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ajustado lever arm e mostrado inclinacao no attitude indicator

This commit is contained in:
Diego Freitas 2026-07-07 15:47:34 -03:00
parent bdfa707968
commit bebb1f42c8
10 changed files with 280 additions and 50 deletions
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6
AgroBase/AgroBase/Models/GPSModel.cs
View File

@ -67,7 +67,9 @@ namespace AgroBase.Models
public double AnguloCarroDefinido { get; set; }
public int Heartbeat { get; set; } = 0;
public double LeverArmLateral { get; set; } = 0;
public double LeverArmLateralOp { get; set; } = 0;
public double LeverArmFrontal { get; set; } = 0;
public double LeverArmFrontalOp { get; set; } = 0;
public GPSModel Clone()
{
@ -108,7 +110,9 @@ namespace AgroBase.Models
VDOP = VDOP,
BaseID = BaseID,
LeverArmFrontal = LeverArmFrontal,
LeverArmFrontalOp = LeverArmFrontalOp,
LeverArmLateral = LeverArmLateral,
LeverArmLateralOp = LeverArmLateralOp,
X = X,
Y = Y
};
@ -123,9 +127,11 @@ namespace AgroBase.Models
IdadeCorrecao = IdadeCorrecao,
Iniciado = Inicializado,
Latitude = Latitude,
LatitudeAnt = LatitudeAnt,
LeverArmFrontal = LeverArmFrontal,
LeverArmLateral= LeverArmLateral,
Longitude = Longitude,
LongitudeAnt = LongitudeAnt,
NtripAtivado = Ntrip_ativado,
NumeroSatelites = NumeroSatelites,
OrientacaoMovimento = OrientacaoMovimento,

35
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
View File

@ -2478,31 +2478,17 @@ namespace AgroBase.Models
return;
}
double? totalLateralCm = lever.Item1;
double? totalFrontalCm = lever.Item2;
double? campoLateralCm = lever.Item1;
double? campoFrontalCm = lever.Item2;
if (totalLateralCm == null && totalFrontalCm == null)
if (campoLateralCm == null && campoFrontalCm == null)
return;
double totalAtualLateralCm =
GPSService.LeverArm?.LateralTotalCm ??
VariaveisEquipamento.LeverArmLateralCm;
double novoLateralCm = campoLateralCm.HasValue ? campoLateralCm.Value : GPSService.LeverArm.LateralCampoCm;
double novoFrontalCm = campoFrontalCm.HasValue ? campoFrontalCm.Value : GPSService.LeverArm.FrontalCampoCm;
double totalAtualFrontalCm =
GPSService.LeverArm?.FrontalTotalCm ??
VariaveisEquipamento.LeverArmFrontalCm;
double novoTotalLateralCm =
totalLateralCm ?? totalAtualLateralCm;
double novoTotalFrontalCm =
totalFrontalCm ?? totalAtualFrontalCm;
double campoLateralCm =
novoTotalLateralCm - VariaveisEquipamento.LeverArmLateralCm;
double campoFrontalCm =
novoTotalFrontalCm - VariaveisEquipamento.LeverArmFrontalCm;
double novoTotalLateralCm = VariaveisEquipamento.LeverArmLateralCm + novoLateralCm;
double novoTotalFrontalCm = VariaveisEquipamento.LeverArmFrontalCm + novoFrontalCm;
Variaveis.MostrarLog(
$"[ComandoBase][LeverArm] Total RX: frontal={novoTotalFrontalCm:0.##}cm, lateral={novoTotalLateralCm:0.##}cm | " +
@ -2513,8 +2499,11 @@ namespace AgroBase.Models
GPSService.LeverArm = new GeoLeverArm(
offsetFisicoFrontalCm: VariaveisEquipamento.LeverArmFrontalCm,
offsetFisicoLateralCm: VariaveisEquipamento.LeverArmLateralCm,
offsetCampoFrontalCm: campoFrontalCm,
offsetCampoLateralCm: campoLateralCm
offsetCampoFrontalCm: novoFrontalCm,
offsetCampoLateralCm: novoLateralCm,
mirrL: true,
invF: true,
invH: false
);
}

