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Mesh node t1 fixes (#10602)

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* Fixes

* Remove BATTERY_LPCOMP_THRESHOLD

BATTERY_LPCOMP_THRESHOLD is dead code — in main-nrf52.cpp it's inside #ifdef BATTERY_LPCOMP_INPUT, which this board intentionally doesn't define. The threshold value is never reached.

* Trunk fix

* Update MotionSensor.cpp

* fix

---------

Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
Co-authored-by: Jonathan Bennett <jbennett@incomsystems.biz>
This commit is contained in:
HarukiToreda
2026-06-13 19:57:28 -05:00
committed by GitHub
co-authored by GitHub Ben Meadors Jonathan Bennett
parent b938b63e8a
commit 745b53698a
8 changed files with 181 additions and 99 deletions
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src/graphics/Screen.cpp
+26 -23
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@@ -233,6 +233,16 @@ static inline float wrapHeading360(float heading)
return heading;
}
static inline float wrapDelta180(float delta)
{
if (delta > 180.0f) {
delta -= 360.0f;
} else if (delta < -180.0f) {
delta += 360.0f;
}
return delta;
}
void Screen::setHeading(float heading)
{
const float wrappedHeading = wrapHeading360(heading);
@@ -244,37 +254,30 @@ void Screen::setHeading(float heading)
}
// Interpolate using shortest-path angular delta to avoid jumps around 0/360.
float delta = wrappedHeading - compassHeading;
if (delta > 180.0f) {
delta -= 360.0f;
} else if (delta < -180.0f) {
delta += 360.0f;
}
float delta = wrapDelta180(wrappedHeading - compassHeading);
// Adaptive filtering:
// - Strong damping for tiny deltas (jitter)
// - Faster response for larger turns
const float absDelta = (delta >= 0.0f) ? delta : -delta;
if (absDelta < 1.0f) {
return;
}
if (absDelta >= 1.0f) {
float alpha = 0.35f;
if (absDelta > 25.0f) {
alpha = 0.85f;
} else if (absDelta > 10.0f) {
alpha = 0.65f;
}
float alpha = 0.35f;
if (absDelta > 25.0f) {
alpha = 0.85f;
} else if (absDelta > 10.0f) {
alpha = 0.65f;
}
float step = delta * alpha;
const float maxStep = 12.0f;
if (step > maxStep) {
step = maxStep;
} else if (step < -maxStep) {
step = -maxStep;
}
float step = delta * alpha;
const float maxStep = 12.0f;
if (step > maxStep) {
step = maxStep;
} else if (step < -maxStep) {
step = -maxStep;
compassHeading = wrapHeading360(compassHeading + step);
}
compassHeading = wrapHeading360(compassHeading + step);
}
// ==============================