Compass improvements/refactoring#10166
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fifieldt
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Apr 15, 2026
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Pull request overview
This PR refactors and improves compass behavior across UI screens by unifying heading/bearing math, improving calibration flow, persisting magnetometer calibration, and increasing UI refresh rate when compass data is active (addressing #9928’s “misleading compass” concerns).
Changes:
- Persist magnetometer calibration (save/load) and unify calibration flow across supported motion sensors.
- Unify heading/bearing computation via
CompassRendererhelpers and improve UI fallback states (“No Fix” / “No Heading”). - Smooth compass heading updates and raise target FPS (to 20) for compass-related frames.
Reviewed changes
Copilot reviewed 15 out of 15 changed files in this pull request and generated 3 comments.
Show a summary per file
| File | Description |
|---|---|
| src/motion/MotionSensor.h | Faster sensor polling; adds shared calibration persistence + helper utilities. |
| src/motion/MotionSensor.cpp | Implements calibration record save/load and improved calibration UI frame text/layout. |
| src/motion/ICM20948Sensor.h / .cpp | Loads/saves calibration and uses shared calibration/orientation helpers. |
| src/motion/BMX160Sensor.h / .cpp | Loads/saves calibration and uses shared calibration/orientation helpers. |
| src/motion/BMM150Sensor.cpp | Uses shared compass orientation helper; removes unused IRQ flag. |
| src/graphics/draw/CompassRenderer.h / .cpp | Introduces shared heading/bearing helpers used across screens. |
| src/graphics/Screen.h / .cpp | Adds smoothed setHeading(float); improves GPS-estimated heading staleness handling; raises FPS on compass frames. |
| src/graphics/draw/UIRenderer.cpp | Uses shared heading helpers and displays “No Fix/No Heading” status in compass areas. |
| src/modules/WaypointModule.cpp | Updates waypoint compass rendering/fallback logic and uses shared heading helpers. |
| src/graphics/draw/NodeListRenderer.h / .cpp | Uses shared heading helpers and shows unknown-bearing markers when heading/fix is missing. |
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
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mariotti
pushed a commit
to mariotti/firmware
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this pull request
May 6, 2026
* Infinite calibration loop fix * Save calibration * Screen refresh * reduce repeated code * reduce repeated code to reduce flash * fix Waypoint compass size and no fix no heading labels * Don't show compass unless we have a heading and location * If no calculated heading from moving, we should have no heading * Slow walking calculated heading and auto stale heading when not moving * Triming flash space * cleanup * show "?" when no location or heading for distance and heading screen * cleanup * Stale heading logic * final trim * Compass Calibration screen redesign * Trunk Fix * Compile fix * patch * Update src/motion/MotionSensor.cpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update WaypointModule.cpp --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
thebentern
pushed a commit
that referenced
this pull request
May 30, 2026
* Infinite calibration loop fix * Save calibration * Screen refresh * reduce repeated code * reduce repeated code to reduce flash * fix Waypoint compass size and no fix no heading labels * Don't show compass unless we have a heading and location * If no calculated heading from moving, we should have no heading * Slow walking calculated heading and auto stale heading when not moving * Triming flash space * cleanup * show "?" when no location or heading for distance and heading screen * cleanup * Stale heading logic * final trim * Compass Calibration screen redesign * Trunk Fix * Compile fix * patch * Update src/motion/MotionSensor.cpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update WaypointModule.cpp --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Evil8it
pushed a commit
to Evil8it/ME4TACTNK
that referenced
this pull request
Jun 10, 2026
* Infinite calibration loop fix * Save calibration * Screen refresh * reduce repeated code * reduce repeated code to reduce flash * fix Waypoint compass size and no fix no heading labels * Don't show compass unless we have a heading and location * If no calculated heading from moving, we should have no heading * Slow walking calculated heading and auto stale heading when not moving * Triming flash space * cleanup * show "?" when no location or heading for distance and heading screen * cleanup * Stale heading logic * final trim * Compass Calibration screen redesign * Trunk Fix * Compile fix * patch * Update src/motion/MotionSensor.cpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update WaypointModule.cpp --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
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Summary
This PR improves compass behavior and reliability across BaseUI compasses. Address this PR #9928
Changes
-- "no heading" is shown right after first lock until there is enough movement(2 gps cords)
-- GPS-based heading only appears after real movement (~10m/30ft), not immediately at first lock.
-- heading clears after staying still for a while, based on GPS/smart position timing
-- Compass screens now show clearer fallback states like "No Fix" and "No Heading" instead of misleading direction arrow that was untrustworthy .
-- Compass math/logic was unified so node, waypoint, and location screens behave consistently.
-- Small flash size cleanup in the new compass code.
Result
Compass data is more trustworthy, calibration is easier for users, and compass related screens behave more consistently.
T114 build with this PR
RAM: [==== ] 44.4% (used 110436 bytes from 248832 bytes)
Flash: [========= ] 88.6% (used 722068 bytes from 815104 bytes)
T114 build with Develop
RAM: [==== ] 44.4% (used 110436 bytes from 248832 bytes)
Flash: [========= ] 88.4% (used 720292 bytes from 815104 bytes)
20260414_233431.mp4