12
AgroBase/AgroBase/Models/Operacoes/OperacaoParametrosModel.cs
View File

@ -987,9 +987,11 @@ namespace AgroBase.Models.Operacoes
Distancia = gps?.Distancia ?? 0,
IdadeCorrecao = gps?.IdadeCorrecao ?? -1,
Latitude = gps?.Latitude ?? 0,
LatitudeAnt = gps?.LatitudeAnt ?? 0,
Longitude = gps?.Longitude ?? 0,
LeverArmFrontal = gps?.LeverArmFrontal ?? 0,
LeverArmLateral = gps?.LeverArmLateral ?? 0,
LongitudeAnt = gps?.LongitudeAnt ?? 0,
LeverArmFrontal = gps?.LeverArmFrontalOp ?? 0,
LeverArmLateral = gps?.LeverArmLateralOp ?? 0,
NtripAtivado = gps?.Ntrip_ativado ?? false,
NumeroSatelites = gps?.NumeroSatelites ?? 0,
OrientacaoMovimento = gps?.OrientacaoMovimento ?? 0,
@ -1278,7 +1280,9 @@ namespace AgroBase.Models.Operacoes
{
Iniciado = src.Iniciado,
Latitude = src.Latitude,
LatitudeAnt = src.LatitudeAnt,
Longitude = src.Longitude,
LongitudeAnt = src.LongitudeAnt,
Altitude = src.Altitude,
Velocidade = src.Velocidade,
Distancia = src.Distancia,
@ -1686,7 +1690,9 @@ namespace AgroBase.Models.Operacoes
{
public bool Iniciado { get; set; }
public double Latitude { get; set; }
public double LatitudeAnt { get; set; }
public double Longitude { get; set; }
public double LongitudeAnt { get; set; }
public double Altitude { get; set; }
public double Velocidade { get; set; }
public double Distancia { get; set; }
@ -1708,7 +1714,9 @@ namespace AgroBase.Models.Operacoes
{
Inicializado = Iniciado,
Latitude = Latitude,
LatitudeAnt = LatitudeAnt,
Longitude = Longitude,
LongitudeAnt = LongitudeAnt,
Altitude = Altitude,
Velocidade = Velocidade,
Distancia = Distancia,

28
AgroBase/AgroBase/Services/GPSService.cs
View File

@ -70,7 +70,10 @@ namespace AgroBase.Services
public static GeoLeverArm LeverArm = new GeoLeverArm(
offsetFisicoFrontalCm: VariaveisEquipamento.LeverArmFrontalCm,
offsetFisicoLateralCm: VariaveisEquipamento.LeverArmLateralCm
offsetFisicoLateralCm: VariaveisEquipamento.LeverArmLateralCm,
mirrL: true,
invF: true,
invH: false
);
public static Queue<GPSModel> historicoPosicao = new Queue<GPSModel>();
@ -2125,11 +2128,15 @@ namespace AgroBase.Services
PenultimaLeitura.Heartbeat = UltimaLeitura.Heartbeat;
PenultimaLeitura.LeverArmFrontal = UltimaLeitura.LeverArmFrontal;
PenultimaLeitura.LeverArmLateral = UltimaLeitura.LeverArmLateral;
PenultimaLeitura.LeverArmFrontalOp = UltimaLeitura.LeverArmFrontalOp;
PenultimaLeitura.LeverArmLateralOp = UltimaLeitura.LeverArmLateralOp;
UltimaLeitura.Ntrip_ativado = CorrecaoRTK_Ntrip;
UltimaLeitura.Heartbeat = (UltimaLeitura.Heartbeat + 1) % 10;
UltimaLeitura.LeverArmFrontal = LeverArm != null ? LeverArm.FrontalTotalCm : 0;
UltimaLeitura.LeverArmLateral = LeverArm != null ? LeverArm.LateralTotalCm : 0;
UltimaLeitura.LeverArmFrontalOp = LeverArm != null ? LeverArm.FrontalCampoCm : 0;
UltimaLeitura.LeverArmLateralOp = LeverArm != null ? LeverArm.LateralCampoCm : 0;
UltimasLeituras.Add(UltimaLeitura.Clone());
@ -3466,6 +3473,7 @@ namespace AgroBase.Services
private readonly double yCampo;
private readonly bool invertHeading;
private readonly bool invertFrontal;
private readonly bool mirrorLateral;
public GeoLeverArm(
@ -3474,7 +3482,9 @@ namespace AgroBase.Services
double offsetCampoFrontalCm = 0,
double offsetCampoLateralCm = 0,
bool invH = false,
bool mirrL = false)
bool invF = false,
bool mirrL = false
)
{
xFisico = offsetFisicoFrontalCm / 100.0;
yFisico = offsetFisicoLateralCm / 100.0;
@ -3482,6 +3492,7 @@ namespace AgroBase.Services
yCampo = offsetCampoLateralCm / 100.0;
invertHeading = invH;
invertFrontal = invF;
mirrorLateral = mirrL;
}
@ -3500,6 +3511,16 @@ namespace AgroBase.Services
get { return (yFisico + yCampo) * 100.0; }
}
public double FrontalCampoCm
{
get { return (xCampo) * 100.0; }
}
public double LateralCampoCm
{
get { return (yCampo) * 100.0; }
}
public (double lat, double lon) FixLeverArmLatLon_Fast(double latAnt_deg, double lonAnt_deg, double headingDeg, double headingFreq)
{
if (headingFreq < 1)
@ -3508,6 +3529,9 @@ namespace AgroBase.Services
double xTotal = xFisico + xCampo;
double yTotal = yFisico + yCampo;
if (invertFrontal)
xTotal = -xTotal;
if (mirrorLateral)
yTotal = -yTotal;

