From 97236d1ddb9524505a664aab82cc876b1e7e1f0a Mon Sep 17 00:00:00 2001
From: Vladimir Demidov <demvlad2@yandex.ru>
Date: Sat, 5 Oct 2024 14:50:56 +0300
Subject: [PATCH] The azimuth of Home point added as computed field (#774)

* added homes point azimuth computed field

* added friendly name for homes point azimuth field

* added default min max values for homes point azimuth field

* homes point azimuth field is added to example graph

* Comment is edited

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

---------

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
---
 src/flightlog.js                  | 11 +++++++++--
 src/flightlog_fields_presenter.js |  3 +++
 src/graph_config.js               |  9 +++++++++
 3 files changed, 21 insertions(+), 2 deletions(-)

diff --git a/src/flightlog.js b/src/flightlog.js
index 8b1b7107..a70ad230 100644
--- a/src/flightlog.js
+++ b/src/flightlog.js
@@ -30,7 +30,7 @@ import {
  * Window based smoothing of fields is offered.
  */
 export function FlightLog(logData) {
-  let ADDITIONAL_COMPUTED_FIELD_COUNT = 19 /** attitude + PID_SUM + PID_ERROR + RCCOMMAND_SCALED + GPS coord**/,
+  let ADDITIONAL_COMPUTED_FIELD_COUNT = 20 /** attitude + PID_SUM + PID_ERROR + RCCOMMAND_SCALED + GPS coord, distance and azimuth **/,
     that = this,
     logIndex = 0,
     logIndexes = new FlightLogIndex(logData),
@@ -284,7 +284,7 @@ export function FlightLog(logData) {
       fieldNames.push("axisError[0]", "axisError[1]", "axisError[2]"); // Custom calculated error field
     }
     if (!that.isFieldDisabled().GPS) {
-      fieldNames.push("gpsCartesianCoords[0]", "gpsCartesianCoords[1]", "gpsCartesianCoords[2]", "gpsDistance"); // GPS coords in cartesian system
+      fieldNames.push("gpsCartesianCoords[0]", "gpsCartesianCoords[1]", "gpsCartesianCoords[2]", "gpsDistance", "gpsHomeAzimuth"); // GPS coords in cartesian system
     }
 
     fieldNameToIndex = {};
@@ -854,11 +854,18 @@ export function FlightLog(logData) {
               destFrame[fieldIndex++] = gpsCartesianCoords.y;
               destFrame[fieldIndex++] = gpsCartesianCoords.z;
               destFrame[fieldIndex++] = Math.sqrt(gpsCartesianCoords.x * gpsCartesianCoords.x + gpsCartesianCoords.z * gpsCartesianCoords.z);
+
+              let homeAzimuth = Math.atan2(-gpsCartesianCoords.z, -gpsCartesianCoords.x) * 180 / Math.PI;
+              if (homeAzimuth < 0) {
+                homeAzimuth += 360;
+              }
+              destFrame[fieldIndex++] = homeAzimuth;
             } else {
               destFrame[fieldIndex++] = 0;
               destFrame[fieldIndex++] = 0;
               destFrame[fieldIndex++] = 0;
               destFrame[fieldIndex++] = 0;
+              destFrame[fieldIndex++] = 0;
             }
           }
 
diff --git a/src/flightlog_fields_presenter.js b/src/flightlog_fields_presenter.js
index 50ce336a..1f3e26b3 100644
--- a/src/flightlog_fields_presenter.js
+++ b/src/flightlog_fields_presenter.js
@@ -130,6 +130,7 @@ const FRIENDLY_FIELD_NAMES = {
   "gpsCartesianCoords[1]": "GPS Coords [Y]",
   "gpsCartesianCoords[2]": "GPS Coords [Z]",
   gpsDistance:     "GPS Home distance",
+  gpsHomeAzimuth:     "GPS Home azimuth",
 };
 
 const DEBUG_FRIENDLY_FIELD_NAMES_INITIAL = {
@@ -1651,6 +1652,8 @@ FlightLogFieldPresenter.decodeFieldToFriendly = function (
     case "gpsCartesianCoords[2]":
     case "gpsDistance":
         return `${value.toFixed(0)} m`;
+    case "gpsHomeAzimuth":
+        return `${value.toFixed(1)} °`;
 
     case "debug[0]":
     case "debug[1]":
diff --git a/src/graph_config.js b/src/graph_config.js
index 89670574..3e042cb4 100644
--- a/src/graph_config.js
+++ b/src/graph_config.js
@@ -476,6 +476,14 @@ GraphConfig.getDefaultCurveForField = function (flightLog, fieldName) {
           max: 100,
         },
       };
+    } else if (fieldName == "gpsHomeAzimuth") {
+      return {
+        power: 1.0,
+        MinMax: {
+          min: 0,
+          max: 360,
+        },
+      };
     } else if (fieldName.match(/^debug.*/) && sysConfig.debug_mode != null) {
       const debugModeName = DEBUG_MODE[sysConfig.debug_mode];
       switch (debugModeName) {
@@ -1542,6 +1550,7 @@ GraphConfig.getExampleGraphConfigs = function (flightLog, graphNames) {
       fields: [
         "gpsCartesianCoords[all]",
         "gpsDistance",
+        "gpsHomeAzimuth",
       ],
     });
   }