From 7e6527d7676404985c3ee1b0411a43866a92e6cc Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Wed, 18 Mar 2026 17:51:37 +0000
Subject: [PATCH 01/35] update indoor map calibration and related files

---
 .../data/remote/FloorplanApiClient.java       |    3 +
 .../PositionMe/mapmatching/CandidatePose.java |   38 +
 .../mapmatching/CorrectionType.java           |   11 +
 .../mapmatching/MapGeometryUtils.java         |  293 +++
 .../mapmatching/MapMatchingInput.java         |   70 +
 .../mapmatching/MapMatchingResult.java        |   77 +
 .../mapmatching/MapMatchingService.java       |  261 ++
 .../PositionMe/mapmatching/MotionDelta.java   |   35 +
 .../mapmatching/VerticalTransitionHint.java   |   29 +
 .../fragment/StartLocationFragment.java       |  208 +-
 .../fragment/TrajectoryMapFragment.java       | 2111 +++++++++++++----
 .../PositionMe/utils/IndoorMapManager.java    |  467 ++--
 .../res/layout/fragment_startlocation.xml     |   30 +-
 .../res/layout/fragment_trajectory_map.xml    |  262 +-
 secrets.properties                            |    6 +-
 15 files changed, 3207 insertions(+), 694 deletions(-)
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/mapmatching/CandidatePose.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/mapmatching/CorrectionType.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingResult.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/mapmatching/MotionDelta.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalTransitionHint.java

diff --git a/app/src/main/java/com/openpositioning/PositionMe/data/remote/FloorplanApiClient.java b/app/src/main/java/com/openpositioning/PositionMe/data/remote/FloorplanApiClient.java
index cadb6037..cb7f5874 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/data/remote/FloorplanApiClient.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/data/remote/FloorplanApiClient.java
@@ -192,6 +192,9 @@ public interface FloorplanCallback {
      */
     public void requestFloorplan(double lat, double lon, List<String> macs,
                                   FloorplanCallback callback) {
+        Log.d(TAG, "userKey length = " + (BuildConfig.OPENPOSITIONING_API_KEY == null ? -1 : BuildConfig.OPENPOSITIONING_API_KEY.length()));
+        Log.d(TAG, "masterKey = " + BuildConfig.OPENPOSITIONING_MASTER_KEY);
+
         String url = BASE_URL + userKey + "?key=" + masterKey;
 
         // Build JSON request body
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CandidatePose.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CandidatePose.java
new file mode 100644
index 00000000..fd9d4ef3
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CandidatePose.java
@@ -0,0 +1,38 @@
+package com.openpositioning.PositionMe.mapmatching;
+
+import com.google.android.gms.maps.model.LatLng;
+
+/**
+ * 表示一个候选位置状态。
+ * 后续可用于表示 fusion 输出的位置、map matching 修正后的位置等。
+ */
+public class CandidatePose {
+
+    private final LatLng latLng;
+    private final int floor;
+    private final long timestampMs;
+    private final String sourceType;
+
+    public CandidatePose(LatLng latLng, int floor, long timestampMs, String sourceType) {
+        this.latLng = latLng;
+        this.floor = floor;
+        this.timestampMs = timestampMs;
+        this.sourceType = sourceType;
+    }
+
+    public LatLng getLatLng() {
+        return latLng;
+    }
+
+    public int getFloor() {
+        return floor;
+    }
+
+    public long getTimestampMs() {
+        return timestampMs;
+    }
+
+    public String getSourceType() {
+        return sourceType;
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CorrectionType.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CorrectionType.java
new file mode 100644
index 00000000..74e5c312
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CorrectionType.java
@@ -0,0 +1,11 @@
+package com.openpositioning.PositionMe.mapmatching;
+
+/**
+ * 表示 map matching 修正的原因。
+ */
+public enum CorrectionType {
+    NONE,
+    THROUGH_WALL,
+    INVALID_FLOOR_CHANGE,
+    SNAP_TO_VALID_AREA
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
new file mode 100644
index 00000000..150cf473
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
@@ -0,0 +1,293 @@
+package com.openpositioning.PositionMe.mapmatching;
+
+import com.google.android.gms.maps.model.LatLng;
+import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
+
+import java.util.List;
+
+/**
+ * 提供 3.2 Map Matching 所需的基础几何判断工具。
+ *
+ * 当前第一版实现：
+ * 1. 判断一段轨迹是否与 wall 要素相交
+ * 2. 判断当前位置是否靠近 stairs
+ * 3. 判断当前位置是否靠近 lift
+ *
+ * 注意：
+ * 这里先实现“够用、稳定、易懂”的版本，
+ * 后面如果需要再继续增强。
+ */
+public class MapGeometryUtils {
+
+    // 默认邻近阈值（米）
+    // 楼梯邻近阈值可以稍大一点
+    private static final double STAIRS_PROXIMITY_THRESHOLD_METERS = 4.0;
+
+    // 电梯邻近阈值相对更紧一些
+    private static final double LIFT_PROXIMITY_THRESHOLD_METERS = 2.5;
+    /**
+     * 判断从 start 到 end 的轨迹是否穿过当前楼层中的 wall。
+     */
+    public static boolean crossesWall(LatLng start,
+                                      LatLng end,
+                                      FloorplanApiClient.FloorShapes floorShapes) {
+        if (start == null || end == null || floorShapes == null || floorShapes.getFeatures() == null) {
+            return false;
+        }
+
+        for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) {
+            if (!"wall".equalsIgnoreCase(feature.getIndoorType())) {
+                continue;
+            }
+
+            if (intersectsFeature(start, end, feature)) {
+                return true;
+            }
+        }
+
+        return false;
+    }
+
+    /**
+     * 判断当前位置是否靠近楼梯。
+     */
+    /**
+     * 判断当前位置是否靠近楼梯。
+     * 楼梯区域通常范围稍大，因此阈值放宽一些。
+     */
+    public static boolean isNearStairs(LatLng point,
+                                       FloorplanApiClient.FloorShapes floorShapes) {
+        return isNearIndoorType(
+                point,
+                floorShapes,
+                "stairs",
+                STAIRS_PROXIMITY_THRESHOLD_METERS
+        );
+    }
+
+    /**
+     * 判断当前位置是否靠近电梯。
+     * 电梯区域通常更集中，因此阈值稍微收紧。
+     */
+    public static boolean isNearLift(LatLng point,
+                                     FloorplanApiClient.FloorShapes floorShapes) {
+        return isNearIndoorType(
+                point,
+                floorShapes,
+                "lift",
+                LIFT_PROXIMITY_THRESHOLD_METERS
+        );
+    }
+
+    /**
+     * 更通用的“是否靠近某类 indoor feature”判断。
+     */
+    public static boolean isNearIndoorType(LatLng point,
+                                           FloorplanApiClient.FloorShapes floorShapes,
+                                           String indoorType,
+                                           double thresholdMeters) {
+        if (point == null || floorShapes == null || floorShapes.getFeatures() == null) {
+            return false;
+        }
+
+        for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) {
+            if (!indoorType.equalsIgnoreCase(feature.getIndoorType())) {
+                continue;
+            }
+
+            List<List<LatLng>> parts = feature.getParts();
+            if (parts == null) continue;
+
+            for (List<LatLng> part : parts) {
+                if (part == null || part.isEmpty()) continue;
+
+                // 如果是面/封闭区域，点在里面也算 near
+                if (part.size() >= 3 && isPointInPolygon(point, part)) {
+                    return true;
+                }
+
+                // 否则判断点到边/线段的最小距离
+                if (isPointNearPolyline(point, part, thresholdMeters)) {
+                    return true;
+                }
+            }
+        }
+
+        return false;
+    }
+
+    // =========================================================
+    // 内部工具方法
+    // =========================================================
+
+    /**
+     * 判断轨迹线段是否与某个 feature 的边界/线段相交。
+     */
+    private static boolean intersectsFeature(LatLng start,
+                                             LatLng end,
+                                             FloorplanApiClient.MapShapeFeature feature) {
+        List<List<LatLng>> parts = feature.getParts();
+        if (parts == null) return false;
+
+        for (List<LatLng> part : parts) {
+            if (part == null || part.size() < 2) continue;
+
+            for (int i = 0; i < part.size() - 1; i++) {
+                LatLng a = part.get(i);
+                LatLng b = part.get(i + 1);
+
+                if (segmentsIntersect(start, end, a, b)) {
+                    return true;
+                }
+            }
+
+            // 如果是 polygon ring，最后一个点和第一个点也需要闭合判断
+            if (part.size() >= 3) {
+                LatLng last = part.get(part.size() - 1);
+                LatLng first = part.get(0);
+                if (segmentsIntersect(start, end, last, first)) {
+                    return true;
+                }
+            }
+        }
+
+        return false;
+    }
+
+    /**
+     * 判断一个点是否靠近一条 polyline / polygon 边界。
+     */
+    private static boolean isPointNearPolyline(LatLng point,
+                                               List<LatLng> polyline,
+                                               double thresholdMeters) {
+        if (polyline == null || polyline.size() < 2) return false;
+
+        for (int i = 0; i < polyline.size() - 1; i++) {
+            LatLng a = polyline.get(i);
+            LatLng b = polyline.get(i + 1);
+
+            double distance = distancePointToSegmentMeters(point, a, b);
+            if (distance <= thresholdMeters) {
+                return true;
+            }
+        }
+
+        // 如果像 polygon ring，也检查闭合边
+        if (polyline.size() >= 3) {
+            double distance = distancePointToSegmentMeters(
+                    point,
+                    polyline.get(polyline.size() - 1),
+                    polyline.get(0)
+            );
+            return distance <= thresholdMeters;
+        }
+
+        return false;
+    }
+
+    /**
+     * 点是否在 polygon 内。
+     * 采用简单射线法。
+     */
+    private static boolean isPointInPolygon(LatLng point, List<LatLng> polygon) {
+        if (point == null || polygon == null || polygon.size() < 3) return false;
+
+        boolean inside = false;
+        double x = point.longitude;
+        double y = point.latitude;
+
+        for (int i = 0, j = polygon.size() - 1; i < polygon.size(); j = i++) {
+            double xi = polygon.get(i).longitude;
+            double yi = polygon.get(i).latitude;
+            double xj = polygon.get(j).longitude;
+            double yj = polygon.get(j).latitude;
+
+            boolean intersect = ((yi > y) != (yj > y))
+                    && (x < (xj - xi) * (y - yi) / ((yj - yi) + 1e-12) + xi);
+
+            if (intersect) inside = !inside;
+        }
+
+        return inside;
+    }
+
+    /**
+     * 判断两条线段是否相交。
+     * 这里采用平面近似，对室内小范围足够。
+     */
+    private static boolean segmentsIntersect(LatLng p1, LatLng p2, LatLng q1, LatLng q2) {
+        int o1 = orientation(p1, p2, q1);
+        int o2 = orientation(p1, p2, q2);
+        int o3 = orientation(q1, q2, p1);
+        int o4 = orientation(q1, q2, p2);
+
+        if (o1 != o2 && o3 != o4) return true;
+
+        // 共线特殊情况
+        if (o1 == 0 && onSegment(p1, q1, p2)) return true;
+        if (o2 == 0 && onSegment(p1, q2, p2)) return true;
+        if (o3 == 0 && onSegment(q1, p1, q2)) return true;
+        if (o4 == 0 && onSegment(q1, p2, q2)) return true;
+
+        return false;
+    }
+
+    private static int orientation(LatLng a, LatLng b, LatLng c) {
+        double value = (b.latitude - a.latitude) * (c.longitude - b.longitude)
+                - (b.longitude - a.longitude) * (c.latitude - b.latitude);
+
+        if (Math.abs(value) < 1e-12) return 0;
+        return (value > 0) ? 1 : 2;
+    }
+
+    private static boolean onSegment(LatLng a, LatLng b, LatLng c) {
+        return b.longitude <= Math.max(a.longitude, c.longitude)
+                && b.longitude >= Math.min(a.longitude, c.longitude)
+                && b.latitude <= Math.max(a.latitude, c.latitude)
+                && b.latitude >= Math.min(a.latitude, c.latitude);
+    }
+
+    /**
+     * 计算点到线段的最短距离（米）。
+     * 使用局部平面近似（经纬度转米），对室内小范围足够。
+     */
+    private static double distancePointToSegmentMeters(LatLng p, LatLng a, LatLng b) {
+        double[] pxy = toLocalMeters(p, p);
+        double[] axy = toLocalMeters(a, p);
+        double[] bxy = toLocalMeters(b, p);
+
+        double px = pxy[0], py = pxy[1];
+        double ax = axy[0], ay = axy[1];
+        double bx = bxy[0], by = bxy[1];
+
+        double dx = bx - ax;
+        double dy = by - ay;
+
+        if (dx == 0 && dy == 0) {
+            return Math.hypot(px - ax, py - ay);
+        }
+
+        double t = ((px - ax) * dx + (py - ay) * dy) / (dx * dx + dy * dy);
+        t = Math.max(0, Math.min(1, t));
+
+        double closestX = ax + t * dx;
+        double closestY = ay + t * dy;
+
+        return Math.hypot(px - closestX, py - closestY);
+    }
+
+    /**
+     * 把经纬度转换为以 reference 为原点的局部米坐标。
+     * 返回 [xMeters, yMeters]
+     */
+    private static double[] toLocalMeters(LatLng point, LatLng reference) {
+        double latRad = Math.toRadians(reference.latitude);
+        double metersPerDegLat = 111320.0;
+        double metersPerDegLon = 111320.0 * Math.cos(latRad);
+
+        double x = (point.longitude - reference.longitude) * metersPerDegLon;
+        double y = (point.latitude - reference.latitude) * metersPerDegLat;
+
+        return new double[]{x, y};
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java
new file mode 100644
index 00000000..8e578ef9
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java
@@ -0,0 +1,70 @@
+package com.openpositioning.PositionMe.mapmatching;
+
+import androidx.annotation.Nullable;
+
+import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
+
+/**
+ * 表示一次 map matching 所需的完整输入。
+ * 当前先打包位置、位移、高度变化、当前楼层地图和当前建筑信息。
+ */
+public class MapMatchingInput {
+
+    private final CandidatePose previousPose;
+    private final CandidatePose currentCandidatePose;
+    private final MotionDelta motionDelta;
+    private final VerticalTransitionHint verticalHint;
+    private final FloorplanApiClient.FloorShapes activeFloorShapes;
+    private final String activeBuildingId;
+
+    public MapMatchingInput(
+            @Nullable CandidatePose previousPose,
+            CandidatePose currentCandidatePose,
+            @Nullable MotionDelta motionDelta,
+            @Nullable VerticalTransitionHint verticalHint,
+            @Nullable FloorplanApiClient.FloorShapes activeFloorShapes,
+            @Nullable String activeBuildingId
+    ) {
+        this.previousPose = previousPose;
+        this.currentCandidatePose = currentCandidatePose;
+        this.motionDelta = motionDelta;
+        this.verticalHint = verticalHint;
+        this.activeFloorShapes = activeFloorShapes;
+        this.activeBuildingId = activeBuildingId;
+    }
+
+    @Nullable
+    public CandidatePose getPreviousPose() {
+        return previousPose;
+    }
+
+    public CandidatePose getCurrentCandidatePose() {
+        return currentCandidatePose;
+    }
+
+    @Nullable
+    public MotionDelta getMotionDelta() {
+        return motionDelta;
+    }
+
+    @Nullable
+    public VerticalTransitionHint getVerticalHint() {
+        return verticalHint;
+    }
+
+    @Nullable
+    public FloorplanApiClient.FloorShapes getActiveFloorShapes() {
+        return activeFloorShapes;
+    }
+
+    @Nullable
+    public String getActiveBuildingId() {
+        return activeBuildingId;
+    }
+
+    public boolean hasActiveFloorMap() {
+        return activeFloorShapes != null
+                && activeFloorShapes.getFeatures() != null
+                && !activeFloorShapes.getFeatures().isEmpty();
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingResult.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingResult.java
new file mode 100644
index 00000000..2028ea2e
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingResult.java
@@ -0,0 +1,77 @@
+package com.openpositioning.PositionMe.mapmatching;
+
+import com.google.android.gms.maps.model.LatLng;
+
+/**
+ * 表示一次地图匹配后的输出结果。
+ */
+public class MapMatchingResult {
+
+    private final boolean validPosition;
+    private final boolean crossedWall;
+    private final boolean nearStairs;
+    private final boolean nearLift;
+    private final boolean floorChangeAllowed;
+    private final LatLng correctedLatLng;
+    private final int correctedFloor;
+    private final CorrectionType correctionType;
+    private final String debugReason;
+
+    public MapMatchingResult(
+            boolean validPosition,
+            boolean crossedWall,
+            boolean nearStairs,
+            boolean nearLift,
+            boolean floorChangeAllowed,
+            LatLng correctedLatLng,
+            int correctedFloor,
+            CorrectionType correctionType,
+            String debugReason
+    ) {
+        this.validPosition = validPosition;
+        this.crossedWall = crossedWall;
+        this.nearStairs = nearStairs;
+        this.nearLift = nearLift;
+        this.floorChangeAllowed = floorChangeAllowed;
+        this.correctedLatLng = correctedLatLng;
+        this.correctedFloor = correctedFloor;
+        this.correctionType = correctionType;
+        this.debugReason = debugReason;
+    }
+
+    public boolean isValidPosition() {
+        return validPosition;
+    }
+
+    public boolean isCrossedWall() {
+        return crossedWall;
+    }
+
+    public boolean isNearStairs() {
+        return nearStairs;
+    }
+
+    public boolean isNearLift() {
+        return nearLift;
+    }
+
+    public boolean isFloorChangeAllowed() {
+        return floorChangeAllowed;
+    }
+
+    public LatLng getCorrectedLatLng() {
+        return correctedLatLng;
+    }
+
+    public int getCorrectedFloor() {
+        return correctedFloor;
+    }
+
+    public CorrectionType getCorrectionType() {
+        return correctionType;
+    }
+
+    public String getDebugReason() {
+        return debugReason;
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
new file mode 100644
index 00000000..80b931f8
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
@@ -0,0 +1,261 @@
+package com.openpositioning.PositionMe.mapmatching;
+
+import androidx.annotation.NonNull;
+
+import com.google.android.gms.maps.model.LatLng;
+import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
+
+/**
+ * 3.2 Map Matching 的核心服务类。
+ *
+ * 当前这一版开始真正使用地图几何约束：
+ * 1. 检测穿墙
+ * 2. 判断是否靠近 stairs / lift
+ * 3. 用高度变化 + 地图位置约束楼层切换
+ *
+ * 这是一个“先求稳”的第一版：
+ * - 穿墙时先回退到上一点
+ * - 非法换层时先保持上一楼层
+ * - 不做复杂投影修正，先保证行为正确、容易调试
+ */
+public class MapMatchingService {
+    // 水平位移较小时，更像 lift；较大时，更像 stairs
+    private static final double MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS = 1.5;
+    // 位移太小时，不做穿墙检测，避免传感器抖动带来误判
+    private static final double MIN_DISPLACEMENT_FOR_WALL_CHECK_METERS = 0.3;
+
+    /**
+     * 对一次候选位置执行 map matching。
+     */
+    @NonNull
+    public MapMatchingResult match(@NonNull MapMatchingInput input) {
+        CandidatePose currentPose = input.getCurrentCandidatePose();
+        CandidatePose previousPose = input.getPreviousPose();
+        FloorplanApiClient.FloorShapes floorShapes = input.getActiveFloorShapes();
+
+        LatLng candidateLatLng = currentPose.getLatLng();
+        LatLng correctedLatLng = candidateLatLng;
+        int correctedFloor = currentPose.getFloor();
+
+        boolean nearStairs = false;
+        boolean nearLift = false;
+        boolean crossedWall = false;
+        boolean invalidFloorChange = false;
+        boolean floorChangeAllowed = isFloorChangeAllowed(input);
+
+        CorrectionType correctionType = CorrectionType.NONE;
+        String debugReason = "Candidate pose accepted.";
+        boolean validPosition = true;
+
+        // =========================================================
+        // 【情况 1：当前没有可用地图】
+        // 不做地图约束，直接透传
+        // =========================================================
+        if (!input.hasActiveFloorMap() || floorShapes == null) {
+            return new MapMatchingResult(
+                    true,
+                    false,
+                    false,
+                    false,
+                    floorChangeAllowed,
+                    candidateLatLng,
+                    currentPose.getFloor(),
+                    CorrectionType.NONE,
+                    "No active floor map. Pass through candidate pose."
+            );
+        }
+
+        // =========================================================
+        // 【新增：判断当前位置是否靠近 stairs / lift】
+        // =========================================================
+        nearStairs = MapGeometryUtils.isNearStairs(candidateLatLng, floorShapes);
+        nearLift = MapGeometryUtils.isNearLift(candidateLatLng, floorShapes);
+        // =========================================================
+        // 【新增：给当前垂直变化一个更易读的解释】
+        // 仅用于 debugReason，不改变主逻辑
+        // =========================================================
+        MotionDelta motionDelta = input.getMotionDelta();
+        String transitionDescription = describeVerticalTransition(
+                nearStairs,
+                nearLift,
+                motionDelta
+        );
+
+        if (input.getVerticalHint() != null && input.getVerticalHint().isHeightChanged()) {
+            debugReason = "Height changed; " + transitionDescription + ".";
+        } else {
+            debugReason = "Candidate pose accepted; " + transitionDescription + ".";
+        }
+        // =========================================================
+        // 【新增：判断轨迹是否穿墙】
+        // 如果穿墙，第一版先回退到上一点
+        // =========================================================
+        if (previousPose != null && previousPose.getLatLng() != null) {
+            boolean shouldCheckWall = true;
+
+            MotionDelta wallCheckMotionDelta = input.getMotionDelta();
+            if (wallCheckMotionDelta != null) {
+                shouldCheckWall =
+                        wallCheckMotionDelta.getStepDistance() >= MIN_DISPLACEMENT_FOR_WALL_CHECK_METERS;
+            }
+
+            if (shouldCheckWall) {
+                crossedWall = MapGeometryUtils.crossesWall(
+                        previousPose.getLatLng(),
+                        candidateLatLng,
+                        floorShapes
+                );
+
+                if (crossedWall) {
+                    correctedLatLng = previousPose.getLatLng();
+                    correctedFloor = previousPose.getFloor();
+                    correctionType = CorrectionType.THROUGH_WALL;
+                    debugReason = "Trajectory crossed wall. Reverted to previous pose.";
+                    validPosition = false;
+                }
+            } else {
+                debugReason = "Step distance too small for wall check. Candidate pose accepted.";
+            }
+        }
+
+        // =========================================================
+        // 【新增：楼层变化约束】
+        // 如果当前候选楼层和上一时刻不同，但不满足换层条件，
+        // 第一版先保持上一楼层
+        // =========================================================
+        if (previousPose != null
+                && currentPose.getFloor() != previousPose.getFloor()
+                && !floorChangeAllowed) {
+
+            invalidFloorChange = true;
+            correctedFloor = previousPose.getFloor();
+
+            if (correctionType == CorrectionType.NONE) {
+                correctionType = CorrectionType.INVALID_FLOOR_CHANGE;
+                debugReason = "Floor change rejected: no valid height change or not near stairs/lift.";
+            }
+
+            validPosition = false;
+        }
+
+        return new MapMatchingResult(
+                validPosition,
+                crossedWall,
+                nearStairs,
+                nearLift,
+                floorChangeAllowed,
+                correctedLatLng,
+                correctedFloor,
+                correctionType,
+                debugReason
+        );
+    }
+
+    /**
+     * 判断当前是否允许换层。
+     *
+     * 当前这一版规则：
+     * 1. 必须有 verticalHint
+     * 2. 必须检测到明显高度变化
+     * 3. 如果没有可用地图，为了不阻断原逻辑，先允许
+     * 4. 如果有地图，则必须 near stairs 或 near lift
+     * 5. 如果有 motionDelta，则进一步用 stepDistance 区分 stairs / lift：
+     *    - nearLift only  -> 需要较小水平位移
+     *    - nearStairs only -> 需要较大水平位移
+     *    - 如果两者都 near，则先允许（第一版不强行细分）
+     */
+    public boolean isFloorChangeAllowed(@NonNull MapMatchingInput input) {
+        VerticalTransitionHint verticalHint = input.getVerticalHint();
+
+        if (verticalHint == null) {
+            return false;
+        }
+
+        if (!verticalHint.isHeightChanged()) {
+            return false;
+        }
+
+        // 没有地图时先不阻断现有逻辑
+        if (!input.hasActiveFloorMap()) {
+            return true;
+        }
+
+        FloorplanApiClient.FloorShapes floorShapes = input.getActiveFloorShapes();
+        if (floorShapes == null) {
+            return true;
+        }
+
+        LatLng currentPoint = input.getCurrentCandidatePose().getLatLng();
+
+        boolean nearStairs = MapGeometryUtils.isNearStairs(currentPoint, floorShapes);
+        boolean nearLift = MapGeometryUtils.isNearLift(currentPoint, floorShapes);
+
+        // 不在楼梯/电梯附近，不允许换层
+        if (!nearStairs && !nearLift) {
+            return false;
+        }
+
+        MotionDelta motionDelta = input.getMotionDelta();
+
+        // 没有运动增量时，保持上一版的宽松策略
+        if (motionDelta == null) {
+            return nearStairs || nearLift;
+        }
+
+        double stepDistance = motionDelta.getStepDistance();
+        boolean likelyLiftMotion = stepDistance <= MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS;
+
+        // 只靠近 lift：要求水平位移小，更像乘电梯
+        if (nearLift && !nearStairs) {
+            return likelyLiftMotion;
+        }
+
+        // 只靠近 stairs：要求水平位移较大，更像走楼梯
+        if (nearStairs && !nearLift) {
+            return !likelyLiftMotion;
+        }
+
+        // 两者都靠近时，第一版先允许
+        return true;
+    }
+
+    /**
+     * 根据当前位置和水平位移，给一次垂直变化做一个简单解释：
+     * 更像 stairs / 更像 lift / 不确定。
+     *
+     * 这个方法当前只用于调试说明，不改变主逻辑。
+     */
+    private String describeVerticalTransition(boolean nearStairs,
+                                              boolean nearLift,
+                                              MotionDelta motionDelta) {
+        if (!nearStairs && !nearLift) {
+            return "not near stairs or lift";
+        }
+
+        if (motionDelta == null) {
+            if (nearStairs && nearLift) return "near both stairs and lift";
+            if (nearStairs) return "near stairs";
+            return "near lift";
+        }
+
+        double stepDistance = motionDelta.getStepDistance();
+        boolean likelyLiftMotion = stepDistance <= MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS;
+
+        if (nearLift && !nearStairs) {
+            return likelyLiftMotion
+                    ? "likely lift transition"
+                    : "lift nearby but horizontal movement looks too large";
+        }
+
+        if (nearStairs && !nearLift) {
+            return likelyLiftMotion
+                    ? "stairs nearby but horizontal movement looks too small"
+                    : "likely stairs transition";
+        }
+
+        // 两者都 near 时，先给一个保守描述
+        return likelyLiftMotion
+                ? "near both stairs and lift, motion slightly favors lift"
+                : "near both stairs and lift, motion slightly favors stairs";
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MotionDelta.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MotionDelta.java
new file mode 100644
index 00000000..1ec4d15f
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MotionDelta.java
@@ -0,0 +1,35 @@
+package com.openpositioning.PositionMe.mapmatching;
+
+/**
+ * 表示相邻两次位置更新之间的运动增量。
+ */
+public class MotionDelta {
+
+    private final double deltaX;
+    private final double deltaY;
+    private final double stepDistance;
+    private final double headingDeg;
+
+    public MotionDelta(double deltaX, double deltaY, double stepDistance, double headingDeg) {
+        this.deltaX = deltaX;
+        this.deltaY = deltaY;
+        this.stepDistance = stepDistance;
+        this.headingDeg = headingDeg;
+    }
+
+    public double getDeltaX() {
+        return deltaX;
+    }
+
+    public double getDeltaY() {
+        return deltaY;
+    }
+
+    public double getStepDistance() {
+        return stepDistance;
+    }
+
+    public double getHeadingDeg() {
+        return headingDeg;
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalTransitionHint.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalTransitionHint.java
new file mode 100644
index 00000000..3a718a19
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalTransitionHint.java
@@ -0,0 +1,29 @@
+package com.openpositioning.PositionMe.mapmatching;
+
+/**
+ * 表示由高度/气压估计得到的楼层变化提示。
+ */
+public class VerticalTransitionHint {
+
+    private final double currentElevation;
+    private final double deltaHeight;
+    private final boolean heightChanged;
+
+    public VerticalTransitionHint(double currentElevation, double deltaHeight, boolean heightChanged) {
+        this.currentElevation = currentElevation;
+        this.deltaHeight = deltaHeight;
+        this.heightChanged = heightChanged;
+    }
+
+    public double getCurrentElevation() {
+        return currentElevation;
+    }
+
+    public double getDeltaHeight() {
+        return deltaHeight;
+    }
+
+    public boolean isHeightChanged() {
+        return heightChanged;
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
index 0951e85a..644b0a1f 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
@@ -37,6 +37,10 @@
 import java.util.List;
 import java.util.Map;
 
+import android.os.Handler;
+import android.os.Looper;
+import android.widget.Toast;
+
 /**
  * Fragment for selecting the start location before recording begins.
  * Displays a Google Map with building outlines fetched from the floorplan API.
@@ -49,6 +53,17 @@
  * @see FloorplanApiClient the API client for fetching building data
  */
 public class StartLocationFragment extends Fragment {
+    // --- 新增变量 ---
+    // --- 新增变量 ---
+    private Button btnFindIndoorMap;
+    private Button btnFindActualMap;
+    private boolean useActualMap = false; // 核心状态：判断显示哪种地图
+    private com.google.android.gms.maps.model.GroundOverlay realMapOverlay;
+
+    private final Handler retryHandler = new Handler(Looper.getMainLooper());
+    private int requestRetryCount = 0;
+    private static final int MAX_REQUEST_RETRIES = 10;
+    private static final long RETRY_DELAY_MS = 2000;
 
     private static final String TAG = "StartLocationFragment";
 
@@ -78,6 +93,9 @@ public class StartLocationFragment extends Fragment {
     private final List<Polygon> previewPolygons = new ArrayList<>();
     private final List<Polyline> previewPolylines = new ArrayList<>();
 
+    // 【新增这一行】：用于存储白色蒙版以便清除
+    private Polygon whiteMaskPolygon;
+
     // Building outline colours (ARGB)
     private static final int FILL_COLOR_DEFAULT = Color.argb(60, 33, 150, 243);
     private static final int STROKE_COLOR_DEFAULT = Color.argb(200, 33, 150, 243);
@@ -126,12 +144,63 @@ public View onCreateView(LayoutInflater inflater, ViewGroup container,
             public void onMapReady(GoogleMap googleMap) {
                 mMap = googleMap;
                 setupMap();
-                requestBuildingData();
+                //requestBuildingData();
             }
         });
 
         return rootView;
     }
+    /**
+     * 清理所有地图上的覆盖物（矢量图、白板、真实贴图）
+     */
+    private void resetMapOverlays() {
+        for (Polygon p : previewPolygons) p.remove();
+        for (Polyline p : previewPolylines) p.remove();
+        previewPolygons.clear();
+        previewPolylines.clear();
+
+        if (whiteMaskPolygon != null) {
+            whiteMaskPolygon.remove();
+            whiteMaskPolygon = null;
+        }
+
+        if (realMapOverlay != null) {
+            realMapOverlay.remove();
+            realMapOverlay = null;
+        }
+    }
+    private void requestBuildingDataWhenReady() {
+        float[] gnss = sensorFusion.getGNSSLatitude(false);
+        startPosition[0] = gnss[0];
+        startPosition[1] = gnss[1];
+
+        boolean gnssReady = !(startPosition[0] == 0f && startPosition[1] == 0f);
+
+        if (!gnssReady) {
+            if (requestRetryCount < MAX_REQUEST_RETRIES) {
+                requestRetryCount++;
+                Log.d(TAG, "GNSS not ready, retry floorplan request: " + requestRetryCount);
+                retryHandler.postDelayed(this::requestBuildingDataWhenReady, RETRY_DELAY_MS);
+            } else {
+                Log.w(TAG, "GNSS still not ready after retries, requesting floorplan anyway");
+                requestBuildingData();
+                return;
+            }
+
+        }
+
+        LatLng current = new LatLng(startPosition[0], startPosition[1]);
+
+        if (startMarker != null) {
+            startMarker.setPosition(current);
+        }
+
+        if (mMap != null) {
+            mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(current, zoom));
+        }
+
+        requestBuildingData();
+    }
 
     /**
      * Configures the Google Map with initial settings, draggable marker, and listeners.
@@ -161,6 +230,32 @@ public void onMarkerDragStart(Marker marker) {}
             public void onMarkerDragEnd(Marker marker) {
                 startPosition[0] = (float) marker.getPosition().latitude;
                 startPosition[1] = (float) marker.getPosition().longitude;
+
+                floorplanBuildingMap.clear();
+
+                for (Polygon p : buildingPolygons) {
+                    p.remove();
+                }
+                buildingPolygons.clear();
+
+                for (Polygon p : previewPolygons) {
+                    p.remove();
+                }
+                previewPolygons.clear();
+
+                for (Polyline p : previewPolylines) {
+                    p.remove();
+                }
+                previewPolylines.clear();
+// 【新增这段】：清除上一层的白色蒙版
+                if (whiteMaskPolygon != null) {
+                    whiteMaskPolygon.remove();
+                    whiteMaskPolygon = null;
+                }
+                selectedPolygon = null;
+                selectedBuildingId = null;
+
+                requestBuildingData();
             }
 