19
AgroBase/OperationControl/Controls/AttitudeIndicator.xaml
View File

@ -108,6 +108,25 @@
<Rectangle Width="8" Height="8" Stroke="White" StrokeThickness="2" Fill="#22FFFFFF" HorizontalAlignment="Center" VerticalAlignment="Center"/>
</Grid>
<!-- HUD NUMÉRICO DE INCLINAÇÃO -->
<Grid VerticalAlignment="Bottom" HorizontalAlignment="Stretch" Margin="4,0,4,6" IsHitTestVisible="False">
<Grid.ColumnDefinitions>
<ColumnDefinition/>
<ColumnDefinition/>
</Grid.ColumnDefinitions>
<!-- Inclinação lateral / Roll -->
<Border Grid.Column="0" CornerRadius="5" Background="#AA000000" BorderBrush="#55FFFFFF" BorderThickness="1" Padding="4,2" HorizontalAlignment="Left">
<TextBlock Text="{Binding RollTexto, RelativeSource={RelativeSource AncestorType=UserControl}}" Foreground="White" FontSize="11" FontWeight="SemiBold"/>
</Border>
<!-- Inclinação frontal / Pitch -->
<Border Grid.Column="1" CornerRadius="5" Background="#AA000000" BorderBrush="#55FFFFFF" BorderThickness="1" Padding="4,2" HorizontalAlignment="Right">
<TextBlock Text="{Binding PitchTexto, RelativeSource={RelativeSource AncestorType=UserControl}}" Foreground="White" FontSize="11" FontWeight="SemiBold"/>
</Border>
</Grid>
</Grid>
<!-- BARRA DE ERRO LATERAL (linha 1) -->

