feat(map): AR mesh view

androidApp/src/fdroid/kotlin/org/meshtastic/app/di/FlavorModule.kt

@@ -21,6 +21,7 @@ import org.koin.core.annotation.Named
 import org.koin.core.annotation.Single
 import org.meshtastic.core.common.di.GOOGLE_SERVICES_AVAILABLE
 import org.meshtastic.core.ui.theme.EventFontResolver
+import org.meshtastic.feature.map.hud.FusedOrientationSource
 
 @Module(includes = [FdroidAiModule::class])
 class FlavorModule {
@@ -32,6 +33,9 @@ class FlavorModule {
     /** No Play Services font provider on F-Droid — event fonts stay off; UI falls back to the app typeface. */
     @Single fun eventFontResolver(): EventFontResolver = EventFontResolver { null }
 
+    /** F-Droid has no Play services orientation fusion, so the camera mesh view uses the platform rotation vector. */
+    @Single fun fusedOrientationSource(): FusedOrientationSource = FusedOrientationSource.NONE
+
     /** No analytics on F-Droid — the shared Ktor `HttpClient` gets no Datadog interceptor or event listener. */
     @Single fun okHttpNetworkInstrumentation(): OkHttpNetworkInstrumentation = OkHttpNetworkInstrumentation.NONE
 }

androidApp/src/google/kotlin/org/meshtastic/app/di/FlavorModule.kt

@@ -18,19 +18,27 @@
 
 package org.meshtastic.app.di
 
+import android.content.Context
 import com.datadog.android.okhttp.DatadogEventListener
 import com.datadog.android.okhttp.DatadogInterceptor
 import org.koin.core.annotation.Module
 import org.koin.core.annotation.Single
+import org.meshtastic.app.map.hud.GoogleFusedOrientationSource
 import org.meshtastic.app.map.prefs.di.GoogleMapsKoinModule
 import org.meshtastic.app.theme.GoogleFontsEventFontResolver
 import org.meshtastic.core.ui.theme.EventFontResolver
+import org.meshtastic.feature.map.hud.FusedOrientationSource
 
 @Module(includes = [GoogleMapsKoinModule::class, GoogleAiModule::class, AppFunctionsModule::class])
 class FlavorModule {
     /** Downloadable Google Fonts for event branding — Google flavor only. */
     @Single fun eventFontResolver(): EventFontResolver = GoogleFontsEventFontResolver()
 
+    /**
+     * Play services' fused orientation for the camera mesh view, which falls back to the rotation vector without it.
+     */
+    @Single fun fusedOrientationSource(context: Context): FusedOrientationSource = GoogleFusedOrientationSource(context)
+
     /**
      * Datadog network instrumentation for the shared Ktor `HttpClient`. The interceptor emits RUM Resource spans with
      * full DNS/connect/SSL/download timing for first-party (`meshtastic.org`) requests, and the event listener supplies

androidApp/src/google/kotlin/org/meshtastic/app/map/hud/GoogleFusedOrientationSource.kt