             @Override
@@ -310,15 +405,53 @@ private void onBuildingSelected(String buildingName, Polygon polygon) {
         // Zoom to the building
         mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(center, 20f));
 
-        // Show floor plan overlay for the selected building
-        showFloorPlanOverlay(buildingName);
+        // ================= 【核心逻辑修改】 =================
+        // 点击建筑后，先清理屏幕上已有的图层
+        resetMapOverlays();
 
-        // Update UI with building name
-        updateBuildingInfoDisplay(buildingName);
+        // 根据当前用户选中的模式，展示不同的地图
+        if (useActualMap) {
+            updateRealMapOverlay(buildingName, true); // 只有点击蓝框后，才贴上 drawable 里的真实图片
+        } else {
+            showFloorPlanOverlay(buildingName);       // 只有点击蓝框后，才弹出白板并画上黑色矢量线
+        }
+        // ==================================================
 
-        Log.d(TAG, "Building selected: " + buildingName);
+        Log.d(TAG, "Building selected: " + buildingName + ", Mode: " + (useActualMap ? "Actual" : "Vector"));
     }
+    /**
+     * 【新增方法】：用于在地图上覆盖你 drawable 文件夹中的实际室内地图图片
+     */
+    private void updateRealMapOverlay(String buildingName, boolean show) {
+        // 先移除旧的图片蒙版
+        if (realMapOverlay != null) {
+            realMapOverlay.remove();
+            realMapOverlay = null;
+        }
+
+        if (!show || buildingName == null) return;
+
+        int drawableResId = 0;
+        LatLngBounds bounds = null;
 
+        // 根据建筑名称匹配图片和对应的真实经纬度边界
+        if (buildingName.equals("nucleus_building")) {
+            drawableResId = R.drawable.nucleus1;
+            // 使用项目中已有的 BuildingPolygon 边界数据
+            bounds = new LatLngBounds(
+                    com.openpositioning.PositionMe.utils.BuildingPolygon.NUCLEUS_SW,
+                    com.openpositioning.PositionMe.utils.BuildingPolygon.NUCLEUS_NE);
+        }
+
+        if (drawableResId != 0 && bounds != null) {
+            // 将实际图片贴在地图上
+            realMapOverlay = mMap.addGroundOverlay(new com.google.android.gms.maps.model.GroundOverlayOptions()
+                    .image(com.google.android.gms.maps.model.BitmapDescriptorFactory.fromResource(drawableResId))
+                    .positionFromBounds(bounds)
+                    // zIndex设为 15，确保它显示在白色半透明蒙版(zIndex=10)上方，如果希望在黑线之上可改大
+                    .zIndex(15));
+        }
+    }
     /**
      * Shows a vector floor plan preview for the selected building using the
      * map_shapes data from the API. Draws the ground floor shapes (walls, rooms).
@@ -333,6 +466,18 @@ private void showFloorPlanOverlay(String buildingName) {
         previewPolygons.clear();
         previewPolylines.clear();
 
+        // 【新增这段】：清除旧蒙版并绘制全新的全屏高透明度白色蒙版
+        if (whiteMaskPolygon != null) {
+            whiteMaskPolygon.remove();
+            whiteMaskPolygon = null;
+        }
+        PolygonOptions whiteMask = new PolygonOptions()
+                .add(new LatLng(85, -180), new LatLng(85, 180), new LatLng(-85, 180), new LatLng(-85, -180))
+                .fillColor(0xD9FFFFFF) // 约 85% 透明度的白色
+                .strokeWidth(0)
+                .zIndex(5);            // 蒙版在底层 (层级5)
+        whiteMaskPolygon = mMap.addPolygon(whiteMask);
+
         FloorplanApiClient.BuildingInfo building = floorplanBuildingMap.get(buildingName);
         if (building == null) return;
 
@@ -357,7 +502,8 @@ private void showFloorPlanOverlay(String buildingName) {
                             .addAll(ring)
                             .strokeColor(getPreviewStrokeColor(indoorType))
                             .strokeWidth(2f)
-                            .fillColor(getPreviewFillColor(indoorType)));
+                            .fillColor(getPreviewFillColor(indoorType))
+                            .zIndex(10)); // 【新增】：层级设为10，确保浮在白板上方
                     previewPolygons.add(p);
                 }
             } else if ("MultiLineString".equals(geoType)
@@ -367,20 +513,21 @@ private void showFloorPlanOverlay(String buildingName) {
                     Polyline pl = mMap.addPolyline(new PolylineOptions()
                             .addAll(line)
                             .color(getPreviewStrokeColor(indoorType))
-                            .width(3f));
+                            .width(4f)    // 【修改】：稍微加粗至4f使其更明显
+                            .zIndex(10)); // 【新增】：层级设为10，确保浮在白板上方
                     previewPolylines.add(pl);
                 }
             }
         }
     }
-
     /**
      * Returns the stroke colour for a preview indoor feature.
      */
     private int getPreviewStrokeColor(String indoorType) {
-        if ("wall".equals(indoorType)) return Color.argb(200, 80, 80, 80);
-        if ("room".equals(indoorType)) return Color.argb(180, 33, 150, 243);
-        return Color.argb(150, 100, 100, 100);
+        // 【修改】：全部换为更深的黑/深灰色
+        if ("wall".equals(indoorType)) return Color.argb(255, 34, 34, 34);
+        if ("room".equals(indoorType)) return Color.argb(255, 60, 60, 60);
+        return Color.argb(255, 50, 50, 50);
     }
 
     /**
@@ -445,19 +592,37 @@ private LatLng computePolygonCenter(Polygon polygon) {
         return new LatLng(latSum / count, lonSum / count);
     }
 
-    /**
-     * {@inheritDoc}
-     * Sets up button click listeners and view references after the view is created.
-     */
     @Override
     public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
         super.onViewCreated(view, savedInstanceState);
 
         this.button = view.findViewById(R.id.startLocationDone);
         this.instructionText = view.findViewById(R.id.correctionInfoView);
-        this.buildingInfoCard = view.findViewById(R.id.buildingInfoCard);
-        this.buildingNameText = view.findViewById(R.id.buildingNameText);
 
+        // 绑定两个 Find 按钮
+        this.btnFindIndoorMap = view.findViewById(R.id.btnFindIndoorMap);
+        this.btnFindActualMap = view.findViewById(R.id.btnFindActualMap);
+
+        if (this.btnFindIndoorMap != null) {
+            this.btnFindIndoorMap.setOnClickListener(v -> {
+                useActualMap = false;   // 模式设为：矢量地图
+                resetMapOverlays();     // 清理之前的图层
+                requestBuildingData();  // 请求画蓝框
+                Toast.makeText(getContext(), "模式：矢量地图。请点击蓝色建筑", Toast.LENGTH_SHORT).show();
+            });
+        }
+
+        if (this.btnFindActualMap != null) {
+            this.btnFindActualMap.setOnClickListener(v -> {
+                useActualMap = true;    // 模式设为：真实贴图
+                resetMapOverlays();     // 清理之前的图层
+                requestBuildingData();  // 请求画蓝框
+                Toast.makeText(getContext(), "模式：实际地图。请点击蓝色建筑", Toast.LENGTH_SHORT).show();
+            });
+        }
+
+        // 下方保留你原本的 this.button.setOnClickListener (Start/Set Location) 逻辑...
+        // 下方保留你原本的 this.button.setOnClickListener (Start/Set Location) 逻辑
         this.button.setOnClickListener(v -> {
             float chosenLat = startPosition[0];
             float chosenLon = startPosition[1];
@@ -483,4 +648,11 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
             }
         });
     }
+    @Override
+    public void onDestroyView() {
+        super.onDestroyView();
+        retryHandler.removeCallbacksAndMessages(null);
+    }
+
 }
+
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 479ea51b..343c2553 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -1,5 +1,8 @@
 package com.openpositioning.PositionMe.presentation.fragment;
 
+import android.content.Context;
+import android.content.SharedPreferences;
+import android.graphics.BitmapFactory;
 import android.graphics.Color;
 import android.os.Bundle;
 import android.os.Handler;
@@ -14,276 +17,1373 @@
 import android.widget.Button;
 import android.widget.Spinner;
 import android.widget.TextView;
-import com.google.android.material.switchmaterial.SwitchMaterial;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.fragment.app.Fragment;
 
-import com.google.android.gms.maps.OnMapReadyCallback;
+import com.google.android.gms.maps.CameraUpdateFactory;
+import com.google.android.gms.maps.GoogleMap;
+import com.google.android.gms.maps.SupportMapFragment;
+import com.google.android.gms.maps.model.BitmapDescriptorFactory;
+import com.google.android.gms.maps.model.GroundOverlay;
+import com.google.android.gms.maps.model.GroundOverlayOptions;
+import com.google.android.gms.maps.model.LatLng;
+import com.google.android.gms.maps.model.LatLngBounds;
+import com.google.android.gms.maps.model.Marker;
+import com.google.android.gms.maps.model.MarkerOptions;
+import com.google.android.gms.maps.model.Polygon;
+import com.google.android.gms.maps.model.PolygonOptions;
+import com.google.android.gms.maps.model.Polyline;
+import com.google.android.gms.maps.model.PolylineOptions;
+import com.google.android.material.progressindicator.CircularProgressIndicator;
+import com.google.android.material.switchmaterial.SwitchMaterial;
 import com.openpositioning.PositionMe.R;
+import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
+import com.openpositioning.PositionMe.utils.BuildingPolygon;
 import com.openpositioning.PositionMe.utils.IndoorMapManager;
 import com.openpositioning.PositionMe.utils.UtilFunctions;
-import com.google.android.gms.maps.CameraUpdateFactory;
-import com.google.android.gms.maps.GoogleMap;
-import com.google.android.gms.maps.SupportMapFragment;
-import com.google.android.gms.maps.model.*;
 
 import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
+import java.util.Locale;
+import java.util.Map;
 
+public class TrajectoryMapFragment extends Fragment {
 
-/**
- * A fragment responsible for displaying a trajectory map using Google Maps.
- * <p>
- * The TrajectoryMapFragment provides a map interface for visualizing movement trajectories,
- * GNSS tracking, and indoor mapping. It manages map settings, user interactions, and real-time
- * updates to user location and GNSS markers.
- * <p>
- * Key Features:
- * - Displays a Google Map with support for different map types (Hybrid, Normal, Satellite).
- * - Tracks and visualizes user movement using polylines.
- * - Supports GNSS position updates and visual representation.
- * - Includes indoor mapping with floor selection and auto-floor adjustments.
- * - Allows user interaction through map controls and UI elements.
- *
- * @see com.openpositioning.PositionMe.presentation.activity.RecordingActivity The activity hosting this fragment.
- * @see com.openpositioning.PositionMe.utils.IndoorMapManager Utility for managing indoor map overlays.
- * @see com.openpositioning.PositionMe.utils.UtilFunctions Utility functions for UI and graphics handling.
- *
- * @author Mate Stodulka
- */
+    private static final String TAG = "TrajectoryMapFragment";
+    private static final long AUTO_FLOOR_DEBOUNCE_MS = 3000;
+    private static final long AUTO_FLOOR_CHECK_INTERVAL_MS = 1000;
+    private static final String CALIBRATION_PREFS_NAME = "actual_map_calibration";
+    private static final float CALIBRATION_SHIFT_STEP = 0.005f;
+    private static final float CALIBRATION_SCALE_STEP = 0.005f;
+
+    private enum HorizontalAnchor {
+        LEFT,
+        RIGHT,
+        CENTER
+    }
 
-public class TrajectoryMapFragment extends Fragment {
+    private static final class ActualMapAlignmentConfig {
+        final HorizontalAnchor horizontalAnchor;
+        final double northInsetRatio;
+        final double southInsetRatio;
+        final double horizontalInsetRatio;
+        final double widthScale;
+        final double topVisibleInsetRatio;
+        final double bottomVisibleInsetRatio;
+        final double rightVisibleInsetRatio;
+        final double leftVisibleInsetRatio;
+
+        ActualMapAlignmentConfig(HorizontalAnchor horizontalAnchor,
+                                 double northInsetRatio,
+                                 double southInsetRatio,
+                                 double horizontalInsetRatio,
+                                 double widthScale,
+                                 double topVisibleInsetRatio,
+                                 double bottomVisibleInsetRatio,
+                                 double rightVisibleInsetRatio,
+                                 double leftVisibleInsetRatio) {
+            this.horizontalAnchor = horizontalAnchor;
+            this.northInsetRatio = northInsetRatio;
+            this.southInsetRatio = southInsetRatio;
+            this.horizontalInsetRatio = horizontalInsetRatio;
+            this.widthScale = widthScale;
+            this.topVisibleInsetRatio = topVisibleInsetRatio;
+            this.bottomVisibleInsetRatio = bottomVisibleInsetRatio;
+            this.rightVisibleInsetRatio = rightVisibleInsetRatio;
+            this.leftVisibleInsetRatio = leftVisibleInsetRatio;
+        }
+    }
 
-    private GoogleMap gMap; // Google Maps instance
-    private LatLng currentLocation; // Stores the user's current location
-    private Marker orientationMarker; // Marker representing user's heading
-    private Marker gnssMarker; // GNSS position marker
-    // Keep test point markers so they can be cleared when recording ends
-    private final List<Marker> testPointMarkers = new ArrayList<>();
+    private static final class DrawableContentInsets {
+        final double leftFraction;
+        final double topFraction;
+        final double rightFraction;
+        final double bottomFraction;
+
+        DrawableContentInsets(double leftFraction,
+                              double topFraction,
+                              double rightFraction,
+                              double bottomFraction) {
+            this.leftFraction = clamp01(leftFraction);
+            this.topFraction = clamp01(topFraction);
+            this.rightFraction = clamp01(rightFraction);
+            this.bottomFraction = clamp01(bottomFraction);
+        }
 
-    private Polyline polyline; // Polyline representing user's movement path
-    private boolean isRed = true; // Tracks whether the polyline color is red
-    private boolean isGnssOn = false; // Tracks if GNSS tracking is enabled
+        double contentWidthFraction() {
+            return Math.max(0.01d, 1d - leftFraction - rightFraction);
+        }
 
-    private Polyline gnssPolyline; // Polyline for GNSS path
-    private LatLng lastGnssLocation = null; // Stores the last GNSS location
+        double contentHeightFraction() {
+            return Math.max(0.01d, 1d - topFraction - bottomFraction);
+        }
+    }
+
+    private static final class OverlayCalibration {
+        final float shiftLatRatio;
+        final float shiftLngRatio;
+        final float widthScale;
+        final float heightScale;
+
+        OverlayCalibration(float shiftLatRatio, float shiftLngRatio, float widthScale, float heightScale) {
+            this.shiftLatRatio = shiftLatRatio;
+            this.shiftLngRatio = shiftLngRatio;
+            this.widthScale = widthScale;
+            this.heightScale = heightScale;
+        }
 
-    private LatLng pendingCameraPosition = null; // Stores pending camera movement
-    private boolean hasPendingCameraMove = false; // Tracks if camera needs to move
+        static OverlayCalibration identity() {
+            return new OverlayCalibration(0f, 0f, 1f, 1f);
+        }
+    }
 
-    private IndoorMapManager indoorMapManager; // Manages indoor mapping
+    private Button btnFindIndoorMap;
+    private Button btnFindActualMap;
+    private TextView selectedVenueText;
+    private TextView calibrationTargetText;
+    private TextView calibrationValueText;
+    private CircularProgressIndicator indoorLoadingIndicator;
+
+    private View calibrationPanel;
+    private Button btnToggleAdjustMap;
+    private Button btnCalibrationTarget;
+    private Button btnCalibrateUp;
+    private Button btnCalibrateDown;
+    private Button btnCalibrateLeft;
+    private Button btnCalibrateRight;
+    private Button btnWidthMinus;
+    private Button btnWidthPlus;
+    private Button btnHeightMinus;
+    private Button btnHeightPlus;
+    private Button btnSaveCalibration;
+    private Button btnResetCalibration;
+
+    private String calibrationTargetBuildingKey = "";
+
+    private boolean indoorMapVisible = false;
+    private boolean actualMapVisible = false;
+    private boolean hasFetchedNearbyBuildings = false;
+    private boolean hasAttemptedInitialBuildingFetch = false;
+    private boolean isIndoorRequestInFlight = false;
+    private int currentFloorIndex = 0;
+
+    private final List<GroundOverlay> realMapOverlays = new ArrayList<>();
+
+    private GoogleMap gMap;
+    private LatLng currentLocation;
+    private Marker orientationMarker;
+    private Marker gnssMarker;
+    private final List<Marker> testPointMarkers = new ArrayList<>();
+    private Polyline polyline;
+    private boolean isRed = true;
+    private boolean isGnssOn = false;
+    private Polyline gnssPolyline;
+    private LatLng lastGnssLocation = null;
+    private LatLng pendingCameraPosition = null;
+    private boolean hasPendingCameraMove = false;
+
+    private IndoorMapManager indoorMapManager;
     private SensorFusion sensorFusion;
+    private final List<Polygon> floorplanPolygons = new ArrayList<>();
+    private final Map<Polygon, FloorplanApiClient.BuildingInfo> polygonToBuilding = new HashMap<>();
+    private final List<FloorplanApiClient.BuildingInfo> lastFetchedBuildings = new ArrayList<>();
+    private FloorplanApiClient.BuildingInfo selectedFloorplanBuilding;
+    private Polygon selectedFloorplanPolygon;
+    private final FloorplanApiClient floorplanApiClient = new FloorplanApiClient();
 
-    // Auto-floor state
-    private static final String TAG = "TrajectoryMapFragment";
-    private static final long AUTO_FLOOR_DEBOUNCE_MS = 3000;
-    private static final long AUTO_FLOOR_CHECK_INTERVAL_MS = 1000;
     private Handler autoFloorHandler;
     private Runnable autoFloorTask;
     private int lastCandidateFloor = Integer.MIN_VALUE;
     private long lastCandidateTime = 0;
 
-    // UI
     private Spinner switchMapSpinner;
-
     private SwitchMaterial gnssSwitch;
     private SwitchMaterial autoFloorSwitch;
-
     private com.google.android.material.floatingactionbutton.FloatingActionButton floorUpButton, floorDownButton;
     private TextView floorLabel;
     private Button switchColorButton;
-    private Polygon buildingPolygon;
 