26
AgroBase/OperationControl/Controls/AttitudeIndicator.xaml.cs
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@ -9,7 +9,7 @@ namespace OperationControl.Controls
/// <summary>
/// Interaction logic for AttitudeIndicator.xaml
/// </summary>
public partial class AttitudeIndicator : UserControl
public partial class AttitudeIndicator : UserControl, INotifyPropertyChanged
{
public AttitudeIndicator()
{
@ -47,8 +47,7 @@ namespace OperationControl.Controls
typeof(AttitudeIndicator),
new PropertyMetadata(0.0));
public static readonly DependencyProperty PitchOffsetPxProperty =
PitchOffsetPxPropertyKey.DependencyProperty;
public static readonly DependencyProperty PitchOffsetPxProperty = PitchOffsetPxPropertyKey.DependencyProperty;
public double PitchOffsetPx
{
@ -105,8 +104,7 @@ namespace OperationControl.Controls
typeof(AttitudeIndicator),
new PropertyMetadata(0.0));
public static readonly DependencyProperty LateralNormalizedProperty =
LateralNormalizedPropertyKey.DependencyProperty;
public static readonly DependencyProperty LateralNormalizedProperty = LateralNormalizedPropertyKey.DependencyProperty;
public double LateralError
{
@ -133,15 +131,31 @@ namespace OperationControl.Controls
// Derivados
public double MaxAbsAngle => Math.Max(Math.Abs(RollDeg), Math.Abs(PitchDeg));
public string RollTexto => $"LAT {FormatSignedDeg(RollDeg)}";
public string PitchTexto => $"FRT {FormatSignedDeg(PitchDeg)}";
private static string FormatSignedDeg(double value)
{
if (double.IsNaN(value) || double.IsInfinity(value))
return "--.-°";
return value.ToString("+0.0;-0.0;0.0") + "°";
}
public event PropertyChangedEventHandler PropertyChanged;
void Raise(string n) => PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(n));
static void OnAngleChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
{
var c = (AttitudeIndicator)d; // agora compila pois herda de UserControl
var c = (AttitudeIndicator)d;
c.PitchOffsetPx = -c.PitchDeg * c.PxPerDeg;
c.Raise(nameof(PitchOffsetPx));
c.Raise(nameof(MaxAbsAngle));
c.Raise(nameof(RollTexto));
c.Raise(nameof(PitchTexto));
c.UpdateChrome();
}

