contains information about the version of Visual C++ that generated the file, and 
+    information about the platforms, configurations, and project features selected with the
+    Application Wizard.
+
+HexapodControl.cpp
+    This is the main application source file.
+    Contains the code to display the form.
+
+Form1.h
+    Contains the implementation of your form class and InitializeComponent() function.
+
+AssemblyInfo.cpp
+    Contains custom attributes for modifying assembly metadata.
+
+/////////////////////////////////////////////////////////////////////////////
+Other standard files:
+
+StdAfx.h, StdAfx.cpp
+    These files are used to build a precompiled header (PCH) file
+    named HexapodControl.pch and a precompiled types file named StdAfx.obj.
+
+/////////////////////////////////////////////////////////////////////////////
diff --git a/Graph/Telemetry/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.cpp b/Graph/Telemetry/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.cpp
new file mode 100644
index 0000000..62124be
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.cpp
@@ -0,0 +1,2 @@
+#using 
+[assembly: System::Runtime::Versioning::TargetFrameworkAttribute(L".NETFramework,Version=v4.7.2", FrameworkDisplayName=L".NET Framework 4.7.2")];
diff --git a/Graph/Telemetry/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.obj b/Graph/Telemetry/HexapodControl/Release/.NETFramework,Version=v4.7.2.AssemblyAttributes.obj
new file mode 100644
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diff --git a/Graph/Telemetry/HexapodControl/Release/HexapodControl.Build.CppClean.log b/Graph/Telemetry/HexapodControl/Release/HexapodControl.Build.CppClean.log
new file mode 100644
index 0000000..1e1cab3
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/Release/HexapodControl.Build.CppClean.log
@@ -0,0 +1,27 @@
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+D:\FILES\DOCUMENTS\TRTU\ROBOT\DEVICE\NANO 168\HEXAPOD V3\HEXAPODCONTROL\HEXAPODCONTROL\RELEASE\APP.RES
+D:\FILES\DOCUMENTS\TRTU\ROBOT\DEVICE\NANO 168\HEXAPOD V3\HEXAPODCONTROL\HEXAPODCONTROL\RELEASE\ASSEMBLYINFO.OBJ
+D:\Files\Documents\TRTU\Robot\device\Nano 168\Hexapod v3\HexapodControl\HexapodControl\Release\cl.command.1.tlog
+D:\Files\Documents\TRTU\Robot\device\Nano 168\Hexapod v3\HexapodControl\HexapodControl\Release\CL.read.1.tlog
+D:\Files\Documents\TRTU\Robot\device\Nano 168\Hexapod v3\HexapodControl\HexapodControl\Release\CL.write.1.tlog
+D:\FILES\DOCUMENTS\TRTU\ROBOT\DEVICE\NANO 168\HEXAPOD V3\HEXAPODCONTROL\HEXAPODCONTROL\RELEASE\HEXAPODCONTROL.EXE.INTERMEDIATE.MANIFEST
+D:\Files\Documents\TRTU\Robot\device\Nano 168\Hexapod v3\HexapodControl\HexapodControl\Release\HexapodControl.Form1.resources
+D:\FILES\DOCUMENTS\TRTU\ROBOT\DEVICE\NANO 168\HEXAPOD V3\HEXAPODCONTROL\HEXAPODCONTROL\RELEASE\HEXAPODCONTROL.OBJ
+D:\FILES\DOCUMENTS\TRTU\ROBOT\DEVICE\NANO 168\HEXAPOD V3\HEXAPODCONTROL\HEXAPODCONTROL\RELEASE\HEXAPODCONTROL.PCH
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diff --git a/Graph/Telemetry/HexapodControl/Release/HexapodControl.lastbuildstate b/Graph/Telemetry/HexapodControl/Release/HexapodControl.lastbuildstate
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index 0000000..990625e
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diff --git a/Graph/Telemetry/HexapodControl/Release/HexapodControl.log b/Graph/Telemetry/HexapodControl/Release/HexapodControl.log
new file mode 100644
index 0000000..7d58304
--- /dev/null
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+  stdafx.cpp
+  AssemblyInfo.cpp
