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show a kinda correct heading on the compass graphic

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geeksville 2020-02-14 19:11:31 -08:00
parent 7fcf822320
commit 978abc7f63
2 changed files with 37 additions and 4 deletions
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2
TODO.md
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@ -1,7 +1,6 @@
# High priority
Items to complete before the first alpha release.
* have node info screen show real info (including distance and heading)
* make debug info screen show real data (including battery level & charging)
* retest BLE software update for both board types
* first alpha release, article writeup for hackaday
@ -135,3 +134,4 @@ Items after the first final candidate release.
* allow setting full radio params from android
* add receive timestamps to messages, inserted by esp32 when message is received but then shown on the phone
* update build to generate both board types
* have node info screen show real info (including distance and heading)

39
src/screen.cpp
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@ -218,6 +218,35 @@ float latLongToMeter(double lat_a, double lng_a, double lat_b, double lng_b)
return (float)(6366000 * tt);
}
inline double toRadians(double deg)
{
return deg * PI / 180;
}
/**
* Computes the bearing in degrees between two points on Earth.
*
* @param lat1
* Latitude of the first point
* @param lon1
* Longitude of the first point
* @param lat2
* Latitude of the second point
* @param lon2
* Longitude of the second point
* @return Bearing between the two points in radians. A value of 0 means due
* north.
*/
float bearing(double lat1, double lon1, double lat2, double lon2)
{
double lat1Rad = toRadians(lat1);
double lat2Rad = toRadians(lat2);
double deltaLonRad = toRadians(lon2 - lon1);
double y = sin(deltaLonRad) * cos(lat2Rad);
double x = cos(lat1Rad) * sin(lat2Rad) - (sin(lat1Rad) * cos(lat2Rad) * cos(deltaLonRad));
return atan2(y, x);
}
/// A basic 2D point class for drawing
class Point
{
@ -299,8 +328,12 @@ void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, in
else
snprintf(lastStr, sizeof(lastStr), "%d hours ago", agoSecs / 60 / 60);
static float simRadian;
simRadian += 0.1; // For testing, have the compass spin unless both locations are valid
static char distStr[20];
*distStr = 0; // might not have location data
float headingRadian = simRadian;
NodeInfo *ourNode = nodeDB.getNode(nodeDB.getNodeNum());
if (ourNode && ourNode->has_position && node->has_position)
{
@ -310,6 +343,9 @@ void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, in
snprintf(distStr, sizeof(distStr), "%.0f m", d);
else
snprintf(distStr, sizeof(distStr), "%.1f km", d / 1000);
// FIXME, also keep the guess at the operators heading and add/substract it. currently we don't do this and instead draw north up only.
headingRadian = bearing(p.latitude, p.longitude, op.latitude, op.longitude);
}
const char *fields[] = {
@ -328,9 +364,6 @@ void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, in
float arrowOffsetX = 0.2f, arrowOffsetY = 0.2f;
Point leftArrow(tip.x - arrowOffsetX, tip.y - arrowOffsetY), rightArrow(tip.x + arrowOffsetX, tip.y - arrowOffsetY);
static float headingRadian;
headingRadian += 0.1; // For testing
Point *points[] = {&tip, &tail, &leftArrow, &rightArrow};
for (int i = 0; i < 4; i++)