157
AgroBase/OperationControl/Controls/MapViewControl.xaml.cs
View File

@ -1268,7 +1268,20 @@ namespace OperationControl.Controls
}
}
public void AddMarker(string id, bool isBase, double? lat = null, double? lon = null, double? heading = null, System.Windows.Media.Color? color = null, string? label = null, StatusOperacao? status = null, bool? pulv = null, bool center = false)
public void AddMarker(
string id,
bool isBase,
double? lat = null,
double? lon = null,
double? heading = null,
System.Windows.Media.Color? color = null,
string? label = null,
StatusOperacao? status = null,
bool? pulv = null,
bool center = false,
double? rawGnssLat = null,
double? rawGnssLon = null
)
{
if (string.IsNullOrWhiteSpace(id)) return;
@ -1277,7 +1290,17 @@ namespace OperationControl.Controls
var marker = _features.FirstOrDefault(x => x.Id == id);
if (marker != null)
{
marker.UpdateData(lat: lat, lon: lon, heading: heading, label: label, color: color, status: status, pulverizando: pulv);
marker.UpdateData(
lat: lat,
lon: lon,
heading: heading,
label: label,
color: color,
status: status,
pulverizando: pulv,
rawGnssLat: rawGnssLat,
rawGnssLon: rawGnssLon
);
}
else
{
@ -1287,13 +1310,15 @@ namespace OperationControl.Controls
Features = new List<MIFeature>(),
Color = color ?? GetColorForMarker(id, isBase),
Heading = heading ?? 0,
Lat = lat ?? 0,
Lat = lat ?? 0,
Lon = lon ?? 0,
RawGnssLat = rawGnssLat,
RawGnssLon = rawGnssLon,
Label = lbl,
MarkerShapes = new List<MIFeature>(),
IsBase = isBase,
Status = status ?? StatusOperacao.NaoIniciado,
Pulverizando = pulv ?? false,
Status = status ?? StatusOperacao.NaoIniciado,
Pulverizando = pulv ?? false,
Focused = false
};
marker.CreateTrajectory(_map);
@ -1307,15 +1332,30 @@ namespace OperationControl.Controls
_map.Map?.Navigator?.CenterOn(marker.Point.Point);
}
public void UpdateMarkerPosition(string id, double? lat = null, double? lon = null, double? heading = null, List<double[]>? predict = null)
public void UpdateMarkerPosition(
string id,
double? lat = null,
double? lon = null,
double? heading = null,
List<double[]>? predict = null,
double? rawGnssLat = null,
double? rawGnssLon = null
)
{
if (string.IsNullOrWhiteSpace(id)) return;
var marker = _features.FirstOrDefault(x => x.Id == id);
if (marker == null) return;
marker.UpdateData(lat: lat, lon: lon, heading: heading, predict: predict);
marker.UpdateData(
lat: lat,
lon: lon,
heading: heading,
predict: predict,
rawGnssLat: rawGnssLat,
rawGnssLon: rawGnssLon
);
UpdateFeatures();
}
@ -1385,6 +1425,9 @@ namespace OperationControl.Controls
public double Lat { get; set; }
public double Lon { get; set; }
public double Heading { get; set; }
public double? RawGnssLat { get; set; }
public double? RawGnssLon { get; set; }
public bool MostrarPontosLeverArm { get; set; } = true;
public string Label { get; set; }
public System.Windows.Media.Color Color { get; set; }
public StatusOperacao Status { get; set; }
@ -1393,12 +1436,25 @@ namespace OperationControl.Controls
public Coordinate Position { get; set; }
public List<double[]> Predict { get; set; }
public void UpdateData(double? lat = null, double? lon = null, double? heading = null, string? label = null, System.Windows.Media.Color? color = null, bool? pulverizando = null, StatusOperacao? status = null, List<double[]>? predict = null)
public void UpdateData(
double? lat = null,
double? lon = null,
double? heading = null,
string? label = null,
System.Windows.Media.Color? color = null,
bool? pulverizando = null,
StatusOperacao? status = null,
List<double[]>? predict = null,
double? rawGnssLat = null,
double? rawGnssLon = null
)
{
Features.Clear();
if (lat != null) Lat = (double)lat;
if (lon != null) Lon = (double)lon;
if (rawGnssLat != null) RawGnssLat = rawGnssLat;
if (rawGnssLon != null) RawGnssLon = rawGnssLon;
if (heading != null) Heading = (double)heading;
if (label != null) Label = label;
if (color != null) Color = (System.Windows.Media.Color)color;
@ -1524,6 +1580,7 @@ namespace OperationControl.Controls
});
MarkerShapes.Add(triangle);
CreateLeverArmReferencePoints(centerWorld);
if (Focused)
{
@ -1714,6 +1771,88 @@ namespace OperationControl.Controls
return (baseColor, glyph, back);
}
private void CreateLeverArmReferencePoints(MPoint correctedWorld)
{
if (!MostrarPontosLeverArm)
return;
if (!IsValidLatLon(RawGnssLat, RawGnssLon))
return;
var rawMercator = Mapsui.Projections.SphericalMercator.FromLonLat(
RawGnssLon!.Value,
RawGnssLat!.Value
);
var rawWorld = new MPoint(rawMercator.x, rawMercator.y);
// Linha tracejada entre GNSS bruto e ponto corrigido
var line = new GeometryFeature
{
Geometry = new LineString(new[]
{
new Coordinate(rawWorld.X, rawWorld.Y),
new Coordinate(correctedWorld.X, correctedWorld.Y)
})
};
line.Styles.Add(new VectorStyle
{
Line = new Pen
{
Color = new Mapsui.Styles.Color(255, 255, 255, 170),
Width = 1,
PenStyle = PenStyle.Dash
}
});
MarkerShapes.Add(line);
// Ponto GNSS bruto: amarelo
var rawPoint = new PointFeature(rawWorld);
rawPoint["MarkerPart"] = "GnssBruto";
rawPoint.Styles.Add(new SymbolStyle
{
SymbolType = SymbolType.Ellipse,
SymbolScale = 0.55,
Fill = new Brush(new Mapsui.Styles.Color(255, 215, 0, 255)),
Outline = new Pen(new Mapsui.Styles.Color(20, 20, 20, 230), 1)
});
MarkerShapes.Add(rawPoint);
// Ponto corrigido: branco com contorno preto
var correctedPoint = new PointFeature(correctedWorld);
correctedPoint["MarkerPart"] = "GnssCorrigidoLeverArm";
correctedPoint.Styles.Add(new SymbolStyle
{
SymbolType = SymbolType.Ellipse,
SymbolScale = 0.50,
Fill = new Brush(Mapsui.Styles.Color.White),
Outline = new Pen(new Mapsui.Styles.Color(20, 20, 20, 230), 1)
});
MarkerShapes.Add(correctedPoint);
}
private bool IsValidLatLon(double? lat, double? lon)
{
if (!lat.HasValue || !lon.HasValue)
return false;
if (lat.Value < -90 || lat.Value > 90)
return false;
if (lon.Value < -180 || lon.Value > 180)
return false;
// Evita desenhar ponto fake em 0,0
if (Math.Abs(lat.Value) < 0.0000001 && Math.Abs(lon.Value) < 0.0000001)
return false;
return true;
}
public void ClearTrajectory(bool clearPrediction = true)
{

