erp5_officejs_drone_simulator: fix loiter

See merge request !1817
Fix loitering trajectory when the drone is closer to the center than the required radius.

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.js

@@ -198,6 +198,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
       distance,
       distanceCos,
       distanceSin,
+      distanceToTarget,
       currentSinLat,
       currentLonRad,
       groundSpeed,
@@ -209,12 +210,19 @@ var FixedWingDroneAPI = /** @class */ (function () {
       verticalSpeed,
       yawToDirection;
 
-    if (this._loiter_mode
-        && Math.sqrt(
+    if (this._loiter_mode) {
+      distanceToTarget = Math.sqrt(
         Math.pow(drone._targetCoordinates.x - drone.position.x, 2)
           + Math.pow(drone._targetCoordinates.y - drone.position.y, 2)
-        ) <= this._loiter_radius) {
+      );
+
+      if (Math.abs(distanceToTarget - this._loiter_radius) <= 1) {
         newYaw = bearing - 90;
+      } else if (distanceToTarget < this._loiter_radius) {
+        newYaw = bearing - 135;
+      } else {
+        newYaw = this._getNewYaw(drone, bearing, delta_time);
+      }
     } else {
       newYaw = this._getNewYaw(drone, bearing, delta_time);
     }

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.xml

@@ -240,7 +240,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1010.22099.47894.60006</string> </value>
+                      <value> <string>1010.43751.23980.5597</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -260,7 +260,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1691588633.42</float>
+                              <float>1692888030.77</float>
                               <string>UTC</string>
                             </tuple>
                           </state>