ajustado lever arm e mostrado inclinacao no attitude indicator

AgroBase/AgroBase/Models/GPSModel.cs

@@ -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,

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -2478,31 +2478,17 @@ namespace AgroBase.Models
                 return;
             }
 
-            double? totalLateralCm = lever.Item1;
+            double? campoLateralCm = lever.Item1;
-            double? totalFrontalCm = lever.Item2;
+            double? campoFrontalCm = lever.Item2;
 
-            if (totalLateralCm == null && totalFrontalCm == null)
+            if (campoLateralCm == null && campoFrontalCm == null)
                 return;
 
-            double totalAtualLateralCm =
+            double novoLateralCm = campoLateralCm.HasValue ? campoLateralCm.Value : GPSService.LeverArm.LateralCampoCm;
-                GPSService.LeverArm?.LateralTotalCm ??
+            double novoFrontalCm = campoFrontalCm.HasValue ? campoFrontalCm.Value : GPSService.LeverArm.FrontalCampoCm;
-                VariaveisEquipamento.LeverArmLateralCm;
 
-            double totalAtualFrontalCm =
+            double novoTotalLateralCm = VariaveisEquipamento.LeverArmLateralCm + novoLateralCm;
-                GPSService.LeverArm?.FrontalTotalCm ??
+            double novoTotalFrontalCm = VariaveisEquipamento.LeverArmFrontalCm + novoFrontalCm;
-                VariaveisEquipamento.LeverArmFrontalCm;
-
-            double novoTotalLateralCm =
-                totalLateralCm ?? totalAtualLateralCm;
-
-            double novoTotalFrontalCm =
-                totalFrontalCm ?? totalAtualFrontalCm;
-
-            double campoLateralCm =
-                novoTotalLateralCm - VariaveisEquipamento.LeverArmLateralCm;
-
-            double campoFrontalCm =
-                novoTotalFrontalCm - VariaveisEquipamento.LeverArmFrontalCm;
 
             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,
+                offsetCampoFrontalCm: novoFrontalCm,
-                offsetCampoLateralCm: campoLateralCm
+                offsetCampoLateralCm: novoLateralCm,
+                mirrL: true,
+                invF: true,
+                invH: false
             );
         }
 

AgroBase/AgroBase/Models/Operacoes/OperacaoParametrosModel.cs

@@ -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,
+                LongitudeAnt = gps?.LongitudeAnt ?? 0,
-                LeverArmLateral = gps?.LeverArmLateral ?? 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,

AgroBase/AgroBase/Services/GPSService.cs

@@ -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;
 

AgroBase/OperationControl/Controls/AttitudeIndicator.xaml

@@ -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) -->

AgroBase/OperationControl/Controls/AttitudeIndicator.xaml.cs

@@ -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 =
+        public static readonly DependencyProperty PitchOffsetPxProperty = PitchOffsetPxPropertyKey.DependencyProperty;
-            PitchOffsetPxPropertyKey.DependencyProperty;
 
         public double PitchOffsetPx
         {
@@ -105,8 +104,7 @@ namespace OperationControl.Controls
                 typeof(AttitudeIndicator),
                 new PropertyMetadata(0.0));
 
-        public static readonly DependencyProperty LateralNormalizedProperty =
+        public static readonly DependencyProperty LateralNormalizedProperty = LateralNormalizedPropertyKey.DependencyProperty;
-            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();
         }
 

AgroBase/OperationControl/Controls/MapViewControl.xaml.cs

@@ -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, 
+                    Status = status ?? StatusOperacao.NaoIniciado,
-                    Pulverizando = pulv ?? false, 
+                    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)
             {

AgroBase/OperationControl/ViewModels/Views/Operacao/Monitoramento/Diagnostico/DiagnosticoOpcoesViewModel.cs

@@ -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;
+                }
             }
         }
 

AgroBase/OperationControl/ViewModels/Windows/DockWindowViewModel.cs

@@ -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);
 

AgroBase/OperationControl/Views/Operacao/Monitoramento/DiagnosticoView.xaml

@@ -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>