mirror/firmware
1
0
Fork 0
mirror of https://github.com/meshtastic/firmware.git synced 2026-04-16 05:07:13 -04:00
Code Issues Packages Projects Releases Wiki Activity

Stale heading logic

Browse Source
This commit is contained in:
HarukiToreda
2026-04-14 23:01:20 -04:00
parent 169512d81f
commit e4aeaa2bb1
1 changed files with 29 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
src/graphics/Screen.cpp
View File

@@ -60,6 +60,7 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.
#include "main.h"
#include "mesh-pb-constants.h"
#include "mesh/Channels.h"
#include "mesh/Default.h"
#include "mesh/generated/meshtastic/deviceonly.pb.h"
#include "modules/ExternalNotificationModule.h"
#include "modules/TextMessageModule.h"
@@ -328,10 +329,27 @@ static void drawModuleFrame(OLEDDisplay *display, OLEDDisplayUiState *state, int
float Screen::estimatedHeading(double lat, double lon)
{
static double oldLat, oldLon;
static float b;
static float b = -1.0f;
static uint32_t lastHeadingAtMs = 0;
const uint32_t now = millis();
const uint32_t gpsUpdateIntervalSecs =
Default::getConfiguredOrDefault(config.position.gps_update_interval, default_gps_update_interval);
uint32_t effectiveUpdateIntervalSecs = gpsUpdateIntervalSecs;
if (config.position.position_broadcast_smart_enabled) {
const uint32_t smartMinIntervalSecs = Default::getConfiguredOrDefault(config.position.broadcast_smart_minimum_interval_secs,
default_broadcast_smart_minimum_interval_secs);
if (smartMinIntervalSecs > effectiveUpdateIntervalSecs) {
effectiveUpdateIntervalSecs = smartMinIntervalSecs;
}
}
uint64_t headingStaleMs64 = static_cast<uint64_t>(effectiveUpdateIntervalSecs) * 2000ULL; // two expected update windows
if (headingStaleMs64 > UINT32_MAX) {
headingStaleMs64 = UINT32_MAX;
}
const uint32_t headingStaleMs = static_cast<uint32_t>(headingStaleMs64);
if (oldLat == 0) {
// just prepare for next time
// Need at least two position points before we can infer heading.
oldLat = lat;
oldLon = lon;
@@ -339,12 +357,20 @@ float Screen::estimatedHeading(double lat, double lon)
}
float d = GeoCoord::latLongToMeter(oldLat, oldLon, lat, lon);
if (d < 10) // haven't moved enough, just keep current bearing
if (d < 10) { // haven't moved enough, keep previous heading (invalid until first real movement)
if (lastHeadingAtMs != 0 && (now - lastHeadingAtMs) >= headingStaleMs) {
// Heading is stale after prolonged no-movement; force reacquire.
b = -1.0f;
oldLat = lat;
oldLon = lon;
}
return b;
}
b = GeoCoord::bearing(oldLat, oldLon, lat, lon) * RAD_TO_DEG;
oldLat = lat;
oldLon = lon;
lastHeadingAtMs = now;
return b;
}