Piloting

the current method works when steering_angle is 0

when steering is <> 0, then heading is changing (as well as position)

first calc the new heading

then calc the new position (already done)

treat steering_angle as a bearing, that is, an angle in degrees, add it to the previous heading to get the new heading

• lastKnownHeading + steering_angle = newHeading

• heading = orientation of the vehicle

• heading+helm = prediction of future course

• course = actual travel = line from previous position to current position

• simmode = precise
  • heading is set instantly to what we want we want it to be
  • line: heading = course, line from prevpos to current positon
  • arc: heading is assumed to be perpendicular to the ray from cone to current position
  • both: on nextleg, heading jumps to next leg from
  • no drift

• simmode = helmed
  • heading is what it is
  • course is what it is
  • set helm bring course back to what we want
  • includes drift

• when we reach a cone
  • change bearing to next cone
  • set helm to steer a circle - how to calculate this based on radius and speed?
  • stay in the circle until heading = bearing