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WPOverlay: fix loiter circle rendering #3232

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merged 2 commits into from
Nov 17, 2023
Merged

WPOverlay: fix loiter circle rendering #3232

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60bd3a8
WPOverlay: fix loiter circle rendering
robertlong13 Nov 14, 2023
8f65384
WPOverlay: fix exit_tangent trigonometry
robertlong13 Nov 14, 2023
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22 changes: 19 additions & 3 deletions ExtLibs/Maps/WPOverlay.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -139,6 +139,7 @@ public void CreateOverlay(PointLatLngAlt home, List<Locationwp> missionitems, do
}
else if (command == (ushort) MAVLink.MAV_CMD.LOITER_TIME ||
command == (ushort) MAVLink.MAV_CMD.LOITER_TURNS ||
command == (ushort) MAVLink.MAV_CMD.LOITER_TO_ALT ||
command == (ushort) MAVLink.MAV_CMD.LOITER_UNLIM)
{
if (item.lat == 0 && item.lng == 0)
Expand All @@ -160,6 +161,20 @@ public void CreateOverlay(PointLatLngAlt home, List<Locationwp> missionitems, do
color = Color.LightBlue
});

// Calculate the loiter radius and direction for this command, if one is specified
var this_loiterradius = loiterradius;
if (command == (ushort)MAVLink.MAV_CMD.LOITER_TURNS ||
command == (ushort)MAVLink.MAV_CMD.LOITER_UNLIM)
{
this_loiterradius = item.p3 != 0 ? item.p3 : this_loiterradius;
}
else if (command == (ushort)MAVLink.MAV_CMD.LOITER_TO_ALT)
{
this_loiterradius = item.p2 != 0 ? item.p2 : this_loiterradius;
}
int loiterdirection = Math.Sign(this_loiterradius);
this_loiterradius = Math.Abs(this_loiterradius);

// exit at tangent
if (item.p4 == 1)
{
Expand All @@ -175,10 +190,11 @@ public void CreateOverlay(PointLatLngAlt home, List<Locationwp> missionitems, do
var bearing = from.GetBearing(to);
var dist = from.GetDistance(to);

if (dist > loiterradius)
if (dist > this_loiterradius)
{
route.Add(pointlist[pointlist.Count - 1]);
var offset = from.newpos(bearing + 90, loiterradius);
var theta = Math.Acos(this_loiterradius / dist) * MathHelper.rad2deg;
var offset = from.newpos(bearing - loiterdirection*theta, this_loiterradius);
route.Add(offset);
}
else
Expand All @@ -190,7 +206,7 @@ public void CreateOverlay(PointLatLngAlt home, List<Locationwp> missionitems, do
route.Add(pointlist[pointlist.Count - 1]);

addpolygonmarker((a + 1).ToString(), item.lng, item.lat,
item.alt * altunitmultiplier, Color.LightBlue, loiterradius);
item.alt * altunitmultiplier, Color.LightBlue, this_loiterradius);
}
}
else if (command == (ushort) MAVLink.MAV_CMD.SPLINE_WAYPOINT)
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