Prefer corrected position for map following

2026-07-23 23:55:25 +03:00
parent 24b08ee518
commit 8b7256ed9d
5 changed files with 74 additions and 14 deletions
@@ -201,6 +201,27 @@ int main(int argc, char **argv)
    assert(QMetaObject::invokeMethod(&window, "clearPoints", Qt::DirectConnection));
    maxPointsInput->setValue(10);

+    {
+        MapWidget followMap;
+        TelemetryPoint corrected;
+        corrected.source = LocationSource::ImuCorrected;
+        corrected.latitude = 40.1;
+        corrected.longitude = 29.1;
+        corrected.receivedAt = QDateTime::currentDateTimeUtc();
+
+        TelemetryPoint rawGps;
+        rawGps.source = LocationSource::Gps;
+        rawGps.latitude = 41.0;
+        rawGps.longitude = 30.0;
+        rawGps.receivedAt = corrected.receivedAt.addMSecs(100);
+        followMap.setPoints({corrected, rawGps});
+        assert(followMap.centerCoordinate() == QPointF(40.1, 29.1));
+
+        rawGps.receivedAt = corrected.receivedAt.addMSecs(1100);
+        followMap.setPoints({corrected, rawGps});
+        assert(followMap.centerCoordinate() == QPointF(41.0, 30.0));
+    }
+
    const QByteArray screenshotPath = qgetenv("LOCATION_PLOTTER_TEST_SCREENSHOT");
    if (!screenshotPath.isEmpty()) {
        sendLine(window, QStringLiteral("NAV solve start sats:5"));