From 24f5023e10051ee161604a6493a1f348289ba70c Mon Sep 17 00:00:00 2001
From: edouard <edouard>
Date: Sat, 4 Sep 2010 07:21:13 +0000
Subject: [PATCH] Ground/PFD : fixed the heading issue. Careful with this code,
 it's precision mechanics ;-)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1523 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 ground/src/plugins/pfd/pfdgadgetwidget.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/ground/src/plugins/pfd/pfdgadgetwidget.cpp b/ground/src/plugins/pfd/pfdgadgetwidget.cpp
index 3a2229b63..a9ca1aac9 100644
--- a/ground/src/plugins/pfd/pfdgadgetwidget.cpp
+++ b/ground/src/plugins/pfd/pfdgadgetwidget.cpp
@@ -247,11 +247,15 @@ void PFDGadgetWidget::updateAttitude(UAVObject *object1) {
         }
         pitchTarget = floor(object1->getField(QString("Pitch"))->getDouble()*7.5);
 
+        // These factors assume some things about the PFD SVG, namely:
+        // - Heading value in degrees
+        // - "Scale" element is 540 degrees wide
+
         // Corvus Corax: "If you want a smooth transition between two angles, It is usually solved that by substracting
         // one from another, and if the result is >180 or <-180 I substract (respectively add) 360 degrees
         // to it. That way you always get the "shorter difference" to turn in."
         double fac = compassBandWidth/540;
-        headingTarget = yawField->getDouble();
+        headingTarget = yawField->getDouble()*(-fac);
         if ((headingValue - headingTarget)/fac > 180) {
             headingTarget += 360*fac;
         } else if (((headingValue - headingTarget)/fac < -180)) {
@@ -905,7 +909,7 @@ void PFDGadgetWidget::moveNeedles()
             headingDiff += 2*threshold;
             headingTarget += 2*threshold;
         }
-        QPointF opd = QPointF(-headingDiff*2.65,0);
+        QPointF opd = QPointF(headingDiff,0);
         m_compassband->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), true);
         headingValue += headingDiff;
     }  else {