+    public TrajectoryMapFragment() {
+    }
+
+    @Nullable
+    @Override
+    public View onCreateView(@NonNull LayoutInflater inflater, @Nullable ViewGroup container, @Nullable Bundle savedInstanceState) {
+        return inflater.inflate(R.layout.fragment_trajectory_map, container, false);
+    }
+
+    @Override
+    public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
+        super.onViewCreated(view, savedInstanceState);
+
+        switchMapSpinner = view.findViewById(R.id.mapSwitchSpinner);
+        gnssSwitch = view.findViewById(R.id.gnssSwitch);
+        autoFloorSwitch = view.findViewById(R.id.autoFloor);
+        floorUpButton = view.findViewById(R.id.floorUpButton);
+        floorDownButton = view.findViewById(R.id.floorDownButton);
+        floorLabel = view.findViewById(R.id.floorLabel);
+        switchColorButton = view.findViewById(R.id.lineColorButton);
+
+        btnFindIndoorMap = view.findViewById(R.id.btnFindIndoorMap);
+        btnFindActualMap = view.findViewById(R.id.btnFindActualMap);
+        btnToggleAdjustMap = view.findViewById(R.id.btnToggleAdjustMap);
+        btnCalibrationTarget = view.findViewById(R.id.btnCalibrationTarget);
+        btnCalibrateUp = view.findViewById(R.id.btnCalibrateUp);
+        btnCalibrateDown = view.findViewById(R.id.btnCalibrateDown);
+        btnCalibrateLeft = view.findViewById(R.id.btnCalibrateLeft);
+        btnCalibrateRight = view.findViewById(R.id.btnCalibrateRight);
+        btnWidthMinus = view.findViewById(R.id.btnWidthMinus);
+        btnWidthPlus = view.findViewById(R.id.btnWidthPlus);
+        btnHeightMinus = view.findViewById(R.id.btnHeightMinus);
+        btnHeightPlus = view.findViewById(R.id.btnHeightPlus);
+        btnSaveCalibration = view.findViewById(R.id.btnSaveCalibration);
+        btnResetCalibration = view.findViewById(R.id.btnResetCalibration);
+        calibrationPanel = view.findViewById(R.id.calibrationPanel);
+        selectedVenueText = view.findViewById(R.id.selectedVenueText);
+        calibrationTargetText = view.findViewById(R.id.calibrationTargetText);
+        calibrationValueText = view.findViewById(R.id.calibrationValueText);
+        indoorLoadingIndicator = view.findViewById(R.id.indoorLoadingIndicator);
+
+        if (indoorLoadingIndicator != null) {
+            indoorLoadingIndicator.setVisibility(View.GONE);
+        }
+        if (selectedVenueText != null) {
+            selectedVenueText.setText("Tap a blue building outline to select a building");
+        }
+        if (calibrationPanel != null) {
+            calibrationPanel.setVisibility(View.GONE);
+        }
+        if (btnToggleAdjustMap != null) {
+            btnToggleAdjustMap.setVisibility(View.GONE);
+        }
+        setFloorControlsVisibility(View.GONE);
+
+        SupportMapFragment mapFragment = (SupportMapFragment) getChildFragmentManager().findFragmentById(R.id.trajectoryMap);
+        if (mapFragment != null) {
+            mapFragment.getMapAsync(googleMap -> {
+                gMap = googleMap;
+                initMapSettings(gMap);
+                if (hasPendingCameraMove && pendingCameraPosition != null) {
+                    gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(pendingCameraPosition, 19f));
+                    hasPendingCameraMove = false;
+                    pendingCameraPosition = null;
+                }
+                restoreCachedBuildingsIfAny();
+                maybeFetchNearbyBuildingsOnFirstLocation();
+            });
+        }
+
+        initMapTypeSpinner();
+
+        gnssSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> {
+            isGnssOn = isChecked;
+            if (!isChecked && gnssMarker != null) {
+                gnssMarker.remove();
+                gnssMarker = null;
+            }
+        });
+
+        switchColorButton.setOnClickListener(v -> {
+            if (polyline != null) {
+                if (isRed) {
+                    switchColorButton.setBackgroundColor(Color.BLACK);
+                    polyline.setColor(Color.BLACK);
+                    isRed = false;
+                } else {
+                    switchColorButton.setBackgroundColor(Color.RED);
+                    polyline.setColor(Color.RED);
+                    isRed = true;
+                }
+            }
+        });
+
+        setupCalibrationControls();
+
+        sensorFusion = SensorFusion.getInstance();
+        autoFloorSwitch.setOnCheckedChangeListener((compoundButton, isChecked) -> {
+            if (isChecked) {
+                startAutoFloor();
+            } else {
+                stopAutoFloor();
+            }
+        });
+
+        floorUpButton.setOnClickListener(v -> {
+            autoFloorSwitch.setChecked(false);
+            if (selectedFloorplanBuilding != null) {
+                int nextFloorIndex = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, true);
+                if (nextFloorIndex != currentFloorIndex) {
+                    setFloor(nextFloorIndex);
+                }
+            }
+        });
+
+        floorDownButton.setOnClickListener(v -> {
+            autoFloorSwitch.setChecked(false);
+            if (selectedFloorplanBuilding != null) {
+                int nextFloorIndex = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, false);
+                if (nextFloorIndex != currentFloorIndex) {
+                    setFloor(nextFloorIndex);
+                }
+            }
+        });
+
+        if (btnFindIndoorMap != null) {
+            btnFindIndoorMap.setOnClickListener(v -> {
+                if (selectedFloorplanBuilding == null) {
+                    if (lastFetchedBuildings.isEmpty()) {
+                        requestNearbyIndoorMaps(true);
+                    } else if (selectedVenueText != null) {
+                        selectedVenueText.setText("Tap a blue building outline to select a building first");
+                    }
+                    return;
+                }
+
+                actualMapVisible = false;
+                indoorMapVisible = true;
+                if (indoorMapManager != null) {
+                    indoorMapManager.setSelectedBuilding(selectedFloorplanBuilding);
+                }
+                setFloor(currentFloorIndex);
+
+                if (selectedVenueText != null) {
+                    selectedVenueText.setText("Showing indoor map for " + prettyBuildingName(selectedFloorplanBuilding.getName()));
+                }
+                updateCalibrationUi();
+            });
+        }
+
+        if (btnFindActualMap != null) {
+            btnFindActualMap.setOnClickListener(v -> {
+                if (selectedFloorplanBuilding == null) {
+                    if (lastFetchedBuildings.isEmpty()) {
+                        requestNearbyIndoorMaps(true);
+                    } else if (selectedVenueText != null) {
+                        selectedVenueText.setText("Tap a blue building outline to select a building first");
+                    }
+                    return;
+                }
+
+                indoorMapVisible = true;
+                actualMapVisible = !actualMapVisible;
+                if (indoorMapManager != null) {
+                    indoorMapManager.setSelectedBuilding(selectedFloorplanBuilding);
+                }
+                setFloor(currentFloorIndex);
+
+                if (selectedVenueText != null) {
+                    if (actualMapVisible) {
+                        selectedVenueText.setText("Displaying actual map for " + prettyBuildingName(selectedFloorplanBuilding.getName()));
+                    } else {
+                        selectedVenueText.setText("Actual map hidden for " + prettyBuildingName(selectedFloorplanBuilding.getName()));
+                    }
+                }
+                updateCalibrationUi();
+            });
+        }
+    }
+
+    private void maybeFetchNearbyBuildingsOnFirstLocation() {
+        if (gMap == null || currentLocation == null || hasAttemptedInitialBuildingFetch || isIndoorRequestInFlight || hasFetchedNearbyBuildings) {
+            return;
+        }
+        hasAttemptedInitialBuildingFetch = true;
+        requestNearbyIndoorMaps(false);
+    }
+
+    private void setFloor(int newFloorIndex) {
+        if (selectedFloorplanBuilding == null || indoorMapManager == null) {
+            return;
+        }
+
+        int maxFloor = selectedFloorplanBuilding.getFloorShapesList().size() - 1;
+        currentFloorIndex = Math.max(0, Math.min(newFloorIndex, maxFloor));
+        refreshSelectedPolygonAppearance();
+
+        if (!indoorMapVisible) {
+            indoorMapManager.clearIndoorMap();
+            updateFloorLabel();
+            return;
+        }
+
+        resetMapOverlays();
+        indoorMapManager.setVectorBaseplateEnabled(!actualMapVisible);
+        if (actualMapVisible) {
+            updateRealMapOverlay(selectedFloorplanBuilding.getName(), currentFloorIndex, true);
+        }
+
+        indoorMapManager.setCurrentFloor(currentFloorIndex, false);
+        setFloorControlsVisibility(View.VISIBLE);
+        updateFloorLabel();
+        updateCalibrationUi();
+    }
+
+
+
+
+    private void updateRealMapOverlay(String buildingName, int floorIndex, boolean show) {
+        if (!show || gMap == null || selectedFloorplanBuilding == null) {
+            return;
+        }
+
+        String selectedBuildingKey = resolveKnownBuildingKey(selectedFloorplanBuilding, buildingName);
+        String selectedFloorDisplayName = normalizeFloorLabel(getFloorDisplayName(selectedFloorplanBuilding, floorIndex));
+        addActualMapOverlayForBuilding(selectedFloorplanBuilding, selectedBuildingKey, selectedFloorDisplayName, floorIndex);
+
+        if (shouldShowLinkedLibraryAndNucleus(selectedBuildingKey)) {
+            String linkedBuildingKey = "library".equals(selectedBuildingKey) ? "nucleus_building" : "library";
+            FloorplanApiClient.BuildingInfo linkedBuilding = findBuildingByKnownKey(linkedBuildingKey);
+            int linkedFloorIndex = linkedBuilding != null
+                    ? findMatchingFloorIndex(linkedBuilding, selectedFloorDisplayName, floorIndex)
+                    : resolveFallbackFloorIndexForKey(linkedBuildingKey, selectedFloorDisplayName, floorIndex);
+            addActualMapOverlayForBuilding(linkedBuilding, linkedBuildingKey, selectedFloorDisplayName, linkedFloorIndex);
+        }
+    }
+
+    private void addActualMapOverlayForBuilding(FloorplanApiClient.BuildingInfo building,
+                                                String buildingKey,
+                                                String requestedFloorDisplayName,
+                                                int requestedFloorIndex) {
+        if (gMap == null) {
+            return;
+        }
+
+        String normalizedBuildingKey = normalizeBuildingKey(buildingKey);
+        String requestedCanonicalFloor = canonicalFloorLabel(requestedFloorDisplayName);
+        if ("library".equals(normalizedBuildingKey) && "LG".equals(requestedCanonicalFloor)) {
+            return;
+        }
+
+        int resolvedFloorIndex = building != null
+                ? findMatchingFloorIndex(building, requestedFloorDisplayName, requestedFloorIndex)
+                : resolveFallbackFloorIndexForKey(normalizedBuildingKey, requestedFloorDisplayName, requestedFloorIndex);
+        String resolvedFloorDisplayName = building != null
+                ? normalizeFloorLabel(getFloorDisplayName(building, resolvedFloorIndex))
+                : normalizeFloorLabel(requestedFloorDisplayName);
+        String drawableFloorDisplayName = "library".equals(normalizedBuildingKey)
+                ? requestedCanonicalFloor
+                : resolvedFloorDisplayName;
+        int drawableResId = resolveActualMapDrawable(normalizedBuildingKey, drawableFloorDisplayName, resolvedFloorIndex);
+        LatLngBounds bounds = computeActualMapBounds(building, normalizedBuildingKey, drawableResId, drawableFloorDisplayName);
+
+        if (drawableResId != 0 && bounds != null) {
+            GroundOverlay overlay = gMap.addGroundOverlay(new GroundOverlayOptions()
+                    .image(BitmapDescriptorFactory.fromResource(drawableResId))
+                    .positionFromBounds(bounds)
+                    .zIndex(5f));
+            if (overlay != null) {
+                realMapOverlays.add(overlay);
+            }
+        }
+    }
+
+    private int resolveFallbackFloorIndexForKey(String buildingKey, String requestedFloorDisplayName, int requestedFloorIndex) {
+        String normalizedKey = normalizeBuildingKey(buildingKey);
+        String canonicalFloor = canonicalFloorLabel(requestedFloorDisplayName);
+
+        if ("nucleus_building".equals(normalizedKey)) {
+            switch (canonicalFloor) {
+                case "LG":
+                    return 0;
+                case "G":
+                    return 1;
+                case "1":
+                    return 2;
+                case "2":
+                    return 3;
+                case "3":
+                    return 4;
+                default:
+                    return Math.max(0, Math.min(requestedFloorIndex, 4));
+            }
+        }
+
+        if ("library".equals(normalizedKey)) {
+            switch (canonicalFloor) {
+                case "G":
+                    return 0;
+                case "1":
+                    return 1;
+                case "2":
+                    return 2;
+                case "3":
+                    return 3;
+                default:
+                    return Math.max(0, Math.min(requestedFloorIndex, 3));
+            }
+        }
+
+        return Math.max(0, requestedFloorIndex);
+    }
+
+    private boolean shouldShowLinkedLibraryAndNucleus(String buildingKey) {
+        return "library".equals(buildingKey) || "nucleus_building".equals(buildingKey);
+    }
+
+    private FloorplanApiClient.BuildingInfo findBuildingByKnownKey(String knownKey) {
+        if (knownKey == null || knownKey.isEmpty()) {
+            return null;
+        }
+
+        if (selectedFloorplanBuilding != null) {
+            String selectedKey = resolveKnownBuildingKey(selectedFloorplanBuilding, selectedFloorplanBuilding.getName());
+            if (knownKey.equals(selectedKey)) {
+                return selectedFloorplanBuilding;
+            }
+        }
+
+        for (FloorplanApiClient.BuildingInfo building : lastFetchedBuildings) {
+            String candidateKey = resolveKnownBuildingKey(building, building != null ? building.getName() : null);
+            if (knownKey.equals(candidateKey)) {
+                return building;
+            }
+        }
+
+        List<FloorplanApiClient.BuildingInfo> cachedBuildings = SensorFusion.getInstance().getFloorplanBuildings();
+        if (cachedBuildings != null) {
+            for (FloorplanApiClient.BuildingInfo building : cachedBuildings) {
+                String candidateKey = resolveKnownBuildingKey(building, building != null ? building.getName() : null);
+                if (knownKey.equals(candidateKey)) {
+                    return building;
+                }
+            }
+        }
+
+        return null;
+    }
+
+    private int findMatchingFloorIndex(FloorplanApiClient.BuildingInfo building,
+                                       String requestedFloorDisplayName,
+                                       int fallbackFloorIndex) {
+        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
+            return 0;
+        }
+
+        String normalizedRequestedFloor = normalizeFloorLabel(requestedFloorDisplayName);
+        if (!normalizedRequestedFloor.isEmpty()) {
+            for (int i = 0; i < building.getFloorShapesList().size(); i++) {
+                String candidateLabel = normalizeFloorLabel(building.getFloorShapesList().get(i).getDisplayName());
+                if (areEquivalentFloorLabels(normalizedRequestedFloor, candidateLabel)) {
+                    return i;
+                }
+            }
+        }
+
+        return Math.max(0, Math.min(fallbackFloorIndex, building.getFloorShapesList().size() - 1));
+    }
+
+    private boolean areEquivalentFloorLabels(String requestedFloorLabel, String candidateFloorLabel) {
+        if (requestedFloorLabel == null || candidateFloorLabel == null) {
+            return false;
+        }
+        if (requestedFloorLabel.equals(candidateFloorLabel)) {
+            return true;
+        }
+
+        String requested = canonicalFloorLabel(requestedFloorLabel);
+        String candidate = canonicalFloorLabel(candidateFloorLabel);
+        return !requested.isEmpty() && requested.equals(candidate);
+    }
+
+    private String canonicalFloorLabel(String floorLabel) {
+        String normalized = normalizeFloorLabel(floorLabel);
+        switch (normalized) {
+            case "LG":
+            case "LOWERGROUND":
+            case "LOWERG":
+            case "B1":
+            case "BASEMENT1":
+                return "LG";
+            case "G":
+            case "GF":
+            case "GROUND":
+            case "GROUNDFLOOR":
+            case "0":
+                return "G";
+            case "1":
+            case "F1":
+            case "FIRST":
+            case "FIRSTFLOOR":
+                return "1";
+            case "2":
+            case "F2":
+            case "SECOND":
+            case "SECONDFLOOR":
+                return "2";
+            case "3":
+            case "F3":
+            case "THIRD":
+            case "THIRDFLOOR":
+                return "3";
+            default:
+                return normalized;
+        }
+    }
+
+    private int resolveActualMapDrawable(String buildingName, String floorDisplayName, int floorIndex) {
+        buildingName = normalizeBuildingKey(buildingName);
+        String canonicalFloor = canonicalFloorLabel(floorDisplayName);
+        if ("nucleus_building".equals(buildingName)) {
+            if ("LG".equals(canonicalFloor)) {
+                return R.drawable.nucleuslg;
+            }
+            if ("G".equals(canonicalFloor)) {
+                return R.drawable.nucleusg;
+            }
+            if ("1".equals(canonicalFloor)) {
+                return R.drawable.nucleus1;
+            }
+            if ("2".equals(canonicalFloor)) {
+                return R.drawable.nucleus2;
+            }
+            if ("3".equals(canonicalFloor)) {
+                return R.drawable.nucleus3;
+            }
+
+            switch (floorIndex) {
+                case 0:
+                    return R.drawable.nucleuslg;
+                case 1:
+                    return R.drawable.nucleusg;
+                case 2:
+                    return R.drawable.nucleus1;
+                case 3:
+                    return R.drawable.nucleus2;
+                case 4:
+                    return R.drawable.nucleus3;
+                default:
+                    return R.drawable.nucleusg;
+            }
+        }
+
+        if ("library".equals(buildingName)) {
+            if ("LG".equals(canonicalFloor)) {
+                return 0;
+            }
+            if ("G".equals(canonicalFloor)) {
+                return R.drawable.libraryg;
+            }
+            if ("1".equals(canonicalFloor)) {
+                return R.drawable.library1;
+            }
+            if ("2".equals(canonicalFloor)) {
+                return R.drawable.library2;
+            }
+            if ("3".equals(canonicalFloor)) {
+                return R.drawable.library3;
+            }
+
+            switch (floorIndex) {
+                case 0:
+                    return 0;
+                case 1:
+                    return R.drawable.libraryg;
+                case 2:
+                    return R.drawable.library1;
+                case 3:
+                    return R.drawable.library2;
+                case 4:
+                    return R.drawable.library3;
+                default:
+                    return R.drawable.libraryg;
+            }
+        }
+
+        return 0;
+    }
+
+    private LatLngBounds computeActualMapBounds(FloorplanApiClient.BuildingInfo building, String buildingName, int drawableResId, String floorDisplayName) {
+        buildingName = normalizeBuildingKey(buildingName);
+        ActualMapAlignmentConfig config = getActualMapAlignmentConfig(buildingName);
+
+        LatLngBounds bounds = null;
+        if ("library".equals(buildingName)) {
+            bounds = computeFixedActualMapBounds(buildingName, drawableResId);
+        } else if (building != null) {
+            bounds = computeThreeEdgeAlignedBounds(building, drawableResId, config);
+        } else {
+            bounds = computeFixedActualMapBounds(buildingName, drawableResId);
+        }
+
+        if (bounds == null) {
+            bounds = getFallbackBuildingBounds(buildingName);
+        }
+        if (bounds != null) {
+            bounds = applySavedCalibration(bounds, buildingName, floorDisplayName);
+        }
+        return bounds;
+    }
+
+    private LatLngBounds computeFixedActualMapBounds(String buildingName, int drawableResId) {
+        buildingName = normalizeBuildingKey(buildingName);
+        if ("library".equals(buildingName)) {
+            double widthScale = getLibraryFixedWidthScale(drawableResId);
+            return buildRightAnchoredRectBounds(
+                    BuildingPolygon.LIBRARY_SW,
+                    BuildingPolygon.LIBRARY_NE,
+                    widthScale,
+                    1.0,
+                    0.008,
+                    0.0);
+        }
+        return null;
+    }
+
+    private double getLibraryFixedWidthScale(int drawableResId) {
+        return 1.000;
+    }
+
+    private LatLngBounds buildRightAnchoredRectBounds(LatLng southWest,
+                                                      LatLng northEast,
+                                                      double widthScale,
+                                                      double heightScale,
+                                                      double eastShiftRatio,
+                                                      double northShiftRatio) {
+        if (southWest == null || northEast == null) {
+            return null;
+        }
+
+        double rectWidth = northEast.longitude - southWest.longitude;
+        double rectHeight = northEast.latitude - southWest.latitude;
+        if (rectWidth <= 0d || rectHeight <= 0d) {
+            return null;
+        }
+
+        double overlayWidth = rectWidth * widthScale;
+        double overlayHeight = rectHeight * heightScale;
+        double east = northEast.longitude + rectWidth * eastShiftRatio;
+        double west = east - overlayWidth;
+        double north = northEast.latitude + rectHeight * northShiftRatio;
+        double south = north - overlayHeight;
+        return new LatLngBounds(new LatLng(south, west), new LatLng(north, east));
+    }
+
+    private LatLngBounds computeThreeEdgeAlignedBounds(FloorplanApiClient.BuildingInfo building,
+                                                       int drawableResId,
+                                                       ActualMapAlignmentConfig config) {
+        if (building == null || config == null) {
+            return null;
+        }
+
+        List<LatLng> outline = building.getOutlinePolygon();
+        if (outline == null || outline.size() < 3) {
+            return null;
+        }
+
+        double minLat = Double.POSITIVE_INFINITY;
+        double maxLat = Double.NEGATIVE_INFINITY;
+        double minLng = Double.POSITIVE_INFINITY;
+        double maxLng = Double.NEGATIVE_INFINITY;
+        for (LatLng point : outline) {
+            if (point == null) {
+                continue;
+            }
+            minLat = Math.min(minLat, point.latitude);
+            maxLat = Math.max(maxLat, point.latitude);
+            minLng = Math.min(minLng, point.longitude);
+            maxLng = Math.max(maxLng, point.longitude);
+        }
+
+        if (!Double.isFinite(minLat) || !Double.isFinite(maxLat)
+                || !Double.isFinite(minLng) || !Double.isFinite(maxLng)
+                || maxLat <= minLat || maxLng <= minLng) {
+            return null;
+        }
+
+        double latSpan = maxLat - minLat;
+        double lngSpan = maxLng - minLng;
+        double visibleNorth = maxLat - latSpan * config.northInsetRatio;
+        double visibleSouth = minLat + latSpan * config.southInsetRatio;
+        if (visibleSouth >= visibleNorth) {
+            return null;
+        }
+
+        double fullAspectRatio = getDrawableAspectRatio(drawableResId);
+        if (fullAspectRatio <= 0d) {
+            return null;
+        }
+
+        DrawableContentInsets contentInsets = getDrawableContentInsets(drawableResId, config);
+        double visibleContentHeightFraction = contentInsets.contentHeightFraction();
+        double visibleContentWidthFraction = contentInsets.contentWidthFraction();
+        if (visibleContentHeightFraction <= 0d || visibleContentWidthFraction <= 0d) {
+            return null;
+        }
+
+        double visibleHeightDeg = visibleNorth - visibleSouth;
+        double totalHeightDeg = visibleHeightDeg / visibleContentHeightFraction;
+        double overlayNorth = visibleNorth + totalHeightDeg * contentInsets.topFraction;
+        double overlaySouth = overlayNorth - totalHeightDeg;
+
+        double midLatitudeRadians = Math.toRadians((visibleNorth + visibleSouth) / 2.0);
+        double metersPerDegreeLng = Math.max(111320.0 * Math.cos(midLatitudeRadians), 1.0);
+        double totalHeightMeters = totalHeightDeg * 111320.0;
+        double totalWidthMeters = (totalHeightMeters / fullAspectRatio) * config.widthScale;
+        double totalWidthLng = totalWidthMeters / metersPerDegreeLng;
+        double visibleContentWidthLng = totalWidthLng * visibleContentWidthFraction;
+
+        double visibleEast;
+        double visibleWest;
+        switch (config.horizontalAnchor) {
+            case RIGHT:
+                visibleEast = maxLng - lngSpan * config.horizontalInsetRatio;
+                visibleWest = visibleEast - visibleContentWidthLng;
+                break;
+            case LEFT:
+                visibleWest = minLng + lngSpan * config.horizontalInsetRatio;
+                visibleEast = visibleWest + visibleContentWidthLng;
+                break;
+            case CENTER:
+            default:
+                double centerLng = ((minLng + maxLng) / 2.0) + (lngSpan * (config.leftVisibleInsetRatio - config.rightVisibleInsetRatio) * 0.5);
+                visibleWest = centerLng - visibleContentWidthLng / 2.0;
+                visibleEast = centerLng + visibleContentWidthLng / 2.0;
+                break;
+        }
+
+        double overlayWest = visibleWest - totalWidthLng * contentInsets.leftFraction;
+        double overlayEast = overlayWest + totalWidthLng;
+        return new LatLngBounds(new LatLng(overlaySouth, overlayWest), new LatLng(overlayNorth, overlayEast));
+    }
+
+    private DrawableContentInsets getDrawableContentInsets(int drawableResId, ActualMapAlignmentConfig config) {
+        BitmapFactory.Options bounds = new BitmapFactory.Options();
+        bounds.inJustDecodeBounds = true;
+        BitmapFactory.decodeResource(getResources(), drawableResId, bounds);
+        int width = bounds.outWidth;
+        int height = bounds.outHeight;
+        if (width <= 0 || height <= 0) {
+            return new DrawableContentInsets(config.leftVisibleInsetRatio, config.topVisibleInsetRatio,
+                    config.rightVisibleInsetRatio, config.bottomVisibleInsetRatio);
+        }
+        return new DrawableContentInsets(config.leftVisibleInsetRatio, config.topVisibleInsetRatio,
+                config.rightVisibleInsetRatio, config.bottomVisibleInsetRatio);
+    }
+
+    private static double clamp01(double value) {
+        return Math.max(0d, Math.min(1d, value));
+    }
+
+    private double getDrawableAspectRatio(int drawableResId) {
+        try {
+            BitmapFactory.Options options = new BitmapFactory.Options();
+            options.inJustDecodeBounds = true;
+            BitmapFactory.decodeResource(getResources(), drawableResId, options);
+            if (options.outWidth > 0 && options.outHeight > 0) {
+                return (double) options.outHeight / (double) options.outWidth;
+            }
+        } catch (Exception ignored) {
+        }
+        return 1d;
+    }
+
+    private LatLngBounds getFallbackBuildingBounds(String buildingName) {
+        buildingName = normalizeBuildingKey(buildingName);
+        if ("nucleus_building".equals(buildingName)) {
+            return new LatLngBounds(BuildingPolygon.NUCLEUS_SW, BuildingPolygon.NUCLEUS_NE);
+        }
+        if ("library".equals(buildingName)) {
+            return new LatLngBounds(BuildingPolygon.LIBRARY_SW, BuildingPolygon.LIBRARY_NE);
+        }
+        if ("murchison_house".equals(buildingName)) {
+            return new LatLngBounds(BuildingPolygon.MURCHISON_SW, BuildingPolygon.MURCHISON_NE);
+        }
+        return null;
+    }
+
+    private ActualMapAlignmentConfig getActualMapAlignmentConfig(String buildingName) {
+        buildingName = normalizeBuildingKey(buildingName);
+        if ("nucleus_building".equals(buildingName)) {
+            return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT,
+                    0.0, 0.0, 0.0,
+                    0.99,
+                    0.0, 0.0, 0.0, 0.0);
+        }
+        if ("library".equals(buildingName)) {
+            return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT,
+                    0.0, 0.0, 0.0,
+                    0.985,
+                    0.0, 0.0, 0.0, 0.0);
+        }
+        if ("murchison_house".equals(buildingName)) {
+            return new ActualMapAlignmentConfig(HorizontalAnchor.CENTER,
+                    0.0, 0.0, 0.0,
+                    1.0,
+                    0.0, 0.0, 0.0, 0.0);
+        }
+        return new ActualMapAlignmentConfig(HorizontalAnchor.CENTER,
+                0.0, 0.0, 0.0,
+                1.0,
+                0.0, 0.0, 0.0, 0.0);
+    }
+
+    private String normalizeFloorLabel(String floorDisplayName) {
+        if (floorDisplayName == null) {
+            return "";
+        }
+        return floorDisplayName.trim().toUpperCase().replace(" ", "");
+    }
+
+    private String normalizeBuildingKey(String buildingName) {
+        if (buildingName == null) {
+            return "";
+        }
+        String key = buildingName.trim().toLowerCase();
+        if (key.contains("nucleus") || key.contains("nuclear")) {
+            return "nucleus_building";
+        }
+        if (key.contains("library") || key.contains("kenneth") || key.contains("murray")) {
+            return "library";
+        }
+        if (key.contains("murchison")) {
+            return "murchison_house";
+        }
+        return key;
+    }
+
+    private String resolveKnownBuildingKey(FloorplanApiClient.BuildingInfo building, String buildingName) {
+        String normalized = normalizeBuildingKey(buildingName);
+        if ("nucleus_building".equals(normalized) || "library".equals(normalized) || "murchison_house".equals(normalized)) {
+            return normalized;
+        }
+
+        LatLng center = building != null ? building.getCenter() : null;
+        if (center != null) {
+            if (BuildingPolygon.inLibrary(center)) {
+                return "library";
+            }
+            if (BuildingPolygon.inNucleus(center)) {
+                return "nucleus_building";
+            }
+            if (BuildingPolygon.inMurchison(center)) {
+                return "murchison_house";
+            }
+        }
+
+        List<LatLng> outline = building != null ? building.getOutlinePolygon() : null;
+        if (outline != null && !outline.isEmpty()) {
+            LatLng centroid = computeOutlineCentroid(outline);
+            if (centroid != null) {
+                if (BuildingPolygon.inLibrary(centroid)) {
+                    return "library";
+                }
+                if (BuildingPolygon.inNucleus(centroid)) {
+                    return "nucleus_building";
+                }
+                if (BuildingPolygon.inMurchison(centroid)) {
+                    return "murchison_house";
+                }
+            }
+        }
+
+        return normalized;
+    }
+
+    private LatLng computeOutlineCentroid(List<LatLng> outline) {
+        if (outline == null || outline.isEmpty()) {
+            return null;
+        }
+
+        double latSum = 0d;
+        double lngSum = 0d;
+        int count = 0;
+        for (LatLng point : outline) {
+            if (point == null) {
+                continue;
+            }
+            latSum += point.latitude;
+            lngSum += point.longitude;
+            count++;
+        }
+        if (count == 0) {
+            return null;
+        }
+        return new LatLng(latSum / count, lngSum / count);
+    }
+
+    private void onFloorplanBuildingSelected(FloorplanApiClient.BuildingInfo building, Polygon polygon) {
+        if (selectedFloorplanPolygon != null) {
+            selectedFloorplanPolygon.setFillColor(Color.argb(50, 33, 150, 243));
+            selectedFloorplanPolygon.setStrokeColor(Color.argb(220, 33, 150, 243));
+            selectedFloorplanPolygon.setZIndex(1f);
+        }
+
+        selectedFloorplanPolygon = polygon;
+        selectedFloorplanBuilding = building;
+        indoorMapVisible = false;
+        actualMapVisible = false;
+        currentFloorIndex = getDefaultFloorIndex(building);
+
+        if (polygon != null) {
+            polygon.setZIndex(1f);
+        }
+        refreshSelectedPolygonAppearance();
+
+        SensorFusion.getInstance().setSelectedBuildingId(building.getName());
+
+        resetMapOverlays();
+        if (indoorMapManager != null) {
+            indoorMapManager.clearIndoorMap();
+        }
+        setFloorControlsVisibility(View.GONE);
+
+        if (selectedVenueText != null) {
+            selectedVenueText.setText("Selected: " + prettyBuildingName(building.getName()) + ". Tap Find Indoor Maps.");
+        }
+        calibrationTargetBuildingKey = resolveKnownBuildingKey(building, building.getName());
+        updateCalibrationUi();
+
+        LatLng center = building.getCenter();
+        if (center != null && !(center.latitude == 0 && center.longitude == 0)) {
+            gMap.animateCamera(CameraUpdateFactory.newLatLngZoom(center, 20f));
+        }
+    }
+
+    private int getDefaultFloorIndex(FloorplanApiClient.BuildingInfo building) {
+        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
+            return 0;
+        }
+
+        for (int i = 0; i < building.getFloorShapesList().size(); i++) {
+            String displayName = building.getFloorShapesList().get(i).getDisplayName();
+            if ("G".equals(canonicalFloorLabel(displayName))) {
+                return i;
+            }
+        }
+
+        List<Integer> orderedFloorIndices = getOrderedFloorIndices(building);
+        return orderedFloorIndices.isEmpty() ? 0 : orderedFloorIndices.get(0);
+    }
+
+    private String getFloorDisplayName(FloorplanApiClient.BuildingInfo building, int floorIndex) {
+        if (building == null || building.getFloorShapesList() == null
+                || floorIndex < 0 || floorIndex >= building.getFloorShapesList().size()) {
+            return "";
+        }
+        String displayName = building.getFloorShapesList().get(floorIndex).getDisplayName();
+        return displayName == null ? "" : displayName.trim().toUpperCase();
+    }
+
+    private int getAdjacentFloorIndex(FloorplanApiClient.BuildingInfo building, int currentIndex, boolean moveUp) {
+        List<Integer> orderedFloorIndices = getOrderedFloorIndices(building);
+        if (orderedFloorIndices.isEmpty()) {
+            return currentIndex;
+        }
+
+        int currentOrderedPosition = orderedFloorIndices.indexOf(currentIndex);
+        if (currentOrderedPosition < 0) {
+            currentOrderedPosition = 0;
+            for (int i = 0; i < orderedFloorIndices.size(); i++) {
+                if (orderedFloorIndices.get(i) >= currentIndex) {
+                    currentOrderedPosition = i;
+                    break;
+                }
+            }
+        }
+
+        int nextOrderedPosition = moveUp ? currentOrderedPosition + 1 : currentOrderedPosition - 1;
+        if (nextOrderedPosition < 0 || nextOrderedPosition >= orderedFloorIndices.size()) {
+            return currentIndex;
+        }
+        return orderedFloorIndices.get(nextOrderedPosition);
+    }
+
+    private List<Integer> getOrderedFloorIndices(FloorplanApiClient.BuildingInfo building) {
+        List<Integer> ordered = new ArrayList<>();
+        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
+            return ordered;
+        }
+
+        List<Integer> fallback = new ArrayList<>();
+        for (int i = 0; i < building.getFloorShapesList().size(); i++) {
+            fallback.add(i);
+        }
+
+        String[] desiredOrder = new String[]{"LG", "G", "1", "2", "3"};
+        for (String desiredFloor : desiredOrder) {
+            for (int i = 0; i < building.getFloorShapesList().size(); i++) {
+                if (ordered.contains(i)) {
+                    continue;
+                }
+                String candidateFloor = canonicalFloorLabel(building.getFloorShapesList().get(i).getDisplayName());
+                if (desiredFloor.equals(candidateFloor)) {
+                    ordered.add(i);
+                    break;
+                }
+            }
+        }
+
+        for (Integer index : fallback) {
+            if (!ordered.contains(index)) {
+                ordered.add(index);
+            }
+        }
+        return ordered;
+    }
+
+    private String formatFloorLabelForUi(String rawFloorLabel) {
+        String canonicalFloor = canonicalFloorLabel(rawFloorLabel);
+        switch (canonicalFloor) {
+            case "LG":
+                return "LG";
+            case "G":
+                return "G";
+            case "1":
+                return "F1";
+            case "2":
+                return "F2";
+            case "3":
+                return "F3";
+            default:
+                return rawFloorLabel == null ? "" : rawFloorLabel;
+        }
+    }
+
+    private void refreshSelectedPolygonAppearance() {
+        if (selectedFloorplanPolygon == null) {
+            return;
+        }
+
+        if (indoorMapVisible) {
+            selectedFloorplanPolygon.setFillColor(Color.argb(10, 33, 150, 243));
+            selectedFloorplanPolygon.setStrokeColor(Color.argb(180, 33, 150, 243));
+            selectedFloorplanPolygon.setStrokeWidth(3f);
+            selectedFloorplanPolygon.setZIndex(1f);
+        } else {
+            selectedFloorplanPolygon.setFillColor(Color.argb(100, 33, 150, 243));
+            selectedFloorplanPolygon.setStrokeColor(Color.argb(255, 25, 118, 210));
+            selectedFloorplanPolygon.setStrokeWidth(5f);
+            selectedFloorplanPolygon.setZIndex(1f);
+        }
+    }
+
+    private void resetMapOverlays() {
+        for (GroundOverlay overlay : realMapOverlays) {
+            if (overlay != null) {
+                overlay.remove();
+            }
+        }
+        realMapOverlays.clear();
+    }
+
+    private void restoreCachedBuildingsIfAny() {
+        List<FloorplanApiClient.BuildingInfo> cached = SensorFusion.getInstance().getFloorplanBuildings();
+        if (cached != null && !cached.isEmpty()) {
+            drawFloorplanBuildings(cached);
+            lastFetchedBuildings.clear();
+            lastFetchedBuildings.addAll(cached);
+            hasFetchedNearbyBuildings = true;
+            if (selectedVenueText != null) {
+                selectedVenueText.setText("Tap a blue building outline to select a building");
+            }
+        }
+    }
 
-    public TrajectoryMapFragment() {
-        // Required empty public constructor
+    private void setIndoorLoading(boolean loading) {
+        isIndoorRequestInFlight = loading;
+        if (indoorLoadingIndicator != null) {
+            indoorLoadingIndicator.setVisibility(loading ? View.VISIBLE : View.GONE);
+        }
+        if (btnFindIndoorMap != null) {
+            btnFindIndoorMap.setEnabled(!loading);
+            btnFindIndoorMap.setAlpha(loading ? 0.6f : 1f);
+        }
+        if (btnFindActualMap != null) {
+            btnFindActualMap.setEnabled(!loading);
+            btnFindActualMap.setAlpha(loading ? 0.6f : 1f);
+        }
+        if (btnToggleAdjustMap != null) {
+            btnToggleAdjustMap.setEnabled(!loading);
+            btnToggleAdjustMap.setAlpha(loading ? 0.6f : 1f);
+        }
     }
 
-    @Nullable
-    @Override
-    public View onCreateView(@NonNull LayoutInflater inflater,
-                             @Nullable ViewGroup container,
-                             @Nullable Bundle savedInstanceState) {
-        // Inflate the separate layout containing map + map-related UI
-        return inflater.inflate(R.layout.fragment_trajectory_map, container, false);
+    private List<String> getObservedMacs() {
+        List<String> macs = new ArrayList<>();
+        List<com.openpositioning.PositionMe.sensors.Wifi> wifiList = SensorFusion.getInstance().getWifiList();
+        if (wifiList != null) {
+            for (com.openpositioning.PositionMe.sensors.Wifi wifi : wifiList) {
+                String mac = wifi.getBssidString();
+                if (mac != null && !mac.isEmpty()) {
+                    macs.add(mac);
+                }
+            }
+        }
+        return macs;
     }
 
-    @Override
-    public void onViewCreated(@NonNull View view,
-                              @Nullable Bundle savedInstanceState) {
-        super.onViewCreated(view, savedInstanceState);
+    private void requestNearbyIndoorMaps(boolean userInitiated) {
+        if (gMap == null) {
+            return;
+        }
 
-        // Grab references to UI controls
-        switchMapSpinner = view.findViewById(R.id.mapSwitchSpinner);
-        gnssSwitch      = view.findViewById(R.id.gnssSwitch);
-        autoFloorSwitch = view.findViewById(R.id.autoFloor);
-        floorUpButton   = view.findViewById(R.id.floorUpButton);
-        floorDownButton = view.findViewById(R.id.floorDownButton);
-        floorLabel      = view.findViewById(R.id.floorLabel);
-        switchColorButton = view.findViewById(R.id.lineColorButton);
+        LatLng center = currentLocation;
+        if (center == null && orientationMarker != null) {
+            center = orientationMarker.getPosition();
+        }
+        if (center == null) {
+            float[] gnss = SensorFusion.getInstance().getGNSSLatitude(false);
+            if (!(gnss[0] == 0f && gnss[1] == 0f)) {
+                center = new LatLng(gnss[0], gnss[1]);
+            }
+        }
 
-        // Setup floor up/down UI hidden initially until we know there's an indoor map
-        setFloorControlsVisibility(View.GONE);
+        if (center == null) {
+            if (userInitiated && selectedVenueText != null) {
+                selectedVenueText.setText("Location not ready yet. Please wait.");
+            }
+            return;
+        }
 
-        // Initialize the map asynchronously
-        SupportMapFragment mapFragment = (SupportMapFragment)
-                getChildFragmentManager().findFragmentById(R.id.trajectoryMap);
-        if (mapFragment != null) {
-            mapFragment.getMapAsync(new OnMapReadyCallback() {
-                @Override
-                public void onMapReady(@NonNull GoogleMap googleMap) {
-                    // Assign the provided googleMap to your field variable
-                    gMap = googleMap;
-                    // Initialize map settings with the now non-null gMap
-                    initMapSettings(gMap);
-
-                    // If we had a pending camera move, apply it now
-                    if (hasPendingCameraMove && pendingCameraPosition != null) {
-                        gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(pendingCameraPosition, 19f));
-                        hasPendingCameraMove = false;
-                        pendingCameraPosition = null;
+        if (userInitiated && selectedVenueText != null) {
+            selectedVenueText.setText("Requesting nearby indoor maps...");
+        }
+        setIndoorLoading(true);
+
+        floorplanApiClient.requestFloorplan(center.latitude, center.longitude, getObservedMacs(),
+                new FloorplanApiClient.FloorplanCallback() {
+                    @Override
+                    public void onSuccess(List<FloorplanApiClient.BuildingInfo> buildings) {
+                        if (!isAdded() || gMap == null) {
+                            return;
+                        }
+                        setIndoorLoading(false);
+                        hasFetchedNearbyBuildings = buildings != null && !buildings.isEmpty();
+
+                        lastFetchedBuildings.clear();
+                        if (buildings != null) {
+                            lastFetchedBuildings.addAll(buildings);
+                        }
+
+                        SensorFusion.getInstance().setFloorplanBuildings(buildings);
+                        drawFloorplanBuildings(buildings);
+
+                        if (selectedVenueText != null) {
+                            if (buildings == null || buildings.isEmpty()) {
+                                selectedVenueText.setText("No nearby buildings found.");
+                            } else {
+                                selectedVenueText.setText("Tap a blue building outline to select a building");
+                            }
+                        }
                     }
 
-                    drawBuildingPolygon();
-
-                    Log.d("TrajectoryMapFragment", "onMapReady: Map is ready!");
+                    @Override
+                    public void onFailure(String error) {
+                        if (!isAdded()) {
+                            return;
+                        }
+                        setIndoorLoading(false);
+                        if (userInitiated && selectedVenueText != null) {
+                            selectedVenueText.setText("Request failed: " + error);
+                        }
+                    }
+                });
+    }
 
+    private void drawFloorplanBuildings(List<FloorplanApiClient.BuildingInfo> buildings) {
+        for (Polygon p : floorplanPolygons) {
+            p.remove();
+        }
+        floorplanPolygons.clear();
+        polygonToBuilding.clear();
 
-                }
-            });
+        if (buildings == null || buildings.isEmpty() || gMap == null) {
+            return;
         }
 
-        // Map type spinner setup
-        initMapTypeSpinner();
+        LatLngBounds.Builder boundsBuilder = new LatLngBounds.Builder();
+        boolean hasAnyPoint = false;
 
-        // GNSS Switch
-        gnssSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> {
-            isGnssOn = isChecked;
-            if (!isChecked && gnssMarker != null) {
-                gnssMarker.remove();
-                gnssMarker = null;
+        for (FloorplanApiClient.BuildingInfo building : buildings) {
+            List<LatLng> outline = building.getOutlinePolygon();
+            if (outline == null || outline.size() < 3) {
+                continue;
             }
-        });
 
-        // Color switch
-        switchColorButton.setOnClickListener(v -> {
-            if (polyline != null) {
-                if (isRed) {
-                    switchColorButton.setBackgroundColor(Color.BLACK);
-                    polyline.setColor(Color.BLACK);
-                    isRed = false;
-                } else {
-                    switchColorButton.setBackgroundColor(Color.RED);
-                    polyline.setColor(Color.RED);
-                    isRed = true;
-                }
-            }
-        });
+            Polygon polygon = gMap.addPolygon(new PolygonOptions()
+                    .addAll(outline)
+                    .strokeColor(Color.argb(220, 33, 150, 243))
+                    .strokeWidth(5f)
+                    .fillColor(Color.argb(50, 33, 150, 243))
+                    .clickable(true)
+                    .zIndex(1f));
 
-        // Auto-floor toggle: start/stop periodic floor evaluation
-        sensorFusion = SensorFusion.getInstance();
-        autoFloorSwitch.setOnCheckedChangeListener((compoundButton, isChecked) -> {
-            if (isChecked) {
-                startAutoFloor();
-            } else {
-                stopAutoFloor();
-            }
-        });
+            floorplanPolygons.add(polygon);
+            polygonToBuilding.put(polygon, building);
 
-        floorUpButton.setOnClickListener(v -> {
-            // If user manually changes floor, turn off auto floor
-            autoFloorSwitch.setChecked(false);
-            if (indoorMapManager != null) {
-                indoorMapManager.increaseFloor();
-                updateFloorLabel();
+            for (LatLng point : outline) {
+                boundsBuilder.include(point);
+                hasAnyPoint = true;
             }
-        });
+        }
 
-        floorDownButton.setOnClickListener(v -> {
-            autoFloorSwitch.setChecked(false);
-            if (indoorMapManager != null) {
-                indoorMapManager.decreaseFloor();
-                updateFloorLabel();
+        if (hasAnyPoint) {
+            try {
+                gMap.animateCamera(CameraUpdateFactory.newLatLngBounds(boundsBuilder.build(), 100));
+            } catch (Exception ignored) {
             }
-        });
+        }
     }
 
-    /**
-     * Initialize the map settings with the provided GoogleMap instance.
-     * <p>
-     *     The method sets basic map settings, initializes the indoor map manager,
-     *     and creates an empty polyline for user movement tracking.
-     *     The method also initializes the GNSS polyline for tracking GNSS path.
-     *     The method sets the map type to Hybrid and initializes the map with these settings.
-     *
-     * @param map
-     */
-
     private void initMapSettings(GoogleMap map) {
-        // Basic map settings
         map.getUiSettings().setCompassEnabled(true);
         map.getUiSettings().setTiltGesturesEnabled(true);
         map.getUiSettings().setRotateGesturesEnabled(true);
         map.getUiSettings().setScrollGesturesEnabled(true);
         map.setMapType(GoogleMap.MAP_TYPE_HYBRID);
 
-        // Initialize indoor manager
         indoorMapManager = new IndoorMapManager(map);
 
-        // Initialize an empty polyline
-        polyline = map.addPolyline(new PolylineOptions()
-                .color(Color.RED)
-                .width(5f)
-                .add() // start empty
-        );
+        map.setOnPolygonClickListener(polygon -> {
+            FloorplanApiClient.BuildingInfo building = polygonToBuilding.get(polygon);
+            if (building != null) {
+                onFloorplanBuildingSelected(building, polygon);
+            }
+        });
 
-        // GNSS path in blue
-        gnssPolyline = map.addPolyline(new PolylineOptions()
-                .color(Color.BLUE)
-                .width(5f)
-                .add() // start empty
-        );
+        polyline = map.addPolyline(new PolylineOptions().color(Color.RED).width(5f).add());
+        gnssPolyline = map.addPolyline(new PolylineOptions().color(Color.BLUE).width(5f).add());
     }
 
