kevin/meshtastic_firmware
1
0
Fork 0
Code Issues Pull Requests Actions 7 Packages Projects Releases Wiki Activity

Compass improvements/refactoring (#10166)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/WaypointModule.cpp
+96 -60
View File
@@ -15,15 +15,6 @@
WaypointModule *waypointModule;
static inline float degToRad(float deg)
{
return deg * PI / 180.0f;
}
static inline float radToDeg(float rad)
{
return rad * 180.0f / PI;
}
ProcessMessage WaypointModule::handleReceived(const meshtastic_MeshPacket &mp)
{
#if defined(DEBUG_PORT) && !defined(DEBUG_MUTE)
@@ -91,9 +82,7 @@ void WaypointModule::drawFrame(OLEDDisplay *display, OLEDDisplayUiState *state,
// === Header ===
graphics::drawCommonHeader(display, x, y, titleStr);
const int w = display->getWidth();
const int h = display->getHeight();
const int *textPos = graphics::getTextPositions(display);
// Decode the waypoint
const meshtastic_MeshPacket &mp = devicestate.rx_waypoint;
@@ -108,71 +97,118 @@ void WaypointModule::drawFrame(OLEDDisplay *display, OLEDDisplayUiState *state,
getTimeAgoStr(sinceReceived(&mp), lastStr, sizeof(lastStr));
// Will contain distance information, passed as a field to drawColumns
char distStr[20];
char distStr[20] = "";
// Get our node, to use our own position
meshtastic_NodeInfoLite *ourNode = nodeDB->getMeshNode(nodeDB->getNodeNum());
// Dimensions / co-ordinates for the compass/circle
const uint16_t compassDiam = graphics::CompassRenderer::getCompassDiam(w, h);
const int16_t compassX = x + w - (compassDiam / 2) - 5;
const int16_t compassY = (config.display.displaymode == meshtastic_Config_DisplayConfig_DisplayMode_DEFAULT)
? y + h / 2
: y + FONT_HEIGHT_SMALL + (h - FONT_HEIGHT_SMALL) / 2;
// Match compass sizing/placement to favorite node screen logic.
const int w = display->getWidth();
int16_t compassRadius = 8;
int16_t compassX = x + w - compassRadius - 8;
int16_t compassY = y + display->getHeight() / 2;
// If our node has a position:
if (ourNode && (nodeDB->hasValidPosition(ourNode) || screen->hasHeading())) {
const meshtastic_PositionLite &op = ourNode->position;
float myHeading;
if (uiconfig.compass_mode == meshtastic_CompassMode_FREEZE_HEADING) {
myHeading = 0;
} else {
if (screen->hasHeading())
myHeading = degToRad(screen->getHeading());
else
myHeading = screen->estimatedHeading(DegD(op.latitude_i), DegD(op.longitude_i));
if (SCREEN_WIDTH > SCREEN_HEIGHT) {
const int16_t topY = textPos[1];
const int16_t bottomY = SCREEN_HEIGHT - (FONT_HEIGHT_SMALL - 1);
const int16_t usableHeight = bottomY - topY - 5;
compassRadius = usableHeight / 2;
if (compassRadius < 8)
compassRadius = 8;
compassX = x + SCREEN_WIDTH - compassRadius - 8;
compassY = topY + (usableHeight / 2) + ((FONT_HEIGHT_SMALL - 1) / 2) + 2;
} else {
// Waypoint content uses rows 1..4, so place the compass below that block.
const int yBelowContent = textPos[4] + FONT_HEIGHT_SMALL + 2;
const int margin = 4;
#if defined(USE_EINK)
const int iconSize = (graphics::currentResolution == graphics::ScreenResolution::High) ? 16 : 8;
const int navBarHeight = iconSize + 6;
#else
const int navBarHeight = 0;
#endif
const int availableHeight = SCREEN_HEIGHT - yBelowContent - navBarHeight - margin;
if (availableHeight > 0) {
compassRadius = availableHeight / 2;
if (compassRadius < 8)
compassRadius = 8;
if (compassRadius * 2 > SCREEN_WIDTH - 16)
compassRadius = (SCREEN_WIDTH - 16) / 2;
if (compassRadius < 8)
compassRadius = 8;
compassX = x + SCREEN_WIDTH / 2;
compassY = yBelowContent + availableHeight / 2;
}
graphics::CompassRenderer::drawCompassNorth(display, compassX, compassY, myHeading, (compassDiam / 2));
}
const uint16_t compassDiam = compassRadius * 2;
// Compass bearing to waypoint
float bearingToOther =
GeoCoord::bearing(DegD(op.latitude_i), DegD(op.longitude_i), DegD(wp.latitude_i), DegD(wp.longitude_i));
// If the top of the compass is a static north then bearingToOther can be drawn on the compass directly
// If the top of the compass is not a static north we need adjust bearingToOther based on heading
if (uiconfig.compass_mode != meshtastic_CompassMode_FREEZE_HEADING)
bearingToOther -= myHeading;
graphics::CompassRenderer::drawNodeHeading(display, compassX, compassY, compassDiam, bearingToOther);
const bool hasOwnPositionFix = (ourNode && nodeDB->hasValidPosition(ourNode));
const char *statusLine1 = nullptr;
const char *statusLine2 = nullptr;
float bearingToOtherDegrees = (bearingToOther < 0) ? bearingToOther + 2 * PI : bearingToOther;
bearingToOtherDegrees = radToDeg(bearingToOtherDegrees);
// Distance only needs our own position fix; compass/bearing additionally needs heading.
