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Prefer corrected position for map following
Ubuntu build / build-and-test (ubuntu-22.04) (push) Has been cancelled
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Ubuntu build / build-and-test (ubuntu-24.04) (push) Has been cancelled
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onur
2026-07-23 23:55:25 +03:00
parent 24b08ee518
commit 8b7256ed9d
5 changed files with 74 additions and 14 deletions
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README.md
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@@ -55,10 +55,14 @@ into a single plotted point.
The GPS firmware's level-1 paired protocol is source-aware. Every received
`source=gps` location is added to the blue GPS series and every
`source=imu_corrected` location is immediately added to the red corrected series.
`source=imu_corrected` location is added to the red corrected series at the
firmware-configured UART cadence.
Paths are built independently, so alternating UART lines do not create GPS-to-IMU
zigzags. When corrected points exist, CEP50, average and scatter calculations use
only that corrected series; legacy input without a source keeps the previous behavior.
zigzags. A corrected point newer than one second is also preferred for map
auto-follow, the current-position label and the globe receiver marker. Raw GPS
outliers remain visible in blue for diagnosis without pulling the whole view away.
When corrected points exist, CEP50, average and scatter calculations use only that
corrected series; legacy input without a source keeps the previous behavior.
Synthetic `source=trajectory` points form a third independent green ground-truth
path. The map legend identifies all three series.