+    private String prettyBuildingName(String raw) {
+        if (raw == null || raw.isEmpty()) {
+            return "";
+        }
+        String[] parts = raw.split("_");
+        StringBuilder sb = new StringBuilder();
+        for (String p : parts) {
+            if (p.isEmpty()) {
+                continue;
+            }
+            if (sb.length() > 0) {
+                sb.append(" ");
+            }
+            sb.append(Character.toUpperCase(p.charAt(0)));
+            if (p.length() > 1) {
+                sb.append(p.substring(1));
+            }
+        }
+        return sb.toString();
+    }
 
-    /**
-     * Initialize the map type spinner with the available map types.
-     * <p>
-     *     The spinner allows the user to switch between different map types
-     *     (e.g. Hybrid, Normal, Satellite) to customize their map view.
-     *     The spinner is populated with the available map types and listens
-     *     for user selection to update the map accordingly.
-     *     The map type is updated directly on the GoogleMap instance.
-     *     <p>
-     *         Note: The spinner is initialized with the default map type (Hybrid).
-     *         The map type is updated on user selection.
-     *     </p>
-     * </p>
-     *     @see com.google.android.gms.maps.GoogleMap The GoogleMap instance to update map type.
-     */
     private void initMapTypeSpinner() {
-        if (switchMapSpinner == null) return;
-        String[] maps = new String[]{
-                getString(R.string.hybrid),
-                getString(R.string.normal),
-                getString(R.string.satellite)
-        };
-        ArrayAdapter<String> adapter = new ArrayAdapter<>(
-                requireContext(),
-                android.R.layout.simple_spinner_dropdown_item,
-                maps
-        );
+        if (switchMapSpinner == null) {
+            return;
+        }
+        String[] maps = new String[]{getString(R.string.hybrid), getString(R.string.normal), getString(R.string.satellite)};
+        ArrayAdapter<String> adapter = new ArrayAdapter<>(requireContext(), android.R.layout.simple_spinner_dropdown_item, maps);
         switchMapSpinner.setAdapter(adapter);
-
         switchMapSpinner.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
             @Override
-            public void onItemSelected(AdapterView<?> parent, View view,
-                                       int position, long id) {
-                if (gMap == null) return;
-                switch (position){
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+                if (gMap == null) {
+                    return;
+                }
+                switch (position) {
                     case 0:
                         gMap.setMapType(GoogleMap.MAP_TYPE_HYBRID);
                         break;
@@ -295,144 +1395,86 @@ public void onItemSelected(AdapterView<?> parent, View view,
                         break;
                 }
             }
+
             @Override
-            public void onNothingSelected(AdapterView<?> parent) {}
+            public void onNothingSelected(AdapterView<?> parent) {
+            }
         });
     }
 
-    /**
-     * Update the user's current location on the map, create or move orientation marker,
-     * and append to polyline if the user actually moved.
-     *
-     * @param newLocation The new location to plot.
-     * @param orientation The user’s heading (e.g. from sensor fusion).
-     */
     public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
-        if (gMap == null) return;
-
-        // Keep track of current location
+        if (gMap == null) {
+            return;
+        }
         LatLng oldLocation = this.currentLocation;
         this.currentLocation = newLocation;
 
-        // If no marker, create it
+        boolean shouldFollowCamera = !(indoorMapVisible || actualMapVisible);
         if (orientationMarker == null) {
             orientationMarker = gMap.addMarker(new MarkerOptions()
                     .position(newLocation)
                     .flat(true)
                     .title("Current Position")
-                    .icon(BitmapDescriptorFactory.fromBitmap(
-                            UtilFunctions.getBitmapFromVector(requireContext(),
-                                    R.drawable.ic_baseline_navigation_24)))
-            );
-            gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(newLocation, 19f));
+                    .icon(BitmapDescriptorFactory.fromBitmap(UtilFunctions.getBitmapFromVector(requireContext(), R.drawable.ic_baseline_navigation_24))));
+            if (shouldFollowCamera) {
+                gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(newLocation, 19f));
+            }
         } else {
-            // Update marker position + orientation
             orientationMarker.setPosition(newLocation);
             orientationMarker.setRotation(orientation);
-            // Move camera a bit
-            gMap.moveCamera(CameraUpdateFactory.newLatLng(newLocation));
+            if (shouldFollowCamera) {
+                gMap.moveCamera(CameraUpdateFactory.newLatLng(newLocation));
+            }
         }
 
-        // Extend polyline if movement occurred
-        /*if (oldLocation != null && !oldLocation.equals(newLocation) && polyline != null) {
-            List<LatLng> points = new ArrayList<>(polyline.getPoints());
-            points.add(newLocation);
-            polyline.setPoints(points);
-        }*/
-        // Extend polyline
         if (polyline != null) {
             List<LatLng> points = new ArrayList<>(polyline.getPoints());
-
-            // First position fix: add the first polyline point
-            if (oldLocation == null) {
-                points.add(newLocation);
-                polyline.setPoints(points);
-            } else if (!oldLocation.equals(newLocation)) {
-                // Subsequent movement: append a new polyline point
+            if (oldLocation == null || !oldLocation.equals(newLocation)) {
                 points.add(newLocation);
                 polyline.setPoints(points);
             }
         }
 
-
-        // Update indoor map overlay
         if (indoorMapManager != null) {
             indoorMapManager.setCurrentLocation(newLocation);
-            setFloorControlsVisibility(indoorMapManager.getIsIndoorMapSet() ? View.VISIBLE : View.GONE);
         }
-    }
-
 
+        maybeFetchNearbyBuildingsOnFirstLocation();
+    }
 
-    /**
-     * Set the initial camera position for the map.
-     * <p>
-     *     The method sets the initial camera position for the map when it is first loaded.
-     *     If the map is already ready, the camera is moved immediately.
-     *     If the map is not ready, the camera position is stored until the map is ready.
-     *     The method also tracks if there is a pending camera move.
-     * </p>
-     * @param startLocation The initial camera position to set.
-     */
     public void setInitialCameraPosition(@NonNull LatLng startLocation) {
-        // If the map is already ready, move camera immediately
         if (gMap != null) {
             gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(startLocation, 19f));
         } else {
-            // Otherwise, store it until onMapReady
             pendingCameraPosition = startLocation;
             hasPendingCameraMove = true;
         }
     }
 
-
-    /**
-     * Get the current user location on the map.
-     * @return The current user location as a LatLng object.
-     */
     public LatLng getCurrentLocation() {
         return currentLocation;
     }
 
-    /**
-     * Add a numbered test point marker on the map.
-     * Called by RecordingFragment when user presses the "Test Point" button.
-     */
     public void addTestPointMarker(int index, long timestampMs, @NonNull LatLng position) {
-        if (gMap == null) return;
-
-        Marker m = gMap.addMarker(new MarkerOptions()
-                .position(position)
-                .title("TP " + index)
-                .snippet("t=" + timestampMs));
-
+        if (gMap == null) {
+            return;
+        }
+        Marker m = gMap.addMarker(new MarkerOptions().position(position).title("TP " + index).snippet("t=" + timestampMs));
         if (m != null) {
-            m.showInfoWindow(); // Show TP index immediately
+            m.showInfoWindow();
             testPointMarkers.add(m);
         }
     }
 
-
-    /**
-     * Called when we want to set or update the GNSS marker position
-     */
     public void updateGNSS(@NonNull LatLng gnssLocation) {
-        if (gMap == null) return;
-        if (!isGnssOn) return;
-
+        if (gMap == null || !isGnssOn) {
+            return;
+        }
         if (gnssMarker == null) {
-            // Create the GNSS marker for the first time
-            gnssMarker = gMap.addMarker(new MarkerOptions()
-                    .position(gnssLocation)
-                    .title("GNSS Position")
-                    .icon(BitmapDescriptorFactory
-                            .defaultMarker(BitmapDescriptorFactory.HUE_AZURE)));
+            gnssMarker = gMap.addMarker(new MarkerOptions().position(gnssLocation).title("GNSS Position").icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_AZURE)));
             lastGnssLocation = gnssLocation;
         } else {
-            // Move existing GNSS marker
             gnssMarker.setPosition(gnssLocation);
-
-            // Add a segment to the blue GNSS line, if this is a new location
             if (lastGnssLocation != null && !lastGnssLocation.equals(gnssLocation)) {
                 List<LatLng> gnssPoints = new ArrayList<>(gnssPolyline.getPoints());
                 gnssPoints.add(gnssLocation);
@@ -442,10 +1484,6 @@ public void updateGNSS(@NonNull LatLng gnssLocation) {
         }
     }
 
-
-    /**
-     * Remove GNSS marker if user toggles it off
-     */
     public void clearGNSS() {
         if (gnssMarker != null) {
             gnssMarker.remove();
@@ -453,13 +1491,315 @@ public void clearGNSS() {
         }
     }
 
-    /**
-     * Whether user is currently showing GNSS or not
-     */
     public boolean isGnssEnabled() {
         return isGnssOn;
     }
 
+    private void setupCalibrationControls() {
+        if (btnToggleAdjustMap != null) {
+            btnToggleAdjustMap.setOnClickListener(v -> {
+                if (!actualMapVisible) {
+                    if (selectedVenueText != null) {
+                        selectedVenueText.setText("Show actual maps first, then adjust them");
+                    }
+                    return;
+                }
+                if (calibrationPanel != null) {
+                    calibrationPanel.setVisibility(calibrationPanel.getVisibility() == View.VISIBLE ? View.GONE : View.VISIBLE);
+                }
+                updateCalibrationUi();
+            });
+        }
+
+        if (btnCalibrationTarget != null) {
+            btnCalibrationTarget.setOnClickListener(v -> {
+                cycleCalibrationTarget();
+                updateCalibrationUi();
+            });
+        }
+
+        bindCalibrationButton(btnCalibrateUp, 0f, CALIBRATION_SHIFT_STEP, 0f, 0f);
+        bindCalibrationButton(btnCalibrateDown, 0f, -CALIBRATION_SHIFT_STEP, 0f, 0f);
+        bindCalibrationButton(btnCalibrateLeft, -CALIBRATION_SHIFT_STEP, 0f, 0f, 0f);
+        bindCalibrationButton(btnCalibrateRight, CALIBRATION_SHIFT_STEP, 0f, 0f, 0f);
+        bindCalibrationButton(btnWidthMinus, 0f, 0f, -CALIBRATION_SCALE_STEP, 0f);
+        bindCalibrationButton(btnWidthPlus, 0f, 0f, CALIBRATION_SCALE_STEP, 0f);
+        bindCalibrationButton(btnHeightMinus, 0f, 0f, 0f, -CALIBRATION_SCALE_STEP);
+        bindCalibrationButton(btnHeightPlus, 0f, 0f, 0f, CALIBRATION_SCALE_STEP);
+
+        if (btnSaveCalibration != null) {
+            btnSaveCalibration.setOnClickListener(v -> {
+                String targetKey = getEffectiveCalibrationTargetBuildingKey();
+                if (targetKey.isEmpty()) {
+                    return;
+                }
+                String floorKey = getCurrentCalibrationFloorKey(targetKey);
+                OverlayCalibration calibration = loadOverlayCalibration(targetKey, floorKey);
+                logCalibration(targetKey, floorKey, calibration, "saved");
+                if (selectedVenueText != null) {
+                    selectedVenueText.setText("Saved calibration for " + prettyBuildingName(targetKey) + " " + floorKey);
+                }
+                updateCalibrationUi();
+            });
+        }
+
+        if (btnResetCalibration != null) {
+            btnResetCalibration.setOnClickListener(v -> {
+                String targetKey = getEffectiveCalibrationTargetBuildingKey();
+                if (targetKey.isEmpty()) {
+                    return;
+                }
+                String floorKey = getCurrentCalibrationFloorKey(targetKey);
+                OverlayCalibration defaults = getHardcodedCalibrationDefault(targetKey, floorKey);
+                saveOverlayCalibration(targetKey, floorKey, defaults);
+                if (actualMapVisible) {
+                    setFloor(currentFloorIndex);
+                }
+                if (selectedVenueText != null) {
+                    selectedVenueText.setText("Reset calibration for " + prettyBuildingName(targetKey) + " " + floorKey);
+                }
+                logCalibration(targetKey, floorKey, defaults, "reset");
+                updateCalibrationUi();
+            });
+        }
+    }
+
+    private void bindCalibrationButton(Button button, float shiftLngDelta, float shiftLatDelta, float widthDelta, float heightDelta) {
+        if (button == null) {
+            return;
+        }
+        button.setOnClickListener(v -> applyCalibrationDelta(shiftLngDelta, shiftLatDelta, widthDelta, heightDelta));
+    }
+
+    private void applyCalibrationDelta(float shiftLngDelta, float shiftLatDelta, float widthDelta, float heightDelta) {
+        String targetKey = getEffectiveCalibrationTargetBuildingKey();
+        if (targetKey.isEmpty()) {
+            if (selectedVenueText != null) {
+                selectedVenueText.setText("Select a visible actual map to adjust");
+            }
+            return;
+        }
+
+        String floorKey = getCurrentCalibrationFloorKey(targetKey);
+        OverlayCalibration current = loadOverlayCalibration(targetKey, floorKey);
+        OverlayCalibration updated = new OverlayCalibration(
+                current.shiftLatRatio + shiftLatDelta,
+                current.shiftLngRatio + shiftLngDelta,
+                Math.max(0.50f, current.widthScale + widthDelta),
+                Math.max(0.50f, current.heightScale + heightDelta)
+        );
+        saveOverlayCalibration(targetKey, floorKey, updated);
+        logCalibration(targetKey, floorKey, updated, "updated");
+        if (actualMapVisible) {
+            setFloor(currentFloorIndex);
+        }
+        updateCalibrationUi();
+    }
+
+    private LatLngBounds applySavedCalibration(LatLngBounds baseBounds, String buildingKey, String floorDisplayName) {
+        if (baseBounds == null) {
+            return null;
+        }
+        OverlayCalibration calibration = loadOverlayCalibration(buildingKey, floorDisplayName);
+        double baseNorth = baseBounds.northeast.latitude;
+        double baseSouth = baseBounds.southwest.latitude;
+        double baseEast = baseBounds.northeast.longitude;
+        double baseWest = baseBounds.southwest.longitude;
+        double latSpan = baseNorth - baseSouth;
+        double lngSpan = baseEast - baseWest;
+        if (latSpan <= 0d || lngSpan <= 0d) {
+            return baseBounds;
+        }
+
+        double centerLat = ((baseNorth + baseSouth) / 2d) + latSpan * calibration.shiftLatRatio;
+        double centerLng = ((baseEast + baseWest) / 2d) + lngSpan * calibration.shiftLngRatio;
+        double adjustedLatSpan = latSpan * calibration.heightScale;
+        double adjustedLngSpan = lngSpan * calibration.widthScale;
+
+        double north = centerLat + adjustedLatSpan / 2d;
+        double south = centerLat - adjustedLatSpan / 2d;
+        double east = centerLng + adjustedLngSpan / 2d;
+        double west = centerLng - adjustedLngSpan / 2d;
+        return new LatLngBounds(new LatLng(south, west), new LatLng(north, east));
+    }
+
+    private SharedPreferences getCalibrationPrefs() {
+        Context context = getContext();
+        if (context == null) {
+            return null;
+        }
+        return context.getSharedPreferences(CALIBRATION_PREFS_NAME, Context.MODE_PRIVATE);
+    }
+
+    private OverlayCalibration loadOverlayCalibration(String buildingKey, String floorDisplayName) {
+        OverlayCalibration defaults = getHardcodedCalibrationDefault(buildingKey, floorDisplayName);
+        SharedPreferences prefs = getCalibrationPrefs();
+        if (prefs == null) {
+            return defaults;
+        }
+        String baseKey = getCalibrationPrefBaseKey(buildingKey, floorDisplayName);
+        return new OverlayCalibration(
+                prefs.getFloat(baseKey + "_shift_lat", defaults.shiftLatRatio),
+                prefs.getFloat(baseKey + "_shift_lng", defaults.shiftLngRatio),
+                prefs.getFloat(baseKey + "_width", defaults.widthScale),
+                prefs.getFloat(baseKey + "_height", defaults.heightScale)
+        );
+    }
+
+    private void saveOverlayCalibration(String buildingKey, String floorDisplayName, OverlayCalibration calibration) {
+        SharedPreferences prefs = getCalibrationPrefs();
+        if (prefs == null) {
+            return;
+        }
+        String baseKey = getCalibrationPrefBaseKey(buildingKey, floorDisplayName);
+        prefs.edit()
+                .putFloat(baseKey + "_shift_lat", calibration.shiftLatRatio)
+                .putFloat(baseKey + "_shift_lng", calibration.shiftLngRatio)
+                .putFloat(baseKey + "_width", calibration.widthScale)
+                .putFloat(baseKey + "_height", calibration.heightScale)
+                .apply();
+    }
+
+    private String getCalibrationPrefBaseKey(String buildingKey, String floorDisplayName) {
+        String normalizedBuilding = normalizeBuildingKey(buildingKey);
+        String normalizedFloor = canonicalFloorLabel(floorDisplayName);
+        return normalizedBuilding + "__" + normalizedFloor;
+    }
+
+    private OverlayCalibration getHardcodedCalibrationDefault(String buildingKey, String floorDisplayName) {
+        String normalizedBuilding = normalizeBuildingKey(buildingKey);
+        String normalizedFloor = canonicalFloorLabel(floorDisplayName);
+
+        if ("nucleus_building".equals(normalizedBuilding)) {
+            switch (normalizedFloor) {
+                case "LG":
+                    return new OverlayCalibration(0.012f, -0.022f, 0.967f, 0.986f);
+                case "G":
+                    return new OverlayCalibration(0.029f, -0.052f, 0.958f, 0.942f);
+                case "1":
+                    return new OverlayCalibration(0.004f, 0.000f, 1.000f, 0.981f);
+                case "2":
+                    return new OverlayCalibration(0.005f, -0.005f, 1.000f, 1.000f);
+                case "3":
+                    return new OverlayCalibration(0.005f, 0.005f, 1.015f, 0.990f);
+                default:
+                    return OverlayCalibration.identity();
+            }
+        }
+
+        if ("library".equals(normalizedBuilding)) {
+            switch (normalizedFloor) {
+                case "G":
+                    return new OverlayCalibration(-0.072f, 0.018f, 0.965f, 1.098f);
+                case "1":
+                    return new OverlayCalibration(-0.053f, 0.019f, 0.945f, 1.050f);
+                case "2":
+                    return new OverlayCalibration(-0.075f, 0.025f, 0.950f, 1.070f);
+                case "3":
+                    return new OverlayCalibration(-0.070f, 0.025f, 0.960f, 1.065f);
+                default:
+                    return OverlayCalibration.identity();
+            }
+        }
+
+        return OverlayCalibration.identity();
+    }
+
+    private void logCalibration(String buildingKey, String floorKey, OverlayCalibration calibration, String event) {
+        Log.d(TAG, String.format(Locale.US,
+                "MAP_CALIBRATION %s building=%s floor=%s shiftLat=%.5f shiftLng=%.5f widthScale=%.5f heightScale=%.5f",
+                event, normalizeBuildingKey(buildingKey), canonicalFloorLabel(floorKey),
+                calibration.shiftLatRatio, calibration.shiftLngRatio, calibration.widthScale, calibration.heightScale));
+    }
+
+    private List<String> getAvailableCalibrationTargets() {
+        List<String> targets = new ArrayList<>();
+        if (!actualMapVisible || selectedFloorplanBuilding == null) {
+            return targets;
+        }
+
+        String selectedKey = resolveKnownBuildingKey(selectedFloorplanBuilding, selectedFloorplanBuilding.getName());
+        String selectedFloorLabel = canonicalFloorLabel(getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex));
+
+        if (resolveActualMapDrawable(selectedKey, selectedFloorLabel, currentFloorIndex) != 0) {
+            targets.add(selectedKey);
+        }
+
+        if (shouldShowLinkedLibraryAndNucleus(selectedKey)) {
+            String linkedKey = "library".equals(selectedKey) ? "nucleus_building" : "library";
+            int linkedIndex = resolveFallbackFloorIndexForKey(linkedKey, selectedFloorLabel, currentFloorIndex);
+            if (resolveActualMapDrawable(linkedKey, selectedFloorLabel, linkedIndex) != 0 && !targets.contains(linkedKey)) {
+                targets.add(linkedKey);
+            }
+        }
+        return targets;
+    }
+
+    private void cycleCalibrationTarget() {
+        List<String> targets = getAvailableCalibrationTargets();
+        if (targets.isEmpty()) {
+            calibrationTargetBuildingKey = "";
+            return;
+        }
+        int currentIndex = targets.indexOf(getEffectiveCalibrationTargetBuildingKey());
+        if (currentIndex < 0) {
+            calibrationTargetBuildingKey = targets.get(0);
+            return;
+        }
+        calibrationTargetBuildingKey = targets.get((currentIndex + 1) % targets.size());
+    }
+
+    private String getEffectiveCalibrationTargetBuildingKey() {
+        List<String> targets = getAvailableCalibrationTargets();
+        if (targets.isEmpty()) {
+            return "";
+        }
+        if (targets.contains(calibrationTargetBuildingKey)) {
+            return calibrationTargetBuildingKey;
+        }
+        calibrationTargetBuildingKey = targets.get(0);
+        return calibrationTargetBuildingKey;
+    }
+
+    private String getCurrentCalibrationFloorKey(String buildingKey) {
+        String selectedFloorLabel = selectedFloorplanBuilding == null ? "" : getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex);
+        String canonicalFloor = canonicalFloorLabel(selectedFloorLabel);
+        if ("library".equals(normalizeBuildingKey(buildingKey)) && "LG".equals(canonicalFloor)) {
+            return "LG";
+        }
+        return canonicalFloor;
+    }
+
+    private void updateCalibrationUi() {
+        boolean canAdjust = actualMapVisible && selectedFloorplanBuilding != null;
+        if (btnToggleAdjustMap != null) {
+            btnToggleAdjustMap.setVisibility(canAdjust ? View.VISIBLE : View.GONE);
+            btnToggleAdjustMap.setText((calibrationPanel != null && calibrationPanel.getVisibility() == View.VISIBLE) ? "Hide Adjust Map" : "Adjust Map");
+        }
+        if (!canAdjust) {
+            if (calibrationPanel != null) {
+                calibrationPanel.setVisibility(View.GONE);
+            }
+            return;
+        }
+
+        String targetKey = getEffectiveCalibrationTargetBuildingKey();
+        String floorKey = getCurrentCalibrationFloorKey(targetKey);
+        OverlayCalibration calibration = loadOverlayCalibration(targetKey, floorKey);
+
+        if (calibrationTargetText != null) {
+            calibrationTargetText.setText("Target: " + prettyBuildingName(targetKey) + " / " + floorKey);
+        }
+        if (calibrationValueText != null) {
+            calibrationValueText.setText(String.format(Locale.US,
+                    "x=%.3f  y=%.3f  w=%.3f  h=%.3f",
+                    calibration.shiftLngRatio, calibration.shiftLatRatio, calibration.widthScale, calibration.heightScale));
+        }
+        if (btnCalibrationTarget != null) {
+            btnCalibrationTarget.setVisibility(getAvailableCalibrationTargets().size() > 1 ? View.VISIBLE : View.GONE);
+        }
+    }
+
     private void setFloorControlsVisibility(int visibility) {
         floorUpButton.setVisibility(visibility);
         floorDownButton.setVisibility(visibility);
@@ -470,13 +1810,11 @@ private void setFloorControlsVisibility(int visibility) {
         }
     }
 
-    /**
-     * Updates the floor label text to reflect the current floor display name.
-     */
     private void updateFloorLabel() {
-        if (floorLabel != null && indoorMapManager != null) {
-            floorLabel.setText(indoorMapManager.getCurrentFloorDisplayName());
+        if (floorLabel != null && indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
+            floorLabel.setText(formatFloorLabelForUi(indoorMapManager.getCurrentFloorDisplayName()));
         }
+        updateCalibrationUi();
     }
 
     public void clearMapAndReset() {
@@ -501,135 +1839,51 @@ public void clearMapAndReset() {
             gnssMarker = null;
         }
         lastGnssLocation = null;
-        currentLocation  = null;
+        currentLocation = null;
 
-        // Clear test point markers
         for (Marker m : testPointMarkers) {
             m.remove();
         }
         testPointMarkers.clear();
 
-
-        // Re-create empty polylines with your chosen colors
         if (gMap != null) {
-            polyline = gMap.addPolyline(new PolylineOptions()
-                    .color(Color.RED)
-                    .width(5f)
-                    .add());
-            gnssPolyline = gMap.addPolyline(new PolylineOptions()
-                    .color(Color.BLUE)
-                    .width(5f)
-                    .add());
-        }
-    }
-
-    /**
-     * Draw the building polygon on the map
-     * <p>
-     *     The method draws a polygon representing the building on the map.
-     *     The polygon is drawn with specific vertices and colors to represent
-     *     different buildings or areas on the map.
-     *     The method removes the old polygon if it exists and adds the new polygon
-     *     to the map with the specified options.
-     *     The method logs the number of vertices in the polygon for debugging.
-     *     <p>
-     *
-     *    Note: The method uses hard-coded vertices for the building polygon.
-     *
-     *    </p>
-     *
-     *    See: {@link com.google.android.gms.maps.model.PolygonOptions} The options for the new polygon.
-     */
-    private void drawBuildingPolygon() {
-        if (gMap == null) {
-            Log.e("TrajectoryMapFragment", "GoogleMap is not ready");
-            return;
+            polyline = gMap.addPolyline(new PolylineOptions().color(Color.RED).width(5f).add());
+            gnssPolyline = gMap.addPolyline(new PolylineOptions().color(Color.BLUE).width(5f).add());
         }
-
-        // nuclear building polygon vertices
-        LatLng nucleus1 = new LatLng(55.92279538827796, -3.174612147506538);
-        LatLng nucleus2 = new LatLng(55.92278121423647, -3.174107900816096);
-        LatLng nucleus3 = new LatLng(55.92288405733954, -3.173843694667146);
-        LatLng nucleus4 = new LatLng(55.92331786793876, -3.173832892645086);
-        LatLng nucleus5 = new LatLng(55.923337194112555, -3.1746284301397387);
-
-
-        // nkml building polygon vertices
-        LatLng nkml1 = new LatLng(55.9230343434213, -3.1751847990731954);
-        LatLng nkml2 = new LatLng(55.923032840563366, -3.174777103346131);
-        LatLng nkml4 = new LatLng(55.92280139974615, -3.175195527934348);
-        LatLng nkml3 = new LatLng(55.922793885410734, -3.1747958788136867);
-
-        LatLng fjb1 = new LatLng(55.92269205199916, -3.1729563477188774);//left top
-        LatLng fjb2 = new LatLng(55.922822801570994, -3.172594249522305);
-        LatLng fjb3 = new LatLng(55.92223512226413, -3.171921917547244);
-        LatLng fjb4 = new LatLng(55.9221071265519, -3.1722813131202097);
-
-        LatLng faraday1 = new LatLng(55.92242866264128, -3.1719553662011815);
-        LatLng faraday2 = new LatLng(55.9224966752294, -3.1717846714743474);
-        LatLng faraday3 = new LatLng(55.922271383074154, -3.1715191463437162);
-        LatLng faraday4 = new LatLng(55.92220124468304, -3.171705013935158);
-
-
-
-        PolygonOptions buildingPolygonOptions = new PolygonOptions()
-                .add(nucleus1, nucleus2, nucleus3, nucleus4, nucleus5)
-                .strokeColor(Color.RED)    // Red border
-                .strokeWidth(10f)           // Border width
-                //.fillColor(Color.argb(50, 255, 0, 0)) // Semi-transparent red fill
-                .zIndex(1);                // Set a higher zIndex to ensure it appears above other overlays
-
-        // Options for the new polygon
-        PolygonOptions buildingPolygonOptions2 = new PolygonOptions()
-                .add(nkml1, nkml2, nkml3, nkml4, nkml1)
-                .strokeColor(Color.BLUE)    // Blue border
-                .strokeWidth(10f)           // Border width
-               // .fillColor(Color.argb(50, 0, 0, 255)) // Semi-transparent blue fill
-                .zIndex(1);                // Set a higher zIndex to ensure it appears above other overlays
-
-        PolygonOptions buildingPolygonOptions3 = new PolygonOptions()
-                .add(fjb1, fjb2, fjb3, fjb4, fjb1)
-                .strokeColor(Color.GREEN)    // Green border
-                .strokeWidth(10f)           // Border width
-                //.fillColor(Color.argb(50, 0, 255, 0)) // Semi-transparent green fill
-                .zIndex(1);                // Set a higher zIndex to ensure it appears above other overlays
-
-        PolygonOptions buildingPolygonOptions4 = new PolygonOptions()
-                .add(faraday1, faraday2, faraday3, faraday4, faraday1)
-                .strokeColor(Color.YELLOW)    // Yellow border
-                .strokeWidth(10f)           // Border width
-                //.fillColor(Color.argb(50, 255, 255, 0)) // Semi-transparent yellow fill
-                .zIndex(1);                // Set a higher zIndex to ensure it appears above other overlays
-
-
-        // Remove the old polygon if it exists
-        if (buildingPolygon != null) {
-            buildingPolygon.remove();
+        for (Polygon p : floorplanPolygons) {
+            p.remove();
         }
-
-        // Add the polygon to the map
-        buildingPolygon = gMap.addPolygon(buildingPolygonOptions);
-        gMap.addPolygon(buildingPolygonOptions2);
-        gMap.addPolygon(buildingPolygonOptions3);
-        gMap.addPolygon(buildingPolygonOptions4);
-        Log.d(TAG, "Building polygon added, vertex count: " + buildingPolygon.getPoints().size());
+        floorplanPolygons.clear();
+        polygonToBuilding.clear();
+        lastFetchedBuildings.clear();
+        selectedFloorplanPolygon = null;
+        selectedFloorplanBuilding = null;
+        indoorMapVisible = false;
+        actualMapVisible = false;
+        hasFetchedNearbyBuildings = false;
+        hasAttemptedInitialBuildingFetch = false;
+
+        resetMapOverlays();
+        if (indoorMapManager != null) {
+            indoorMapManager.clearIndoorMap();
+        }
+        if (selectedVenueText != null) {
+            selectedVenueText.setText("Tap a blue building outline to select a building");
+        }
+        calibrationTargetBuildingKey = "";
+        updateCalibrationUi();
+        if (indoorLoadingIndicator != null) {
+            indoorLoadingIndicator.setVisibility(View.GONE);
+        }
+        setFloorControlsVisibility(View.GONE);
     }
 
-    //region Auto-floor logic
-
-    /**
-     * Starts the periodic auto-floor evaluation task. Checks every second
-     * and applies floor changes only after the debounce window (3 seconds
-     * of consistent readings).
-     */
     private void startAutoFloor() {
         if (autoFloorHandler == null) {
             autoFloorHandler = new Handler(Looper.getMainLooper());
         }
         lastCandidateFloor = Integer.MIN_VALUE;
         lastCandidateTime = 0;
-
-        // Immediately jump to the best-guess floor (skip debounce on first toggle)
         applyImmediateFloor();
 
         autoFloorTask = new Runnable() {
@@ -640,84 +1894,61 @@ public void run() {
             }
         };
         autoFloorHandler.post(autoFloorTask);
-        Log.d(TAG, "Auto-floor started");
     }
 
-    /**
-     * Applies the best-guess floor immediately without debounce.
-     * Called once when auto-floor is first toggled on, so the user
-     * sees an instant correction after manually browsing wrong floors.
-     */
     private void applyImmediateFloor() {
-        if (sensorFusion == null || indoorMapManager == null) return;
-        if (!indoorMapManager.getIsIndoorMapSet()) return;
-
+        if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+            return;
+        }
         int candidateFloor;
         if (sensorFusion.getLatLngWifiPositioning() != null) {
             candidateFloor = sensorFusion.getWifiFloor();
         } else {
             float elevation = sensorFusion.getElevation();
             float floorHeight = indoorMapManager.getFloorHeight();
-            if (floorHeight <= 0) return;
+            if (floorHeight <= 0) {
+                return;
+            }
             candidateFloor = Math.round(elevation / floorHeight);
         }
-
-        indoorMapManager.setCurrentFloor(candidateFloor, true);
-        updateFloorLabel();
-        // Seed the debounce state so subsequent checks don't re-trigger immediately
+        setFloor(indoorMapManager.logicalFloorToIndex(candidateFloor));
         lastCandidateFloor = candidateFloor;
         lastCandidateTime = SystemClock.elapsedRealtime();
     }
 
-    /**
-     * Stops the periodic auto-floor evaluation and resets debounce state.
-     */
     private void stopAutoFloor() {
         if (autoFloorHandler != null && autoFloorTask != null) {
             autoFloorHandler.removeCallbacks(autoFloorTask);
         }
         lastCandidateFloor = Integer.MIN_VALUE;
         lastCandidateTime = 0;
-        Log.d(TAG, "Auto-floor stopped");
     }
 
