Reduce excessive yawing during navigation

OsmAnd-java/src/main/java/net/osmand/Location.java

@@ -33,6 +33,9 @@ public class Location {
     private long mTime = 0;
     private double mLatitude = 0.0;
     private double mLongitude = 0.0;
+    private boolean mHasDestination = false;
+    private double mDestinationLatitude = 0.0;
+    private double mDestinationLongitude = 0.0;
     private boolean mHasAltitude = false;
     private double mAltitude = 0.0f;
     private boolean mHasSpeed = false;
@@ -89,6 +92,9 @@ public void set(Location l) {
         mTime = l.mTime;
         mLatitude = l.mLatitude;
         mLongitude = l.mLongitude;
+        mHasDestination = l.mHasDestination;
+        mDestinationLatitude = l.mDestinationLatitude;
+        mDestinationLongitude = l.mDestinationLongitude;
         mHasAltitude = l.mHasAltitude;
         mAltitude = l.mAltitude;
         mHasSpeed = l.mHasSpeed;
@@ -109,6 +115,9 @@ public void reset() {
         mTime = 0;
         mLatitude = 0;
         mLongitude = 0;
+        mHasDestination = false;
+        mDestinationLatitude = 0;
+        mDestinationLongitude = 0;
         mHasAltitude = false;
         mAltitude = 0;
         mHasSpeed = false;
@@ -359,6 +368,36 @@ public void setLongitude(double longitude) {
         mLongitude = longitude;
     }
 
+    /**
+     * Returns true if the destination which corresponds to the bearing is available.
+     */
+    public boolean hasDestination() {
+        return mHasDestination;
+    }
+
+    /**
+     * Returns the latitude of destination.
+     */
+    public double getDestinationLatitude() {
+        return mDestinationLatitude;
+    }
+
+    /**
+     * Returns the longitude of destination.
+     */
+    public double getDestinationLongitude() {
+        return mDestinationLongitude;
+    }
+
+    /**
+     * Sets the destination point.
+     */
+    public void setDestination(double latitude, double longitude) {
+        mDestinationLatitude = latitude;
+        mDestinationLongitude = longitude;
+        mHasDestination = true;
+    }
+
     /**
      * Returns true if this fix contains altitude information, false
      * otherwise.
@@ -456,6 +495,15 @@ public void setBearing(float bearing) {
         }
         mBearing = bearing;
         mHasBearing = true;
+        mHasDestination = false;
+    }
+
+    /**
+     * Sets the bearing and the corresponding destination.
+     */
+    public void setBearing(float bearing, double latitude, double longitude) {
+        setBearing(bearing);
+        setDestination(latitude, longitude);
     }
 
     /**
@@ -465,6 +513,7 @@ public void setBearing(float bearing) {
     public void removeBearing() {
         mBearing = 0.0f;
         mHasBearing = false;
+        mHasDestination = false;
     }
 
     /**
@@ -541,6 +590,9 @@ public void removeVerticalAccuracy() {
             ",mTime=" + mTime +
             ",mLatitude=" + mLatitude +
             ",mLongitude=" + mLongitude +
+            ",mHasDestination=" + mHasDestination +
+            ",mDestinationLatitude=" + mDestinationLatitude +
+            ",mDestinationLongitude=" + mDestinationLongitude +
             ",mHasAltitude=" + mHasAltitude +
             ",mAltitude=" + mAltitude +
             ",mHasSpeed=" + mHasSpeed +

OsmAnd/src/net/osmand/plus/base/MapViewTrackingUtilities.java

@@ -57,6 +57,7 @@ public class MapViewTrackingUtilities implements OsmAndLocationListener, IMapLoc
 	private static final int AUTO_FOLLOW_MSG_ID = OsmAndConstants.UI_HANDLER_LOCATION_SERVICE + 4;
 	private static final long MOVE_ANIMATION_TIME = 500;
 	public static final int AUTO_ZOOM_DEFAULT_CHANGE_ZOOM = 4500;
+	public static final float MAX_DELTA_SMOOTH_BEARING = 20.0f;
 
 	private final OsmandApplication app;
 	private final OsmandSettings settings;
@@ -236,8 +237,17 @@ public void updateLocation(Location location) {
 						NativeUtilities.containsLatLon(mapRenderer, tb, location.getLatitude(), location.getLongitude()));
 				if (currentMapRotation == OsmandSettings.ROTATE_MAP_BEARING) {
 					// special case when bearing equals to zero (we don't change anything)
-					if (location.hasBearing() && location.getBearing() != 0f) {
-						rotation = -location.getBearing();
+					if (location.hasBearing()) {
+						float shortBearing = -location.getBearing();
+						if (prevLocation != null && location.hasDestination()) {
+							Location nextLocation = new Location(
+									locationProvider,
+									location.getDestinationLatitude(),
+									location.getDestinationLongitude());
+							float longBearing = -MapUtils.normalizeDegrees360(prevLocation.bearingTo(nextLocation));
+							rotation = Math.abs(longBearing - shortBearing) < MAX_DELTA_SMOOTH_BEARING ? longBearing : shortBearing;
+						} else
+							rotation = shortBearing;
 					}
 					if (rotation == null && prevLocation != null && tb != null) {
 						double distDp = (tb.getPixDensity() * MapUtils.getDistance(prevLocation, location)) / tb.getDensity();

OsmAnd/src/net/osmand/plus/routing/RoutingHelperUtils.java

@@ -116,7 +116,7 @@ public static void approximateBearingIfNeeded(@NonNull RoutingHelper helper, @No
 		double projectDist = helper.getMaxAllowedProjectDist(loc);
 		if ((!loc.hasBearing() || Math.abs(loc.getBearing() - bearingTo) < MAX_BEARING_DEVIATION) &&
 				loc.distanceTo(locationProjection) < projectDist) {
-			locationProjection.setBearing(bearingTo);
+			locationProjection.setBearing(bearingTo, to.getLatitude(), to.getLongitude());
 		}
 	}
 

OsmAnd/src/net/osmand/plus/simulation/LocationSimulationThread.java

@@ -147,7 +147,7 @@ private void setupLocation(@NonNull Triple<Boolean, Boolean, Boolean> triple,
 		}
 		if (previous != null && triple.getFirst()
 				&& previous.distanceTo(current) > 3 && (!realistic || speed >= 1)) {
-			current.setBearing(previous.bearingTo(current));
+			current.setBearing(previous.bearingTo(current), current.getLatitude(), current.getLongitude());
 		}
 	}
 

OsmAnd/src/net/osmand/plus/simulation/LocationSimulationUtils.java

@@ -90,7 +90,7 @@ private static SimulatedLocation middleLocation(@NonNull SimulatedLocation start
 		SimulatedLocation location = new SimulatedLocation(start);
 		location.setLatitude(toDegree(lat2));
 		location.setLongitude(toDegree(lon2));
-		location.setBearing(bearing);
+		location.setBearing(bearing, end.getLatitude(), end.getLongitude());
 		location.setTrafficLight(false);
 		return location;
 	}

OsmAnd/src/net/osmand/plus/views/mapwidgets/widgets/BearingWidget.java

@@ -99,7 +99,7 @@ private Location getDestinationLocation(@NonNull Location fromLocation) {
 
 		if (destLatLon != null) {
 			Location destLocation = new Location("", destLatLon.getLatitude(), destLatLon.getLongitude());
-			destLocation.setBearing(fromLocation.bearingTo(destLocation));
+			destLocation.setBearing(fromLocation.bearingTo(destLocation), destLatLon.getLatitude(), destLatLon.getLongitude());
 			return destLocation;
 		}