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Compass improvements/refactoring (#10166)

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* Infinite calibration loop fix

* Save calibration

* Screen refresh

* reduce repeated code

* reduce repeated code to reduce flash

* fix Waypoint compass size and no fix no heading labels

* Don't show compass unless we have a heading and location

* If no calculated heading from moving, we should have no heading

* Slow walking calculated heading and auto stale heading when not moving

* Triming flash space

* cleanup

* show "?" when no location or heading for distance and heading screen

* cleanup

* Stale heading logic

* final trim

* Compass Calibration screen redesign

* Trunk Fix

* Compile fix

* patch

* Update src/motion/MotionSensor.cpp

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* Update WaypointModule.cpp

---------

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
This commit is contained in:
HarukiToreda
2026-04-18 06:53:22 -05:00
committed by GitHub
co-authored by GitHub Copilot
parent 6208c243f9
commit aab4cd086f
15 changed files with 721 additions and 399 deletions
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src/graphics/Screen.cpp
+97 -5
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@@ -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"
@@ -98,6 +99,7 @@ namespace graphics
// This means the *visible* area (sh1106 can address 132, but shows 128 for example)
#define IDLE_FRAMERATE 1 // in fps
#define COMPASS_ACTIVE_FRAMERATE 20
// DEBUG
#define NUM_EXTRA_FRAMES 3 // text message and debug frame
@@ -135,6 +137,60 @@ static bool heartbeat = false;
extern bool hasUnreadMessage;
static inline float wrapHeading360(float heading)
{
if (heading < 0.0f) {
heading += 360.0f;
} else if (heading >= 360.0f) {
heading -= 360.0f;
}
return heading;
}
void Screen::setHeading(float heading)
{
const float wrappedHeading = wrapHeading360(heading);
if (!hasCompass) {
hasCompass = true;
compassHeading = wrappedHeading;
return;
}
// 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;
}
// 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;
}
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;
}
compassHeading = wrapHeading360(compassHeading + step);
}
// ==============================
// Overlay Alert Banner Renderer
// ==============================
@@ -272,10 +328,25 @@ 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;
}
}
// Two expected update windows; keep arithmetic 32-bit to avoid pulling in larger 64-bit helpers.
const uint32_t headingStaleMs =
(effectiveUpdateIntervalSecs > (UINT32_MAX / 2000U)) ? UINT32_MAX : (effectiveUpdateIntervalSecs * 2000U);
if (oldLat == 0) {
// just prepare for next time
// Need at least two position points before we can infer heading.
oldLat = lat;
oldLon = lon;
@@ -283,12 +354,20 @@ 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;
}
@@ -923,9 +1002,22 @@ int32_t Screen::runOnce()
// but we should only call setTargetFPS when framestate changes, because
// otherwise that breaks animations.
if (targetFramerate != IDLE_FRAMERATE && ui->getUiState()->frameState == FIXED) {
uint32_t desiredFramerate = IDLE_FRAMERATE;
#if HAS_GPS && !defined(USE_EINK)
if (showingNormalScreen && hasCompass) {
const uint8_t currentFrame = ui->getUiState()->currentFrame;
if ((framesetInfo.positions.gps != 255 && currentFrame == framesetInfo.positions.gps) ||
(framesetInfo.positions.waypoint != 255 && currentFrame == framesetInfo.positions.waypoint) ||
(framesetInfo.positions.firstFavorite != 255 && currentFrame >= framesetInfo.positions.firstFavorite &&
currentFrame <= framesetInfo.positions.lastFavorite)) {
desiredFramerate = COMPASS_ACTIVE_FRAMERATE;
}
}
#endif
if (targetFramerate != desiredFramerate && ui->getUiState()->frameState == FIXED) {
// oldFrameState = ui->getUiState()->frameState;
targetFramerate = IDLE_FRAMERATE;
targetFramerate = desiredFramerate;
ui->setTargetFPS(targetFramerate);
forceDisplay();