The pin sat dead ahead of the heading arrow no matter which way the
user turned, so the arrow looked like it was aiming at the item and
the item looked like it was always straight down the path of travel.
The cause is geometric, not a UI link. addSample() only accepts a
sample after 5 m of movement, so every sample lies on the line the
user walked. gradientBearing() correlates RSSI against centred
position, and on a collinear track each centred position is t*u for
a single unit vector u along the walk - so the sum is exactly
parallel to u regardless of the signal. The "estimated" bearing was
the direction of travel, echoed back.
That bearing then placed the pin in three separate paths:
preliminaryEstimate() projects along it, solve() overrides a
converged trilateration with it, and consensusEstimate() averages
the result. All three produced a pin straight ahead.
Refuse the bearing until the track has real width across its own
axis - the smaller eigenvalue of the position covariance, against
max(4 m, meanAccuracy/2). A straight walk with GPS jitter measures
about 1 m of spread and is rejected; an L of two 20 m legs measures
about 5 m and is accepted. Distances still place the item off-axis
on a straight walk, but which side is a real mirror ambiguity, so
the UI now says so and asks for a leg at 90 degrees instead of
inventing a side.
Also drops showFallbackPin(), which projected the pin along the raw
compass heading whenever no estimate was solved - a fourth route to
the same wrong place. With no estimate the pin now shows the item's
last known GPS fix, or nothing at all.
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
MAragon