fix: change coordinate system of simulator and autopilot, reduce approximation error

simulator.py

@@ -88,8 +88,8 @@ class Simulator:
         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
+        dx = math.cos(math.pi / 2 + self.angle) * velocity
+        dy = math.sin(math.pi / 2 + self.angle) * velocity
         print("  [Simulator] dx, dy:", [dx, dy])
         self.update_trajectory(dx, dy)
         action.move_by_offset(-dx, dy)
@@ -102,7 +102,7 @@ class Simulator:
         im = Image.open(BytesIO(png))
 
         # Применяем поворот как будто съемка с дрона
-        rotated_im = self.rotate_image_like_drone(im, math.pi / 2 - self.angle)
+        rotated_im = self.rotate_image_like_drone(im, -self.angle)
         return rotated_im
 
     def loop(self):
@@ -138,8 +138,8 @@ class Simulator:
             action.click_and_hold()
 
             self.angle += dangle
-            dx = math.cos(self.angle) * velocity
-            dy = math.sin(self.angle) * velocity
+            dx = math.cos(math.pi / 2 + self.angle) * velocity
+            dy = math.sin(math.pi / 2 + self.angle) * velocity
             action.move_by_offset(-dx, dy)
             action.release()
             action.perform()