-    /**
-     * Evaluates the current floor using WiFi positioning (priority) or
-     * barometric elevation (fallback). Applies a 3-second debounce window
-     * to prevent jittery floor switching.
-     */
     private void evaluateAutoFloor() {
-        if (sensorFusion == null || indoorMapManager == null) return;
-        if (!indoorMapManager.getIsIndoorMapSet()) return;
-
+        if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+            return;
+        }
         int candidateFloor;
-
-        // Priority 1: WiFi-based floor (only if WiFi positioning has returned data)
         if (sensorFusion.getLatLngWifiPositioning() != null) {
             candidateFloor = sensorFusion.getWifiFloor();
         } else {
-            // Fallback: barometric elevation estimate
             float elevation = sensorFusion.getElevation();
             float floorHeight = indoorMapManager.getFloorHeight();
-            if (floorHeight <= 0) return;
+            if (floorHeight <= 0) {
+                return;
+            }
             candidateFloor = Math.round(elevation / floorHeight);
         }
 
-        // Debounce: require the same floor reading for AUTO_FLOOR_DEBOUNCE_MS
         long now = SystemClock.elapsedRealtime();
         if (candidateFloor != lastCandidateFloor) {
             lastCandidateFloor = candidateFloor;
             lastCandidateTime = now;
             return;
         }
-
         if (now - lastCandidateTime >= AUTO_FLOOR_DEBOUNCE_MS) {
-            indoorMapManager.setCurrentFloor(candidateFloor, true);
-            updateFloorLabel();
-            // Reset timer so we don't keep re-applying the same floor
+            setFloor(indoorMapManager.logicalFloorToIndex(candidateFloor));
             lastCandidateTime = now;
         }
     }
-
-    //endregion
 }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java b/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
index f8058603..38ac1fb0 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
@@ -15,187 +15,254 @@
 import java.util.ArrayList;
 import java.util.List;
 
-/**
- * Manages indoor floor map display for all supported buildings
- * (Nucleus, Library, Murchison). Uses vector shape data from the floorplan API
- * to dynamically draw walls, rooms, and other indoor features on the Google Map.
- * Provides unified floor indexing, floor switching, and building detection.
- *
- * @see BuildingPolygon Describes the bounds of buildings and the methods to check if a point is
- *                      within a building
- * @see FloorplanApiClient.FloorShapes Per-floor vector shape data
- */
 public class IndoorMapManager {
 
     private static final String TAG = "IndoorMapManager";
 
-    /** Building identifiers for tracking which building the user is in. */
     public static final int BUILDING_NONE = 0;
     public static final int BUILDING_NUCLEUS = 1;
     public static final int BUILDING_LIBRARY = 2;
     public static final int BUILDING_MURCHISON = 3;
 
-    private GoogleMap gMap;
+    private final GoogleMap gMap;
     private LatLng currentLocation;
     private boolean isIndoorMapSet = false;
-    private int currentFloor;
+    private int currentFloor = 0;
     private int currentBuilding = BUILDING_NONE;
     private float floorHeight;
 
-    // Vector shapes currently drawn on the map (cleared on floor switch or exit)
     private final List<Polygon> drawnPolygons = new ArrayList<>();
     private final List<Polyline> drawnPolylines = new ArrayList<>();
-
-    // Per-floor vector shape data for the current building
     private List<FloorplanApiClient.FloorShapes> currentFloorShapes;
+    private boolean vectorBaseplateEnabled = true;
 
-    // Average floor heights per building (meters), used for barometric auto-floor
     public static final float NUCLEUS_FLOOR_HEIGHT = 4.2F;
     public static final float LIBRARY_FLOOR_HEIGHT = 3.6F;
     public static final float MURCHISON_FLOOR_HEIGHT = 4.0F;
 
-    // Colours for different indoor feature types
-    private static final int WALL_STROKE = Color.argb(200, 80, 80, 80);
-    private static final int ROOM_STROKE = Color.argb(180, 33, 150, 243);
-    private static final int ROOM_FILL = Color.argb(40, 33, 150, 243);
-    private static final int DEFAULT_STROKE = Color.argb(150, 100, 100, 100);
-
-    /**
-     * Constructor to set the map instance.
-     *
-     * @param map the map on which the indoor floor map shapes are drawn
-     */
+    private static final int WALL_STROKE = Color.argb(255, 34, 34, 34);
+    private static final int ROOM_STROKE = Color.argb(255, 60, 60, 60);
+    private static final int ROOM_FILL = Color.argb(40, 0, 0, 0);
+    private static final int DEFAULT_STROKE = Color.argb(255, 50, 50, 50);
+
     public IndoorMapManager(GoogleMap map) {
         this.gMap = map;
     }
 
-    /**
-     * Updates the current location of the user and displays the indoor map
-     * if the user is in a building with indoor maps available.
-     *
-     * @param currentLocation new location of user
-     */
     public void setCurrentLocation(LatLng currentLocation) {
         this.currentLocation = currentLocation;
-        setBuildingOverlay();
     }
 
-    /**
-     * Returns the current building's floor height.
-     *
-     * @return the floor height of the current building the user is in
-     */
     public float getFloorHeight() {
         return floorHeight;
     }
 
-    /**
-     * Returns whether an indoor floor map is currently being displayed.
-     *
-     * @return true if an indoor map is visible to the user, false otherwise
-     */
     public boolean getIsIndoorMapSet() {
         return isIndoorMapSet;
     }
 
-    /**
-     * Returns the identifier of the building the user is currently in.
-     *
-     * @return one of {@link #BUILDING_NONE}, {@link #BUILDING_NUCLEUS},
-     *         {@link #BUILDING_LIBRARY}, or {@link #BUILDING_MURCHISON}
-     */
     public int getCurrentBuilding() {
         return currentBuilding;
     }
 
-    /**
-     * Returns the current floor index being displayed.
-     *
-     * @return the current floor index in the active building's floor list
-     */
     public int getCurrentFloor() {
         return currentFloor;
     }
 
-    /**
-     * Returns the display name for the current floor (e.g. "LG", "G", "1").
-     * Falls back to the numeric index if no display name is available.
-     *
-     * @return human-readable floor label
-     */
     public String getCurrentFloorDisplayName() {
         if (currentFloorShapes != null
                 && currentFloor >= 0
                 && currentFloor < currentFloorShapes.size()) {
-            return currentFloorShapes.get(currentFloor).getDisplayName();
+            String displayName = currentFloorShapes.get(currentFloor).getDisplayName();
+            if (displayName == null || displayName.isEmpty()) {
+                return String.valueOf(currentFloor);
+            }
+            return formatFloorLabelForDisplay(displayName);
         }
         return String.valueOf(currentFloor);
     }
 
-    /**
-     * Returns the auto-floor bias for the current building. Buildings with a
-     * lower-ground floor at index 0 need a +1 bias so that WiFi/barometric
-     * floor 0 (ground) maps to the correct floor index.
-     *
-     * @return the floor index offset for auto-floor conversion
-     */
     public int getAutoFloorBias() {
         switch (currentBuilding) {
             case BUILDING_NUCLEUS:
             case BUILDING_MURCHISON:
-                return 1; // LG at index 0, so G = index 1
+                return 1;
+            case BUILDING_LIBRARY:
+            default:
+                return 0;
+        }
+    }
+
+    public int logicalFloorToIndex(int logicalFloor) {
+        String targetFloorLabel;
+        if (logicalFloor <= -1) {
+            targetFloorLabel = "LG";
+        } else if (logicalFloor == 0) {
+            targetFloorLabel = "G";
+        } else {
+            targetFloorLabel = String.valueOf(logicalFloor);
+        }
+
+        int matchingIndex = findFloorIndexByCanonicalLabel(targetFloorLabel);
+        if (matchingIndex >= 0) {
+            return matchingIndex;
+        }
+
+        return clampFloorIndex(logicalFloor + getAutoFloorBias());
+    }
+
+    public int clampFloorIndex(int floorIndex) {
+        if (currentFloorShapes == null || currentFloorShapes.isEmpty()) {
+            return 0;
+        }
+        return Math.max(0, Math.min(floorIndex, currentFloorShapes.size() - 1));
+    }
+
+    public void setVectorBaseplateEnabled(boolean enabled) {
+        if (this.vectorBaseplateEnabled != enabled) {
+            this.vectorBaseplateEnabled = enabled;
+            if (isIndoorMapSet && currentFloorShapes != null && currentFloor >= 0 && currentFloor < currentFloorShapes.size()) {
+                drawFloorShapes(currentFloor);
+            }
+        }
+    }
+
+    public void setSelectedBuilding(FloorplanApiClient.BuildingInfo building) {
+        clearDrawnShapes();
+
+        if (building == null) {
+            clearIndoorMap();
+            return;
+        }
+
+        currentBuilding = resolveBuildingType(building.getName());
+        currentFloorShapes = building.getFloorShapesList();
+        currentFloor = -1;
+        isIndoorMapSet = currentFloorShapes != null && !currentFloorShapes.isEmpty();
+
+        switch (currentBuilding) {
+            case BUILDING_NUCLEUS:
+                floorHeight = NUCLEUS_FLOOR_HEIGHT;
+                break;
             case BUILDING_LIBRARY:
+                floorHeight = LIBRARY_FLOOR_HEIGHT;
+                break;
+            case BUILDING_MURCHISON:
+                floorHeight = MURCHISON_FLOOR_HEIGHT;
+                break;
             default:
-                return 0; // G at index 0
+                floorHeight = 0f;
+                break;
         }
     }
 
-    /**
-     * Sets the floor to display. When called from auto-floor, the floor number
-     * is a logical floor (0=G, -1=LG, 1=Floor 1, etc.) and the building bias
-     * is applied. When called manually, the floor number is the direct index.
-     *
-     * @param newFloor  the floor the user is at
-     * @param autoFloor true if called by auto-floor feature
-     */
+    public void clearIndoorMap() {
+        clearDrawnShapes();
+        isIndoorMapSet = false;
+        currentBuilding = BUILDING_NONE;
+        currentFloor = 0;
+        currentFloorShapes = null;
+        floorHeight = 0f;
+    }
+
     public void setCurrentFloor(int newFloor, boolean autoFloor) {
-        if (currentFloorShapes == null || currentFloorShapes.isEmpty()) return;
+        if (currentFloorShapes == null || currentFloorShapes.isEmpty()) {
+            return;
+        }
 
         if (autoFloor) {
-            newFloor += getAutoFloorBias();
+            newFloor = logicalFloorToIndex(newFloor);
+        } else {
+            newFloor = clampFloorIndex(newFloor);
         }
 
-        if (newFloor >= 0 && newFloor < currentFloorShapes.size()
-                && newFloor != this.currentFloor) {
+        if (newFloor != this.currentFloor || (drawnPolygons.isEmpty() && drawnPolylines.isEmpty())) {
             this.currentFloor = newFloor;
             drawFloorShapes(newFloor);
         }
     }
 
-    /**
-     * Increments the current floor and changes to a higher floor's map
-     * (if a higher floor exists).
-     */
     public void increaseFloor() {
-        this.setCurrentFloor(currentFloor + 1, false);
+        setCurrentFloor(currentFloor + 1, false);
     }
 
-    /**
-     * Decrements the current floor and changes to the lower floor's map
-     * (if a lower floor exists).
-     */
     public void decreaseFloor() {
-        this.setCurrentFloor(currentFloor - 1, false);
+        setCurrentFloor(currentFloor - 1, false);
+    }
+
+
+    private int findFloorIndexByCanonicalLabel(String targetFloorLabel) {
+        if (currentFloorShapes == null || currentFloorShapes.isEmpty()) {
+            return -1;
+        }
+
+        String canonicalTarget = canonicalFloorLabel(targetFloorLabel);
+        for (int i = 0; i < currentFloorShapes.size(); i++) {
+            String candidateDisplayName = currentFloorShapes.get(i).getDisplayName();
+            if (canonicalTarget.equals(canonicalFloorLabel(candidateDisplayName))) {
+                return i;
+            }
+        }
+        return -1;
+    }
+
+    private String formatFloorLabelForDisplay(String rawFloorLabel) {
+        String canonicalFloor = canonicalFloorLabel(rawFloorLabel);
+        switch (canonicalFloor) {
+            case "LG":
+                return "LG";
+            case "G":
+                return "G";
+            case "1":
+                return "F1";
+            case "2":
+                return "F2";
+            case "3":
+                return "F3";
+            default:
+                return rawFloorLabel == null ? "" : rawFloorLabel;
+        }
+    }
+
+    private String canonicalFloorLabel(String rawFloorLabel) {
+        if (rawFloorLabel == null) {
+            return "";
+        }
+
+        String normalized = rawFloorLabel.trim().toUpperCase().replace(" ", "");
+        switch (normalized) {
+            case "LG":
+            case "LOWERGROUND":
+            case "LOWERG":
+            case "B1":
+            case "BASEMENT1":
+                return "LG";
+            case "G":
+            case "GF":
+            case "GROUND":
+            case "GROUNDFLOOR":
+            case "0":
+                return "G";
+            case "1":
+            case "F1":
+            case "FIRST":
+            case "FIRSTFLOOR":
+                return "1";
+            case "2":
+            case "F2":
+            case "SECOND":
+            case "SECONDFLOOR":
+                return "2";
+            case "3":
+            case "F3":
+            case "THIRD":
+            case "THIRDFLOOR":
+                return "3";
+            default:
+                return normalized;
+        }
     }
 
-    /**
-     * Sets the map overlay for the building if the user's current location is
-     * inside a building and the overlay is not already set. Removes the overlay
-     * if the user leaves all buildings.
-     *
-     * <p>Detection priority: floorplan API real polygon outlines first,
-     * then legacy hard-coded rectangular boundaries as fallback.</p>
-     */
     private void setBuildingOverlay() {
         try {
             int detected = detectCurrentBuilding();
@@ -225,7 +292,6 @@ private void setBuildingOverlay() {
                         return;
                 }
 
-                // Load floor shapes from cached API data
                 FloorplanApiClient.BuildingInfo building =
                         SensorFusion.getInstance().getFloorplanBuilding(apiName);
                 if (building != null) {
@@ -238,28 +304,19 @@ private void setBuildingOverlay() {
                 }
 
             } else if (!inAnyBuilding && isIndoorMapSet) {
-                clearDrawnShapes();
-                isIndoorMapSet = false;
-                currentBuilding = BUILDING_NONE;
-                currentFloor = 0;
-                currentFloorShapes = null;
+                clearIndoorMap();
             }
         } catch (Exception ex) {
-            Log.e(TAG, "Error with overlay: " + ex.toString());
+            Log.e(TAG, "Error with overlay: " + ex);
         }
     }
 
-    /**
-     * Draws all vector shapes for the given floor index on the Google Map.
-     * Clears any previously drawn shapes before drawing the new floor.
-     *
-     * @param floorIndex the floor index (0-based, matching FloorShapes list order)
-     */
     private void drawFloorShapes(int floorIndex) {
         clearDrawnShapes();
 
-        if (currentFloorShapes == null || floorIndex < 0
-                || floorIndex >= currentFloorShapes.size()) return;
+        if (currentFloorShapes == null || floorIndex < 0 || floorIndex >= currentFloorShapes.size()) {
+            return;
+        }
 
         FloorplanApiClient.FloorShapes floor = currentFloorShapes.get(floorIndex);
         for (FloorplanApiClient.MapShapeFeature feature : floor.getFeatures()) {
@@ -268,133 +325,155 @@ private void drawFloorShapes(int floorIndex) {
 
             if ("MultiPolygon".equals(geoType) || "Polygon".equals(geoType)) {
                 for (List<LatLng> ring : feature.getParts()) {
-                    if (ring.size() < 3) continue;
+                    if (ring.size() < 3) {
+                        continue;
+                    }
+                    if (vectorBaseplateEnabled) {
+                        Polygon underlay = gMap.addPolygon(new PolygonOptions()
+                                .addAll(ring)
+                                .strokeColor(Color.argb(145, 255, 255, 255))
+                                .strokeWidth(9f)
+                                .fillColor(Color.argb(125, 255, 255, 255))
+                                .zIndex(6f));
+                        drawnPolygons.add(underlay);
+                    }
                     Polygon p = gMap.addPolygon(new PolygonOptions()
                             .addAll(ring)
                             .strokeColor(getStrokeColor(indoorType))
                             .strokeWidth(5f)
-                            .fillColor(getFillColor(indoorType)));
+                            .fillColor(getFillColor(indoorType))
+                            .zIndex(10f));
                     drawnPolygons.add(p);
                 }
-            } else if ("MultiLineString".equals(geoType)
-                    || "LineString".equals(geoType)) {
+            } else if ("MultiLineString".equals(geoType) || "LineString".equals(geoType)) {
                 for (List<LatLng> line : feature.getParts()) {
-                    if (line.size() < 2) continue;
+                    if (line.size() < 2) {
+                        continue;
+                    }
+                    if (vectorBaseplateEnabled) {
+                        Polyline underlay = gMap.addPolyline(new PolylineOptions()
+                                .addAll(line)
+                                .color(Color.argb(170, 255, 255, 255))
+                                .width(10f)
+                                .zIndex(6f));
+                        drawnPolylines.add(underlay);
+                    }
                     Polyline pl = gMap.addPolyline(new PolylineOptions()
                             .addAll(line)
                             .color(getStrokeColor(indoorType))
-                            .width(6f));
+                            .width(6f)
+                            .zIndex(10f));
                     drawnPolylines.add(pl);
                 }
             }
         }
     }
 
-    /**
-     * Removes all vector shapes currently drawn on the map.
-     */
     private void clearDrawnShapes() {
-        for (Polygon p : drawnPolygons) p.remove();
-        for (Polyline p : drawnPolylines) p.remove();
+        for (Polygon p : drawnPolygons) {
+            p.remove();
+        }
+        for (Polyline p : drawnPolylines) {
+            p.remove();
+        }
         drawnPolygons.clear();
         drawnPolylines.clear();
     }
 
-    /**
-     * Returns the stroke colour for a given indoor feature type.
-     *
-     * @param indoorType the indoor_type property value
-     * @return ARGB colour value
-     */
     private int getStrokeColor(String indoorType) {
-        if ("wall".equals(indoorType)) return WALL_STROKE;
-        if ("room".equals(indoorType)) return ROOM_STROKE;
+        if ("wall".equals(indoorType)) {
+            return WALL_STROKE;
+        }
+        if ("room".equals(indoorType)) {
+            return ROOM_STROKE;
+        }
         return DEFAULT_STROKE;
     }
 
-    /**
-     * Returns the fill colour for a given indoor feature type.
-     *
-     * @param indoorType the indoor_type property value
-     * @return ARGB colour value
-     */
     private int getFillColor(String indoorType) {
-        if ("room".equals(indoorType)) return ROOM_FILL;
+        if ("room".equals(indoorType)) {
+            return ROOM_FILL;
+        }
         return Color.TRANSPARENT;
     }
 
-    /**
-     * Detects which building the user is currently in.
-     * Checks floorplan API outline polygons first; falls back to legacy
-     * hard-coded rectangular boundaries if no API match is found.
-     *
-     * @return building type constant, or {@link #BUILDING_NONE}
-     */
     private int detectCurrentBuilding() {
-        // Phase 1: API real polygon outlines
-        List<FloorplanApiClient.BuildingInfo> apiBuildings =
-                SensorFusion.getInstance().getFloorplanBuildings();
-        for (FloorplanApiClient.BuildingInfo building : apiBuildings) {
-            List<LatLng> outline = building.getOutlinePolygon();
-            if (outline != null && outline.size() >= 3
-                    && BuildingPolygon.pointInPolygon(currentLocation, outline)) {
-                int type = resolveBuildingType(building.getName());
-                if (type != BUILDING_NONE) return type;
+        List<FloorplanApiClient.BuildingInfo> apiBuildings = SensorFusion.getInstance().getFloorplanBuildings();
+
+        if (apiBuildings != null) {
+            for (FloorplanApiClient.BuildingInfo building : apiBuildings) {
+                List<LatLng> outline = building.getOutlinePolygon();
+                if (outline != null && outline.size() >= 3
+                        && BuildingPolygon.pointInPolygon(currentLocation, outline)) {
+                    int type = resolveBuildingType(building.getName());
+                    if (type != BUILDING_NONE) {
+                        return type;
+                    }
+                }
             }
         }
 
-        // Phase 2: legacy hard-coded fallback
-        if (BuildingPolygon.inNucleus(currentLocation)) return BUILDING_NUCLEUS;
-        if (BuildingPolygon.inLibrary(currentLocation)) return BUILDING_LIBRARY;
-        if (BuildingPolygon.inMurchison(currentLocation)) return BUILDING_MURCHISON;
+        if (BuildingPolygon.inNucleus(currentLocation)) {
+            return BUILDING_NUCLEUS;
+        }
+        if (BuildingPolygon.inLibrary(currentLocation)) {
+            return BUILDING_LIBRARY;
+        }
+        if (BuildingPolygon.inMurchison(currentLocation)) {
+            return BUILDING_MURCHISON;
+        }
 
         return BUILDING_NONE;
     }
 
-    /**
-     * Maps a floorplan API building name to a building type constant.
-     *
-     * @param apiName building name from API (e.g. "nucleus_building")
-     * @return building type constant, or {@link #BUILDING_NONE} if unrecognised
-     */
     private int resolveBuildingType(String apiName) {
-        if (apiName == null) return BUILDING_NONE;
+        if (apiName == null) {
+            return BUILDING_NONE;
+        }
         switch (apiName) {
-            case "nucleus_building": return BUILDING_NUCLEUS;
-            case "murchison_house":  return BUILDING_MURCHISON;
-            case "library":          return BUILDING_LIBRARY;
-            default:                 return BUILDING_NONE;
+            case "nucleus_building":
+                return BUILDING_NUCLEUS;
+            case "murchison_house":
+                return BUILDING_MURCHISON;
+            case "library":
+                return BUILDING_LIBRARY;
+            default:
+                return BUILDING_NONE;
         }
     }
 
-    /**
-     * Draws green polyline indicators around all buildings with available
-     * indoor floor maps. Uses floorplan API outlines when available,
-     * falls back to legacy hard-coded polygons otherwise.
-     */
     public void setIndicationOfIndoorMap() {
-        List<FloorplanApiClient.BuildingInfo> apiBuildings =
-                SensorFusion.getInstance().getFloorplanBuildings();
+        List<FloorplanApiClient.BuildingInfo> apiBuildings = SensorFusion.getInstance().getFloorplanBuildings();
 
-        boolean nucleusDrawn = false, libraryDrawn = false, murchisonDrawn = false;
+        boolean nucleusDrawn = false;
+        boolean libraryDrawn = false;
+        boolean murchisonDrawn = false;
 
-        // Phase 1: draw API outlines
-        for (FloorplanApiClient.BuildingInfo building : apiBuildings) {
-            List<LatLng> outline = building.getOutlinePolygon();
-            if (outline == null || outline.size() < 3) continue;
+        if (apiBuildings != null) {
+            for (FloorplanApiClient.BuildingInfo building : apiBuildings) {
+                List<LatLng> outline = building.getOutlinePolygon();
+                if (outline == null || outline.size() < 3) {
+                    continue;
+                }
 
-            List<LatLng> closed = new ArrayList<>(outline);
-            closed.add(closed.get(0));
-            gMap.addPolyline(new PolylineOptions().color(Color.GREEN).addAll(closed));
+                List<LatLng> closed = new ArrayList<>(outline);
+                closed.add(closed.get(0));
+                gMap.addPolyline(new PolylineOptions().color(Color.GREEN).addAll(closed));
 
-            switch (building.getName()) {
-                case "nucleus_building": nucleusDrawn = true; break;
-                case "library":          libraryDrawn = true; break;
-                case "murchison_house":  murchisonDrawn = true; break;
+                switch (building.getName()) {
+                    case "nucleus_building":
+                        nucleusDrawn = true;
+                        break;
+                    case "library":
+                        libraryDrawn = true;
+                        break;
+                    case "murchison_house":
+                        murchisonDrawn = true;
+                        break;
+                }
             }
         }
 
-        // Phase 2: fallback for buildings not covered by API
         if (!nucleusDrawn) {
             List<LatLng> pts = new ArrayList<>(BuildingPolygon.NUCLEUS_POLYGON);
             pts.add(pts.get(0));
diff --git a/app/src/main/res/layout/fragment_startlocation.xml b/app/src/main/res/layout/fragment_startlocation.xml
index fa9b0931..343a13df 100644
--- a/app/src/main/res/layout/fragment_startlocation.xml
+++ b/app/src/main/res/layout/fragment_startlocation.xml
@@ -20,6 +20,33 @@
             android:layout_width="match_parent"
             android:layout_height="match_parent">
 
+            <LinearLayout
+                android:id="@+id/topControlBar"
+                android:visibility="gone"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:orientation="horizontal"
+                android:gravity="center"
+                android:padding="8dp"
+                android:background="#B3FFFFFF"
+                app:layout_constraintTop_toTopOf="parent"
+                app:layout_constraintStart_toStartOf="parent"
+                app:layout_constraintEnd_toEndOf="parent">
+
+                <Button
+                    android:id="@+id/btnFindActualMap"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_marginEnd="16dp"
+                    android:text="Find Actual Maps" />
+
+                <Button
+                    android:id="@+id/btnFindIndoorMap"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:text="Find Indoormaps" />
+            </LinearLayout>
+
             <com.google.android.material.card.MaterialCardView
                 android:id="@+id/cardView"
                 android:layout_width="match_parent"
@@ -44,7 +71,6 @@
                     android:textAlignment="center"/>
             </com.google.android.material.card.MaterialCardView>
 
-            <!-- Building name indicator shown after selection -->
             <com.google.android.material.card.MaterialCardView
                 android:id="@+id/buildingInfoCard"
                 android:layout_width="wrap_content"
@@ -84,4 +110,4 @@
         </androidx.constraintlayout.widget.ConstraintLayout>
 
     </FrameLayout>
-</RelativeLayout>
+</RelativeLayout>
\ No newline at end of file
diff --git a/app/src/main/res/layout/fragment_trajectory_map.xml b/app/src/main/res/layout/fragment_trajectory_map.xml
index a72425bf..04800e88 100644
--- a/app/src/main/res/layout/fragment_trajectory_map.xml
+++ b/app/src/main/res/layout/fragment_trajectory_map.xml
@@ -1,26 +1,24 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.coordinatorlayout.widget.CoordinatorLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
     android:id="@+id/trajectory_map_root"
     android:layout_width="match_parent"
     android:layout_height="match_parent">
 
-    <!-- The actual map container -->
     <androidx.fragment.app.FragmentContainerView
         android:id="@+id/trajectoryMap"
         android:name="com.google.android.gms.maps.SupportMapFragment"
         android:layout_width="match_parent"
         android:layout_height="match_parent" />
 
-    <!-- Overlaid controls for map visualization -->
     <com.google.android.material.card.MaterialCardView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_margin="10dp"
-        android:padding="18dp"
-        app:cardBackgroundColor="@color/md_theme_surfaceContainer"
+        app:cardBackgroundColor="#FFFFFF"
         app:cardElevation="4dp"
-        app:shapeAppearanceOverlay="@style/ShapeAppearance.Material3.MediumComponent"
+        app:cardCornerRadius="8dp"
         app:layout_anchor="@id/trajectoryMap"
         app:layout_anchorGravity="top|start">
 
@@ -28,7 +26,7 @@
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
             android:orientation="vertical"
-            android:padding="8dp"
+            android:padding="12dp"
             android:gravity="center">
 
             <com.google.android.material.switchmaterial.SwitchMaterial
@@ -48,7 +46,7 @@
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
                 android:backgroundTint="@color/red"
-                android:textColor="@color/md_theme_onPrimary"
+                android:textColor="@android:color/white"
                 android:text="@string/color"
                 app:elevation="5dp"/>
 
@@ -56,32 +54,236 @@
                 android:id="@+id/mapSwitchSpinner"
                 android:layout_width="wrap_content"
                 android:layout_height="48dp"
-                android:layout_marginStart="0dp"
                 android:layout_marginTop="8dp"
                 android:background="@android:color/white"
-                android:spinnerMode="dropdown"
-                app:layout_constraintTop_toTopOf="parent"
-                android:elevation="5dp"/>
-
+                android:spinnerMode="dropdown" />
         </LinearLayout>
     </com.google.android.material.card.MaterialCardView>
 
-    <!-- Floating action buttons for floor control, properly spaced -->
     <androidx.constraintlayout.widget.ConstraintLayout
         android:layout_width="match_parent"
         android:layout_height="match_parent">
 
+        <LinearLayout
+            android:id="@+id/mapActionButtons"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:orientation="vertical"
+            android:layout_marginStart="16dp"
+            android:layout_marginBottom="16dp"
+            app:layout_constraintBottom_toBottomOf="parent"
+            app:layout_constraintStart_toStartOf="parent">
+
+            <TextView
+                android:id="@+id/selectedVenueText"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Tap a blue building outline to select a building"
+                android:background="#B3FFFFFF"
+                android:textColor="@android:color/black"
+                android:padding="6dp"
+                android:layout_marginBottom="8dp" />
+
+            <com.google.android.material.progressindicator.CircularProgressIndicator
+                android:id="@+id/indoorLoadingIndicator"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:indeterminate="true"
+                android:visibility="gone"
+                android:layout_marginBottom="8dp" />
+
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btnFindActualMap"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Display Actual Maps"
+                android:layout_marginBottom="8dp"
+                app:backgroundTint="?attr/colorPrimary" />
+
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btnToggleAdjustMap"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Adjust Map"
+                android:visibility="gone"
+                android:layout_marginBottom="8dp"
+                app:backgroundTint="#546E7A" />
+
+            <LinearLayout
+                android:id="@+id/calibrationPanel"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:orientation="vertical"
+                android:background="#CCFFFFFF"
+                android:padding="8dp"
+                android:visibility="gone"
+                android:layout_marginBottom="8dp">
+
+                <TextView
+                    android:id="@+id/calibrationTargetText"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:text="Target:"
+                    android:textColor="@android:color/black"
+                    android:textStyle="bold"
+                    android:layout_marginBottom="4dp" />
+
+                <TextView
+                    android:id="@+id/calibrationValueText"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:text="x=0.000 y=0.000 w=1.000 h=1.000"
+                    android:textColor="@android:color/black"
+                    android:layout_marginBottom="6dp" />
+
+                <com.google.android.material.button.MaterialButton
+                    android:id="@+id/btnCalibrationTarget"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:text="Switch Target"
+                    android:visibility="gone"
+                    android:layout_marginBottom="6dp"
+                    app:backgroundTint="#607D8B" />
+
+                <LinearLayout
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:orientation="horizontal"
+                    android:layout_marginBottom="4dp">
+
+                    <com.google.android.material.button.MaterialButton
+                        android:id="@+id/btnCalibrateUp"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="Up"
+                        android:minWidth="0dp"
+                        android:insetLeft="0dp"
+                        android:insetRight="0dp" />
+
+                    <com.google.android.material.button.MaterialButton
+                        android:id="@+id/btnCalibrateDown"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="Down"
+                        android:minWidth="0dp"
+                        android:insetLeft="0dp"
+                        android:insetRight="0dp"
+                        android:layout_marginStart="4dp" />
+
+                    <com.google.android.material.button.MaterialButton
+                        android:id="@+id/btnCalibrateLeft"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="Left"
+                        android:minWidth="0dp"
+                        android:insetLeft="0dp"
+                        android:insetRight="0dp"
+                        android:layout_marginStart="4dp" />
+
+                    <com.google.android.material.button.MaterialButton
+                        android:id="@+id/btnCalibrateRight"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="Right"
+                        android:minWidth="0dp"
+                        android:insetLeft="0dp"
+                        android:insetRight="0dp"
+                        android:layout_marginStart="4dp" />
+                </LinearLayout>
+
+                <LinearLayout
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:orientation="horizontal"
+                    android:layout_marginBottom="4dp">
+
+                    <com.google.android.material.button.MaterialButton
+                        android:id="@+id/btnWidthMinus"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="W-"
+                        android:minWidth="0dp"
+                        android:insetLeft="0dp"
+                        android:insetRight="0dp" />
+
+                    <com.google.android.material.button.MaterialButton
+                        android:id="@+id/btnWidthPlus"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="W+"
+                        android:minWidth="0dp"
+                        android:insetLeft="0dp"
+                        android:insetRight="0dp"
+                        android:layout_marginStart="4dp" />
+
+                    <com.google.android.material.button.MaterialButton
+                        android:id="@+id/btnHeightMinus"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="H-"
+                        android:minWidth="0dp"
+                        android:insetLeft="0dp"
+                        android:insetRight="0dp"
+                        android:layout_marginStart="4dp" />
+
+                    <com.google.android.material.button.MaterialButton
+                        android:id="@+id/btnHeightPlus"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="H+"
+                        android:minWidth="0dp"
+                        android:insetLeft="0dp"
+                        android:insetRight="0dp"
+                        android:layout_marginStart="4dp" />
+                </LinearLayout>
+
+                <LinearLayout
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:orientation="horizontal">
+
+                    <com.google.android.material.button.MaterialButton
+                        android:id="@+id/btnSaveCalibration"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="Save"
+                        android:minWidth="0dp"
+                        android:insetLeft="0dp"
+                        android:insetRight="0dp"
+                        app:backgroundTint="#2E7D32" />
+
+                    <com.google.android.material.button.MaterialButton
+                        android:id="@+id/btnResetCalibration"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="Reset"
+                        android:minWidth="0dp"
+                        android:insetLeft="0dp"
+                        android:insetRight="0dp"
+                        android:layout_marginStart="4dp"
+                        app:backgroundTint="#C62828" />
+                </LinearLayout>
+
+            </LinearLayout>
+
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btnFindIndoorMap"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Find Indoor Maps"
+                app:backgroundTint="?attr/colorPrimary" />
+        </LinearLayout>
+
         <com.google.android.material.floatingactionbutton.FloatingActionButton
             android:id="@+id/floorDownButton"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
             android:layout_margin="16dp"
             android:src="@android:drawable/arrow_down_float"
-            app:backgroundTint="@color/md_theme_primary"
-            app:tint="@color/md_theme_onPrimary"
+            app:backgroundTint="?attr/colorPrimary"
+            app:tint="@android:color/white"
             app:layout_constraintBottom_toBottomOf="parent"
-            app:layout_constraintEnd_toEndOf="parent"
-            android:contentDescription="@string/floor_down" />
+            app:layout_constraintEnd_toEndOf="parent" />
 
