feat(companion): highlight the active target on the map

Setting a Locator/Nav target had no spatial feedback — you could arm a
destination but never see where it is. Draw it as a flag marker (ICON_MAP_TARGET)
on both the home Map preview and the full Trail map, folded into each view's
bounding box so a destination you set never sits off-frame, and drawn last so it
stays legible atop a coincident waypoint or contact.

activeTargetPos() resolves the target once (waypoint coords, or a person via
resolvePersonPos), gated only on a target being set — independent of whether the
Locator alert is enabled — so it doubles as the engine's resolver
(locatorDistance now delegates to it).

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

examples/companion_radio/ui-new/TrailScreen.h

@@ -601,6 +601,8 @@ private:
       for (int i = 0; i < LiveTrackStore::CAPACITY; i++)
         if (lt.isActive(i, now)) fold(lt.slotAt(i).lat_1e6, lt.slotAt(i).lon_1e6);
     }
+    // Fold in the active target too, so a destination you set never sits off-frame.
+    { int32_t tla, tlo; if (_task->activeTargetPos(tla, tlo)) fold(tla, tlo); }
     return init;
   }
 
@@ -648,6 +650,16 @@ private:
       int ex, ey; proj.project(_store->last().lat_1e6, _store->last().lon_1e6, ex, ey);
       drawCurrentMarker(display, ex, ey);
     }
+
+    // Active target flag, last so it stays legible atop any waypoint/contact it
+    // coincides with. Clamped to the frame like the other off-edge markers.
+    int32_t tla, tlo;
+    if (_task->activeTargetPos(tla, tlo)) {
+      int tx, ty; proj.project(tla, tlo, tx, ty);
+      if (tx < area_x) tx = area_x;  else if (tx > wp_x_max) tx = wp_x_max;
+      if (ty < area_y) ty = area_y;  else if (ty > wp_y_max) ty = wp_y_max;
+      drawTargetMarker(display, tx, ty);
+    }
   }
 
   void renderMap(DisplayDriver& display) {
@@ -663,8 +675,10 @@ private:
     int32_t my_lat, my_lon;
     const bool have_gps = ownPos(my_lat, my_lon);
     const bool have_live = _task->liveTrack().active(rtc_clock.getCurrentTime()) > 0;
+    int32_t tgt_lat, tgt_lon;
+    const bool have_tgt = _task->activeTargetPos(tgt_lat, tgt_lon);
 
-    if (!have_trail && nwp == 0 && !have_gps && !have_live) {
+    if (!have_trail && nwp == 0 && !have_gps && !have_live && !have_tgt) {
       display.drawTextCentered(display.width() / 2, (top + bottom) / 2, "No GPS / no trail");
       return;
     }
@@ -694,6 +708,7 @@ private:
         drawWaypointLabel(display, s, ccx, ccy, area_x, area_y, area_w, area_h);
       }
       if (have_gps || have_trail) drawCurrentMarker(display, ccx, ccy);
+      { int32_t tla, tlo; if (_task->activeTargetPos(tla, tlo)) drawTargetMarker(display, ccx, ccy); }
       return;
     }
 
@@ -939,4 +954,9 @@ private:
   static void drawContactMarker(DisplayDriver& d, int cx, int cy) {
     miniIconDrawCentered(d, cx, cy, ICON_MAP_CONTACT);
   }
+  // Flag — the active Locator/Nav target. Drawn last (on top) so it stays
+  // legible even when it lands on the same spot as a waypoint or contact.
+  static void drawTargetMarker(DisplayDriver& d, int cx, int cy) {
+    miniIconDrawCentered(d, cx, cy, ICON_MAP_TARGET);
+  }
 };

examples/companion_radio/ui-new/UITask.cpp

@@ -574,6 +574,9 @@ public:
     int32_t mla, mlo;
     bool have_gps = _task->currentLocation(mla, mlo);
     if (have_gps) fold(mla, mlo);
+    int32_t tla, tlo;
+    bool have_tgt = _task->activeTargetPos(tla, tlo);   // active Locator/Nav target
+    if (have_tgt) fold(tla, tlo);
     if (!init) return false;
 
