From bf037b08704cd828b9cbe7f4aa7ad185a643a5c0 Mon Sep 17 00:00:00 2001
From: Sergey Sklyarov <sasklyarov@sfedu.ru>
Date: Fri, 4 Apr 2025 02:53:00 +0300
Subject: [PATCH] =?UTF-8?q?=D0=98=D1=81=D0=BF=D1=80=D0=B0=D0=B2=D0=BB?=
 =?UTF-8?q?=D0=B5=D0=BD=D0=B8=D1=8F?=
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---
 DroneSimulator/Drone.cs    | 23 +++++++++++------------
 DroneSimulator/FormMain.cs |  2 +-
 2 files changed, 12 insertions(+), 13 deletions(-)

diff --git a/DroneSimulator/Drone.cs b/DroneSimulator/Drone.cs
index fd0aaa7..45d0e39 100644
--- a/DroneSimulator/Drone.cs
+++ b/DroneSimulator/Drone.cs
@@ -9,16 +9,17 @@ namespace DroneSimulator
     public float Mass; // Масса
     public bool Active; // Живой?
     public float Length; // Длинна лучей
-    public float Dynamic; // Физика поведения
+    public const float Dynamic = 10; // Динамика вращения
     public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
     public Quaternion Quat; // Основной кватернион
     public float Power = 0; // Тяга всех двигателей
+    public float MaxPower; // Тяга всех двигателей
     public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
 
     public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
     public float LaserRange; // Имитация: Дальномер
 
-    private const float Gravity = 1.0f;
+    private const float Gravity = 9.8f;
 
     private const float TO_GRAD = 180 / MathF.PI;
     private const float TO_RADI = MathF.PI / 180;
@@ -133,11 +134,11 @@ namespace DroneSimulator
       DroneThread.Start();
     }
 
-    public int Create(float mass, float len, float dynamic)
+    public int Create(float power, float mass, float len)
     {
-      Mass = Range(mass);
-      Dynamic = dynamic * 100;
+      Mass = mass;
       Length = len;
+      MaxPower = power;
 
       Active = true;
 
@@ -201,17 +202,15 @@ namespace DroneSimulator
         flow += flow * 0.1f; // Воздушная подушка
       }
 
-      SpdPRY += AccPRY * ((time * Dynamic) / (Mass * Length));
-
-      float dyn = Dynamic / 10;
+      SpdPRY += AccPRY * (Dynamic * time / (Mass * Length));
 
       Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
-      AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) * (dyn / Mass);
+      AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) * (Gravity / Mass);
       
-      SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity * dyn)) * time;
+      SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
       PosXYZ += SpdXYZ * time;
 
-      AccXYZ /= dyn;
+      AccXYZ /= Gravity; // Вернуть измерения в G
 
       if (PosXYZ.Z < 0)
       {
@@ -269,7 +268,7 @@ namespace DroneSimulator
       if (pow > 1) pow = 1;
       if (pow < 0) pow = 0;
 
-      return pow;
+      return pow * MaxPower;
     }
 
     public void SetQadroPow(float ul, float ur, float dl, float dr)
diff --git a/DroneSimulator/FormMain.cs b/DroneSimulator/FormMain.cs
index d291450..862c70c 100644
--- a/DroneSimulator/FormMain.cs
+++ b/DroneSimulator/FormMain.cs
@@ -33,7 +33,7 @@ namespace DroneSimulator
       if (data.Connect)
       {
         Drone drone = new Drone(data.ID);
-        drone.Create(0.5f, 1.0f, 1.0f);
+        drone.Create(1.0f, 0.5f, 1.0f);
 
         screen2D.CreateDrone(Color.Red, data.ID);