         <TextView
             android:id="@+id/floorLabel"
@@ -89,12 +291,12 @@
             android:layout_height="wrap_content"
             android:layout_marginEnd="16dp"
             android:layout_marginBottom="16dp"
-            android:background="@drawable/floor_label_bg"
+            android:background="#E0E0E0"
             android:gravity="center"
             android:paddingTop="6dp"
             android:paddingBottom="6dp"
             android:text="G"
-            android:textColor="@color/md_theme_onSurface"
+            android:textColor="@android:color/black"
             android:textSize="18sp"
             android:textStyle="bold"
             app:layout_constraintBottom_toTopOf="@id/floorDownButton"
@@ -107,26 +309,12 @@
             android:layout_margin="16dp"
             android:layout_marginEnd="16dp"
             android:layout_marginBottom="28dp"
-            android:contentDescription="@string/floor_up"
             android:src="@android:drawable/arrow_up_float"
-            app:backgroundTint="@color/md_theme_primary"
+            app:backgroundTint="?attr/colorPrimary"
+            app:tint="@android:color/white"
             app:layout_constraintBottom_toTopOf="@+id/floorLabel"
-            app:layout_constraintEnd_toEndOf="parent"
-            app:tint="@color/md_theme_onPrimary" />
-
-        <androidx.constraintlayout.widget.Guideline
-            android:id="@+id/guideline"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal"
-            app:layout_constraintGuide_begin="607dp" />
+            app:layout_constraintEnd_toEndOf="parent" />
 
-        <androidx.constraintlayout.widget.Guideline
-            android:id="@+id/guideline2"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="vertical"
-            app:layout_constraintGuide_begin="395dp" />
     </androidx.constraintlayout.widget.ConstraintLayout>
 
-</androidx.coordinatorlayout.widget.CoordinatorLayout>
+</androidx.coordinatorlayout.widget.CoordinatorLayout>
\ No newline at end of file
diff --git a/secrets.properties b/secrets.properties
index f0dc54fd..d959890d 100644
--- a/secrets.properties
+++ b/secrets.properties
@@ -1,6 +1,6 @@
 #
 # Modify the variables to set your keys
 #
-MAPS_API_KEY=<your Google maps API key>
-OPENPOSITIONING_API_KEY=<your openpositioning user API key>
-OPENPOSITIONING_MASTER_KEY=<The openpositioning master key>
+MAPS_API_KEY=AIzaSyAhE0bUiRZAM1VUt0DwzMff8fKOmw-SCMM
+OPENPOSITIONING_API_KEY=B28brNJh6W9lBRTdi4n7hQ
+OPENPOSITIONING_MASTER_KEY=ewireless

From 0a03796c7cc23fe192615c5334c2143262cb3781 Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Wed, 18 Mar 2026 20:01:48 +0000
Subject: [PATCH 02/35] update indoor map match

---
 .../fragment/RecordingFragment.java           |  51 ++-
 .../fragment/TrajectoryMapFragment.java       | 410 ++++++++++++++++--
 2 files changed, 415 insertions(+), 46 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
index 340843ca..768e1ee8 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
@@ -7,6 +7,7 @@
 import android.os.Bundle;
 import android.os.CountDownTimer;
 import android.os.Handler;
+import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
@@ -65,6 +66,8 @@
 
 public class RecordingFragment extends Fragment {
 
+    private static final String TAG = "RecordingFragment";
+
     // UI elements
     private MaterialButton completeButton, cancelButton;
     private ImageView recIcon;
@@ -86,6 +89,8 @@ public class RecordingFragment extends Fragment {
 
     // References to the child map fragment
     private TrajectoryMapFragment trajectoryMapFragment;
+    private LatLng rawTrajectoryLocation;
+    private boolean initialCameraPositionSet = false;
 
     private final Runnable refreshDataTask = new Runnable() {
         @Override
@@ -228,7 +233,7 @@ private void onAddTestPoint() {
         LatLng cur = trajectoryMapFragment.getCurrentLocation();
         if (cur == null) {
             Toast.makeText(requireContext(), "" +
-                    "I haven't gotten my current location yet, let me take a couple of steps/wait for the map to load.",
+                            "I haven't gotten my current location yet, let me take a couple of steps/wait for the map to load.",
                     Toast.LENGTH_SHORT).show();
             return;
         }
@@ -264,21 +269,43 @@ private void updateUIandPosition() {
         float elevationVal = sensorFusion.getElevation();
         elevation.setText(getString(R.string.elevation, String.format("%.1f", elevationVal)));
 
-        // Current location
-        // Convert PDR coordinates to actual LatLng if you have a known starting lat/lon
-        // Or simply pass relative data for the TrajectoryMapFragment to handle
-        // For example:
+        // Current raw PDR location (kept separate from matched/displayed location)
         float[] latLngArray = sensorFusion.getGNSSLatitude(true);
         if (latLngArray != null) {
-            LatLng oldLocation = trajectoryMapFragment.getCurrentLocation(); // or store locally
-            LatLng newLocation = UtilFunctions.calculateNewPos(
-                    oldLocation == null ? new LatLng(latLngArray[0], latLngArray[1]) : oldLocation,
-                    new float[]{ pdrValues[0] - previousPosX, pdrValues[1] - previousPosY }
+            if (rawTrajectoryLocation == null) {
+                rawTrajectoryLocation = new LatLng(latLngArray[0], latLngArray[1]);
+                Log.d(TAG, String.format(java.util.Locale.US,
+                        "RAW_PDR initFromGnss=(%.6f, %.6f)",
+                        rawTrajectoryLocation.latitude,
+                        rawTrajectoryLocation.longitude));
+            }
+
+            if (trajectoryMapFragment != null && !initialCameraPositionSet) {
+                trajectoryMapFragment.setInitialCameraPosition(rawTrajectoryLocation);
+                initialCameraPositionSet = true;
+                Log.d(TAG, "RAW_PDR initial camera position set");
+            }
+
+            float deltaPdrX = pdrValues[0] - previousPosX;
+            float deltaPdrY = pdrValues[1] - previousPosY;
+            LatLng newRawLocation = UtilFunctions.calculateNewPos(
+                    rawTrajectoryLocation,
+                    new float[]{deltaPdrX, deltaPdrY}
             );
+            Log.d(TAG, String.format(java.util.Locale.US,
+                    "RAW_PDR prev=(%.6f, %.6f) new=(%.6f, %.6f) deltaPdr=(%.3f, %.3f) orientationDeg=%.1f elevation=%.2f",
+                    rawTrajectoryLocation.latitude,
+                    rawTrajectoryLocation.longitude,
+                    newRawLocation.latitude,
+                    newRawLocation.longitude,
+                    deltaPdrX,
+                    deltaPdrY,
+                    Math.toDegrees(sensorFusion.passOrientation()),
+                    elevationVal));
+            rawTrajectoryLocation = newRawLocation;
 
-            // Pass the location + orientation to the map
             if (trajectoryMapFragment != null) {
-                trajectoryMapFragment.updateUserLocation(newLocation,
+                trajectoryMapFragment.updateUserLocation(newRawLocation,
                         (float) Math.toDegrees(sensorFusion.passOrientation()));
             }
         }
@@ -286,7 +313,6 @@ private void updateUIandPosition() {
         // GNSS logic if you want to show GNSS error, etc.
         float[] gnss = sensorFusion.getSensorValueMap().get(SensorTypes.GNSSLATLONG);
         if (gnss != null && trajectoryMapFragment != null) {
-            // If user toggles showing GNSS in the map, call e.g.
             if (trajectoryMapFragment.isGnssEnabled()) {
                 LatLng gnssLocation = new LatLng(gnss[0], gnss[1]);
                 LatLng currentLoc = trajectoryMapFragment.getCurrentLocation();
@@ -302,7 +328,6 @@ private void updateUIandPosition() {
             }
         }
 
-        // Update previous
         previousPosX = pdrValues[0];
         previousPosY = pdrValues[1];
     }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 343c2553..124708c2 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -40,6 +40,13 @@
 import com.google.android.material.switchmaterial.SwitchMaterial;
 import com.openpositioning.PositionMe.R;
 import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
+import com.openpositioning.PositionMe.mapmatching.CandidatePose;
+import com.openpositioning.PositionMe.mapmatching.CorrectionType;
+import com.openpositioning.PositionMe.mapmatching.MapMatchingInput;
+import com.openpositioning.PositionMe.mapmatching.MapMatchingResult;
+import com.openpositioning.PositionMe.mapmatching.MapMatchingService;
+import com.openpositioning.PositionMe.mapmatching.MotionDelta;
+import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
 import com.openpositioning.PositionMe.utils.BuildingPolygon;
 import com.openpositioning.PositionMe.utils.IndoorMapManager;
@@ -59,6 +66,8 @@ public class TrajectoryMapFragment extends Fragment {
     private static final String CALIBRATION_PREFS_NAME = "actual_map_calibration";
     private static final float CALIBRATION_SHIFT_STEP = 0.005f;
     private static final float CALIBRATION_SCALE_STEP = 0.005f;
+    private static final double HEIGHT_CHANGE_THRESHOLD_METERS = 0.9d;
+    private static final long MAP_MATCH_LOG_INTERVAL_MS = 0L;
 
     private enum HorizontalAnchor {
         LEFT,
@@ -194,6 +203,14 @@ static OverlayCalibration identity() {
     private FloorplanApiClient.BuildingInfo selectedFloorplanBuilding;
     private Polygon selectedFloorplanPolygon;
     private final FloorplanApiClient floorplanApiClient = new FloorplanApiClient();
+    private final MapMatchingService mapMatchingService = new MapMatchingService();
+
+    private CandidatePose previousMatchedPose;
+    private MapMatchingResult lastMapMatchingResult;
+    private float previousElevation = Float.NaN;
+    private int latestCandidateLogicalFloor = Integer.MIN_VALUE;
+    private long lastMapMatchLogTime = 0L;
+    private long lastAutoFloorLogTime = 0L;
 
     private Handler autoFloorHandler;
     private Runnable autoFloorTask;
@@ -1017,6 +1034,8 @@ private void onFloorplanBuildingSelected(FloorplanApiClient.BuildingInfo buildin
         indoorMapVisible = false;
         actualMapVisible = false;
         currentFloorIndex = getDefaultFloorIndex(building);
+        previousMatchedPose = null;
+        lastMapMatchingResult = null;
 
         if (polygon != null) {
             polygon.setZIndex(1f);
@@ -1406,42 +1425,368 @@ public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         if (gMap == null) {
             return;
         }
-        LatLng oldLocation = this.currentLocation;
-        this.currentLocation = newLocation;
+
+        LatLng previousDisplayedLocation = this.currentLocation;
+        LatLng previousReferenceLocation = previousMatchedPose != null
+                ? previousMatchedPose.getLatLng()
+                : previousDisplayedLocation;
+
+        MotionDelta motionDelta = buildMotionDelta(previousReferenceLocation, newLocation, orientation);
+        VerticalTransitionHint verticalHint = buildVerticalHint();
+        int candidateLogicalFloor = getCandidateLogicalFloorForMatching();
+        CandidatePose currentCandidatePose = new CandidatePose(
+                newLocation,
+                candidateLogicalFloor,
+                System.currentTimeMillis(),
+                "RAW_PDR"
+        );
+
+        int geometryLogicalFloor = previousMatchedPose != null
+                ? previousMatchedPose.getFloor()
+                : getCurrentVisibleLogicalFloor();
+        FloorplanApiClient.FloorShapes activeFloorShapes = getFloorShapesForLogicalFloor(geometryLogicalFloor);
+
+        MapMatchingInput input = new MapMatchingInput(
+                previousMatchedPose,
+                currentCandidatePose,
+                motionDelta,
+                verticalHint,
+                activeFloorShapes,
+                selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : null
+        );
+
+        logMapMatchingInput(newLocation, previousReferenceLocation, candidateLogicalFloor,
+                geometryLogicalFloor, motionDelta, verticalHint, activeFloorShapes, orientation);
+
+        MapMatchingResult result = mapMatchingService.match(input);
+        lastMapMatchingResult = result;
+
+        LatLng matchedLocation = result.getCorrectedLatLng() != null
+                ? result.getCorrectedLatLng()
+                : newLocation;
+        int matchedLogicalFloor = result.getCorrectedFloor();
+
+        this.currentLocation = matchedLocation;
+        previousMatchedPose = new CandidatePose(
+                matchedLocation,
+                matchedLogicalFloor,
+                currentCandidatePose.getTimestampMs(),
+                "MAP_MATCHED"
+        );
+        if (sensorFusion != null) {
+            previousElevation = sensorFusion.getElevation();
+        }
+
+        if (autoFloorSwitch != null && autoFloorSwitch.isChecked()) {
+            applyMatchedFloor(matchedLogicalFloor);
+        }
 
         boolean shouldFollowCamera = !(indoorMapVisible || actualMapVisible);
         if (orientationMarker == null) {
             orientationMarker = gMap.addMarker(new MarkerOptions()
-                    .position(newLocation)
+                    .position(matchedLocation)
                     .flat(true)
+                    .rotation(orientation)
                     .title("Current Position")
                     .icon(BitmapDescriptorFactory.fromBitmap(UtilFunctions.getBitmapFromVector(requireContext(), R.drawable.ic_baseline_navigation_24))));
             if (shouldFollowCamera) {
-                gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(newLocation, 19f));
+                gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(matchedLocation, 19f));
             }
         } else {
-            orientationMarker.setPosition(newLocation);
+            orientationMarker.setPosition(matchedLocation);
             orientationMarker.setRotation(orientation);
             if (shouldFollowCamera) {
-                gMap.moveCamera(CameraUpdateFactory.newLatLng(newLocation));
+                gMap.moveCamera(CameraUpdateFactory.newLatLng(matchedLocation));
             }
         }
 
         if (polyline != null) {
             List<LatLng> points = new ArrayList<>(polyline.getPoints());
-            if (oldLocation == null || !oldLocation.equals(newLocation)) {
-                points.add(newLocation);
+            if (previousDisplayedLocation == null || !previousDisplayedLocation.equals(matchedLocation)) {
+                points.add(matchedLocation);
                 polyline.setPoints(points);
             }
         }
 
         if (indoorMapManager != null) {
-            indoorMapManager.setCurrentLocation(newLocation);
+            indoorMapManager.setCurrentLocation(matchedLocation);
         }
 
+        logMapMatchingResult(newLocation, result);
         maybeFetchNearbyBuildingsOnFirstLocation();
     }
 
+    private MotionDelta buildMotionDelta(@Nullable LatLng previousLocation,
+                                         @NonNull LatLng currentLocation,
+                                         float orientation) {
+        if (previousLocation == null) {
+            return new MotionDelta(0d, 0d, 0d, orientation);
+        }
+
+        double metersPerDegLat = 111320.0d;
+        double metersPerDegLon = 111320.0d * Math.cos(Math.toRadians(currentLocation.latitude));
+        double deltaX = (currentLocation.longitude - previousLocation.longitude) * metersPerDegLon;
+        double deltaY = (currentLocation.latitude - previousLocation.latitude) * metersPerDegLat;
+        double stepDistance = Math.hypot(deltaX, deltaY);
+        return new MotionDelta(deltaX, deltaY, stepDistance, orientation);
+    }
+
+    @Nullable
+    private VerticalTransitionHint buildVerticalHint() {
+        if (sensorFusion == null) {
+            return null;
+        }
+
+        float currentElevation = sensorFusion.getElevation();
+        double deltaHeight = Float.isNaN(previousElevation) ? 0d : (currentElevation - previousElevation);
+        boolean heightChanged = !Float.isNaN(previousElevation)
+                && Math.abs(deltaHeight) >= HEIGHT_CHANGE_THRESHOLD_METERS;
+        return new VerticalTransitionHint(currentElevation, deltaHeight, heightChanged);
+    }
+
+    private int getCandidateLogicalFloorForMatching() {
+        if (autoFloorSwitch != null && autoFloorSwitch.isChecked()) {
+            if (latestCandidateLogicalFloor != Integer.MIN_VALUE) {
+                return latestCandidateLogicalFloor;
+            }
+            return resolveCandidateLogicalFloor();
+        }
+        return getCurrentVisibleLogicalFloor();
+    }
+
+    private int getCurrentVisibleLogicalFloor() {
+        if (selectedFloorplanBuilding == null) {
+            return 0;
+        }
+        return floorIndexToLogicalFloor(currentFloorIndex);
+    }
+
+    private int floorIndexToLogicalFloor(int floorIndex) {
+        if (selectedFloorplanBuilding == null || selectedFloorplanBuilding.getFloorShapesList() == null
+                || floorIndex < 0 || floorIndex >= selectedFloorplanBuilding.getFloorShapesList().size()) {
+            return 0;
+        }
+
+        String canonical = canonicalFloorLabel(getFloorDisplayName(selectedFloorplanBuilding, floorIndex));
+        if ("LG".equals(canonical)) {
+            return -1;
+        }
+        if ("G".equals(canonical) || canonical.isEmpty()) {
+            return 0;
+        }
+
+        try {
+            return Integer.parseInt(canonical);
+        } catch (NumberFormatException ignore) {
+            return 0;
+        }
+    }
+
+    private int resolveCandidateLogicalFloor() {
+        if (sensorFusion == null) {
+            return getCurrentVisibleLogicalFloor();
+        }
+
+        if (sensorFusion.getLatLngWifiPositioning() != null) {
+            return sensorFusion.getWifiFloor();
+        }
+
+        if (indoorMapManager != null) {
+            float floorHeight = indoorMapManager.getFloorHeight();
+            if (floorHeight > 0f) {
+                return Math.round(sensorFusion.getElevation() / floorHeight);
+            }
+        }
+
+        return getCurrentVisibleLogicalFloor();
+    }
+
+    @NonNull
+    private String describeCandidateFloorSource() {
+        if (sensorFusion == null) {
+            return "NO_SENSOR_FUSION";
+        }
+
+        if (sensorFusion.getLatLngWifiPositioning() != null) {
+            return "WIFI";
+        }
+
+        if (indoorMapManager != null) {
+            float floorHeight = indoorMapManager.getFloorHeight();
+            if (floorHeight > 0f) {
+                return "BAROMETER_OVER_FLOOR_HEIGHT";
+            }
+        }
+
+        return "VISIBLE_FLOOR_FALLBACK";
+    }
+
+    @Nullable
+    private FloorplanApiClient.FloorShapes getFloorShapesForLogicalFloor(int logicalFloor) {
+        if (selectedFloorplanBuilding == null || selectedFloorplanBuilding.getFloorShapesList() == null
+                || selectedFloorplanBuilding.getFloorShapesList().isEmpty()) {
+            return null;
+        }
+
+        int floorIndex;
+        if (indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
+            floorIndex = indoorMapManager.logicalFloorToIndex(logicalFloor);
+        } else {
+            floorIndex = Math.max(0, Math.min(logicalFloor, selectedFloorplanBuilding.getFloorShapesList().size() - 1));
+        }
+
+        if (floorIndex < 0 || floorIndex >= selectedFloorplanBuilding.getFloorShapesList().size()) {
+            return null;
+        }
+        return selectedFloorplanBuilding.getFloorShapesList().get(floorIndex);
+    }
+
+    private void applyMatchedFloor(int matchedLogicalFloor) {
+        if (selectedFloorplanBuilding == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+            Log.d(TAG, "FLOOR_APPLY skipped: building/map not ready");
+            return;
+        }
+
+        int targetFloorIndex = indoorMapManager.logicalFloorToIndex(matchedLogicalFloor);
+        Log.d(TAG, String.format(Locale.US,
+                "FLOOR_APPLY visibleLogical=%d currentIndex=%d targetLogical=%d targetIndex=%d building=%s",
+                getCurrentVisibleLogicalFloor(),
+                currentFloorIndex,
+                matchedLogicalFloor,
+                targetFloorIndex,
+                selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : "null"));
+        if (targetFloorIndex != currentFloorIndex) {
+            setFloor(targetFloorIndex);
+        }
+    }
+
+    private void logMapMatchingResult(@NonNull LatLng rawLocation, @Nullable MapMatchingResult result) {
+        if (result == null) {
+            return;
+        }
+
+        long now = SystemClock.elapsedRealtime();
+        if (now - lastMapMatchLogTime < MAP_MATCH_LOG_INTERVAL_MS) {
+            return;
+        }
+        lastMapMatchLogTime = now;
+
+        LatLng matched = result.getCorrectedLatLng() != null ? result.getCorrectedLatLng() : rawLocation;
+        Log.d(TAG, String.format(Locale.US,
+                "MAP_MATCH raw=(%.6f, %.6f) matched=(%.6f, %.6f) candidateFloor=%d matchedFloor=%d crossedWall=%s nearStairs=%s nearLift=%s floorAllowed=%s correction=%s reason=%s",
+                rawLocation.latitude,
+                rawLocation.longitude,
+                matched.latitude,
+                matched.longitude,
+                getCandidateLogicalFloorForMatching(),
+                result.getCorrectedFloor(),
+                String.valueOf(result.isCrossedWall()),
+                String.valueOf(result.isNearStairs()),
+                String.valueOf(result.isNearLift()),
+                String.valueOf(result.isFloorChangeAllowed()),
+                result.getCorrectionType() != null ? result.getCorrectionType().name() : CorrectionType.NONE.name(),
+                result.getDebugReason()));
+    }
+
+
+    private void logMapMatchingInput(@NonNull LatLng rawLocation,
+                                     @Nullable LatLng previousReferenceLocation,
+                                     int candidateLogicalFloor,
+                                     int geometryLogicalFloor,
+                                     @Nullable MotionDelta motionDelta,
+                                     @Nullable VerticalTransitionHint verticalHint,
+                                     @Nullable FloorplanApiClient.FloorShapes activeFloorShapes,
+                                     float orientation) {
+        String shapesSummary = describeFloorShapes(activeFloorShapes);
+        String previousLocationText = previousReferenceLocation == null
+                ? "null"
+                : String.format(Locale.US, "(%.6f, %.6f)", previousReferenceLocation.latitude, previousReferenceLocation.longitude);
+        String motionSummary = motionDelta == null
+                ? "null"
+                : String.format(Locale.US, "dx=%.2f dy=%.2f dist=%.2f heading=%.1f",
+                motionDelta.getDeltaX(), motionDelta.getDeltaY(), motionDelta.getStepDistance(), motionDelta.getHeadingDeg());
+        String verticalSummary = verticalHint == null
+                ? "null"
+                : String.format(Locale.US, "elev=%.2f delta=%.2f changed=%s threshold=%.2f",
+                verticalHint.getCurrentElevation(), verticalHint.getDeltaHeight(),
+                String.valueOf(verticalHint.isHeightChanged()), HEIGHT_CHANGE_THRESHOLD_METERS);
+
+        Log.d(TAG, String.format(Locale.US,
+                "MAP_MATCH_INPUT raw=(%.6f, %.6f) prev=%s candidateFloor=%d visibleFloor=%d geometryFloor=%d source=%s orientation=%.1f motion={%s} vertical={%s} shapes={%s}",
+                rawLocation.latitude,
+                rawLocation.longitude,
+                previousLocationText,
+                candidateLogicalFloor,
+                getCurrentVisibleLogicalFloor(),
+                geometryLogicalFloor,
+                describeCandidateFloorSource(),
+                orientation,
+                motionSummary,
+                verticalSummary,
+                shapesSummary));
+    }
+
+    private void logAutoFloorState(@NonNull String phase, int candidateFloor, @NonNull String source) {
+        long now = SystemClock.elapsedRealtime();
+        if (now - lastAutoFloorLogTime < 0L) {
+            return;
+        }
+        lastAutoFloorLogTime = now;
+
+        float elevationValue = sensorFusion != null ? sensorFusion.getElevation() : Float.NaN;
+        int wifiFloor = sensorFusion != null ? sensorFusion.getWifiFloor() : Integer.MIN_VALUE;
+        boolean hasWifiLocation = sensorFusion != null && sensorFusion.getLatLngWifiPositioning() != null;
+        float floorHeight = indoorMapManager != null ? indoorMapManager.getFloorHeight() : Float.NaN;
+        Log.d(TAG, String.format(Locale.US,
+                "AUTO_FLOOR phase=%s source=%s candidate=%d visible=%d latestCandidate=%d lastCandidate=%d elapsedSinceCandidate=%d wifiAvailable=%s wifiFloor=%d elevation=%.2f floorHeight=%.2f building=%s indoorVisible=%s",
+                phase,
+                source,
+                candidateFloor,
+                getCurrentVisibleLogicalFloor(),
+                latestCandidateLogicalFloor,
+                lastCandidateFloor,
+                lastCandidateTime == 0 ? -1 : (now - lastCandidateTime),
+                String.valueOf(hasWifiLocation),
+                wifiFloor,
+                elevationValue,
+                floorHeight,
+                selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : "null",
+                String.valueOf(indoorMapVisible)));
+    }
+
+    @NonNull
+    private String describeFloorShapes(@Nullable FloorplanApiClient.FloorShapes floorShapes) {
+        if (floorShapes == null) {
+            return "none";
+        }
+        List<FloorplanApiClient.MapShapeFeature> features = floorShapes.getFeatures();
+        if (features == null || features.isEmpty()) {
+            return String.format(Locale.US, "display=%s features=0", floorShapes.getDisplayName());
+        }
+
+        int walls = 0;
+        int stairs = 0;
+        int lifts = 0;
+        int others = 0;
+        for (FloorplanApiClient.MapShapeFeature feature : features) {
+            String indoorType = feature != null ? feature.getIndoorType() : null;
+            if (indoorType == null) {
+                others++;
+            } else if ("wall".equalsIgnoreCase(indoorType)) {
+                walls++;
+            } else if ("stairs".equalsIgnoreCase(indoorType)) {
+                stairs++;
+            } else if ("lift".equalsIgnoreCase(indoorType)) {
+                lifts++;
+            } else {
+                others++;
+            }
+        }
+        return String.format(Locale.US,
+                "display=%s total=%d wall=%d stairs=%d lift=%d other=%d",
+                floorShapes.getDisplayName(), features.size(), walls, stairs, lifts, others);
+    }
+
     public void setInitialCameraPosition(@NonNull LatLng startLocation) {
         if (gMap != null) {
             gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(startLocation, 19f));
@@ -1840,6 +2185,11 @@ public void clearMapAndReset() {
         }
         lastGnssLocation = null;
         currentLocation = null;
+        previousMatchedPose = null;
+        lastMapMatchingResult = null;
+        previousElevation = Float.NaN;
+        latestCandidateLogicalFloor = Integer.MIN_VALUE;
+        lastMapMatchLogTime = 0L;
 
         for (Marker m : testPointMarkers) {
             m.remove();
@@ -1898,57 +2248,51 @@ public void run() {
 
     private void applyImmediateFloor() {
         if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+            Log.d(TAG, "AUTO_FLOOR applyImmediate skipped: map not ready");
             return;
         }
-        int candidateFloor;
-        if (sensorFusion.getLatLngWifiPositioning() != null) {
-            candidateFloor = sensorFusion.getWifiFloor();
-        } else {
-            float elevation = sensorFusion.getElevation();
-            float floorHeight = indoorMapManager.getFloorHeight();
-            if (floorHeight <= 0) {
-                return;
-            }
-            candidateFloor = Math.round(elevation / floorHeight);
-        }
-        setFloor(indoorMapManager.logicalFloorToIndex(candidateFloor));
+        int candidateFloor = resolveCandidateLogicalFloor();
+        latestCandidateLogicalFloor = candidateFloor;
         lastCandidateFloor = candidateFloor;
         lastCandidateTime = SystemClock.elapsedRealtime();
+        logAutoFloorState("applyImmediate", candidateFloor, describeCandidateFloorSource());
     }
 
     private void stopAutoFloor() {
         if (autoFloorHandler != null && autoFloorTask != null) {
             autoFloorHandler.removeCallbacks(autoFloorTask);
         }
+        Log.d(TAG, String.format(Locale.US,
+                "AUTO_FLOOR stop visibleLogical=%d lastCandidate=%d latestCandidate=%d",
+                getCurrentVisibleLogicalFloor(), lastCandidateFloor, latestCandidateLogicalFloor));
         lastCandidateFloor = Integer.MIN_VALUE;
         lastCandidateTime = 0;
+        latestCandidateLogicalFloor = Integer.MIN_VALUE;
     }
 
     private void evaluateAutoFloor() {
         if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+            Log.d(TAG, "AUTO_FLOOR evaluate skipped: map not ready");
             return;
         }
-        int candidateFloor;
-        if (sensorFusion.getLatLngWifiPositioning() != null) {
-            candidateFloor = sensorFusion.getWifiFloor();
-        } else {
-            float elevation = sensorFusion.getElevation();
-            float floorHeight = indoorMapManager.getFloorHeight();
-            if (floorHeight <= 0) {
-                return;
-            }
-            candidateFloor = Math.round(elevation / floorHeight);
-        }
+
+        int candidateFloor = resolveCandidateLogicalFloor();
+        String source = describeCandidateFloorSource();
+        latestCandidateLogicalFloor = candidateFloor;
 
         long now = SystemClock.elapsedRealtime();
         if (candidateFloor != lastCandidateFloor) {
+            logAutoFloorState("candidate_changed", candidateFloor, source);
             lastCandidateFloor = candidateFloor;
             lastCandidateTime = now;
             return;
         }
+
         if (now - lastCandidateTime >= AUTO_FLOOR_DEBOUNCE_MS) {
-            setFloor(indoorMapManager.logicalFloorToIndex(candidateFloor));
+            logAutoFloorState("candidate_stable", candidateFloor, source);
             lastCandidateTime = now;
+        } else {
+            logAutoFloorState("candidate_waiting", candidateFloor, source);
         }
     }
 }

From 6bac0b5007a6716cd9fe5127794fd83e67495c96 Mon Sep 17 00:00:00 2001
From: wxyuuu1114 <wangxinyu1114@gmail.com>
Date: Wed, 18 Mar 2026 22:05:33 +0000
Subject: [PATCH 03/35] Delete secrect properties

---
 secrets.properties | 6 ------
 1 file changed, 6 deletions(-)
 delete mode 100644 secrets.properties

diff --git a/secrets.properties b/secrets.properties
deleted file mode 100644
index d959890d..00000000
--- a/secrets.properties
+++ /dev/null
@@ -1,6 +0,0 @@
-#
-# Modify the variables to set your keys
-#
-MAPS_API_KEY=AIzaSyAhE0bUiRZAM1VUt0DwzMff8fKOmw-SCMM
-OPENPOSITIONING_API_KEY=B28brNJh6W9lBRTdi4n7hQ
-OPENPOSITIONING_MASTER_KEY=ewireless

From f16875aa7b7c8a88f3d00deb7e4638fd5f2dfd79 Mon Sep 17 00:00:00 2001
From: wxyuuu1114 <wangxinyu1114@gmail.com>
Date: Wed, 18 Mar 2026 22:06:52 +0000
Subject: [PATCH 04/35] Empty secret properties

---
 secrets.properties | 6 ++++++
 1 file changed, 6 insertions(+)
 create mode 100644 secrets.properties

diff --git a/secrets.properties b/secrets.properties
new file mode 100644
index 00000000..7907b650
--- /dev/null
+++ b/secrets.properties
@@ -0,0 +1,6 @@
+#
+# Modify the variables to set your keys
+#
+MAPS_API_KEY=
+OPENPOSITIONING_API_KEY=
+OPENPOSITIONING_MASTER_KEY=

From fb07a87440212923e30cddec9656f3acb6d16c6f Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Thu, 19 Mar 2026 00:09:46 +0000
Subject: [PATCH 05/35] Modify the UI interface