     // North marker — top-right, the same mini-icon as the full Trail map.
@@ -589,6 +592,7 @@ public:
       for (int i = 0; i < LiveTrackStore::CAPACITY; i++)
         if (lt.isActive(i, now)) { miniIconDrawCentered(display, cx, cy, ICON_MAP_CONTACT); break; }
       if (have_gps || !tr.empty()) miniIconDrawCentered(display, cx, cy, ICON_MAP_CURRENT);
+      if (have_tgt) miniIconDrawCentered(display, cx, cy, ICON_MAP_TARGET);   // highlight on top
       return true;
     }
     float avg_lat_rad = ((mnla + mxla) / 2.0e6f) * (float)M_PI / 180.0f;
@@ -615,6 +619,8 @@ public:
       miniIconDrawCentered(display, px, py, ICON_MAP_CONTACT);
     }
     if (have_gps) { int px, py; project(mla, mlo, px, py); miniIconDrawCentered(display, px, py, ICON_MAP_CURRENT); }
+    // Active target flag drawn last so it stays legible even atop a contact/own dot.
+    if (have_tgt) { int px, py; project(tla, tlo, px, py); miniIconDrawCentered(display, px, py, ICON_MAP_TARGET); }
 
     // Bottom-left scale reference, always shown — distance to the nearest
     // live-tracked contact now lives on the status line below instead (see
@@ -2298,14 +2304,18 @@ bool UITask::resolvePersonPos(const uint8_t* key, int32_t& lat, int32_t& lon,
   return false;
 }
 
-bool UITask::locatorDistance(float& dist_m, float& radius_m) const {
+bool UITask::activeTargetPos(int32_t& lat, int32_t& lon) const {
   if (!_node_prefs || !_node_prefs->locator_has_target) return false;
+  if (_node_prefs->locator_target_kind == 1)
+    return resolvePersonPos(_node_prefs->locator_key, lat, lon);
+  lat = _node_prefs->locator_lat_1e6;
+  lon = _node_prefs->locator_lon_1e6;
+  return true;
+}
+
+bool UITask::locatorDistance(float& dist_m, float& radius_m) const {
   int32_t tlat, tlon;
-  if (_node_prefs->locator_target_kind == 1) {
-    if (!resolvePersonPos(_node_prefs->locator_key, tlat, tlon)) return false;
-  } else {
-    tlat = _node_prefs->locator_lat_1e6; tlon = _node_prefs->locator_lon_1e6;
-  }
+  if (!activeTargetPos(tlat, tlon)) return false;
   int32_t lat, lon;
   if (!currentLocation(lat, lon)) return false;
   dist_m   = geo::haversineKm(lat, lon, tlat, tlon) * 1000.0f;

examples/companion_radio/ui-new/UITask.h

@@ -211,6 +211,11 @@ public:
   // Locator engine (locatorDistance) and the target picker.
   bool resolvePersonPos(const uint8_t* key, int32_t& lat, int32_t& lon,
                         bool* live = nullptr, uint32_t* ts = nullptr) const;
+  // Resolved position of the active target — a waypoint's coords, or a person
+  // via resolvePersonPos(). Gated only on a target being set, independent of
+  // whether the Locator alert is enabled, so a destination you set still shows
+  // on the map. Used by locatorDistance() and the map renderers.
+  bool activeTargetPos(int32_t& lat, int32_t& lon) const;
   void gotoTrailScreen();
   void gotoMapScreen();   // opens the Trail screen directly in its Map view
   void gotoCompassScreen();

examples/companion_radio/ui-new/icons.h

@@ -334,6 +334,12 @@ MINI_ICON(ICON_MAP_ARROW, 5,      // → distance-to-nearest-tracked-contact ind
   packRow("#####"),
   packRow("...#."),
   packRow("..#.."));
+MINI_ICON(ICON_MAP_TARGET, 5,     // ⚑ flag on a pole — the active Locator/Nav target
+  packRow("#...."),
+  packRow("####."),
+  packRow("#..#."),
+  packRow("####."),
+  packRow("#...."));
 
 // Keyboard special-key glyphs.
 MINI_ICON(ICON_SHIFT, 7,   // ⇧  caps