diff --git a/udplib.cs b/udplib.cs
new file mode 100644
index 0000000..e357c03
--- /dev/null
+++ b/udplib.cs
@@ -0,0 +1,569 @@
+using System;
+using System.Collections.Generic;
+using System.Net.Sockets;
+using System.Net;
+using System.Text;
+using System.Threading;
+using nRTP;
+using System.Windows.Forms;
+using System.Diagnostics;
+using System.Drawing;
+using System.Drawing.Imaging;
+using System.IO;
+using System.Reflection;
+using UTIL;
+
+namespace UDPLIB
+{
+    public class UDPreceive
+    {
+        Int32 localPort = 5004;
+        Int32 remotePort = 5006;
+        Thread UDPreceiveThread = null;
+        //        Thread processFrameThread = null;
+        Thread sendFrameThread = null;
+        //        Thread processDataFrameThread = null;
+        Stopwatch fpstimer;
+        private volatile bool listening = false;
+        UInt16 iwidth = 0;
+        UInt16 iheight = 0;
+        List<Byte[]> udata50 = new List<byte[]>();
+        List<Byte[]> udata51 = new List<byte[]>();
+        UInt32 cnt_frames = 0;
+
+        #region Прием данных
+        public UDPreceive(Int32 localPortUDP)
+        {
+            localPort = localPortUDP;
+            for (int i = 0; i < 2500; i++)
+            {
+                udata50.Add(new Byte[0]);
+                udata51.Add(new Byte[0]);
+            }
+            fpstimer = new Stopwatch();
+
+            UDPreceiveThread = new Thread(new ThreadStart(UDPReceive7));
+            listening = true;
+            UDPreceiveThread.Start();
+            cnt_frames = 0;
+        }
+        public void Stop()
+        {
+            listening = false;
+            cnt_frames = 0;
+        }
+        public Boolean IsAlive
+        {
+            get
+            {
+                if (UDPreceiveThread == null || !UDPreceiveThread.IsAlive)
+                    return false;
+                else
+                    return true;
+            }
+        }
+        void UDPReceive7()
+        {
+            UdpClient receiver = null;
+            IPEndPoint endPoint = null;
+            EndPoint remoteIp = null;
+            DialogResult res = DialogResult.OK;
+            try
+            {
+                receiver = new UdpClient(localPort);
+                endPoint = new IPEndPoint(IPAddress.Any, localPort);
+                remoteIp = new IPEndPoint(IPAddress.Any, 0);
+            }
+            catch (Exception ee)
+            {
+                res = MessageBox.Show("Порт " + localPort.ToString() + " используется како-то программой. \r\n" +
+                    "Прием видео невозможен. Перезапустите программу.", "Ошибка!!!", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                System.Diagnostics.Process.GetCurrentProcess().Kill();
+                return;
+            }
+
+            Int32 numrow = 0;
+            Int32 numlist = 0;
+            Int32 prevnumrow = 0;
+            Byte[] imgarr = new Byte[1];
+            Byte[] blackline = null;
+            fpstimer.Start();
+
+            while (listening)
+            {
+                try
+                {
+                    UInt32 packetsize = 0;
+                    UInt32 ssrc = 0;
+                    if (receiver.Available == 0)
+                        continue;
+                    byte[] data = receiver.Receive(ref endPoint);
+                    numrow = BitConverter.ToUInt16(data, 16);
+                    packetsize = (UInt32)data.Length;
+                    ssrc = BitConverter.ToUInt32(data, 8);
+                    prevnumrow = numrow;
+                    if (ssrc == 12345678)
+                    {
+                        switch (numlist)
+                        {
+                            case 0:
+                                udata50[numrow] = data;
+                                break;
+                            case 1:
+                                udata51[numrow] = data;
+                                break;
+                        }
+                    }
+                    if (numrow == 0 && ssrc == 12345678) // Packet 0
+                    {
+                        iwidth = BitConverter.ToUInt16(data, 20);
+                        iheight = BitConverter.ToUInt16(data, 22);
+
+                        blackline = new Byte[iwidth * 3 + 20];
+
+                        Res.Iwidth = iwidth;
+                        Res.Iheight = iheight;
+                        Res.AzUpr = BitConverter.ToSingle(data, 24);
