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sistemati i problemi su heding diverso da 0

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VALLONGOL 2025-11-13 17:00:11 +01:00
parent 4fed8dc983
commit b58d7f1022
2 changed files with 13 additions and 30 deletions
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2
settings.json
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@ -3,7 +3,7 @@
"scan_limit": 60, "scan_limit": 60,
"max_range": 100, "max_range": 100,
"geometry": "1492x992+113+61", "geometry": "1492x992+113+61",
"last_selected_scenario": "scenario3", "last_selected_scenario": "scenario_dritto",
"connection": { "connection": {
"target": { "target": {
"type": "sfp", "type": "sfp",

39
target_simulator/gui/ppi_adapter.py
View File

@ -70,28 +70,17 @@ def build_display_data(
# Default to identity transformation if origin is not set # Default to identity transformation if origin is not set
x_origin_ft, y_origin_ft = 0.0, 0.0 x_origin_ft, y_origin_ft = 0.0, 0.0
heading_origin_rad = 0.0
if simulation_origin: if simulation_origin:
origin_pos = simulation_origin.get("position_xy_ft", (0.0, 0.0)) origin_pos = simulation_origin.get("position_xy_ft", (0.0, 0.0))
x_origin_ft, y_origin_ft = origin_pos x_origin_ft, y_origin_ft = origin_pos
heading_origin_rad = math.radians( # NOTE: heading_origin_rad is intentionally not used for position anymore
simulation_origin.get("heading_deg", 0.0)
)
# 1. Rotate the simulated position by the initial heading of the ownship. # 1. Translate by the initial position of the ownship to get absolute world position.
# This aligns the simulation frame with the world frame (North-up). x_abs_ft = x_sim_ft + x_origin_ft
cos_h = math.cos(heading_origin_rad) y_abs_ft = y_sim_ft + y_origin_ft
sin_h = math.sin(heading_origin_rad)
x_rotated = x_sim_ft * cos_h - y_sim_ft * sin_h
y_rotated = x_sim_ft * sin_h + y_sim_ft * cos_h
# 2. Translate by the initial position of the ownship. # 2. Convert absolute world coordinates to coordinates relative to current ownship.
# This gives the absolute world position of the simulated target.
x_abs_ft = x_rotated + x_origin_ft
y_abs_ft = y_rotated + y_origin_ft
# 3. Convert absolute world coordinates to coordinates relative to current ownship.
rel_x_ft, rel_y_ft = x_abs_ft, y_abs_ft rel_x_ft, rel_y_ft = x_abs_ft, y_abs_ft
if ownship_pos_xy_ft: if ownship_pos_xy_ft:
rel_x_ft = x_abs_ft - ownship_pos_xy_ft[0] rel_x_ft = x_abs_ft - ownship_pos_xy_ft[0]
@ -106,26 +95,20 @@ def build_display_data(
sim_target._update_current_polar_coords() sim_target._update_current_polar_coords()
try: try:
# --- START OF HEADING CORRECTION ---
# The heading from the simulation engine is already in the "world"
# frame (North-Up). No further rotation is needed.
heading = None heading = None
if engine and getattr(engine, "scenario", None): if engine and getattr(engine, "scenario", None):
t = engine.scenario.get_target(tid) t = engine.scenario.get_target(tid)
if t: if t:
# The target's heading is also in the simulation frame. heading = getattr(t, "current_heading_deg", 0.0)
# It must be rotated by the origin heading to be in the world frame.
sim_heading_deg = getattr(t, "current_heading_deg", 0.0)
world_heading_deg = (
sim_heading_deg + math.degrees(heading_origin_rad)
) % 360
heading = world_heading_deg
if heading is None and scenario: if heading is None and scenario:
t2 = scenario.get_target(tid) t2 = scenario.get_target(tid)
if t2: if t2:
sim_heading_deg = getattr(t2, "current_heading_deg", 0.0) heading = getattr(t2, "current_heading_deg", 0.0)
world_heading_deg = ( # --- END OF HEADING CORRECTION ---
sim_heading_deg + math.degrees(heading_origin_rad)
) % 360
heading = world_heading_deg
if heading is not None: if heading is not None:
sim_target.current_heading_deg = float(heading) sim_target.current_heading_deg = float(heading)