+D:\Files\Main\Projects\Fly\Fly 2\Graph\Telemetry\HexapodControl\AssemblyInfo.cpp(40,46): warning C4947: 'System::Security::Permissions::SecurityAction::RequestMinimum': marked as obsolete
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diff --git a/Graph/Telemetry/HexapodControl/Release/Telemetry.exe.recipe b/Graph/Telemetry/HexapodControl/Release/Telemetry.exe.recipe
new file mode 100644
index 0000000..c535758
--- /dev/null
+++ b/Graph/Telemetry/HexapodControl/Release/Telemetry.exe.recipe
@@ -0,0 +1,11 @@
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+
+  
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diff --git a/Graph/Graph/HexapodControl/Release/FilterGPS.tlog/link.secondary.1.tlog b/Graph/Graph/HexapodControl/Release/FilterGPS.tlog/link.secondary.1.tlog
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diff --git a/Graph/Graph/HexapodControl/Release/FilterGPS.tlog/link.write.1.tlog b/Graph/Graph/HexapodControl/Release/FilterGPS.tlog/link.write.1.tlog
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diff --git a/Graph/Graph/HexapodControl/Release/FilterGPS.tlog/rc.write.1.tlog b/Graph/Graph/HexapodControl/Release/FilterGPS.tlog/rc.write.1.tlog
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diff --git a/Graph/Graph/HexapodControl/Release/HexapodControl.Build.CppClean.log b/Graph/Graph/HexapodControl/Release/HexapodControl.Build.CppClean.log
new file mode 100644
index 0000000..1e1cab3
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+D:\FILES\DOCUMENTS\TRTU\ROBOT\DEVICE\NANO 168\HEXAPOD V3\HEXAPODCONTROL\HEXAPODCONTROL\RELEASE\APP.RES
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+D:\FILES\DOCUMENTS\TRTU\ROBOT\DEVICE\NANO 168\HEXAPOD V3\HEXAPODCONTROL\HEXAPODCONTROL\RELEASE\HEXAPODCONTROL.EXE.INTERMEDIATE.MANIFEST
+D:\Files\Documents\TRTU\Robot\device\Nano 168\Hexapod v3\HexapodControl\HexapodControl\Release\HexapodControl.Form1.resources
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index 0000000..990625e
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diff --git a/Graph/Graph/HexapodControl/Release/HexapodControl.log b/Graph/Graph/HexapodControl/Release/HexapodControl.log
new file mode 100644
index 0000000..0b53a36
--- /dev/null
+++ b/Graph/Graph/HexapodControl/Release/HexapodControl.log
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+C:\Program Files\Microsoft Visual Studio\2022\Community\MSBuild\Microsoft\VC\v170\Microsoft.CppBuild.targets(531,5): warning MSB8028: The intermediate directory (Release\) contains files shared from another project (Telemetry.vcxproj, TestIntegrator.vcxproj).  This can lead to incorrect clean and rebuild behavior.
+  stdafx.cpp
+  AssemblyInfo.cpp
+  HexapodControl.cpp
+D:\Files\Main\Projects\Fly\Fly 2\Graph\Filter\HexapodControl\AssemblyInfo.cpp(40,46): warning C4947: 'System::Security::Permissions::SecurityAction::RequestMinimum': marked as obsolete
+D:\Files\Main\Projects\Fly\Fly 2\Graph\Filter\HexapodControl\Form1.h(24,19): warning C4305: 'initializing': truncation from 'double' to 'float'
+D:\Files\Main\Projects\Fly\Fly 2\Graph\Filter\HexapodControl\Form1.h(136,2): warning C4996: 'sprintf': This function or variable may be unsafe. Consider using sprintf_s instead. To disable deprecation, use _CRT_SECURE_NO_WARNINGS. See online help for details.
+D:\Files\Main\Projects\Fly\Fly 2\Graph\Filter\HexapodControl\Form1.h(164,12): warning C4018: '<': signed/unsigned mismatch
+D:\Files\Main\Projects\Fly\Fly 2\Graph\Filter\HexapodControl\Form1.h(1378,60): warning C4244: '=': conversion from 'wchar_t' to 'char', possible loss of data
+D:\Files\Main\Projects\Fly\Fly 2\Graph\Filter\HexapodControl\Form1.h(1542,21): warning C4305: 'initializing': truncation from 'double' to 'float'
+  Generating Code...
