v1.8.6 — major bug resolved, flight plan starts at the vehicle, EKF STATUS tab

Major bug resolved: the 3D flight view drew the trail and the route in small north-south / east-west steps, and the aircraft's path zigzagged, whenever the vehicle was far from the built-in reference point in Innsbruck — an ArduPilot SITL in Australia, or any site when the GCS joined a vehicle already in flight. The graphics card keeps positions with limited precision, and 10 000 km from the reference point they were 1 m apart.

• The 3D view now counts its distances from where the vehicle is. Every data stream that opens (serial, UDP, TCP, cellular link, MSP, a loaded log) takes the vehicle's first valid position, again after the link is closed and reopened; a home position sent by the vehicle moves it to that home.
• Terrain, trail, route, runways, home and target markers, ADS-B traffic, LTE cell poles, LiDAR and ROS surfaces are rebuilt there: the terrain reloads around the vehicle for a moment when the link opens far from the previous site.

The flight plan starts where the vehicle is, not at Innsbruck. The FLIGHT PLAN map opens on the vehicle's home (or on the vehicle itself, before its home arrives); with no vehicle connected, on the last home a vehicle reported, remembered between sessions. While the route is empty the map moves to a vehicle that connects, and again when its home turns out to be somewhere else. With no vehicle on the link the take-off point is that last home, never the demo aircraft.

EKF STATUS tab on the left edge. The EKF STATUS bar now slides in and out from a tab on the left edge of the flight view, labelled EKF STATUS with an arrow, like the side panel's tab on the right. The GCS OPTIONS checkbox still works and follows it.

Validation: measured frame by frame in the app against ArduPlane SITL in Australia — the demo, joining a flight already in progress, closing and reopening the link: 60 fps, no still frames, no stepped trail segments. Rendering architecture, motion smoothing, rendering backend and EKF monitor tests pass; the flight plan and the EKF tab were tried in the app (no vehicle, a vehicle connecting in Australia, a restart with no vehicle).

Installers: Windows x64, macOS Apple silicon and Intel, Linux AppImage and Debian/Ubuntu package.