@@ -0,0 +1,65 @@
+/*
+ * Copyright (c) 2026 Meshtastic LLC
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+package org.meshtastic.app.map.hud
+
+import android.content.Context
+import com.google.android.gms.common.ConnectionResult
+import com.google.android.gms.common.GoogleApiAvailabilityLight
+import com.google.android.gms.location.DeviceOrientationListener
+import com.google.android.gms.location.DeviceOrientationRequest
+import com.google.android.gms.location.LocationServices
+import org.meshtastic.feature.map.hud.FusedOrientationSource
+import java.util.concurrent.Executor
+
+/** The platform's SENSOR_DELAY_UI period, which the rotation-vector path drops to when the phone runs hot. */
+private const val REDUCED_PERIOD_MICROS = 66_667L
+
+/** Play services' Fused Orientation Provider, the same fusion Google Maps draws its heading from. */
+class GoogleFusedOrientationSource(private val context: Context) : FusedOrientationSource {
+
+    override fun start(
+        reduced: Boolean,
+        executor: Executor,
+        listener: FusedOrientationSource.Listener,
+        onFailure: () -> Unit,
+    ): AutoCloseable? {
+        val availability = GoogleApiAvailabilityLight.getInstance().isGooglePlayServicesAvailable(context)
+        if (availability != ConnectionResult.SUCCESS) return null
+        val client = LocationServices.getFusedOrientationProviderClient(context)
+        val callback = DeviceOrientationListener { orientation ->
+            val headingError =
+                if (orientation.hasConservativeHeadingErrorDegrees()) {
+                    orientation.conservativeHeadingErrorDegrees
+                } else {
+                    orientation.headingErrorDegrees
+                }
+            // FOP has no per-sample flag: it applies the declination whenever Play services knows the location,
+            // which it does whenever the view has the fix it needs to place anything.
+            listener.onSample(
+                attitude = orientation.attitude,
+                headingErrorDeg = headingError,
+                trueNorth = true,
+                timestampNs = orientation.elapsedRealtimeNs,
+            )
+        }
+        val period = if (reduced) REDUCED_PERIOD_MICROS else DeviceOrientationRequest.OUTPUT_PERIOD_DEFAULT
+        client
+            .requestOrientationUpdates(DeviceOrientationRequest.Builder(period).build(), executor, callback)
+            .addOnFailureListener(executor) { onFailure() }
+        return AutoCloseable { client.removeOrientationUpdates(callback) }
+    }
+}

androidApp/src/main/kotlin/org/meshtastic/app/MainActivity.kt

@@ -103,6 +103,7 @@ import org.meshtastic.core.ui.util.LocalTracerouteMapProvider
 import org.meshtastic.core.ui.util.accentColorOrNull
 import org.meshtastic.core.ui.util.brandHighlightOrNull
 import org.meshtastic.core.ui.util.brandPalette
+import org.meshtastic.core.ui.util.rememberMeshHudSupported
 import org.meshtastic.core.ui.util.showToast
 import org.meshtastic.core.ui.viewmodel.UIViewModel
 import org.meshtastic.feature.intro.AppIntroductionScreen
@@ -296,14 +297,15 @@ class MainActivity : AppCompatActivity() {
                     org.meshtastic.app.map.discovery.DiscoveryMap(userLat, userLon, nodes, modifier)
                 },
             LocalMapMainScreenProvider provides
-                { onClickNodeChip, navigateToNodeDetails, waypointId, sitePlannerNodeNum ->
+                { onClickNodeChip, navigateToNodeDetails, waypointId, sitePlannerNodeNum, onOpenMeshHud ->
                     val viewModel = koinViewModel<SharedMapViewModel>()
                     MapScreen(
                         viewModel = viewModel,
                         onClickNodeChip = onClickNodeChip,
                         navigateToNodeDetails = navigateToNodeDetails,
                         waypointId = waypointId,
                         sitePlannerNodeNum = sitePlannerNodeNum,
+                        onOpenMeshHud = onOpenMeshHud.takeIf { rememberMeshHudSupported() },
                     )
                 },
             content = content,

androidApp/src/test/kotlin/org/meshtastic/app/ui/NavigationAssemblyTest.kt

@@ -81,7 +81,7 @@ class NavigationAssemblyTest {
             val backStack = rememberNavBackStack(route)
             CompositionLocalProvider(
                 LocalMapMainScreenProvider provides
-                    { _, _, waypointId, sitePlannerNodeNum ->
+                    { _, _, waypointId, sitePlannerNodeNum, _ ->
                         SideEffect {
                             receivedWaypointId = waypointId
                             receivedSitePlannerNodeNum = sitePlannerNodeNum
@@ -113,7 +113,7 @@ class NavigationAssemblyTest {
             backStack = rememberNavBackStack(route)
             CompositionLocalProvider(
                 LocalMapMainScreenProvider provides
-                    { _, _, _, sitePlannerNodeNum ->
+                    { _, _, _, sitePlannerNodeNum, _ ->
                         LaunchedEffect(sitePlannerNodeNum) { effectStarts += 1 }
                         DisposableEffect(Unit) { onDispose { disposals += 1 } }
                     },

feature/node/src/androidMain/kotlin/org/meshtastic/feature/node/compass/AndroidMagneticFieldProvider.kt → core/data/src/androidMain/kotlin/org/meshtastic/core/data/location/AndroidMagneticFieldProvider.kt

