#468 Do not use invalid base station positions

src/cfclient/ui/dialogs/lighthouse_bs_geometry_dialog.py

@@ -193,10 +193,10 @@ def headerData(self, col, orientation, role=None):
         return QVariant()
 
     def _compile_entry(self, current_geo, estimated_geo, index):
-        result = '-'
-        if current_geo is not None:
+        result = 'N/A'
+        if current_geo is not None and current_geo.valid:
             result = '%.2f' % current_geo.origin[index]
-        if estimated_geo is not None:
+        if estimated_geo is not None and estimated_geo.valid:
             result += ' -> %.2f' % estimated_geo.origin[index]
 
         return result

src/cfclient/ui/tabs/lighthouse_tab.py

@@ -147,6 +147,9 @@ class Plot3dLighthouse(scene.SceneCanvas):
 
     TEXT_OFFSET = np.array((0.0, 0, 0.25))
 
+    NO_POSITION = np.array((0.0, 0.0, 0.0))
+    NO_ROTATION_MATRIX = np.eye(3, 3)
+
     def __init__(self):
         scene.SceneCanvas.__init__(self, keys=None)
         self.unfreeze()
@@ -225,7 +228,10 @@ def update_base_station_geos(self, geos):
             if (geo is not None) and (id not in self._base_stations):
                 self._base_stations[id] = MarkerPose(self._view.scene, self.BS_BRUSH_NOT_VISIBLE, text=f"{id}")
 
-            self._base_stations[id].set_pose(geo.origin, geo.rotation_matrix)
+            if geo.valid:
+                self._base_stations[id].set_pose(geo.origin, geo.rotation_matrix)
+            else:
+                self._base_stations[id].set_pose(self.NO_POSITION, self.NO_ROTATION_MATRIX)
 
     def update_base_station_visibility(self, visibility):
         for id, bs in self._base_stations.items():