+  .NETFramework,Version=v4.7.2.AssemblyAttributes.cpp
+  LINK : /LTCG specified but no code generation required; remove /LTCG from the link command line to improve linker performance
+  HexapodControl.vcxproj -> D:\Files\Main\Projects\Fly\Fly 2\Graph\Filter\Release\FilterGPS.exe
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+D:\Files\Documents\TRTU\Robot\device\Nano 168\Hexapod v3\HexapodControl\HexapodControl\Release\rc.write.1.tlog
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diff --git a/Graph/Filter/HexapodControl/Release/HexapodControl.Form1.resources b/Graph/Filter/HexapodControl/Release/HexapodControl.Form1.resources
new file mode 100644
index 0000000000000000000000000000000000000000..6c05a9776bd7cbae976fdcec7e3a254e93018279
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diff --git a/Graph/Filter/HexapodControl/Release/HexapodControl.lastbuildstate b/Graph/Filter/HexapodControl/Release/HexapodControl.lastbuildstate
new file mode 100644
index 0000000..990625e
--- /dev/null
+++ b/Graph/Filter/HexapodControl/Release/HexapodControl.lastbuildstate
@@ -0,0 +1,2 @@
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diff --git a/Graph/Filter/HexapodControl/Release/HexapodControl.log b/Graph/Filter/HexapodControl/Release/HexapodControl.log
new file mode 100644
index 0000000..0b53a36
--- /dev/null
+++ b/Graph/Filter/HexapodControl/Release/HexapodControl.log
@@ -0,0 +1,14 @@
+C:\Program Files\Microsoft Visual Studio\2022\Community\MSBuild\Microsoft\VC\v170\Microsoft.CppBuild.targets(531,5): warning MSB8028: The intermediate directory (Release\) contains files shared from another project (Telemetry.vcxproj, TestIntegrator.vcxproj).  This can lead to incorrect clean and rebuild behavior.
+  stdafx.cpp
+  AssemblyInfo.cpp
+  HexapodControl.cpp
+D:\Files\Main\Projects\Fly\Fly 2\Graph\Filter\HexapodControl\AssemblyInfo.cpp(40,46): warning C4947: 'System::Security::Permissions::SecurityAction::RequestMinimum': marked as obsolete
+D:\Files\Main\Projects\Fly\Fly 2\Graph\Filter\HexapodControl\Form1.h(24,19): warning C4305: 'initializing': truncation from 'double' to 'float'
+D:\Files\Main\Projects\Fly\Fly 2\Graph\Filter\HexapodControl\Form1.h(136,2): warning C4996: 'sprintf': This function or variable may be unsafe. Consider using sprintf_s instead. To disable deprecation, use _CRT_SECURE_NO_WARNINGS. See online help for details.
+D:\Files\Main\Projects\Fly\Fly 2\Graph\Filter\HexapodControl\Form1.h(164,12): warning C4018: '<': signed/unsigned mismatch
+D:\Files\Main\Projects\Fly\Fly 2\Graph\Filter\HexapodControl\Form1.h(1378,60): warning C4244: '=': conversion from 'wchar_t' to 'char', possible loss of data
+D:\Files\Main\Projects\Fly\Fly 2\Graph\Filter\HexapodControl\Form1.h(1542,21): warning C4305: 'initializing': truncation from 'double' to 'float'
+  Generating Code...
+  .NETFramework,Version=v4.7.2.AssemblyAttributes.cpp
+  LINK : /LTCG specified but no code generation required; remove /LTCG from the link command line to improve linker performance
+  HexapodControl.vcxproj -> D:\Files\Main\Projects\Fly\Fly 2\Graph\Filter\Release\FilterGPS.exe
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C:\iar\ewarm-9.60.3\arm\inc\libcpp\__config_site \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__support\iar\raise.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\stdint.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\ycheck.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\yvals.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Defaults.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Config_Full.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Product.h \ + C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include\cmsis_version.h \ + C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include\cmsis_compiler.h \ + C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include\cmsis_iccarm.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\aarch32\iccarm_builtin.h \ + C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include\mpu_armv7.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\system_stm32g4xx.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\gpio.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\spi.h diff --git a/Debug/BrowseInfo/drv_9119342922082540178.dir/spi.xcl b/Debug/BrowseInfo/drv_9119342922082540178.dir/spi.xcl new file mode 100644 index 0000000..e4ff9e4 --- /dev/null +++ b/Debug/BrowseInfo/drv_9119342922082540178.dir/spi.xcl @@ -0,0 +1,531 @@ +"D:\Works\GIT\SKB reps\WoodDroneWithServo\drv\spi.cpp" +-std=c++17 +-ferror-limit=0 +-fbracket-depth=512 +-funsigned-char +-MD +-MF +D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\BrowseInfo\drv_9119342922082540178.dir\spi.pbi.dep +-o +D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\BrowseInfo\drv_9119342922082540178.dir\spi.pbi +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\utils\ +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\DSP\Include +-I +C:\iar\ewarm-9.60.3\arm\inc\libcpp +-I +C:\iar\ewarm-9.60.3\arm\inc\c\aarch32 +-I +C:\iar\ewarm-9.60.3\arm\inc +-I +C:\iar\ewarm-9.60.3\arm\inc\c +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\utils +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\DSP\Include +-D__CHAR_BITS__=8 +-D__CHAR_BIT__=8 +-D__CHAR_MAX__=0xff +-D__CHAR_MIN__=0 +-D__CHAR_SIZE__=1 +-D__UNSIGNED_CHAR_MAX__=0xff +-D__SIGNED_CHAR_MAX__=127 +-D__SIGNED_CHAR_MIN__=(-__SIGNED_CHAR_MAX__-1) +-D__CHAR_ALIGN__=1 +-D__SHORT_SIZE__=2 +-D__UNSIGNED_SHORT_MAX__=0xffff +-D__SIGNED_SHORT_MAX__=32767 +-D__SIGNED_SHORT_MIN__=(-__SIGNED_SHORT_MAX__-1) +-D__SHORT_ALIGN__=2 +-D__INT_SIZE__=4 +-D__UNSIGNED_INT_MAX__=0xffffffffU +-D__SIGNED_INT_MAX__=2147483647 +-D__SIGNED_INT_MIN__=(-__SIGNED_INT_MAX__-1) +-D__INT_ALIGN__=4 +-D__LONG_SIZE__=4 +-D__UNSIGNED_LONG_MAX__=0xffffffffUL +-D__SIGNED_LONG_MAX__=2147483647L +-D__SIGNED_LONG_MIN__=(-__SIGNED_LONG_MAX__-1) +-D__LONG_ALIGN__=4 +-D__LONG_LONG_SIZE__=8 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reps\WoodDroneWithServo\Debug\BrowseInfo\dev_16932516800620494331.dir\flow.pbi: \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\dev\flow.cpp \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\string.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__config \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__config_site \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__support\iar\raise.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\string.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\ycheck.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\yvals.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Defaults.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Config_Full.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Product.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\ysizet.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Product_string.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\stdlib.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\stdlib.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Product_stdlib.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\gpio.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\spi.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\tick.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\dev\tof.h diff --git a/Debug/BrowseInfo/dev_16932516800620494331.dir/flow.xcl b/Debug/BrowseInfo/dev_16932516800620494331.dir/flow.xcl new file mode 100644 index 0000000..018147b --- /dev/null +++ b/Debug/BrowseInfo/dev_16932516800620494331.dir/flow.xcl @@ -0,0 +1,531 @@ +"D:\Works\GIT\SKB reps\WoodDroneWithServo\dev\flow.cpp" +-std=c++17 +-ferror-limit=0 +-fbracket-depth=512 +-funsigned-char +-MD +-MF +D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\BrowseInfo\dev_16932516800620494331.dir\flow.pbi.dep +-o +D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\BrowseInfo\dev_16932516800620494331.dir\flow.pbi +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\utils\ +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\DSP\Include +-I +C:\iar\ewarm-9.60.3\arm\inc\libcpp +-I +C:\iar\ewarm-9.60.3\arm\inc\c\aarch32 +-I +C:\iar\ewarm-9.60.3\arm\inc +-I +C:\iar\ewarm-9.60.3\arm\inc\c +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\utils +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\DSP\Include +-D__CHAR_BITS__=8 +-D__CHAR_BIT__=8 +-D__CHAR_MAX__=0xff +-D__CHAR_MIN__=0 +-D__CHAR_SIZE__=1 +-D__UNSIGNED_CHAR_MAX__=0xff +-D__SIGNED_CHAR_MAX__=127 +-D__SIGNED_CHAR_MIN__=(-__SIGNED_CHAR_MAX__-1) +-D__CHAR_ALIGN__=1 +-D__SHORT_SIZE__=2 +-D__UNSIGNED_SHORT_MAX__=0xffff +-D__SIGNED_SHORT_MAX__=32767 +-D__SIGNED_SHORT_MIN__=(-__SIGNED_SHORT_MAX__-1) +-D__SHORT_ALIGN__=2 +-D__INT_SIZE__=4 +-D__UNSIGNED_INT_MAX__=0xffffffffU +-D__SIGNED_INT_MAX__=2147483647 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b/Debug/BrowseInfo/dev_16932516800620494331.dir/gps.pbi.dep @@ -0,0 +1,47 @@ +D:\Works\GIT\SKB\ reps\WoodDroneWithServo\Debug\BrowseInfo\dev_16932516800620494331.dir\gps.pbi: \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\dev\gps.cpp \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\string.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__config \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__config_site \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__support\iar\raise.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\string.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\ycheck.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\yvals.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Defaults.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Config_Full.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Product.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\ysizet.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Product_string.