+                        Res.ElUpr = BitConverter.ToSingle(data, 28);
+                        Res.Course = BitConverter.ToInt16(data, 32);
+                        Res.Roll = BitConverter.ToInt16(data, 34);
+                        Res.Pitch = BitConverter.ToInt16(data, 36);
+                    }
+
+                    if (data[1] == 0xC7 && iheight != 0 && iwidth != 0)
+                    {
+                        switch (numlist)
+                        {
+                            case 0:
+                                {
+                                    Thread sendFrame0 = new Thread(new ParameterizedThreadStart(processFrame7));
+                                    sendFrame0.Start(new thrdata(0, iwidth, iheight));
+                                    sendFrame0.IsBackground = true;
+                                }
+                                numlist = 1;
+                                break;
+                            case 1:
+                                {
+                                    Thread sendFrame1 = new Thread(new ParameterizedThreadStart(processFrame7));
+                                    sendFrame1.Start(new thrdata(1, iwidth, iheight));
+                                    sendFrame1.IsBackground = true;
+                                }
+                                numlist = 0;
+                                break;
+                        }
+                    }
+                }
+                catch (Exception)
+                {
+                    using (StreamWriter sw = new StreamWriter(System.IO.File.OpenWrite("grav01.log")))
+                    {
+                        sw.WriteLine(DateTime.Now.ToString("HH:mm:ss:fff ") + "Error dll recv");
+                    }
+                }
+            }
+            receiver.Close();
+        }
+        void processFrame7(object obj)
+        {
+            try
+            {
+                thrdata arr = obj as thrdata;
+                List<Byte[]> udata = new List<byte[]>();
+                ushort prevnumrow = 0, numrow = 0;
+                UInt32 cnt_frame = 0;
+                int iwi = 0;
+                int ihe = 0;
+                switch (arr.arr)
+                {
+                    case 0:
+                        udata.AddRange(udata50);
+                        break;
+                    case 1:
+                        udata.AddRange(udata51);
+                        break;
+                }
+                iwi = BitConverter.ToUInt16(udata[0], 20);
+                ihe = BitConverter.ToUInt16(udata[0], 22);
+
+                Bitmap img = new Bitmap(iwi, ihe, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
+                Rectangle rect = new Rectangle(0, 0, iwi, ihe);
+
+                unsafe
+                {
+                    BitmapData bmpData = img.LockBits(rect, System.Drawing.Imaging.ImageLockMode.ReadWrite, img.PixelFormat);
+                    byte* curpos = ((Byte*)bmpData.Scan0);
+
+                    prevnumrow = numrow;
+                    cnt_frame++;
+                    int dd = 0;
+                    int ff = 0;
+                    try
+                    {
+                        for (int h = 1; h < ihe + 1; h++)
+                        {
+                            dd = h;
+                            for (int w = 20; w < iwi * 3 + 20; w += 3)
+                            {
+                                ff = w;
+                                if (udata[h].Length < (iwi * 3 + 20))
+                                {
+                                    curpos += 3;
+                                    break;
+                                }
+                                *(curpos++) = udata[h][w + 2];
+                                *(curpos++) = udata[h][w + 1];
+                                *(curpos++) = udata[h][w + 0];
+                            }
+                        }
+                    }
+                    catch (Exception ee)
+                    {
+                        Console.WriteLine($"!!! {ee.Message} {dd} {ff} {udata[dd].Length}");
+                        return;
+                    }
+                    udata.Clear();
+                    img.UnlockBits(bmpData);
+                }
+                Res.Clearimg = (Bitmap)img.Clone();
+                Res.Bmp = img;
+
+                fpstimer.Stop();
