Off-route detection with hysteresis and auto-recovery

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robert/PedalPebble#32

robert commented

2026-08-31 17:14:47 +02:00

(Migrated from git.butzei.de)

Goal

Detect leaving the route without crying wolf every time GPS wobbles under trees.

Acceptance criteria

Off-route declared beyond roughly 40 m sustained for roughly 10 s
Different enter and exit thresholds, so the state does not oscillate at the boundary
NAV_STATE sent to the watch on every transition
Automatic recovery when the rider rejoins anywhere on the route, including further along
Distinct watch vibration for going off route
No re-routing in v1 - report the state and let the rider decide

Files

companion/.../route/nav/OffRouteDetector.kt

Update — 2026-09-02: emit the rejoin bearing

Off-route now produces guidance, not just a state (D42, FR-N7a).

While NAV_STATE = 2, emit NAV_REJOIN_BEARING (degrees relative to the rider's heading)
and NAV_REJOIN_M
Both cleared when the rider rejoins; the original cue sheet resumes on its original distance
axis, untouched
Rejoin-point selection is #57's; this issue consumes it
Hysteresis behaviour is unchanged

## Goal Detect leaving the route without crying wolf every time GPS wobbles under trees. ## Acceptance criteria - [ ] Off-route declared beyond roughly 40 m sustained for roughly 10 s - [ ] Different enter and exit thresholds, so the state does not oscillate at the boundary - [ ] `NAV_STATE` sent to the watch on every transition - [ ] Automatic recovery when the rider rejoins anywhere on the route, including further along - [ ] Distinct watch vibration for going off route - [ ] No re-routing in v1 - report the state and let the rider decide ## Files - `companion/.../route/nav/OffRouteDetector.kt` ## Update — 2026-09-02: emit the rejoin bearing Off-route now produces guidance, not just a state (D42, FR-N7a). - [ ] While `NAV_STATE = 2`, emit `NAV_REJOIN_BEARING` (degrees **relative to the rider's heading**) and `NAV_REJOIN_M` - [ ] Both cleared when the rider rejoins; the original cue sheet resumes on its original distance axis, untouched - [ ] Rejoin-point selection is #57's; this issue consumes it - [ ] Hysteresis behaviour is unchanged

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Off-route detection with hysteresis and auto-recovery #32

Goal

Acceptance criteria

Files

Update — 2026-09-02: emit the rejoin bearing