33
AgroBase/OperationControl/ViewModels/Views/Operacao/Monitoramento/Diagnostico/DiagnosticoOpcoesViewModel.cs
View File

@ -6,6 +6,8 @@ using static AgroBase.Models.Enums;
using System.Windows.Input;
using OperationControl.Helpers;
using static AgroBase.Services.CoolerControlService;
using AgroBase.Services;
using AgroBase.Models;
namespace OperationControl.ViewModels.Views.Operacao.Monitoramento.Diagnostico
{
@ -201,7 +203,7 @@ namespace OperationControl.ViewModels.Views.Operacao.Monitoramento.Diagnostico
set
{
if (SetProperty(ref _gpsLeverArmLateral, value))
GpsLeverArmLateralTexto = $"{value:0.##} cm";
GpsLeverArmLateralTexto = $"{value:0} cm";
}
}
@ -219,7 +221,7 @@ namespace OperationControl.ViewModels.Views.Operacao.Monitoramento.Diagnostico
set
{
if (SetProperty(ref _gpsLeverArmFrontal, value))
GpsLeverArmFrontalTexto = $"{value:0.##} cm";
GpsLeverArmFrontalTexto = $"{value:0} cm";
}
}
@ -822,6 +824,33 @@ namespace OperationControl.ViewModels.Views.Operacao.Monitoramento.Diagnostico
lateral: GpsLeverArmLateral,
frontal: GpsLeverArmFrontal
);
if (AppShell.Mock && AppShell.AddRover)
{
var gnss = VariaveisControleOperacao.RoverEmFoco.DadosLeitura.Gnss;
gnss.LeverArmFrontal = GpsLeverArmFrontal;
gnss.LeverArmLateral = GpsLeverArmLateral;
GeoLeverArm la = new GeoLeverArm(
offsetFisicoFrontalCm: VariaveisEquipamento.LeverArmFrontalCm,
offsetFisicoLateralCm: VariaveisEquipamento.LeverArmLateralCm,
offsetCampoFrontalCm: GpsLeverArmFrontal,
offsetCampoLateralCm: GpsLeverArmLateral,
mirrL: true,
invF: true,
invH: false
);
var corrigida = la.FixLeverArmLatLon_Fast(
gnss.LatitudeAnt,
gnss.LongitudeAnt,
gnss.OrientacaoReal,
5
);
gnss.Latitude = corrigida.lat;
gnss.Longitude = corrigida.lon;
}
}
}