+                //            Res.Fps = gk.filtered(1000F / fpstimer.ElapsedMilliseconds);
+                Res.Fps = 1000F / fpstimer.ElapsedMilliseconds;
+                Res.Frames = cnt_frames++;
+                //            Res.Fps = 1000F / fpstimer.ElapsedMilliseconds;
+                fpstimer.Reset();
+                fpstimer.Start();
+                CallBack.Event_newimg_Handler();
+            }
+            catch (Exception)
+            {
+                using (StreamWriter sw = new StreamWriter(System.IO.File.OpenWrite("grav01.log")))
+                {
+                    sw.WriteLine(DateTime.Now.ToString("HH:mm:ss:fff ") + "Error dll process");
+                }
+            }
+        }
+        #endregion
+    }
+
+    public class UDPTransmit
+    {
+        UdpClient transmitter = null;
+        IPEndPoint endPoint = null;
+        Point pnt;
+
+        public UDPTransmit(String IPaddr, Int32 remotePortUDP, Point p)
+        {
+            transmitter = new UdpClient();
+            endPoint = new IPEndPoint(IPAddress.Parse(IPaddr), remotePortUDP);
+            pnt = p;
+            pnt.X = Util.minmax((ushort)64, (ushort)576, (ushort)pnt.X);
+            pnt.Y = Util.minmax((ushort)64, (ushort)416, (ushort)pnt.Y);
+
+            Bitmap crop = Res.Clearimg.Clone(new Rectangle(pnt.X - 64, pnt.Y - 64, 128, 128), PixelFormat.Format24bppRgb);
+            Res.Crop = crop;
+            Thread UDPtransmitThread = new Thread(new ThreadStart(UDPtransmitFrame));
+            UDPtransmitThread.Start();
+        }
+        public UDPTransmit(String IPaddr, Int32 remotePortUDP, Bitmap crop)
+        {
+            transmitter = new UdpClient();
+            endPoint = new IPEndPoint(IPAddress.Parse(IPaddr), remotePortUDP);
+            Res.Crop = crop;
+            Thread UDPtransmitThread = new Thread(new ThreadStart(UDPtransmitFrame));
+            UDPtransmitThread.Start();
+        }
+
+        void UDPtransmitFrame()
+        {
+            transmitter.Connect(endPoint);
+
+            //using (Graphics g = Graphics.FromImage(Res.Bmp))
+            //{
+            //    g.Clear();
+            //};
+
+            // RTPMsgHeader
+            RTP.MH_VerPXCC = 2;
+            RTP.MH_MPT = 0xC6;
+            RTP.SeqCounter = 0; //!
+            RTP.MH_Timestamp = (uint)DateTimeOffset.Now.ToUnixTimeSeconds(); //!
+            RTP.MH_PT = 99;
+            RTP.MH_M = 0;
+            RTP.MH_SSRC = 12345678;
+            RTP.MH_DataLen = 36;
+            RTP.MH_RowNumber = 0;
+            RTP.MH_Offset = 0;
+
+            // RTPVideoSupplementalData
+            RTP.SD_Width = (ushort)Res.Crop.Width;
+            RTP.SD_Height = (ushort)Res.Crop.Height;
+            RTP.SD_AzUpr = 0;
+            RTP.SD_ElUpr = 0;
+            RTP.SD_Course = 0;
+            RTP.SD_Roll = 0;
+            RTP.SD_Pitch = 0;
+            RTP.SD_FrameId = 0;
+
+            // RTPVideoSupplementalDataExtra
+            RTP.DE_TLV_X = 0;
+            RTP.DE_TLV_Y = 0;
+            RTP.DE_TLV_dX = 0;
+            RTP.DE_TLV_dY = 0;
+
+            RTP.MakeDataH0();
+            transmitter.Send(RTP.DataH0, RTP.DataH0.Length);
+
+            Byte[] dataudp = new Byte[20 + RTP.SD_Width * 3];
+
+            Byte[] dataimg = new Byte[RTP.SD_Width * 3];
+            for (int i = 0; i < RTP.SD_Height; i++)
+            {
+                // RTPMsgHeader
+                RTP.MH_VerPXCC = 2;
+                if (i == RTP.SD_Height - 1)
+                {
+                    RTP.MH_PT = 99;
+                    RTP.MH_M = 1;
+                }
+                else
+                {
+                    RTP.MH_PT = 99;
+                    RTP.MH_M = 0;
+                }
+                ++RTP.SeqCounter;
+                RTP.MH_RowNumber = (ushort)(i + 1);
+                RTP.MH_DataLen = (ushort)(RTP.SD_Width * 3);
+                RTP.MakeDataH1();
+                uint ccc = 0;
+                try
+                {
+                    for (int j = 0; j < RTP.SD_Width; j++)
+                    {
+                        Color c = Res.Crop.GetPixel(j, i);
+                        dataimg[ccc++] = c.B;
+                        dataimg[ccc++] = c.G;
+                        dataimg[ccc++] = c.R;
+                    }
+                }
+                catch (Exception ee)
+                {
+                    Console.WriteLine(ee.Message);
+                    Console.WriteLine("Error 4 getpixel");