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\stdlib.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\stdlib.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Product_stdlib.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\math.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\math.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\DLib_float_setup.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\enable_if.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__undef_macros \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_floating_point.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\integral_constant.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\remove_cv.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\remove_const.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\remove_volatile.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_integral.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_same.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\promote.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__utility\declval.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\cstddef \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__assert \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__verbose_abort \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__availability \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\version \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\stddef.h \ + C:\iar\ewarm-9.60.3\arm\inc\c\stddef.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\limits \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_arithmetic.h \ + C:\iar\ewarm-9.60.3\arm\inc\libcpp\__type_traits\is_signed.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\gpio.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\uart.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\tick.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\dev\ori.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\utils\filt.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\dev\gps.h diff --git a/Debug/BrowseInfo/dev_16932516800620494331.dir/gps.xcl b/Debug/BrowseInfo/dev_16932516800620494331.dir/gps.xcl new file mode 100644 index 0000000..98f70d0 --- /dev/null +++ b/Debug/BrowseInfo/dev_16932516800620494331.dir/gps.xcl @@ -0,0 +1,531 @@ +"D:\Works\GIT\SKB reps\WoodDroneWithServo\dev\gps.cpp" +-std=c++17 +-ferror-limit=0 +-fbracket-depth=512 +-funsigned-char +-MD +-MF +D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\BrowseInfo\dev_16932516800620494331.dir\gps.pbi.dep +-o +D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\BrowseInfo\dev_16932516800620494331.dir\gps.pbi +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\utils\ +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\DSP\Include +-I +C:\iar\ewarm-9.60.3\arm\inc\libcpp +-I +C:\iar\ewarm-9.60.3\arm\inc\c\aarch32 +-I +C:\iar\ewarm-9.60.3\arm\inc +-I +C:\iar\ewarm-9.60.3\arm\inc\c +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev 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C:\iar\ewarm-9.60.3\arm\inc\c\DLib_Product_string.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\uart.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\drv\tick.h \ + D:\Works\GIT\SKB\ reps\WoodDroneWithServo\dev\ibus.h diff --git a/Debug/BrowseInfo/dev_16932516800620494331.dir/ibus.xcl b/Debug/BrowseInfo/dev_16932516800620494331.dir/ibus.xcl new file mode 100644 index 0000000..3f4bd49 --- /dev/null +++ b/Debug/BrowseInfo/dev_16932516800620494331.dir/ibus.xcl @@ -0,0 +1,531 @@ +"D:\Works\GIT\SKB reps\WoodDroneWithServo\dev\ibus.cpp" +-std=c++17 +-ferror-limit=0 +-fbracket-depth=512 +-funsigned-char +-MD +-MF +D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\BrowseInfo\dev_16932516800620494331.dir\ibus.pbi.dep +-o +D:\Works\GIT\SKB reps\WoodDroneWithServo\Debug\BrowseInfo\dev_16932516800620494331.dir\ibus.pbi +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv\ +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\utils\ +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\DSP\Include +-I +C:\iar\ewarm-9.60.3\arm\inc\libcpp +-I +C:\iar\ewarm-9.60.3\arm\inc\c\aarch32 +-I +C:\iar\ewarm-9.60.3\arm\inc +-I +C:\iar\ewarm-9.60.3\arm\inc\c +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\dev +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\drv +-I +D:\Works\GIT\SKB reps\WoodDroneWithServo\utils +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\Core\Include +-I +C:\iar\ewarm-9.60.3\arm\CMSIS\DSP\Include +-D__CHAR_BITS__=8 +-D__CHAR_BIT__=8 +-D__CHAR_MAX__=0xff +-D__CHAR_MIN__=0 +-D__CHAR_SIZE__=1 +-D__UNSIGNED_CHAR_MAX__=0xff +-D__SIGNED_CHAR_MAX__=127 +-D__SIGNED_CHAR_MIN__=(-__SIGNED_CHAR_MAX__-1) +-D__CHAR_ALIGN__=1 +-D__SHORT_SIZE__=2 +-D__UNSIGNED_SHORT_MAX__=0xffff +-D__SIGNED_SHORT_MAX__=32767 +-D__SIGNED_SHORT_MIN__=(-__SIGNED_SHORT_MAX__-1) +-D__SHORT_ALIGN__=2 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