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sistemato movimento antenna tra north-up e heading up anche con heading aereo diverso da 0

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VALLONGOL 2025-11-13 14:49:12 +01:00
parent 14c0501451
commit 4fed8dc983
2 changed files with 62 additions and 49 deletions
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68
target_simulator/gui/payload_router.py
View File

@ -360,21 +360,29 @@ class DebugPayloadRouter:
# --- Propagate antenna azimuth to hub --- # --- Propagate antenna azimuth to hub ---
if self._hub: if self._hub:
# Get platform heading and relative antenna sweep # FINAL UNDERSTANDING after testing:
heading_rad = scenario_dict.get( # ant_nav_az appears to be in BODY coordinates (relative to platform)
"true_heading", scenario_dict.get("platform_azimuth") # The PPI display handles the rotation based on North-Up vs Heading-Up mode
) #
# In North-Up: antenna should stay within scan cone centered on heading
# In Heading-Up: antenna should stay within scan cone centered on nose
#
# Just pass ant_nav_az directly - let PPI handle the transformations
sweep_rad = scenario_dict.get("ant_nav_az") sweep_rad = scenario_dict.get("ant_nav_az")
total_az_rad = None
if heading_rad is not None:
total_az_rad = float(heading_rad)
if sweep_rad is not None: if sweep_rad is not None:
total_az_rad += float(sweep_rad) try:
sweep_deg = math.degrees(float(sweep_rad))
if total_az_rad is not None: # Normalize to [-180, 180]
az_deg = math.degrees(total_az_rad) while sweep_deg > 180:
self._hub.set_antenna_azimuth(az_deg, timestamp=time.monotonic()) sweep_deg -= 360
while sweep_deg < -180:
sweep_deg += 360
self._hub.set_antenna_azimuth(sweep_deg, timestamp=time.monotonic())
except Exception:
pass
except Exception: except Exception:
self._logger.exception("Failed to generate text/JSON for RIS debug view.") self._logger.exception("Failed to generate text/JSON for RIS debug view.")
@ -415,42 +423,36 @@ class DebugPayloadRouter:
return sc[key] return sc[key]
return None return None
# Find platform heading and relative antenna sweep using multiple potential keys # Just pass ant_nav_az directly - PPI handles transformations
heading_val = _find_val(
["true_heading", "platform_azimuth", "heading"], obj
)
sweep_val = _find_val( sweep_val = _find_val(
["ant_nav_az", "antenna_azimuth", "sweep_azimuth"], obj ["ant_nav_az", "antenna_azimuth", "sweep_azimuth"], obj
) )
total_az_val = None
if heading_val is not None:
try:
h_rad = float(heading_val)
# If heading is in degrees (> 2*pi), convert to radians
if abs(h_rad) > (2 * math.pi + 0.01):
h_rad = math.radians(h_rad)
total_az_rad = h_rad
if sweep_val is not None: if sweep_val is not None:
try:
s_rad = float(sweep_val) s_rad = float(sweep_val)
# If sweep is in degrees, convert
# If value is in degrees, convert
if abs(s_rad) > (2 * math.pi + 0.01): if abs(s_rad) > (2 * math.pi + 0.01):
s_rad = math.radians(s_rad) s_rad = math.radians(s_rad)
total_az_rad += s_rad
az_deg = math.degrees(total_az_rad) sweep_deg = math.degrees(s_rad)
# LOGGARE IL SUCCESSO PER DEBUG
# Normalize to [-180, 180]
while sweep_deg > 180:
sweep_deg -= 360
while sweep_deg < -180:
sweep_deg += 360
self._logger.debug( self._logger.debug(
f"Found azimuth info in JSON: heading={heading_val}, sweep={sweep_val} -> total_deg={az_deg}" f"Found antenna azimuth in JSON: ant_nav_az={sweep_deg:.1f}°"
) )
self._hub.set_antenna_azimuth(az_deg, timestamp=time.monotonic()) self._hub.set_antenna_azimuth(sweep_deg, timestamp=time.monotonic())
except Exception as e: except Exception as e:
self._logger.debug(f"Error processing azimuth values: {e}") self._logger.debug(f"Error processing antenna azimuth: {e}")
pass
else: else:
pass pass
# self._logger.debug("No heading info found in JSON payload") # self._logger.debug("No complete antenna azimuth info in JSON")
# Optionally capture elevation for future UI use # Optionally capture elevation for future UI use
# plat_el = _find_val(["ant_nav_el", "platform_elevation"], obj) # plat_el = _find_val(["ant_nav_el", "platform_elevation"], obj)

31
target_simulator/gui/ppi_display.py
View File

@ -696,21 +696,32 @@ class PPIDisplay(ttk.Frame):
else: else:
az_float = float(az_deg) az_float = float(az_deg)
final_az_for_plot = az_float # WORKING SOLUTION confirmed by user:
if self.display_mode_var.get() == "Heading-Up": # North-Up with heading=+10°:
# The incoming az_deg is absolute. To display it relative to the # - Server sends ant_nav_az from +50° to -70°
# ownship (which is fixed at 0 deg), we subtract the ownship heading. # - Add 2×heading: result is +70° to -50° ✓ CORRECT
final_az_for_plot -= self.ownship_heading_deg #
# Heading-Up with heading=+10°:
# - Grid is rotated by -10° (via set_theta_offset)
# - Scan lines are drawn at heading ± limit
# - Antenna needs same transformation as scan lines
#
# Solution: use SAME formula for both modes
# - North-Up: add 2×heading
# - Heading-Up: add 2×heading (counter-rotates for the rotated grid)
final_az_for_plot = az_float + (2.0 * self.ownship_heading_deg)
# Normalize to [-180, 180] range
while final_az_for_plot > 180:
final_az_for_plot -= 360
while final_az_for_plot < -180:
final_az_for_plot += 360
# Convert final angle to theta for Matplotlib (0=N, positive=CCW) # Convert final angle to theta for Matplotlib (0=N, positive=CCW)
theta = np.deg2rad(final_az_for_plot) theta = np.deg2rad(final_az_for_plot)
max_r = self.ax.get_ylim()[1] max_r = self.ax.get_ylim()[1]
# logger.debug(
# f"Rendering antenna: az_in={az_deg}, mode={self.display_mode_var.get()}, "
# f"own_hdg={self.ownship_heading_deg}, final_az={final_az_for_plot}, theta={theta}"
# )
self._antenna_line_artist.set_data([theta, theta], [0, max_r]) self._antenna_line_artist.set_data([theta, theta], [0, max_r])
self._antenna_line_artist.set_visible(True) self._antenna_line_artist.set_visible(True)