Icon fixes, HSI shows satellites correctly rotated

libs/opmapcontrol/src/mapwidget/uavitem.cpp

@@ -58,7 +58,10 @@ namespace mapcontrol
         Q_UNUSED(option);
         Q_UNUSED(widget);
        // painter->rotate(-90);
+        QPainter::RenderHints oldhints = painter->renderHints();
+        painter->setRenderHints(QPainter::Antialiasing | QPainter::SmoothPixmapTransform);
         painter->drawPixmap(-pic.width()/2,-pic.height()/2,pic);
+        painter->setRenderHints(oldhints);
        //   painter->drawRect(QRectF(-pic.width()/2,-pic.height()/2,pic.width()-1,pic.height()-1));
     }
     QRectF UAVItem::boundingRect()const

src/ui/HSIDisplay.cc

@@ -1310,9 +1310,13 @@ void HSIDisplay::drawSafetyArea(const QPointF &topLeft, const QPointF &bottomRig
 void HSIDisplay::drawGPS(QPainter &painter)
 {
     float xCenter = xCenterPos;
-    float yCenter = xCenterPos;
-    // Max satellite circle radius
+    float yCenter = yCenterPos;
 
+    const float yawDeg = ((yaw/M_PI)*180.0f);
+    int yawRotate = static_cast<int>(yawDeg) % 360;
+    // XXX check rotation direction
+
+    // Max satellite circle radius
     const float margin = 0.15f;  // 20% margin of total width on each side
     float radius = (vwidth - vwidth * 2.0f * margin) / 2.0f;
     quint64 currTime = MG::TIME::getGroundTimeNowUsecs();
@@ -1353,8 +1357,8 @@ void HSIDisplay::drawGPS(QPainter &painter)
             painter.setPen(color);
             painter.setBrush(brush);
 
-            float xPos = xCenter + (sin(((sat->azimuth/255.0f)*360.0f)/180.0f * M_PI) * cos(sat->elevation/180.0f * M_PI)) * radius;
-            float yPos = yCenter - (cos(((sat->azimuth/255.0f)*360.0f)/180.0f * M_PI) * cos(sat->elevation/180.0f * M_PI)) * radius;
+            float xPos = xCenter + (sin(((sat->azimuth/255.0f)*360.0f-yawRotate)/180.0f * M_PI) * cos(sat->elevation/180.0f * M_PI)) * radius;
+            float yPos = yCenter - (cos(((sat->azimuth/255.0f)*360.0f-yawRotate)/180.0f * M_PI) * cos(sat->elevation/180.0f * M_PI)) * radius;
 
             // Draw circle for satellite, filled for used satellites
             drawCircle(xPos, yPos, vwidth*0.02f, 1.0f, color, &painter);