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Merge branch 'op_control' of http://zendioninc.com.br:3000/Zendion/agrobot_base into op_control

This commit is contained in:
Diego Freitas 2026-04-13 12:44:24 -03:00
parent aa17e0b453 389352bfe9
commit ad81df8fa6
2 changed files with 2 additions and 2 deletions
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2
AgroBase/OperationControl/Services/GpsService.cs
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@ -751,7 +751,7 @@ namespace OperationControl.Services
// 2) se já temos origem e um heading válido, aplica lever arm // 2) se já temos origem e um heading válido, aplica lever arm
if (UltimaLeitura.EnuOriginSet) if (UltimaLeitura.EnuOriginSet)
{ {
(double latCor, double lonCorr) = LeverArm.FixLeverArmLatLon_Fast(latitude, longitude, UltimaLeitura.OrientacaoReal); (double latCor, double lonCorr) = LeverArm.FixLeverArmLatLon_Fast(latitude, longitude, UltimaLeitura.OrientacaoReal, UltimaLeitura.TimestampOri.frequencia);
UltimaLeitura.Latitude = latCor; UltimaLeitura.Latitude = latCor;
UltimaLeitura.Longitude = lonCorr; UltimaLeitura.Longitude = lonCorr;
} }

2
AgroBase/OperationControl/ViewModels/Windows/DockWindowViewModel.cs
View File

@ -854,7 +854,7 @@ namespace OperationControl.ViewModels
_viewPreparacaoMapaBottom?._vm.IniciarFixacao(); _viewPreparacaoMapaBottom?._vm.IniciarFixacao();
var gps = Models.Variaveis.GpsService; var gps = Models.Variaveis.GpsService;
gps.LeverArm = new GeoLeverArm(offsetCampoFrontalCm: offsetFrontalCm.Value, offsetCampoLateralCm: offsetLateralCm.Value); gps.LeverArm = new GeoLeverArm(offsetCampoFrontalCm: offsetFrontalCm.Value, offsetCampoLateralCm: offsetLateralCm.Value);
(double lat, double lon) = gps.LeverArm.FixLeverArmLatLon_Fast(gps.BaseFix.LatitudeFix, gps.BaseFix.LongitudeFix, gps.BaseFix.OrientacaoFix); (double lat, double lon) = gps.LeverArm.FixLeverArmLatLon_Fast(gps.BaseFix.LatitudeFix, gps.BaseFix.LongitudeFix, gps.BaseFix.OrientacaoFix, 5);
await Models.Variaveis.GpsService.ConfigurarModulo(true, MetodoFixacaoBase.Manual, lat, lon, gps.BaseFix.AltitudeElpsoidalFix, offset: true); await Models.Variaveis.GpsService.ConfigurarModulo(true, MetodoFixacaoBase.Manual, lat, lon, gps.BaseFix.AltitudeElpsoidalFix, offset: true);
} }