@@ -14,10 +14,11 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-package org.meshtastic.feature.node.compass
+package org.meshtastic.core.data.location
 
 import android.hardware.GeomagneticField
 import org.koin.core.annotation.Single
+import org.meshtastic.core.repository.MagneticFieldProvider
 
 @Single
 class AndroidMagneticFieldProvider : MagneticFieldProvider {

feature/node/src/androidMain/kotlin/org/meshtastic/feature/node/compass/AndroidPhoneLocationProvider.kt → core/data/src/androidMain/kotlin/org/meshtastic/core/data/location/AndroidPhoneLocationProvider.kt

@@ -14,23 +14,30 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-package org.meshtastic.feature.node.compass
+package org.meshtastic.core.data.location
 
 import android.annotation.SuppressLint
 import android.content.Context
 import android.location.Location
 import android.location.LocationManager
 import android.os.Looper
+import androidx.core.location.LocationCompat
 import androidx.core.location.LocationListenerCompat
 import androidx.core.location.LocationManagerCompat
 import androidx.core.location.LocationRequestCompat
+import androidx.core.location.altitude.AltitudeConverterCompat
+import co.touchlab.kermit.Logger
 import kotlinx.coroutines.channels.awaitClose
 import kotlinx.coroutines.flow.Flow
 import kotlinx.coroutines.flow.callbackFlow
 import kotlinx.coroutines.flow.flowOn
+import kotlinx.coroutines.flow.map
 import org.koin.core.annotation.Single
 import org.meshtastic.core.common.hasLocationPermission
 import org.meshtastic.core.di.CoroutineDispatchers
+import org.meshtastic.core.repository.PhoneLocation
+import org.meshtastic.core.repository.PhoneLocationProvider
+import org.meshtastic.core.repository.PhoneLocationState
 
 @Single
 class AndroidPhoneLocationProvider(private val context: Context, private val dispatchers: CoroutineDispatchers) :
@@ -121,10 +128,46 @@ class AndroidPhoneLocationProvider(private val context: Context, private val dis
 
         awaitClose { LocationManagerCompat.removeUpdates(locationManager, listener) }
     }
+        .map { it.withMslAltitude() }
         .flowOn(dispatchers.io)
 
-    private fun Location.toPhoneLocation() =
-        PhoneLocation(latitude = latitude, longitude = longitude, altitude = altitude, timeMillis = time)
+    /**
+     * Fills the sea-level height a provider left out, from the geoid model, on every API level through the compat
+     * converter (as `LocationRepositoryImpl` does). It loads model data on first use and may block, which is why it
+     * runs here, upstream of the IO dispatcher, rather than in the callback.
+     */
+    @Suppress("ReturnCount")
+    private fun PhoneLocationState.withMslAltitude(): PhoneLocationState {
+        val fix = location ?: return this
+        val ellipsoid = fix.altitude
+        if (fix.mslAltitude != null || ellipsoid == null) return this
+        val probe =
+            Location("mesh-view").apply {
+                latitude = fix.latitude
+                longitude = fix.longitude
+                altitude = ellipsoid
+            }
+        @Suppress("TooGenericExceptionCaught")
+        return try {
+            AltitudeConverterCompat.addMslAltitudeToLocation(context, probe)
+            val msl = if (LocationCompat.hasMslAltitude(probe)) LocationCompat.getMslAltitudeMeters(probe) else null
+            copy(location = fix.copy(mslAltitude = msl))
+        } catch (e: Exception) {
+            Logger.w(e) { "MSL altitude conversion failed" }
+            this
+        }
+    }
+
+    private fun Location.toPhoneLocation() = PhoneLocation(
+        latitude = latitude,
+        longitude = longitude,
+        altitude = if (hasAltitude()) altitude else null,
+        timeMillis = time,
+        mslAltitude = if (LocationCompat.hasMslAltitude(this)) LocationCompat.getMslAltitudeMeters(this) else null,
+        accuracyM = if (hasAccuracy()) accuracy else null,
+        verticalAccuracyM = if (hasVerticalAccuracy()) verticalAccuracyMeters else null,
+        speedMps = if (hasSpeed()) speed else null,
+    )
 