+                    return;
+                }
+                Array.Copy(RTP.DataH1, dataudp, RTP.DataH1.Length);
+                Array.Copy(dataimg, 0, dataudp, RTP.DataH1.Length, dataimg.Length);
+                transmitter.Send(dataudp, dataudp.Length);
+            }
+            transmitter.Close();
+            CallBack.Event_crop_transmitted_Handler();
+        }
+    }
+
+
+    public class UDPTransmitSim
+    {
+        UdpClient transmitter = null;
+        IPEndPoint endPoint = null;
+        Point pnt;
+        Int32 sizeX = 0;
+        Int32 sizeY = 0;
+        Int32 delayMS = 0;
+        public Bitmap img = null; // Resources.che1;
+        volatile Boolean flag = false;
+
+        public UDPTransmitSim(String IPaddr, Int32 remotePortUDP, Int32 sizeX, Int32 sizeY, Int32 delayMS)
+        {
+            transmitter = new UdpClient();
+            endPoint = new IPEndPoint(IPAddress.Parse(IPaddr), remotePortUDP);
+            this.sizeX = sizeX;
+            this.sizeY = sizeY;
+            this.delayMS = delayMS;
+
+            img = new Bitmap(Res.Sim, new Size(sizeX, sizeY));
+
+            Thread UDPtransmitThread = new Thread(new ThreadStart(UDPtransmitFrame));
+            UDPtransmitThread.Start();
+        }
+        public UDPTransmitSim(String IPaddr, Int32 remotePortUDP, Int32 delayMS, Bitmap i)
+        {
+            transmitter = new UdpClient();
+            endPoint = new IPEndPoint(IPAddress.Parse(IPaddr), remotePortUDP);
+            sizeX = i.Width;
+            sizeY = i.Height;
+            this.delayMS = delayMS;
+
+            img = i; 
+
+            Thread UDPtransmitThread = new Thread(new ThreadStart(UDPtransmitFrame));
+            UDPtransmitThread.Start();
+        }
+        public void Start()
+        {
+            flag = true;
+        }
+        public void Stop()
+        {
+            flag &= false;
+        }
+        void UDPtransmitFrame()
+        {
+            while (flag)
+            {
+                transmitter.Connect(endPoint);
+                // RTPMsgHeader
+                RTP.MH_VerPXCC = 2;
+                RTP.MH_MPT = 0xC6;
+                RTP.SeqCounter = 0; //!
+                RTP.MH_Timestamp = (uint)DateTimeOffset.Now.ToUnixTimeSeconds(); //!
+                RTP.MH_PT = 99;
+                RTP.MH_M = 0;
+                RTP.MH_SSRC = 12345678;
+                RTP.MH_DataLen = 36;
+                RTP.MH_RowNumber = 0;
+                RTP.MH_Offset = 0;
+
+                // RTPVideoSupplementalData
+                RTP.SD_Width = (UInt16)sizeX;
+                RTP.SD_Height = (UInt16)sizeY;
+                RTP.SD_AzUpr = 0;
+                RTP.SD_ElUpr = 0;
+                RTP.SD_Course = 0;
+                RTP.SD_Roll = 0;
+                RTP.SD_Pitch = 0;
+                RTP.SD_FrameId = 0;
+
+                // RTPVideoSupplementalDataExtra
+                RTP.DE_TLV_X = 0;
+                RTP.DE_TLV_Y = 0;
+                RTP.DE_TLV_dX = 0;
+                RTP.DE_TLV_dY = 0;
+
+                RTP.MakeDataH0();
+                transmitter.Send(RTP.DataH0, RTP.DataH0.Length);
+
+                Byte[] dataudp = new Byte[20 + RTP.SD_Width * 3];
+
+                Byte[] dataimg = new Byte[RTP.SD_Width * 3];
+                for (int i = 0; i < sizeY; i++)
+                {
+                    // RTPMsgHeader
+                    RTP.MH_VerPXCC = 2;
+                    if (i == (sizeY - 1))
+                    {
+                        RTP.MH_PT = 99;
+                        RTP.MH_M = 1;
+                    }
+                    else
+                    {
+                        RTP.MH_PT = 99;
+                        RTP.MH_M = 0;
+                    }
+                    ++RTP.SeqCounter;
+                    RTP.MH_RowNumber = (ushort)(i + 1);
+                    RTP.MH_DataLen = (ushort)(RTP.SD_Width * 3);
+                    RTP.MakeDataH1();
+                    uint ccc = 0;
+                    try
+                    {
+                        for (int j = 0; j < sizeX; j++)
+                        {
+                            Color c = img.GetPixel(j, i);
+                            dataimg[ccc++] = c.B;
+                            dataimg[ccc++] = c.G;
+                            dataimg[ccc++] = c.R;
+                        }
+                    }
+                    catch (Exception ee)
+                    {