10
AgroBase/OperationControl/ViewModels/Windows/DockWindowViewModel.cs
View File

@ -726,7 +726,7 @@ namespace OperationControl.ViewModels
_viewPreparacaoMapaTop?._vm?.AtualizarDados(dados);
}
CriarMarcadorBase(Mapa);
Mapa?.markers?.UpdateMarkerPosition(VariaveisControleOperacao.BaseMarkerID, lat: dados?.Latitude, lon: dados?.Longitude, heading: dados?.OrientacaoReal);
Mapa?.markers?.UpdateMarkerPosition(VariaveisControleOperacao.BaseMarkerID, lat: dados?.Latitude, lon: dados?.Longitude, heading: dados?.OrientacaoReal, rawGnssLat: dados?.LatitudeAnt, rawGnssLon: dados?.LongitudeAnt);
}
public void AtualizarParametrosRover(OperacaoParametrosModel? rover)
@ -805,7 +805,7 @@ namespace OperationControl.ViewModels
if (fixar)
{
_viewPreparacaoMapaBottom?._vm.IniciarFixacao();
_viewPreparacaoMapaBottom?._vm?.IniciarFixacao();
await Models.Variaveis.GpsService.ConfigurarModulo(true, metodoFix, lat, lon, alt);
}
}
@ -884,7 +884,9 @@ namespace OperationControl.ViewModels
false,
lat: roverDados.DadosLeitura?.Gnss?.Latitude ?? 0,
lon: roverDados.DadosLeitura?.Gnss?.Longitude ?? 0,
heading: roverDados.DadosLeitura?.Gnss?.OrientacaoReal ?? 0
heading: roverDados.DadosLeitura?.Gnss?.OrientacaoReal ?? 0,
rawGnssLat: roverDados.DadosLeitura?.Gnss?.LatitudeAnt ?? 0,
rawGnssLon: roverDados.DadosLeitura?.Gnss?.LongitudeAnt ?? 0
);
}
}
@ -899,7 +901,7 @@ namespace OperationControl.ViewModels
// MAPA
var simulacao = obj.Controle?.SimulacaoMPC?.Select(x => new double[] { x.longitude, x.latitude })?.ToList();
_viewOperacaoCenter?.Mapa?.markers.UpdateMarkerPosition(rover.RoverId, lat: obj.Gnss?.Latitude, lon: obj.Gnss?.Longitude, heading: obj.Gnss?.OrientacaoReal, predict: simulacao);
_viewOperacaoCenter?.Mapa?.markers.UpdateMarkerPosition(rover.RoverId, lat: obj.Gnss?.Latitude, lon: obj.Gnss?.Longitude, heading: obj.Gnss?.OrientacaoReal, predict: simulacao, rawGnssLat: obj.Gnss?.LatitudeAnt, rawGnssLon: obj.Gnss?.LongitudeAnt);
if (_viewOperacaoCenter?.Mapa?.chbAcompanhar.IsChecked ?? false) _viewOperacaoCenter?.Mapa?.SetView(obj.Gnss?.Latitude, obj.Gnss?.Longitude);
_viewOperacaoCenter?.Mapa?.markers.UpdateMarkerInfo(rover.RoverId, status: obj.Operacao?.Status ?? AgroBase.Models.Enums.StatusOperacao.NaoIniciado);

4
AgroBase/OperationControl/Views/Operacao/Monitoramento/DiagnosticoView.xaml
View File

@ -412,11 +412,11 @@
<StackPanel Orientation="Horizontal" Margin="0,0,0,8">
<Label Content="Lateral" Foreground="#DDDDDD"/>
<Slider Width="110" Minimum="-5" Maximum="5" Margin="8,0" Value="{Binding OpcoesVM.GpsLeverArmLateral, Mode=TwoWay}"/>
<Slider Width="110" Minimum="-100" Maximum="100" Margin="8,0" Value="{Binding OpcoesVM.GpsLeverArmLateral, Mode=TwoWay}" TickFrequency="1" IsSnapToTickEnabled="True" SmallChange="1" LargeChange="1"/>
<Label Content="{Binding OpcoesVM.GpsLeverArmLateralTexto}" Foreground="#DDDDDD" Margin="0,0,10,0"/>
<Label Content="Frontal" Foreground="#DDDDDD"/>
<Slider Width="110" Minimum="-10" Maximum="10" Margin="8,0" Value="{Binding OpcoesVM.GpsLeverArmFrontal, Mode=TwoWay}"/>
<Slider Width="110" Minimum="-100" Maximum="100" Margin="8,0" Value="{Binding OpcoesVM.GpsLeverArmFrontal, Mode=TwoWay}" TickFrequency="1" IsSnapToTickEnabled="True" SmallChange="1" LargeChange="1"/>
<Label Content="{Binding OpcoesVM.GpsLeverArmFrontalTexto}" Foreground="#DDDDDD"/>
</StackPanel>