     companion object {
         private const val MIN_UPDATE_INTERVAL_MS = 1_000L

core/model/src/commonMain/kotlin/org/meshtastic/core/model/NodeMapFilter.kt

@@ -0,0 +1,88 @@
+/*
+ * Copyright (c) 2026 Meshtastic LLC
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+package org.meshtastic.core.model
+
+import org.meshtastic.core.model.util.ONLINE_WINDOW_SECONDS
+import org.meshtastic.proto.Config
+
+/**
+ * The node-level map filters, shared by every view that draws nodes over a place: both map renderers and the camera
+ * mesh view. [lastHeardSeconds] of 0 means no limit.
+ */
+data class NodeMapFilter(
+    val onlyFavorites: Boolean = false,
+    val showIgnored: Boolean = false,
+    /** Roles the user has switched off. Excluded rather than included so a role added by future firmware shows. */
+    val excludedRoles: Set<Config.DeviceConfig.Role> = emptySet(),
+    val includeUnknown: Boolean = true,
+    val onlyOnline: Boolean = false,
+    val onlyDirect: Boolean = false,
+    val excludeMqtt: Boolean = false,
+    val lastHeardSeconds: Long = 0,
+    val onlySigned: Boolean = false,
+    val onlyEncrypted: Boolean = false,
+)
+
+/**
+ * One node against every filter.
+ *
+ * The node-level rules match the node list's query exactly, because they carry its labels: direct means `hopsAway == 0`
+ * (a node whose distance was never measured, -1, is not direct) and unknown means a node that has not sent a short
+ * name.
+ *
+ * [NodeMapFilter.showIgnored] is the one place the map deliberately differs. The node list segregates (`isIgnored ==
+ * showIgnored`, so switching it on shows *only* ignored nodes); here it reads literally and adds them, because a map of
+ * nothing but ignored nodes is not a view anyone asked for.
+ */
+fun Node.passesMapFilter(filter: NodeMapFilter, nowSeconds: Long): Boolean {
+    val secondsSinceHeard = nowSeconds - lastHeard
+    return passesIdentityFilters(filter) &&
+        passesSecurityFilters(filter) &&
+        passesReachabilityFilters(filter, secondsSinceHeard)
+}
+
+/**
+ * Resolves persisted role names back to roles, dropping any the current protobufs no longer define.
+ *
+ * Names rather than ordinals, and forgiving of names it does not know: a set written by a newer build (or a role
+ * removed from the protos) must not throw on the way back in.
+ */
+fun decodeExcludedRoles(names: Set<String>): Set<Config.DeviceConfig.Role> =
+    names.mapNotNullTo(mutableSetOf()) { name -> Config.DeviceConfig.Role.entries.firstOrNull { it.name == name } }
+
+/** Who the node is: favourited, ignored, its role, and whether its name has arrived yet. */
+private fun Node.passesIdentityFilters(filter: NodeMapFilter): Boolean = (!filter.onlyFavorites || isFavorite) &&
+    (!isIgnored || filter.showIgnored) &&
+    user.role !in filter.excludedRoles &&
+    (filter.includeUnknown || user.short_name.isNotEmpty())
+
+/** How the node is reachable: online, hop count, bearer, and how recently it was heard. */
+private fun Node.passesReachabilityFilters(filter: NodeMapFilter, secondsSinceHeard: Long): Boolean =
+    (!filter.onlyOnline || secondsSinceHeard <= ONLINE_WINDOW_SECONDS) &&
+        (!filter.onlyDirect || (hopsAway == 0 && !viaMqtt)) &&
+        (!filter.excludeMqtt || !viaMqtt) &&
+        (filter.lastHeardSeconds == 0L || secondsSinceHeard <= filter.lastHeardSeconds)
+
+/**
+ * The two security filters (design#149).
+ *
+ * Signing reads the raw flag rather than the version-gated indicator: the filter answers "has the radio verified this
+ * node's signature", which is what the badge beside it claims. Encrypted excludes a stored key that stopped matching,
+ * since a mismatch is not a key you can safely encrypt to.
+ */
+private fun Node.passesSecurityFilters(filter: NodeMapFilter): Boolean =
+    (!filter.onlySigned || signsPackets) && (!filter.onlyEncrypted || (hasPKC && !mismatchKey))