I want to understand the three lines that appear on the MP map

ArduRover ArduBoat
1

Hello to all,

Three lines that are confusing for me in MP map: heading (Red); (Magenta) Intended heading; (Black) GPS reported direction of travel;

Using AQUA (USV) I can understand all of them but it’s not clear the purpose of the black one, about the GPS: what is the theoretical reasoning?

Best. António

AQUA (USV)

2

the heading is derivied from the compasses from the ekf. the intended heading is what direction it aims to go, for example like boat wants to point there. gps reported direction is the direction it is moving. i think it matters for vehicles that can move in various direction without rotating, like quadcopters. so if you make it bank on roll axis, it will go left/right respective to the drone forward. so the gps track will point left/right and the heading will point forward (the side it is facing).

Hope it helps

3

I think the previous reply has solved your issue so I am marking it as solved. if not, then feel free to unmark it as solved and ask further.

Thanks

4

So, for boats we only need two directions: heading and intended heading. Best. António

5

If your boat is running through water with a current that runs perpendicular to the path, you will see a difference between heading and GPS heading (crab angle). Fighting a strong crosswind could also show up in this manner if your boat can be blown sideways easily like some boogie board boats. Or other asymmetries like seaweed caught on one side of the boat I suppose.