---
 .../replay/trajectory_long_same_floor.json    | 4587 +++++++++++++++++
 .../presentation/activity/ReplayActivity.java |  101 +-
 .../fragment/RecordingFragment.java           |   49 +-
 .../fragment/TrajectoryMapFragment.java       |  636 +--
 .../res/layout/fragment_trajectory_map.xml    |  103 +-
 5 files changed, 5000 insertions(+), 476 deletions(-)
 create mode 100644 app/src/main/assets/replay/trajectory_long_same_floor.json

diff --git a/app/src/main/assets/replay/trajectory_long_same_floor.json b/app/src/main/assets/replay/trajectory_long_same_floor.json
new file mode 100644
index 00000000..3c85e08f
--- /dev/null
+++ b/app/src/main/assets/replay/trajectory_long_same_floor.json
@@ -0,0 +1,4587 @@
+{
+  "androidVersion": "16",
+  "trajectoryVersion": 2.0,
+  "trajectoryId": "synthetic_long_same_floor",
+  "startTimestamp": "1773874615392",
+  "imuData": [
+    {
+      "relativeTimestamp": "0",
+      "acc": {
+        "x": -0.2,
+        "y": 0.4,
+        "z": 9.8
+      },
+      "gyr": {
+        "x": 0.0,
+        "y": 0.01,
+        "z": 0.0
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 0
+    },
+    {
+      "relativeTimestamp": "100",
+      "acc": {
+        "x": -0.18364,
+        "y": 0.392106,
+        "z": 9.905483
+      },
+      "gyr": {
+        "x": 0.001987,
+        "y": 0.009754,
+        "z": 0.005637
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 0
+    },
+    {
+      "relativeTimestamp": "200",
+      "acc": {
+        "x": -0.169082,
+        "y": 0.369671,
+        "z": 9.979238
+      },
+      "gyr": {
+        "x": 0.003894,
+        "y": 0.009028,
+        "z": 0.010817
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 0
+    },
+    {
+      "relativeTimestamp": "300",
+      "acc": {
+        "x": -0.157926,
+        "y": 0.336236,
+        "z": 9.999082
+      },
+      "gyr": {
+        "x": 0.005646,
+        "y": 0.007859,
+        "z": 0.01512
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 0
+    },
+    {
+      "relativeTimestamp": "400",
+      "acc": {
+        "x": -0.151403,
+        "y": 0.29708,
+        "z": 9.959044
+      },
+      "gyr": {
+        "x": 0.007174,
+        "y": 0.006303,
+        "z": 0.018196
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 0
+    },
+    {
+      "relativeTimestamp": "500",
+      "acc": {
+        "x": -0.15023,
+        "y": 0.258385,
+        "z": 9.871168
+      },
+      "gyr": {
+        "x": 0.008415,
+        "y": 0.004437,
+        "z": 0.019798
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 0
+    },
+    {
+      "relativeTimestamp": "600",
+      "acc": {
+        "x": -0.154535,
+        "y": 0.226261,
+        "z": 9.761886
+      },
+      "gyr": {
+        "x": 0.00932,
+        "y": 0.002352,
+        "z": 0.019794
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 0
+    },
+    {
+      "relativeTimestamp": "700",
+      "acc": {
+        "x": -0.163846,
+        "y": 0.205778,
+        "z": 9.664068
+      },
+      "gyr": {
+        "x": 0.009854,
+        "y": 0.000152,
+        "z": 0.018186
+      },
+      "rotationVector": {
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+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 1
+    },
+    {
+      "relativeTimestamp": "800",
+      "acc": {
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+        "z": 9.607137
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+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 1
+    },
+    {
+      "relativeTimestamp": "900",
+      "acc": {
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+        "y": 0.210324,
+        "z": 9.608215
+      },
+      "gyr": {
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+        "z": 0.010795
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+      "rotationVector": {
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+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 1
+    },
+    {
+      "relativeTimestamp": "1000",
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+        "y": 0.234636,
+        "z": 9.66698
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+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 1
+    },
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+      "relativeTimestamp": "1100",
+      "acc": {
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+        "y": 0.269267,
+        "z": 9.765755
+      },
+      "gyr": {
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+        "y": -0.007667,
+        "z": -2.5e-05
+      },
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+      },
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+        "y": 0.001756,
+        "z": 5.1e-05
+      },
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+        "w": 1.0
+      },
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+    },
+    {
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+        "z": 9.841967
+      },
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+        "y": 0.003882,
+        "z": 0.005685
+      },
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+        "z": 9.993867
+      },
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+      },
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+      },
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+    },
+    {
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+      },
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+        "z": 0.018217
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+        "w": 1.0
+      },
+      "stepCount": 3
+    },
+    {
+      "relativeTimestamp": "2700",
+      "acc": {
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+        "y": 0.280567,
+        "z": 9.930058
+      },
+      "gyr": {
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+        "y": 0.009602,
+        "z": 0.019805
+      },
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+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 3
+    },
+    {
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+      "acc": {
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+        "y": 0.3203,
+        "z": 9.830364
+      },
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+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 28
+    },
+    {
+      "relativeTimestamp": "20000",
+      "acc": {
+        "x": -0.231951,
+        "y": 0.288961,
+        "z": 9.617011
+      },
+      "gyr": {
+        "x": 0.007451,
+        "y": 0.008951,
+        "z": 0.011197
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 28
+    },
+    {
+      "relativeTimestamp": "20100",
+      "acc": {
+        "x": -0.242776,
+        "y": 0.328537,
+        "z": 9.60196
+      },
+      "gyr": {
+        "x": 0.005978,
+        "y": 0.007748,
+        "z": 0.015414
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 28
+    },
+    {
+      "relativeTimestamp": "20200",
+      "acc": {
+        "x": -0.248892,
+        "y": 0.363606,
+        "z": 9.646477
+      },
+      "gyr": {
+        "x": 0.004266,
+        "y": 0.006164,
+        "z": 0.018381
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 28
+    },
+    {
+      "relativeTimestamp": "20300",
+      "acc": {
+        "x": -0.249626,
+        "y": 0.388634,
+        "z": 9.737171
+      },
+      "gyr": {
+        "x": 0.002384,
+        "y": 0.004277,
+        "z": 0.019857
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 29
+    },
+    {
+      "relativeTimestamp": "20400",
+      "acc": {
+        "x": -0.244896,
+        "y": 0.399669,
+        "z": 9.846763
+      },
+      "gyr": {
+        "x": 0.000407,
+        "y": 0.00218,
+        "z": 0.019724
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 29
+    },
+    {
+      "relativeTimestamp": "20500",
+      "acc": {
+        "x": -0.235225,
+        "y": 0.394968,
+        "z": 9.942289
+      },
+      "gyr": {
+        "x": -0.001586,
+        "y": -2.5e-05,
+        "z": 0.017992
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 29
+    },
+    {
+      "relativeTimestamp": "20600",
+      "acc": {
+        "x": -0.221675,
+        "y": 0.375273,
+        "z": 9.995017
+      },
+      "gyr": {
+        "x": -0.003516,
+        "y": -0.002228,
+        "z": 0.014801
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 29
+    },
+    {
+      "relativeTimestamp": "20700",
+      "acc": {
+        "x": -0.205739,
+        "y": 0.343695,
+        "z": 9.989087
+      },
+      "gyr": {
+        "x": -0.005306,
+        "y": -0.004322,
+        "z": 0.010409
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 29
+    },
+    {
+      "relativeTimestamp": "20800",
+      "acc": {
+        "x": -0.189172,
+        "y": 0.305218,
+        "z": 9.926282
+      },
+      "gyr": {
+        "x": -0.006884,
+        "y": -0.006203,
+        "z": 0.005174
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 29
+    },
+    {
+      "relativeTimestamp": "20900",
+      "acc": {
+        "x": -0.173796,
+        "y": 0.265917,
+        "z": 9.825494
+      },
+      "gyr": {
+        "x": -0.008188,
+        "y": -0.007779,
+        "z": -0.00048
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 29
+    },
+    {
+      "relativeTimestamp": "21000",
+      "acc": {
+        "x": -0.161305,
+        "y": 0.231998,
+        "z": 9.717037
+      },
+      "gyr": {
+        "x": -0.009165,
+        "y": -0.008973,
+        "z": -0.006096
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 30
+    },
+    {
+      "relativeTimestamp": "21100",
+      "acc": {
+        "x": -0.153074,
+        "y": 0.208814,
+        "z": 9.633534
+      },
+      "gyr": {
+        "x": -0.009777,
+        "y": -0.009725,
+        "z": -0.011218
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 30
+    },
+    {
+      "relativeTimestamp": "21200",
+      "acc": {
+        "x": -0.150009,
+        "y": 0.200026,
+        "z": 9.600102
+      },
+      "gyr": {
+        "x": -0.009999,
+        "y": -0.009999,
+        "z": -0.01543
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 30
+    },
+    {
+      "relativeTimestamp": "21300",
+      "acc": {
+        "x": -0.152447,
+        "y": 0.207023,
+        "z": 9.626796
+      },
+      "gyr": {
+        "x": -0.009823,
+        "y": -0.009781,
+        "z": -0.018391
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 30
+    },
+    {
+      "relativeTimestamp": "21400",
+      "acc": {
+        "x": -0.16012,
+        "y": 0.228698,
+        "z": 9.705587
+      },
+      "gyr": {
+        "x": -0.009255,
+        "y": -0.009083,
+        "z": -0.01986
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 30
+    },
+    {
+      "relativeTimestamp": "21500",
+      "acc": {
+        "x": -0.172183,
+        "y": 0.26163,
+        "z": 9.812776
+      },
+      "gyr": {
+        "x": -0.008318,
+        "y": -0.007937,
+        "z": -0.01972
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 30
+    },
+    {
+      "relativeTimestamp": "21600",
+      "acc": {
+        "x": -0.187309,
+        "y": 0.30062,
+        "z": 9.916122
+      },
+      "gyr": {
+        "x": -0.007049,
+        "y": -0.006401,
+        "z": -0.017981
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 30
+    },
+    {
+      "relativeTimestamp": "21700",
+      "acc": {
+        "x": -0.203831,
+        "y": 0.339512,
+        "z": 9.984541
+      },
+      "gyr": {
+        "x": -0.005499,
+        "y": -0.004551,
+        "z": -0.014784
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 31
+    },
+    {
+      "relativeTimestamp": "21800",
+      "acc": {
+        "x": -0.219932,
+        "y": 0.372166,
+        "z": 9.997452
+      },
+      "gyr": {
+        "x": -0.003731,
+        "y": -0.002476,
+        "z": -0.010388
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 31
+    },
+    {
+      "relativeTimestamp": "21900",
+      "acc": {
+        "x": -0.233839,
+        "y": 0.393427,
+        "z": 9.950973
+      },
+      "gyr": {
+        "x": -0.001813,
+        "y": -0.00028,
+        "z": -0.00515
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 31
+    },
+    {
+      "relativeTimestamp": "22000",
+      "acc": {
+        "x": -0.24402,
+        "y": 0.399937,
+        "z": 9.859083
+      },
+      "gyr": {
+        "x": 0.000177,
+        "y": 0.00193,
+        "z": 0.000506
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 31
+    }
+  ],
+  "pdrData": [
+    {
+      "relativeTimestamp": "0",
+      "x": 0.8,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "700",
+      "x": 1.6,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "1400",
+      "x": 2.4,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "2100",
+      "x": 3.2,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "2800",
+      "x": 4.0,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "3500",
+      "x": 4.8,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "4200",
+      "x": 5.6,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "4900",
+      "x": 6.4,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "5600",
+      "x": 7.2,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "6300",
+      "x": 8.0,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "7000",
+      "x": 8.8,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "7700",
+      "x": 9.6,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "8400",
+      "x": 10.4,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "9100",
+      "x": 11.2,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "9800",
+      "x": 12.0,
+      "y": 0.0
+    },
+    {
+      "relativeTimestamp": "10500",
+      "x": 12.0,
+      "y": 0.8
+    },
+    {
+      "relativeTimestamp": "11200",
+      "x": 12.0,
+      "y": 1.6
+    },
+    {
+      "relativeTimestamp": "11900",
+      "x": 12.0,
+      "y": 2.4
+    },
+    {
+      "relativeTimestamp": "12600",
+      "x": 12.0,
+      "y": 3.2
+    },
+    {
+      "relativeTimestamp": "13300",
+      "x": 12.0,
+      "y": 4.0
+    },
+    {
+      "relativeTimestamp": "14000",
+      "x": 12.0,
+      "y": 4.8
+    },
+    {
+      "relativeTimestamp": "14700",
+      "x": 12.0,
+      "y": 5.6
+    },
+    {
+      "relativeTimestamp": "15400",
+      "x": 12.0,
+      "y": 6.4
+    },
+    {
+      "relativeTimestamp": "16100",
+      "x": 11.2,
+      "y": 6.4
+    },
+    {
+      "relativeTimestamp": "16800",
+      "x": 10.4,
+      "y": 6.4
+    },
+    {
+      "relativeTimestamp": "17500",
+      "x": 9.6,
+      "y": 6.4
+    },
+    {
+      "relativeTimestamp": "18200",
+      "x": 8.8,
+      "y": 6.4
+    },
+    {
+      "relativeTimestamp": "18900",
+      "x": 8.0,
+      "y": 6.4
+    },
+    {
+      "relativeTimestamp": "19600",
+      "x": 8.0,
+      "y": 7.2
+    },
+    {
+      "relativeTimestamp": "20300",
+      "x": 8.0,
+      "y": 8.0
+    },
+    {
+      "relativeTimestamp": "21000",
+      "x": 8.0,
+      "y": 8.8
+    }
+  ],
+  "gnssData": [],
+  "magnetometerData": []
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
index c6a30472..89ca6e5a 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
@@ -3,6 +3,9 @@
 import android.os.Bundle;
 import android.util.Log;
 import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
 
 import androidx.annotation.Nullable;
 import androidx.appcompat.app.AppCompatActivity;
@@ -11,34 +14,15 @@
 import com.openpositioning.PositionMe.presentation.fragment.ReplayFragment;
 import com.openpositioning.PositionMe.presentation.fragment.StartLocationFragment;
 
-
 /**
- * The ReplayActivity is responsible for managing the replay session of a user's trajectory.
- * It handles the process of retrieving the trajectory data, displaying relevant fragments, and
- * facilitating the interaction with the user to choose the starting location before displaying the
- * replay of the trajectory.
- * <p>
- * The activity starts by extracting the trajectory file path from the intent that launched it. If
- * the file path is not provided or is empty, it uses a default file path. It ensures that the trajectory
- * file exists before proceeding. Once the file is verified, it shows the StartLocationFragment, which allows
- * the user to select their starting location (latitude and longitude). After the user has selected the
- * starting point, the activity switches to the ReplayFragment to display the replay of the user's trajectory.
- * <p>
- * The activity also provides functionality to finish the replay session and exit the activity once the replay
- * process has completed.
- * <p>
- * This activity makes use of a few key constants for passing data between fragments, including the trajectory file
- * path and the initial latitude and longitude. These constants are defined at the beginning of the class.
- * <p>
- * The ReplayActivity manages the interaction between fragments by facilitating communication from the
- * StartLocationFragment to the ReplayFragment, where the replay of the trajectory is displayed.
+ * Replay activity with optional forced asset replay mode.
  *
- * @see StartLocationFragment The fragment where the user selects their start location for the trajectory replay.
- * @see ReplayFragment The fragment responsible for showing the trajectory replay.
+ * When FORCE_REPLAY_ASSET is true, this activity will ignore any file path passed from History
+ * and instead copy an asset trajectory file into cache, then replay that file.
  *
- * @author Shu Gu
+ * This is useful for validating replay/map-matching logic with a known test trajectory without
+ * touching the existing History/download_records flow.
  */
-
 public class ReplayActivity extends AppCompatActivity {
 
     public static final String TAG = "ReplayActivity";
@@ -46,41 +30,54 @@ public class ReplayActivity extends AppCompatActivity {
     public static final String EXTRA_INITIAL_LON = "extra_initial_lon";
     public static final String EXTRA_TRAJECTORY_FILE_PATH = "extra_trajectory_file_path";
 
+    /**
+     * Set to true to force replay from app assets instead of History/download file paths.
+     */
+    private static final boolean FORCE_REPLAY_ASSET = true;
+//等你验证完以后，如果要恢复原来正常逻辑，把它改成：false
+    /**
+     * Asset file to replay. Put this file under app/src/main/assets/replay/.
+     */
+    private static final String FORCED_ASSET_PATH = "replay/trajectory_long_same_floor.json";
+//修改验证的 asset里的 json文件
     private String filePath;
 
     @Override
     protected void onCreate(@Nullable Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
         setContentView(R.layout.activity_replay);
-        // Get the trajectory file path from the Intent
-        filePath = getIntent().getStringExtra(EXTRA_TRAJECTORY_FILE_PATH);
 
-        // Debug log: Received file path
-        Log.i(TAG, "Received trajectory file path: " + filePath);
+        if (FORCE_REPLAY_ASSET) {
+            filePath = copyAssetToCache(FORCED_ASSET_PATH, "forced_replay_trajectory.txt");
+            Log.i(TAG, "FORCE_REPLAY_ASSET enabled, using asset: " + FORCED_ASSET_PATH);
+            Log.i(TAG, "Resolved replay file path: " + filePath);
+        } else {
+            filePath = getIntent().getStringExtra(EXTRA_TRAJECTORY_FILE_PATH);
+            Log.i(TAG, "Received trajectory file path: " + filePath);
+
+            if (filePath == null || filePath.isEmpty()) {
+                filePath = "/storage/emulated/0/Download/trajectory_default.txt";
+                Log.w(TAG, "No trajectory file path provided, using default: " + filePath);
+            }
+        }
 
         if (filePath == null || filePath.isEmpty()) {
-            // If not provided, set a default path (or show an error message)
-            filePath = "/storage/emulated/0/Download/trajectory_default.txt";
-            Log.e(TAG, "No trajectory file path provided, using default: " + filePath);
+            Log.e(TAG, "Replay file path is empty; replay cannot start.");
+            finish();
+            return;
         }
 
-        // Check if file exists before proceeding
         if (!new File(filePath).exists()) {
             Log.e(TAG, "Trajectory file does NOT exist: " + filePath);
         } else {
             Log.i(TAG, "Trajectory file exists: " + filePath);
         }
 
-        // Show StartLocationFragment first to let user pick location
         if (savedInstanceState == null) {
             showStartLocationFragment();
         }
     }
 
-    /**
-     * Display a StartLocationFragment to let user set their start location.
-     * Displays the ReplayFragment and passes the trajectory file path as an argument.
-     */
     private void showStartLocationFragment() {
         Log.d(TAG, "Showing StartLocationFragment...");
         StartLocationFragment startLocationFragment = new StartLocationFragment();
@@ -90,23 +87,16 @@ private void showStartLocationFragment() {
                 .commit();
     }
 
-    /**
-     * Called by StartLocationFragment when user picks their start location.
-     */
     public void onStartLocationChosen(float lat, float lon) {
         Log.i(TAG, "User selected start location: Lat=" + lat + ", Lon=" + lon);
         showReplayFragment(filePath, lat, lon);
     }
 
-    /**
-     * Display ReplayFragment, passing file path and starting lat/lon as arguments.
-     */
     public void showReplayFragment(String filePath, float initialLat, float initialLon) {
         Log.d(TAG, "Switching to ReplayFragment with file: " + filePath +
                 ", Initial Lat: " + initialLat + ", Initial Lon: " + initialLon);
 
         ReplayFragment replayFragment = new ReplayFragment();
-        // Pass the file path through a Bundle
         Bundle args = new Bundle();
         args.putString(EXTRA_TRAJECTORY_FILE_PATH, filePath);
         args.putFloat(EXTRA_INITIAL_LAT, initialLat);
@@ -119,12 +109,25 @@ public void showReplayFragment(String filePath, float initialLat, float initialL
                 .commit();
     }
 
-    /**
-     * Finish replay session
-     * Called when the replay process is completed.
-     */
     public void finishFlow() {
         Log.d(TAG, "Replay session finished.");
         finish();
     }
-}
\ No newline at end of file
+
+    private String copyAssetToCache(String assetPath, String outFileName) {
+        File outFile = new File(getCacheDir(), outFileName);
+        try (InputStream inputStream = getAssets().open(assetPath);
+             FileOutputStream outputStream = new FileOutputStream(outFile, false)) {
+            byte[] buffer = new byte[8192];
+            int length;
+            while ((length = inputStream.read(buffer)) > 0) {
+                outputStream.write(buffer, 0, length);
+            }
+            outputStream.flush();
+            return outFile.getAbsolutePath();
+        } catch (IOException e) {
+            Log.e(TAG, "Failed to copy replay asset to cache: " + assetPath, e);
+            return null;
+        }
+    }
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
index 768e1ee8..4a92418d 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
@@ -7,7 +7,6 @@
 import android.os.Bundle;
 import android.os.CountDownTimer;
 import android.os.Handler;
-import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
@@ -66,8 +65,6 @@
 
 public class RecordingFragment extends Fragment {
 
-    private static final String TAG = "RecordingFragment";
-
     // UI elements
     private MaterialButton completeButton, cancelButton;
     private ImageView recIcon;
@@ -89,8 +86,6 @@ public class RecordingFragment extends Fragment {
 
     // References to the child map fragment
     private TrajectoryMapFragment trajectoryMapFragment;
-    private LatLng rawTrajectoryLocation;
-    private boolean initialCameraPositionSet = false;
 
     private final Runnable refreshDataTask = new Runnable() {
         @Override
@@ -269,43 +264,21 @@ private void updateUIandPosition() {
         float elevationVal = sensorFusion.getElevation();
         elevation.setText(getString(R.string.elevation, String.format("%.1f", elevationVal)));
 
-        // Current raw PDR location (kept separate from matched/displayed location)
+        // Current location
+        // Convert PDR coordinates to actual LatLng if you have a known starting lat/lon
+        // Or simply pass relative data for the TrajectoryMapFragment to handle
+        // For example:
         float[] latLngArray = sensorFusion.getGNSSLatitude(true);
         if (latLngArray != null) {
-            if (rawTrajectoryLocation == null) {
-                rawTrajectoryLocation = new LatLng(latLngArray[0], latLngArray[1]);
-                Log.d(TAG, String.format(java.util.Locale.US,
-                        "RAW_PDR initFromGnss=(%.6f, %.6f)",
-                        rawTrajectoryLocation.latitude,
-                        rawTrajectoryLocation.longitude));
-            }
-
-            if (trajectoryMapFragment != null && !initialCameraPositionSet) {
-                trajectoryMapFragment.setInitialCameraPosition(rawTrajectoryLocation);
-                initialCameraPositionSet = true;
-                Log.d(TAG, "RAW_PDR initial camera position set");
-            }
-
-            float deltaPdrX = pdrValues[0] - previousPosX;
-            float deltaPdrY = pdrValues[1] - previousPosY;
-            LatLng newRawLocation = UtilFunctions.calculateNewPos(
-                    rawTrajectoryLocation,
-                    new float[]{deltaPdrX, deltaPdrY}
+            LatLng oldLocation = trajectoryMapFragment.getCurrentLocation(); // or store locally
+            LatLng newLocation = UtilFunctions.calculateNewPos(
+                    oldLocation == null ? new LatLng(latLngArray[0], latLngArray[1]) : oldLocation,
+                    new float[]{ pdrValues[0] - previousPosX, pdrValues[1] - previousPosY }
             );
-            Log.d(TAG, String.format(java.util.Locale.US,
-                    "RAW_PDR prev=(%.6f, %.6f) new=(%.6f, %.6f) deltaPdr=(%.3f, %.3f) orientationDeg=%.1f elevation=%.2f",
-                    rawTrajectoryLocation.latitude,
-                    rawTrajectoryLocation.longitude,
-                    newRawLocation.latitude,
-                    newRawLocation.longitude,
-                    deltaPdrX,
-                    deltaPdrY,
-                    Math.toDegrees(sensorFusion.passOrientation()),
-                    elevationVal));
-            rawTrajectoryLocation = newRawLocation;
 
+            // Pass the location + orientation to the map
             if (trajectoryMapFragment != null) {
-                trajectoryMapFragment.updateUserLocation(newRawLocation,
+                trajectoryMapFragment.updateUserLocation(newLocation,
                         (float) Math.toDegrees(sensorFusion.passOrientation()));
             }
         }
@@ -313,6 +286,7 @@ private void updateUIandPosition() {
         // GNSS logic if you want to show GNSS error, etc.
         float[] gnss = sensorFusion.getSensorValueMap().get(SensorTypes.GNSSLATLONG);
         if (gnss != null && trajectoryMapFragment != null) {
+            // If user toggles showing GNSS in the map, call e.g.
             if (trajectoryMapFragment.isGnssEnabled()) {
                 LatLng gnssLocation = new LatLng(gnss[0], gnss[1]);
                 LatLng currentLoc = trajectoryMapFragment.getCurrentLocation();
@@ -328,6 +302,7 @@ private void updateUIandPosition() {
             }
         }
 
+        // Update previous
         previousPosX = pdrValues[0];
         previousPosY = pdrValues[1];
     }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 124708c2..de13e0ef 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -4,6 +4,7 @@
 import android.content.SharedPreferences;
 import android.graphics.BitmapFactory;
 import android.graphics.Color;
+import android.location.Location;
 import android.os.Bundle;
 import android.os.Handler;
 import android.os.Looper;
@@ -34,19 +35,16 @@
 import com.google.android.gms.maps.model.MarkerOptions;
 import com.google.android.gms.maps.model.Polygon;
 import com.google.android.gms.maps.model.PolygonOptions;
+import com.google.android.gms.maps.model.JointType;
 import com.google.android.gms.maps.model.Polyline;
+import com.google.android.gms.maps.model.RoundCap;
 import com.google.android.gms.maps.model.PolylineOptions;
 import com.google.android.material.progressindicator.CircularProgressIndicator;
 import com.google.android.material.switchmaterial.SwitchMaterial;
 import com.openpositioning.PositionMe.R;
 import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
-import com.openpositioning.PositionMe.mapmatching.CandidatePose;
 import com.openpositioning.PositionMe.mapmatching.CorrectionType;
-import com.openpositioning.PositionMe.mapmatching.MapMatchingInput;
 import com.openpositioning.PositionMe.mapmatching.MapMatchingResult;
-import com.openpositioning.PositionMe.mapmatching.MapMatchingService;
-import com.openpositioning.PositionMe.mapmatching.MotionDelta;
-import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
 import com.openpositioning.PositionMe.utils.BuildingPolygon;
 import com.openpositioning.PositionMe.utils.IndoorMapManager;
@@ -61,13 +59,18 @@
 public class TrajectoryMapFragment extends Fragment {
 
     private static final String TAG = "TrajectoryMapFragment";
+    private static final String TEST_LOG_TAG = "MAP_MATCH_TEST";
     private static final long AUTO_FLOOR_DEBOUNCE_MS = 3000;
     private static final long AUTO_FLOOR_CHECK_INTERVAL_MS = 1000;
     private static final String CALIBRATION_PREFS_NAME = "actual_map_calibration";
     private static final float CALIBRATION_SHIFT_STEP = 0.005f;
     private static final float CALIBRATION_SCALE_STEP = 0.005f;
-    private static final double HEIGHT_CHANGE_THRESHOLD_METERS = 0.9d;
-    private static final long MAP_MATCH_LOG_INTERVAL_MS = 0L;
+    private static final float AUTO_SELECT_BUILDING_MAX_DISTANCE_METERS = 60f;
+    private static final int TRAJECTORY_MAIN_COLOR = Color.RED;
+    private static final int TRAJECTORY_OUTLINE_COLOR = Color.WHITE;
+    private static final float TRAJECTORY_WIDTH_MAIN_PX = 7f;
+    private static final float TRAJECTORY_WIDTH_OUTLINE_PX = 18f;
+    private static final float TRAJECTORY_Z_INDEX = 1000f;
 
     private enum HorizontalAnchor {
         LEFT,
@@ -178,6 +181,7 @@ static OverlayCalibration identity() {
     private boolean hasFetchedNearbyBuildings = false;
     private boolean hasAttemptedInitialBuildingFetch = false;
     private boolean isIndoorRequestInFlight = false;
+    private boolean hasAutoSelectedIndoorMap = false;
     private int currentFloorIndex = 0;
 
     private final List<GroundOverlay> realMapOverlays = new ArrayList<>();
@@ -187,6 +191,7 @@ static OverlayCalibration identity() {
     private Marker orientationMarker;
     private Marker gnssMarker;
     private final List<Marker> testPointMarkers = new ArrayList<>();
+    private Polyline polylineOutline;
     private Polyline polyline;
     private boolean isRed = true;
     private boolean isGnssOn = false;
@@ -203,14 +208,6 @@ static OverlayCalibration identity() {
     private FloorplanApiClient.BuildingInfo selectedFloorplanBuilding;
     private Polygon selectedFloorplanPolygon;
     private final FloorplanApiClient floorplanApiClient = new FloorplanApiClient();
-    private final MapMatchingService mapMatchingService = new MapMatchingService();
-
-    private CandidatePose previousMatchedPose;
-    private MapMatchingResult lastMapMatchingResult;
-    private float previousElevation = Float.NaN;
-    private int latestCandidateLogicalFloor = Integer.MIN_VALUE;
-    private long lastMapMatchLogTime = 0L;
-    private long lastAutoFloorLogTime = 0L;
 
     private Handler autoFloorHandler;
     private Runnable autoFloorTask;
@@ -223,6 +220,9 @@ static OverlayCalibration identity() {
     private com.google.android.material.floatingactionbutton.FloatingActionButton floorUpButton, floorDownButton;
     private TextView floorLabel;
     private Button switchColorButton;
+    private View mapControlsContent;
+    private Button btnToggleControls;
+    private boolean areMapControlsExpanded = true;
 
     public TrajectoryMapFragment() {
     }
@@ -244,6 +244,8 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
         floorDownButton = view.findViewById(R.id.floorDownButton);
         floorLabel = view.findViewById(R.id.floorLabel);
         switchColorButton = view.findViewById(R.id.lineColorButton);
+        mapControlsContent = view.findViewById(R.id.mapControlsContent);
+        btnToggleControls = view.findViewById(R.id.btnToggleControls);
 
         btnFindIndoorMap = view.findViewById(R.id.btnFindIndoorMap);
         btnFindActualMap = view.findViewById(R.id.btnFindActualMap);
@@ -278,6 +280,8 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
             btnToggleAdjustMap.setVisibility(View.GONE);
         }
         setFloorControlsVisibility(View.GONE);
+        initMapControlsToggle();
+        applyTrajectoryColorButtonState();
 
         SupportMapFragment mapFragment = (SupportMapFragment) getChildFragmentManager().findFragmentById(R.id.trajectoryMap);
         if (mapFragment != null) {
@@ -307,14 +311,15 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
         switchColorButton.setOnClickListener(v -> {
             if (polyline != null) {
                 if (isRed) {
-                    switchColorButton.setBackgroundColor(Color.BLACK);
                     polyline.setColor(Color.BLACK);
+                    if (polylineOutline != null) polylineOutline.setColor(Color.argb(210, 235, 235, 235));
                     isRed = false;
                 } else {
-                    switchColorButton.setBackgroundColor(Color.RED);
-                    polyline.setColor(Color.RED);
+                    polyline.setColor(TRAJECTORY_MAIN_COLOR);
+                    if (polylineOutline != null) polylineOutline.setColor(TRAJECTORY_OUTLINE_COLOR);
                     isRed = true;
                 }
+                applyTrajectoryColorButtonState();
             }
         });
 
@@ -412,6 +417,105 @@ private void maybeFetchNearbyBuildingsOnFirstLocation() {
         requestNearbyIndoorMaps(false);
     }
 
+    private void maybeAutoSelectIndoorMap(List<FloorplanApiClient.BuildingInfo> buildings) {
+        if (hasAutoSelectedIndoorMap || selectedFloorplanBuilding != null || currentLocation == null || indoorMapManager == null) {
+            return;
+        }
+        if (buildings == null || buildings.isEmpty()) {
+            return;
+        }
+
+        FloorplanApiClient.BuildingInfo candidate = findBestBuildingForAutoSelection(buildings, currentLocation);
+        if (candidate == null) {
+            return;
+        }
+
+        Polygon candidatePolygon = null;
+        for (Map.Entry<Polygon, FloorplanApiClient.BuildingInfo> entry : polygonToBuilding.entrySet()) {
+            if (entry.getValue() == candidate) {
+                candidatePolygon = entry.getKey();
+                break;
+            }
+        }
+
+        onFloorplanBuildingSelected(candidate, candidatePolygon);
+        indoorMapVisible = true;
+        actualMapVisible = false;
+        indoorMapManager.setSelectedBuilding(candidate);
+        setFloor(currentFloorIndex);
+        hasAutoSelectedIndoorMap = true;
+
+        if (selectedVenueText != null) {
+            selectedVenueText.setText("Replay auto-selected indoor map for " + prettyBuildingName(candidate.getName()));
+        }
+    }
+
+    @Nullable
+    private FloorplanApiClient.BuildingInfo findBestBuildingForAutoSelection(List<FloorplanApiClient.BuildingInfo> buildings, @NonNull LatLng location) {
+        FloorplanApiClient.BuildingInfo insideCandidate = null;
+        FloorplanApiClient.BuildingInfo nearestCandidate = null;
+        float nearestDistanceMeters = Float.MAX_VALUE;
+
+        for (FloorplanApiClient.BuildingInfo building : buildings) {
+            if (building == null) {
+                continue;
+            }
+
+            List<LatLng> outline = building.getOutlinePolygon();
+            if (outline != null && outline.size() >= 3 && isPointInsidePolygon(location, outline)) {
+                insideCandidate = building;
+                break;
+            }
+
+            LatLng center = building.getCenter();
+            if (center == null) {
+                center = computeOutlineCentroid(outline);
+            }
+            if (center == null) {
+                continue;
+            }
+
+            float distanceMeters = distanceBetweenMeters(location, center);
+            if (distanceMeters < nearestDistanceMeters) {
+                nearestDistanceMeters = distanceMeters;
+                nearestCandidate = building;
+            }
+        }
+
+        if (insideCandidate != null) {
+            return insideCandidate;
+        }
+        if (nearestCandidate != null && nearestDistanceMeters <= AUTO_SELECT_BUILDING_MAX_DISTANCE_METERS) {
+            return nearestCandidate;
+        }
+        return null;
+    }
+
+    private boolean isPointInsidePolygon(@NonNull LatLng point, @NonNull List<LatLng> polygon) {
+        boolean inside = false;
+        int count = polygon.size();
+        for (int i = 0, j = count - 1; i < count; j = i++) {
+            LatLng pi = polygon.get(i);
+            LatLng pj = polygon.get(j);
+            if (pi == null || pj == null) {
+                continue;
+            }
+            boolean intersects = ((pi.longitude > point.longitude) != (pj.longitude > point.longitude))
+                    && (point.latitude < (pj.latitude - pi.latitude) * (point.longitude - pi.longitude)
+                    / ((pj.longitude - pi.longitude) == 0 ? 1e-12 : (pj.longitude - pi.longitude)) + pi.latitude);
+            if (intersects) {
+                inside = !inside;
+            }
+        }
+        return inside;
+    }
+
+    private float distanceBetweenMeters(@NonNull LatLng a, @NonNull LatLng b) {
+        float[] result = new float[1];
+        Location.distanceBetween(a.latitude, a.longitude, b.latitude, b.longitude, result);
+        return result[0];
+    }
+
     private void setFloor(int newFloorIndex) {
         if (selectedFloorplanBuilding == null || indoorMapManager == null) {
             return;
@@ -1034,8 +1138,6 @@ private void onFloorplanBuildingSelected(FloorplanApiClient.BuildingInfo buildin
         indoorMapVisible = false;
         actualMapVisible = false;
         currentFloorIndex = getDefaultFloorIndex(building);
-        previousMatchedPose = null;
-        lastMapMatchingResult = null;
 
         if (polygon != null) {
             polygon.setZIndex(1f);
@@ -1193,6 +1295,7 @@ private void restoreCachedBuildingsIfAny() {
         List<FloorplanApiClient.BuildingInfo> cached = SensorFusion.getInstance().getFloorplanBuildings();
         if (cached != null && !cached.isEmpty()) {
             drawFloorplanBuildings(cached);
+            maybeAutoSelectIndoorMap(cached);
             lastFetchedBuildings.clear();
             lastFetchedBuildings.addAll(cached);
             hasFetchedNearbyBuildings = true;
@@ -1280,6 +1383,7 @@ public void onSuccess(List<FloorplanApiClient.BuildingInfo> buildings) {
 
