diff --git a/DroneSimulator/Drone.cs b/DroneSimulator/Drone.cs
index 045bb61..2548ff4 100644
--- a/DroneSimulator/Drone.cs
+++ b/DroneSimulator/Drone.cs
@@ -293,8 +293,9 @@ namespace DroneSimulator
       Vector4 ori = GetOrientation();
 
       Orientation = ori;
+      float range = 0;
 
-      if(PosXYZ.Z <= 0)
+      if (PosXYZ.Z <= 0)
       {
         PosXYZ.Z = 0;
         SpdXYZ.Z = 0;
@@ -336,19 +337,19 @@ namespace DroneSimulator
 
         float tilt = MathF.Sqrt((ori.X * ori.X) + (ori.Y * ori.Y)) * TO_RADI;
 
-        if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
+        range = PosXYZ.Z / MathF.Cos(tilt);
+
+        if (tilt < 90 && ori.W > 0) LaserRange = range;
         else LaserRange = float.MaxValue;
       }
 
-      
-
       RealAcc.Update(Acc, tick);
       RealGyr.Update(Gyr, tick);
       RealRange.Update(LaserRange, tick);
       RealBar.Update(PosXYZ.Z, tick);
       RealPos.Update(PosXYZ, tick);
 
-      bool of = RealOF.Update(new Vector2(SpdXYZ.X - Gyr.Y, SpdXYZ.Y + Gyr.X), LaserRange, tick);
+      bool of = RealOF.Update(new Vector2(SpdXYZ.X * range - Gyr.Y, SpdXYZ.Y * range + Gyr.X), LaserRange, tick);
 
       if(of) lock (this)
       {