feat: add chunks to autopilot, test for estimation

simulator.py

@@ -43,7 +43,10 @@ class Simulator:
         # Получаем размеры изображения
         width, height = image.size
         square_size = min(width, height)
-        cropped_image = image.crop((0, 0, square_size, square_size))
+        off_x = (width - square_size) / 2
+        off_y = (height - square_size) / 2
+
+        cropped_image = image.crop((off_x, off_y, off_x + square_size, off_y + square_size))
         cropped_image = cropped_image.rotate(angle / math.pi * 180, expand=True)
         
         # Определяем размер концентрического квадрата (80% от минимальной стороны)
@@ -83,16 +86,24 @@ class Simulator:
         action.click_and_hold()
 
         self.angle += dangle
+        print(f"  [Simulator] angle: {self.angle / math.pi * 180:.1f}°")
+        velocity = max(velocity, 10)
         dx = math.cos(self.angle) * velocity
         dy = math.sin(self.angle) * velocity
+        print("  [Simulator] dx, dy:", [dx, dy])
+        self.update_trajectory(dx, dy)
         action.move_by_offset(-dx, dy)
         action.release()
         action.perform()
+        print(f"  [Simulator] Position: {self.current_x}, {self.current_y}")
 
-    def get_photo(self) -> Image:
+    def get_photo(self) -> Image.Image:
         png = self.yandexMap.driver.get_screenshot_as_png()
         im = Image.open(BytesIO(png))
-        return im
+
+        # Применяем поворот как будто съемка с дрона
+        rotated_im = self.rotate_image_like_drone(im, math.pi / 2 - self.angle)
+        return rotated_im
 
     def loop(self):