+                        Console.WriteLine(ee.Message);
+                        Console.WriteLine("Error 4 getpixel");
+                        return;
+                    }
+                    Array.Copy(RTP.DataH1, dataudp, RTP.DataH1.Length);
+                    Array.Copy(dataimg, 0, dataudp, RTP.DataH1.Length, dataimg.Length);
+                    transmitter.Send(dataudp, dataudp.Length);
+                }
+                transmitter.Close();
+                Thread.Sleep(delayMS);
+            }
+        }
+    }
+
+    class thrdata
+    {
+        public uint arr;
+        public uint iw;
+        public uint ih;
+        public thrdata(uint a, uint w, uint h)
+        {
+            arr = a;
+            iw = w;
+            ih = h;
+        }
+    }
+    public static class Res
+    {
+        public static Bitmap Bmp { set; get; }
+        public static Bitmap Sim { set; get; }
+        public static Bitmap Crop { set; get; }
+        public static Bitmap Clearimg { set; get; }
+        public static UInt16 Iwidth { set; get; }
+        public static UInt16 Iheight { set; get; }
+        public static UInt32 Frames { set; get; }
+        public static float Fps { set; get; }
+        public static float AzUpr { set; get; }
+        public static float ElUpr { set; get; }
+        public static Int16 Course { set; get; }
+        public static Int16 Roll { set; get; }
+        public static Int16 Pitch { set; get; }
+        public static String Version
+        {
+            get
+            {
+                return "1.1.0.253";
+//                return Assembly.GetExecutingAssembly().GetName().Version.ToString();
+            }
+        }
+        public static String Configuration
+        {
+            get
+            {
+#if DEBUG
+                return "Debug";
+#else
+                return "Release";
+#endif
+            }
+        }
+        public static Boolean status_rs { set; get; }
+        public static Boolean status_eth { set; get; }
+    }
+    public static class CallBack
+    {
+        public delegate void Event_newimg();
+        public static Event_newimg Event_newimg_Handler;
+
+        public delegate void Event_crop_transmitted();
+        public static Event_crop_transmitted Event_crop_transmitted_Handler;
+
+
+        //public delegate void callbackEvent_bmp(Bitmap bmp);
+        //public delegate void callbackEvent_newimage();
+        //public delegate void callbackEvent_newpacket();
+        //public delegate void callbackEvent_str(String str);
+        //public delegate void callback_BVM2OES();
+        //public delegate void callback_etalon(Point pnt);
+        //public static callbackEvent_bmp callbackEventHandler_bmp;
+        //public static callbackEvent_newimage callbackEventHandler_newimage;
+        //public static callbackEvent_newpacket callbackEventHandler_newpacket;
+        //public static callbackEvent_str callbackEventHandler_str;
+        //public static callback_BVM2OES callback_BVM2OESHandler;
+        //public static callback_etalon callback_etalonHandler;
+        //public static Bitmap img { get; set; }
+
+
+    }
+}
diff --git a/util.cs b/util.cs
index 7b18449..103d9af 100644
--- a/util.cs
+++ b/util.cs
@@ -644,4 +644,53 @@ namespace UTIL
             }
         }
     }
+    public class GFilterRA
+    {
+        public GFilterRA()
+        { }
+        public GFilterRA(double coef, UInt16 interval)
+        {
+            _coef = coef;
+            _prd = interval;
+        }
+        public GFilterRA(double coef)
+        {
+            _coef = coef;
+        }
+        UInt32 millis()
+        {
+            return (UInt32)DateTimeOffset.Now.ToUnixTimeMilliseconds();
+        }
+        public void setCoef(double coef)
+        {
+            _coef = coef;
+        }
+        public void setPeriod(UInt16 interval)
+        {
+            _prd = interval;
+        }
+        public double filteredTime(double value)
+        {
+            if (millis() - _tmr >= _prd)
+            {
+                _tmr += _prd;
+                filtered(value);
+            }
+            return _fil;
+        }
+        double filtered(double value)
+        {
+            return _fil += (value - _fil) * _coef;
+        }
+        void setStep(UInt16 interval)
+        {
+            _prd = interval;
+        }
+
+        double _coef = 0.0F, _fil = 0.0F;
+        UInt32 _tmr = 0;
+        UInt32 _prd = 0;
+    };
+
+
 }