if (hasOwnPositionFix) {
const meshtastic_PositionLite &op = ourNode->position;
const float d =
GeoCoord::latLongToMeter(DegD(wp.latitude_i), DegD(wp.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
// Distance to Waypoint
float d = GeoCoord::latLongToMeter(DegD(wp.latitude_i), DegD(wp.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
// Always show distance once we have an own-position fix, even without heading.
if (config.display.units == meshtastic_Config_DisplayConfig_DisplayUnits_IMPERIAL) {
float feet = d * METERS_TO_FEET;
snprintf(distStr, sizeof(distStr), feet < (2 * MILES_TO_FEET) ? "%.0fft %.0f°" : "%.1fmi %.0f°",
feet < (2 * MILES_TO_FEET) ? feet : feet / MILES_TO_FEET, bearingToOtherDegrees);
snprintf(distStr, sizeof(distStr), feet < (2 * MILES_TO_FEET) ? "%.0fft" : "%.1fmi",
feet < (2 * MILES_TO_FEET) ? feet : feet / MILES_TO_FEET);
} else {
snprintf(distStr, sizeof(distStr), d < 2000 ? "%.0fm %.0f°" : "%.1fkm %.0f°", d < 2000 ? d : d / 1000,
bearingToOtherDegrees);
snprintf(distStr, sizeof(distStr), d < 2000 ? "%.0fm" : "%.1fkm", d < 2000 ? d : d / 1000);
}
float myHeading = 0.0f;
const bool hasHeading =
graphics::CompassRenderer::getHeadingRadians(DegD(op.latitude_i), DegD(op.longitude_i), myHeading);
if (hasHeading) {
// Draw compass circle
display->drawCircle(compassX, compassY, compassRadius);
graphics::CompassRenderer::drawCompassNorth(display, compassX, compassY, myHeading, compassRadius);
// Compass bearing to waypoint
float bearingToOther =
GeoCoord::bearing(DegD(op.latitude_i), DegD(op.longitude_i), DegD(wp.latitude_i), DegD(wp.longitude_i));
bearingToOther = graphics::CompassRenderer::adjustBearingForCompassMode(bearingToOther, myHeading);
graphics::CompassRenderer::drawNodeHeading(display, compassX, compassY, compassDiam, bearingToOther);
const float bearingToOtherDegrees = graphics::CompassRenderer::radiansToDegrees360(bearingToOther);
// Distance to waypoint with relative bearing when heading is available.
if (config.display.units == meshtastic_Config_DisplayConfig_DisplayUnits_IMPERIAL) {
float feet = d * METERS_TO_FEET;
snprintf(distStr, sizeof(distStr), feet < (2 * MILES_TO_FEET) ? "%.0fft %.0f°" : "%.1fmi %.0f°",
feet < (2 * MILES_TO_FEET) ? feet : feet / MILES_TO_FEET, bearingToOtherDegrees);
} else {
snprintf(distStr, sizeof(distStr), d < 2000 ? "%.0fm %.0f°" : "%.1fkm %.0f°", d < 2000 ? d : d / 1000,
bearingToOtherDegrees);
}
} else {
statusLine1 = "No";
statusLine2 = "Heading";
}
} else {
// No own fix yet, so compass/bearing data would be misleading.
statusLine1 = "No";
statusLine2 = "Fix";
}
else {
display->drawString(compassX - FONT_HEIGHT_SMALL / 4, compassY - FONT_HEIGHT_SMALL / 2, "?");
// ? in the distance field
snprintf(distStr, sizeof(distStr), "? %s ?°",
(config.display.units == meshtastic_Config_DisplayConfig_DisplayUnits_IMPERIAL) ? "mi" : "km");
if (statusLine1) {
display->drawCircle(compassX, compassY, compassRadius);
display->setTextAlignment(TEXT_ALIGN_CENTER);
display->drawString(compassX, compassY - FONT_HEIGHT_SMALL, statusLine1);
display->drawString(compassX, compassY, statusLine2);
}
// Draw compass circle
display->drawCircle(compassX, compassY, compassDiam / 2);
display->setTextAlignment(TEXT_ALIGN_LEFT); // Something above me changes to a different alignment, forcing a fix here!
display->drawString(0, graphics::getTextPositions(display)[line++], lastStr);
display->drawString(0, graphics::getTextPositions(display)[line++], wp.name);
display->drawString(0, graphics::getTextPositions(display)[line++], wp.description);
display->drawString(0, graphics::getTextPositions(display)[line++], distStr);
display->drawString(0, textPos[line++], lastStr);
display->drawString(0, textPos[line++], wp.name);
display->drawString(0, textPos[line++], wp.description);
if (distStr[0])
display->drawString(0, textPos[line++], distStr);
}
#endif