                         SensorFusion.getInstance().setFloorplanBuildings(buildings);
                         drawFloorplanBuildings(buildings);
+                        maybeAutoSelectIndoorMap(buildings);
 
                         if (selectedVenueText != null) {
                             if (buildings == null || buildings.isEmpty()) {
@@ -1348,6 +1452,57 @@ private void drawFloorplanBuildings(List<FloorplanApiClient.BuildingInfo> buildi
         }
     }
 
+    private PolylineOptions buildTrajectoryOutlineOptions() {
+        return new PolylineOptions()
+                .color(TRAJECTORY_OUTLINE_COLOR)
+                .width(TRAJECTORY_WIDTH_OUTLINE_PX)
+                .startCap(new RoundCap())
+                .endCap(new RoundCap())
+                .jointType(JointType.ROUND)
+                .zIndex(TRAJECTORY_Z_INDEX - 1f)
+                .add();
+    }
+
+    private PolylineOptions buildTrajectoryMainOptions() {
+        return new PolylineOptions()
+                .color(TRAJECTORY_MAIN_COLOR)
+                .width(TRAJECTORY_WIDTH_MAIN_PX)
+                .startCap(new RoundCap())
+                .endCap(new RoundCap())
+                .jointType(JointType.ROUND)
+                .zIndex(TRAJECTORY_Z_INDEX)
+                .add();
+    }
+
+    private void ensureTrajectoryStyling() {
+        if (polylineOutline != null) {
+            polylineOutline.setWidth(TRAJECTORY_WIDTH_OUTLINE_PX);
+            polylineOutline.setColor(TRAJECTORY_OUTLINE_COLOR);
+            polylineOutline.setZIndex(TRAJECTORY_Z_INDEX - 1f);
+            polylineOutline.setStartCap(new RoundCap());
+            polylineOutline.setEndCap(new RoundCap());
+            polylineOutline.setJointType(JointType.ROUND);
+        }
+        if (polyline != null) {
+            polyline.setWidth(TRAJECTORY_WIDTH_MAIN_PX);
+            polyline.setColor(TRAJECTORY_MAIN_COLOR);
+            polyline.setZIndex(TRAJECTORY_Z_INDEX);
+            polyline.setStartCap(new RoundCap());
+            polyline.setEndCap(new RoundCap());
+            polyline.setJointType(JointType.ROUND);
+        }
+    }
+
+    private void syncTrajectoryPolylinePoints(@NonNull List<LatLng> points) {
+        if (polylineOutline != null) {
+            polylineOutline.setPoints(points);
+        }
+        if (polyline != null) {
+            polyline.setPoints(points);
+        }
+        ensureTrajectoryStyling();
+    }
+
     private void initMapSettings(GoogleMap map) {
         map.getUiSettings().setCompassEnabled(true);
         map.getUiSettings().setTiltGesturesEnabled(true);
@@ -1364,8 +1519,10 @@ private void initMapSettings(GoogleMap map) {
             }
         });
 
-        polyline = map.addPolyline(new PolylineOptions().color(Color.RED).width(5f).add());
-        gnssPolyline = map.addPolyline(new PolylineOptions().color(Color.BLUE).width(5f).add());
+        polylineOutline = map.addPolyline(buildTrajectoryOutlineOptions());
+        polyline = map.addPolyline(buildTrajectoryMainOptions());
+        gnssPolyline = map.addPolyline(new PolylineOptions().color(Color.BLUE).width(5f).zIndex(TRAJECTORY_Z_INDEX - 2f).add());
+        ensureTrajectoryStyling();
     }
 
     private String prettyBuildingName(String raw) {
@@ -1425,260 +1582,86 @@ public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         if (gMap == null) {
             return;
         }
-
-        LatLng previousDisplayedLocation = this.currentLocation;
-        LatLng previousReferenceLocation = previousMatchedPose != null
-                ? previousMatchedPose.getLatLng()
-                : previousDisplayedLocation;
-
-        MotionDelta motionDelta = buildMotionDelta(previousReferenceLocation, newLocation, orientation);
-        VerticalTransitionHint verticalHint = buildVerticalHint();
-        int candidateLogicalFloor = getCandidateLogicalFloorForMatching();
-        CandidatePose currentCandidatePose = new CandidatePose(
-                newLocation,
-                candidateLogicalFloor,
-                System.currentTimeMillis(),
-                "RAW_PDR"
-        );
-
-        int geometryLogicalFloor = previousMatchedPose != null
-                ? previousMatchedPose.getFloor()
-                : getCurrentVisibleLogicalFloor();
-        FloorplanApiClient.FloorShapes activeFloorShapes = getFloorShapesForLogicalFloor(geometryLogicalFloor);
-
-        MapMatchingInput input = new MapMatchingInput(
-                previousMatchedPose,
-                currentCandidatePose,
-                motionDelta,
-                verticalHint,
-                activeFloorShapes,
-                selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : null
-        );
-
-        logMapMatchingInput(newLocation, previousReferenceLocation, candidateLogicalFloor,
-                geometryLogicalFloor, motionDelta, verticalHint, activeFloorShapes, orientation);
-
-        MapMatchingResult result = mapMatchingService.match(input);
-        lastMapMatchingResult = result;
-
-        LatLng matchedLocation = result.getCorrectedLatLng() != null
-                ? result.getCorrectedLatLng()
-                : newLocation;
-        int matchedLogicalFloor = result.getCorrectedFloor();
-
-        this.currentLocation = matchedLocation;
-        previousMatchedPose = new CandidatePose(
-                matchedLocation,
-                matchedLogicalFloor,
-                currentCandidatePose.getTimestampMs(),
-                "MAP_MATCHED"
-        );
-        if (sensorFusion != null) {
-            previousElevation = sensorFusion.getElevation();
-        }
-
-        if (autoFloorSwitch != null && autoFloorSwitch.isChecked()) {
-            applyMatchedFloor(matchedLogicalFloor);
-        }
+        LatLng oldLocation = this.currentLocation;
+        this.currentLocation = newLocation;
 
         boolean shouldFollowCamera = !(indoorMapVisible || actualMapVisible);
         if (orientationMarker == null) {
             orientationMarker = gMap.addMarker(new MarkerOptions()
-                    .position(matchedLocation)
+                    .position(newLocation)
                     .flat(true)
-                    .rotation(orientation)
                     .title("Current Position")
                     .icon(BitmapDescriptorFactory.fromBitmap(UtilFunctions.getBitmapFromVector(requireContext(), R.drawable.ic_baseline_navigation_24))));
             if (shouldFollowCamera) {
-                gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(matchedLocation, 19f));
+                gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(newLocation, 19f));
             }
         } else {
-            orientationMarker.setPosition(matchedLocation);
+            orientationMarker.setPosition(newLocation);
             orientationMarker.setRotation(orientation);
             if (shouldFollowCamera) {
-                gMap.moveCamera(CameraUpdateFactory.newLatLng(matchedLocation));
+                gMap.moveCamera(CameraUpdateFactory.newLatLng(newLocation));
             }
         }
 
         if (polyline != null) {
             List<LatLng> points = new ArrayList<>(polyline.getPoints());
-            if (previousDisplayedLocation == null || !previousDisplayedLocation.equals(matchedLocation)) {
-                points.add(matchedLocation);
-                polyline.setPoints(points);
+            if (oldLocation == null || !oldLocation.equals(newLocation)) {
+                points.add(newLocation);
+                syncTrajectoryPolylinePoints(points);
+            } else {
+                ensureTrajectoryStyling();
             }
         }
 
         if (indoorMapManager != null) {
-            indoorMapManager.setCurrentLocation(matchedLocation);
+            indoorMapManager.setCurrentLocation(newLocation);
         }
 
-        logMapMatchingResult(newLocation, result);
         maybeFetchNearbyBuildingsOnFirstLocation();
-    }
-
-    private MotionDelta buildMotionDelta(@Nullable LatLng previousLocation,
-                                         @NonNull LatLng currentLocation,
-                                         float orientation) {
-        if (previousLocation == null) {
-            return new MotionDelta(0d, 0d, 0d, orientation);
-        }
-
-        double metersPerDegLat = 111320.0d;
-        double metersPerDegLon = 111320.0d * Math.cos(Math.toRadians(currentLocation.latitude));
-        double deltaX = (currentLocation.longitude - previousLocation.longitude) * metersPerDegLon;
-        double deltaY = (currentLocation.latitude - previousLocation.latitude) * metersPerDegLat;
-        double stepDistance = Math.hypot(deltaX, deltaY);
-        return new MotionDelta(deltaX, deltaY, stepDistance, orientation);
-    }
-
-    @Nullable
-    private VerticalTransitionHint buildVerticalHint() {
-        if (sensorFusion == null) {
-            return null;
-        }
-
-        float currentElevation = sensorFusion.getElevation();
-        double deltaHeight = Float.isNaN(previousElevation) ? 0d : (currentElevation - previousElevation);
-        boolean heightChanged = !Float.isNaN(previousElevation)
-                && Math.abs(deltaHeight) >= HEIGHT_CHANGE_THRESHOLD_METERS;
-        return new VerticalTransitionHint(currentElevation, deltaHeight, heightChanged);
-    }
-
-    private int getCandidateLogicalFloorForMatching() {
-        if (autoFloorSwitch != null && autoFloorSwitch.isChecked()) {
-            if (latestCandidateLogicalFloor != Integer.MIN_VALUE) {
-                return latestCandidateLogicalFloor;
-            }
-            return resolveCandidateLogicalFloor();
-        }
-        return getCurrentVisibleLogicalFloor();
-    }
-
-    private int getCurrentVisibleLogicalFloor() {
-        if (selectedFloorplanBuilding == null) {
-            return 0;
+        if (!hasAutoSelectedIndoorMap && !lastFetchedBuildings.isEmpty()) {
+            maybeAutoSelectIndoorMap(lastFetchedBuildings);
         }
-        return floorIndexToLogicalFloor(currentFloorIndex);
-    }
-
-    private int floorIndexToLogicalFloor(int floorIndex) {
-        if (selectedFloorplanBuilding == null || selectedFloorplanBuilding.getFloorShapesList() == null
-                || floorIndex < 0 || floorIndex >= selectedFloorplanBuilding.getFloorShapesList().size()) {
-            return 0;
-        }
-
-        String canonical = canonicalFloorLabel(getFloorDisplayName(selectedFloorplanBuilding, floorIndex));
-        if ("LG".equals(canonical)) {
-            return -1;
-        }
-        if ("G".equals(canonical) || canonical.isEmpty()) {
-            return 0;
-        }
-
-        try {
-            return Integer.parseInt(canonical);
-        } catch (NumberFormatException ignore) {
-            return 0;
-        }
-    }
-
-    private int resolveCandidateLogicalFloor() {
-        if (sensorFusion == null) {
-            return getCurrentVisibleLogicalFloor();
-        }
-
-        if (sensorFusion.getLatLngWifiPositioning() != null) {
-            return sensorFusion.getWifiFloor();
-        }
-
-        if (indoorMapManager != null) {
-            float floorHeight = indoorMapManager.getFloorHeight();
-            if (floorHeight > 0f) {
-                return Math.round(sensorFusion.getElevation() / floorHeight);
-            }
-        }
-
-        return getCurrentVisibleLogicalFloor();
     }
 
     @NonNull
-    private String describeCandidateFloorSource() {
-        if (sensorFusion == null) {
-            return "NO_SENSOR_FUSION";
+    private String classifyMapMatchingScenario(@Nullable MapMatchingResult result) {
+        if (result == null) {
+            return "UNKNOWN";
         }
 
-        if (sensorFusion.getLatLngWifiPositioning() != null) {
-            return "WIFI";
-        }
+        String reason = result.getDebugReason() == null ? "" : result.getDebugReason().toLowerCase(Locale.US);
+        CorrectionType correctionType = result.getCorrectionType();
 
-        if (indoorMapManager != null) {
-            float floorHeight = indoorMapManager.getFloorHeight();
-            if (floorHeight > 0f) {
-                return "BAROMETER_OVER_FLOOR_HEIGHT";
-            }
+        if (correctionType == CorrectionType.THROUGH_WALL || result.isCrossedWall()) {
+            return "03_cross_wall_reject";
         }
-
-        return "VISIBLE_FLOOR_FALLBACK";
-    }
-
-    @Nullable
-    private FloorplanApiClient.FloorShapes getFloorShapesForLogicalFloor(int logicalFloor) {
-        if (selectedFloorplanBuilding == null || selectedFloorplanBuilding.getFloorShapesList() == null
-                || selectedFloorplanBuilding.getFloorShapesList().isEmpty()) {
-            return null;
+        if (correctionType == CorrectionType.INVALID_FLOOR_CHANGE) {
+            return "04_false_floor_change_reject";
         }
-
-        int floorIndex;
-        if (indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
-            floorIndex = indoorMapManager.logicalFloorToIndex(logicalFloor);
-        } else {
-            floorIndex = Math.max(0, Math.min(logicalFloor, selectedFloorplanBuilding.getFloorShapesList().size() - 1));
+        if (result.isFloorChangeAllowed() && result.isNearStairs() && !result.isNearLift()) {
+            return "05_stairs_floor_change_allow";
         }
-
-        if (floorIndex < 0 || floorIndex >= selectedFloorplanBuilding.getFloorShapesList().size()) {
-            return null;
+        if (result.isFloorChangeAllowed() && result.isNearLift() && !result.isNearStairs()) {
+            return "06_lift_floor_change_allow";
         }
-        return selectedFloorplanBuilding.getFloorShapesList().get(floorIndex);
-    }
-
-    private void applyMatchedFloor(int matchedLogicalFloor) {
-        if (selectedFloorplanBuilding == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
-            Log.d(TAG, "FLOOR_APPLY skipped: building/map not ready");
-            return;
-        }
-
-        int targetFloorIndex = indoorMapManager.logicalFloorToIndex(matchedLogicalFloor);
-        Log.d(TAG, String.format(Locale.US,
-                "FLOOR_APPLY visibleLogical=%d currentIndex=%d targetLogical=%d targetIndex=%d building=%s",
-                getCurrentVisibleLogicalFloor(),
-                currentFloorIndex,
-                matchedLogicalFloor,
-                targetFloorIndex,
-                selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : "null"));
-        if (targetFloorIndex != currentFloorIndex) {
-            setFloor(targetFloorIndex);
+        if (reason.contains("step distance too small")) {
+            return "02_small_step_skip_wall_check";
         }
+        return "01_same_floor_accept";
     }
 
-    private void logMapMatchingResult(@NonNull LatLng rawLocation, @Nullable MapMatchingResult result) {
+    private void logFeatureValidation(@NonNull LatLng rawLocation, @Nullable MapMatchingResult result) {
         if (result == null) {
             return;
         }
 
-        long now = SystemClock.elapsedRealtime();
-        if (now - lastMapMatchLogTime < MAP_MATCH_LOG_INTERVAL_MS) {
-            return;
-        }
-        lastMapMatchLogTime = now;
-
         LatLng matched = result.getCorrectedLatLng() != null ? result.getCorrectedLatLng() : rawLocation;
-        Log.d(TAG, String.format(Locale.US,
-                "MAP_MATCH raw=(%.6f, %.6f) matched=(%.6f, %.6f) candidateFloor=%d matchedFloor=%d crossedWall=%s nearStairs=%s nearLift=%s floorAllowed=%s correction=%s reason=%s",
-                rawLocation.latitude,
-                rawLocation.longitude,
-                matched.latitude,
-                matched.longitude,
-                getCandidateLogicalFloorForMatching(),
+        String scenario = classifyMapMatchingScenario(result);
+        Log.d(TEST_LOG_TAG, String.format(Locale.US,
+                "SCENARIO=%s raw=(%.6f, %.6f) matched=(%.6f, %.6f) matchedFloor=%d crossedWall=%s nearStairs=%s nearLift=%s floorAllowed=%s correction=%s reason=%s",
+                scenario,
+                rawLocation.latitude, rawLocation.longitude,
+                matched.latitude, matched.longitude,
                 result.getCorrectedFloor(),
                 String.valueOf(result.isCrossedWall()),
                 String.valueOf(result.isNearStairs()),
@@ -1688,105 +1671,6 @@ private void logMapMatchingResult(@NonNull LatLng rawLocation, @Nullable MapMatc
                 result.getDebugReason()));
     }
 
-
-    private void logMapMatchingInput(@NonNull LatLng rawLocation,
-                                     @Nullable LatLng previousReferenceLocation,
-                                     int candidateLogicalFloor,
-                                     int geometryLogicalFloor,
-                                     @Nullable MotionDelta motionDelta,
-                                     @Nullable VerticalTransitionHint verticalHint,
-                                     @Nullable FloorplanApiClient.FloorShapes activeFloorShapes,
-                                     float orientation) {
-        String shapesSummary = describeFloorShapes(activeFloorShapes);
-        String previousLocationText = previousReferenceLocation == null
-                ? "null"
-                : String.format(Locale.US, "(%.6f, %.6f)", previousReferenceLocation.latitude, previousReferenceLocation.longitude);
-        String motionSummary = motionDelta == null
-                ? "null"
-                : String.format(Locale.US, "dx=%.2f dy=%.2f dist=%.2f heading=%.1f",
-                motionDelta.getDeltaX(), motionDelta.getDeltaY(), motionDelta.getStepDistance(), motionDelta.getHeadingDeg());
-        String verticalSummary = verticalHint == null
-                ? "null"
-                : String.format(Locale.US, "elev=%.2f delta=%.2f changed=%s threshold=%.2f",
-                verticalHint.getCurrentElevation(), verticalHint.getDeltaHeight(),
-                String.valueOf(verticalHint.isHeightChanged()), HEIGHT_CHANGE_THRESHOLD_METERS);
-
-        Log.d(TAG, String.format(Locale.US,
-                "MAP_MATCH_INPUT raw=(%.6f, %.6f) prev=%s candidateFloor=%d visibleFloor=%d geometryFloor=%d source=%s orientation=%.1f motion={%s} vertical={%s} shapes={%s}",
-                rawLocation.latitude,
-                rawLocation.longitude,
-                previousLocationText,
-                candidateLogicalFloor,
-                getCurrentVisibleLogicalFloor(),
-                geometryLogicalFloor,
-                describeCandidateFloorSource(),
-                orientation,
-                motionSummary,
-                verticalSummary,
-                shapesSummary));
-    }
-
-    private void logAutoFloorState(@NonNull String phase, int candidateFloor, @NonNull String source) {
-        long now = SystemClock.elapsedRealtime();
-        if (now - lastAutoFloorLogTime < 0L) {
-            return;
-        }
-        lastAutoFloorLogTime = now;
-
-        float elevationValue = sensorFusion != null ? sensorFusion.getElevation() : Float.NaN;
-        int wifiFloor = sensorFusion != null ? sensorFusion.getWifiFloor() : Integer.MIN_VALUE;
-        boolean hasWifiLocation = sensorFusion != null && sensorFusion.getLatLngWifiPositioning() != null;
-        float floorHeight = indoorMapManager != null ? indoorMapManager.getFloorHeight() : Float.NaN;
-        Log.d(TAG, String.format(Locale.US,
-                "AUTO_FLOOR phase=%s source=%s candidate=%d visible=%d latestCandidate=%d lastCandidate=%d elapsedSinceCandidate=%d wifiAvailable=%s wifiFloor=%d elevation=%.2f floorHeight=%.2f building=%s indoorVisible=%s",
-                phase,
-                source,
-                candidateFloor,
-                getCurrentVisibleLogicalFloor(),
-                latestCandidateLogicalFloor,
-                lastCandidateFloor,
-                lastCandidateTime == 0 ? -1 : (now - lastCandidateTime),
-                String.valueOf(hasWifiLocation),
-                wifiFloor,
-                elevationValue,
-                floorHeight,
-                selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : "null",
-                String.valueOf(indoorMapVisible)));
-    }
-
-    @NonNull
-    private String describeFloorShapes(@Nullable FloorplanApiClient.FloorShapes floorShapes) {
-        if (floorShapes == null) {
-            return "none";
-        }
-        List<FloorplanApiClient.MapShapeFeature> features = floorShapes.getFeatures();
-        if (features == null || features.isEmpty()) {
-            return String.format(Locale.US, "display=%s features=0", floorShapes.getDisplayName());
-        }
-
-        int walls = 0;
-        int stairs = 0;
-        int lifts = 0;
-        int others = 0;
-        for (FloorplanApiClient.MapShapeFeature feature : features) {
-            String indoorType = feature != null ? feature.getIndoorType() : null;
-            if (indoorType == null) {
-                others++;
-            } else if ("wall".equalsIgnoreCase(indoorType)) {
-                walls++;
-            } else if ("stairs".equalsIgnoreCase(indoorType)) {
-                stairs++;
-            } else if ("lift".equalsIgnoreCase(indoorType)) {
-                lifts++;
-            } else {
-                others++;
-            }
-        }
-        return String.format(Locale.US,
-                "display=%s total=%d wall=%d stairs=%d lift=%d other=%d",
-                floorShapes.getDisplayName(), features.size(), walls, stairs, lifts, others);
-    }
-
     public void setInitialCameraPosition(@NonNull LatLng startLocation) {
         if (gMap != null) {
             gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(startLocation, 19f));
@@ -2167,6 +2051,10 @@ public void clearMapAndReset() {
         if (autoFloorSwitch != null) {
             autoFloorSwitch.setChecked(false);
         }
+        if (polylineOutline != null) {
+            polylineOutline.remove();
+            polylineOutline = null;
+        }
         if (polyline != null) {
             polyline.remove();
             polyline = null;
@@ -2185,11 +2073,6 @@ public void clearMapAndReset() {
         }
         lastGnssLocation = null;
         currentLocation = null;
-        previousMatchedPose = null;
-        lastMapMatchingResult = null;
-        previousElevation = Float.NaN;
-        latestCandidateLogicalFloor = Integer.MIN_VALUE;
-        lastMapMatchLogTime = 0L;
 
         for (Marker m : testPointMarkers) {
             m.remove();
@@ -2197,8 +2080,10 @@ public void clearMapAndReset() {
         testPointMarkers.clear();
 
         if (gMap != null) {
-            polyline = gMap.addPolyline(new PolylineOptions().color(Color.RED).width(5f).add());
-            gnssPolyline = gMap.addPolyline(new PolylineOptions().color(Color.BLUE).width(5f).add());
+            polylineOutline = gMap.addPolyline(buildTrajectoryOutlineOptions());
+            polyline = gMap.addPolyline(buildTrajectoryMainOptions());
+            gnssPolyline = gMap.addPolyline(new PolylineOptions().color(Color.BLUE).width(5f).zIndex(TRAJECTORY_Z_INDEX - 2f).add());
+            ensureTrajectoryStyling();
         }
         for (Polygon p : floorplanPolygons) {
             p.remove();
@@ -2212,6 +2097,7 @@ public void clearMapAndReset() {
         actualMapVisible = false;
         hasFetchedNearbyBuildings = false;
         hasAttemptedInitialBuildingFetch = false;
+        hasAutoSelectedIndoorMap = false;
 
         resetMapOverlays();
         if (indoorMapManager != null) {
@@ -2248,51 +2134,87 @@ public void run() {
 
     private void applyImmediateFloor() {
         if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
-            Log.d(TAG, "AUTO_FLOOR applyImmediate skipped: map not ready");
             return;
         }
-        int candidateFloor = resolveCandidateLogicalFloor();
-        latestCandidateLogicalFloor = candidateFloor;
+        int candidateFloor;
+        if (sensorFusion.getLatLngWifiPositioning() != null) {
+            candidateFloor = sensorFusion.getWifiFloor();
+        } else {
+            float elevation = sensorFusion.getElevation();
+            float floorHeight = indoorMapManager.getFloorHeight();
+            if (floorHeight <= 0) {
+                return;
+            }
+            candidateFloor = Math.round(elevation / floorHeight);
+        }
+        setFloor(indoorMapManager.logicalFloorToIndex(candidateFloor));
         lastCandidateFloor = candidateFloor;
         lastCandidateTime = SystemClock.elapsedRealtime();
-        logAutoFloorState("applyImmediate", candidateFloor, describeCandidateFloorSource());
     }
 
     private void stopAutoFloor() {
         if (autoFloorHandler != null && autoFloorTask != null) {
             autoFloorHandler.removeCallbacks(autoFloorTask);
         }
-        Log.d(TAG, String.format(Locale.US,
-                "AUTO_FLOOR stop visibleLogical=%d lastCandidate=%d latestCandidate=%d",
-                getCurrentVisibleLogicalFloor(), lastCandidateFloor, latestCandidateLogicalFloor));
         lastCandidateFloor = Integer.MIN_VALUE;
         lastCandidateTime = 0;
-        latestCandidateLogicalFloor = Integer.MIN_VALUE;
     }
 
     private void evaluateAutoFloor() {
         if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
-            Log.d(TAG, "AUTO_FLOOR evaluate skipped: map not ready");
             return;
         }
-
-        int candidateFloor = resolveCandidateLogicalFloor();
-        String source = describeCandidateFloorSource();
-        latestCandidateLogicalFloor = candidateFloor;
+        int candidateFloor;
+        if (sensorFusion.getLatLngWifiPositioning() != null) {
+            candidateFloor = sensorFusion.getWifiFloor();
+        } else {
+            float elevation = sensorFusion.getElevation();
+            float floorHeight = indoorMapManager.getFloorHeight();
+            if (floorHeight <= 0) {
+                return;
+            }
+            candidateFloor = Math.round(elevation / floorHeight);
+        }
 
         long now = SystemClock.elapsedRealtime();
         if (candidateFloor != lastCandidateFloor) {
-            logAutoFloorState("candidate_changed", candidateFloor, source);
             lastCandidateFloor = candidateFloor;
             lastCandidateTime = now;
             return;
         }
-
         if (now - lastCandidateTime >= AUTO_FLOOR_DEBOUNCE_MS) {
-            logAutoFloorState("candidate_stable", candidateFloor, source);
+            setFloor(indoorMapManager.logicalFloorToIndex(candidateFloor));
             lastCandidateTime = now;
-        } else {
-            logAutoFloorState("candidate_waiting", candidateFloor, source);
         }
     }
+    private void initMapControlsToggle() {
+        if (btnToggleControls != null) {
+            btnToggleControls.setOnClickListener(v -> toggleMapControlsPanel());
+        }
+        updateMapControlsPanelUi();
+    }
+
+    private void toggleMapControlsPanel() {
+        areMapControlsExpanded = !areMapControlsExpanded;
+        updateMapControlsPanelUi();
+    }
+
+    private void updateMapControlsPanelUi() {
+        if (mapControlsContent != null) {
+            mapControlsContent.setVisibility(areMapControlsExpanded ? View.VISIBLE : View.GONE);
+        }
+        if (btnToggleControls != null) {
+            btnToggleControls.setText(areMapControlsExpanded ? "Hide" : "Show");
+        }
+    }
+
+    private void applyTrajectoryColorButtonState() {
+        if (switchColorButton == null) {
+            return;
+        }
+        switchColorButton.setText(isRed ? "Red" : "Black");
+        switchColorButton.setBackgroundColor(isRed ? TRAJECTORY_MAIN_COLOR : Color.BLACK);
+        switchColorButton.setTextColor(Color.WHITE);
+    }
+
 }
diff --git a/app/src/main/res/layout/fragment_trajectory_map.xml b/app/src/main/res/layout/fragment_trajectory_map.xml
index 04800e88..608e8bc3 100644
--- a/app/src/main/res/layout/fragment_trajectory_map.xml
+++ b/app/src/main/res/layout/fragment_trajectory_map.xml
@@ -12,53 +12,90 @@
         android:layout_width="match_parent"
         android:layout_height="match_parent" />
 
-    <com.google.android.material.card.MaterialCardView
+    <LinearLayout
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_margin="10dp"
-        app:cardBackgroundColor="#FFFFFF"
-        app:cardElevation="4dp"
-        app:cardCornerRadius="8dp"
+        android:gravity="top"
+        android:orientation="horizontal"
         app:layout_anchor="@id/trajectoryMap"
         app:layout_anchorGravity="top|start">
 
-        <LinearLayout
+        <com.google.android.material.card.MaterialCardView
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:orientation="vertical"
-            android:padding="12dp"
-            android:gravity="center">
+            app:cardBackgroundColor="#F7FFFFFF"
+            app:cardCornerRadius="12dp"
+            app:cardElevation="6dp">
 
-            <com.google.android.material.switchmaterial.SwitchMaterial
-                android:id="@+id/gnssSwitch"
+            <LinearLayout
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:text="@string/gnssSwitch" />
+                android:orientation="vertical"
+                android:padding="10dp">
 
-            <com.google.android.material.switchmaterial.SwitchMaterial
-                android:id="@+id/autoFloor"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:text="@string/auto_floor" />
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:text="Map Controls"
+                    android:textColor="@android:color/black"
+                    android:textSize="15sp"
+                    android:textStyle="bold" />
 
-            <com.google.android.material.button.MaterialButton
-                android:id="@+id/lineColorButton"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:backgroundTint="@color/red"
-                android:textColor="@android:color/white"
-                android:text="@string/color"
-                app:elevation="5dp"/>
+                <LinearLayout
+                    android:id="@+id/mapControlsContent"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_marginTop="8dp"
+                    android:gravity="center"
+                    android:orientation="vertical">
 
-            <Spinner
-                android:id="@+id/mapSwitchSpinner"
-                android:layout_width="wrap_content"
-                android:layout_height="48dp"
-                android:layout_marginTop="8dp"
-                android:background="@android:color/white"
-                android:spinnerMode="dropdown" />
-        </LinearLayout>
-    </com.google.android.material.card.MaterialCardView>
+                    <com.google.android.material.switchmaterial.SwitchMaterial
+                        android:id="@+id/gnssSwitch"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="@string/gnssSwitch" />
+
+                    <com.google.android.material.switchmaterial.SwitchMaterial
+                        android:id="@+id/autoFloor"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="@string/auto_floor" />
+
+                    <com.google.android.material.button.MaterialButton
+                        android:id="@+id/lineColorButton"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="Red"
+                        android:textColor="@android:color/white"
+                        app:backgroundTint="@android:color/holo_red_dark"
+                        app:elevation="5dp" />
+
+                    <Spinner
+                        android:id="@+id/mapSwitchSpinner"
+                        android:layout_width="wrap_content"
+                        android:layout_height="48dp"
+                        android:layout_marginTop="8dp"
+                        android:background="@android:color/white"
+                        android:spinnerMode="dropdown" />
+                </LinearLayout>
+            </LinearLayout>
+        </com.google.android.material.card.MaterialCardView>
+
+        <com.google.android.material.button.MaterialButton
+            android:id="@+id/btnToggleControls"
+            android:layout_width="wrap_content"
+            android:layout_height="36dp"
+            android:layout_marginStart="8dp"
+            android:insetTop="0dp"
+            android:insetBottom="0dp"
+            android:minWidth="0dp"
+            android:text="Hide"
+            android:textAllCaps="false"
+            android:textColor="@android:color/white"
+            app:backgroundTint="#546E7A" />
+
+    </LinearLayout>
 
     <androidx.constraintlayout.widget.ConstraintLayout
         android:layout_width="match_parent"

From 40b63a9fcca30e3e7fe6e7ec6d2daca06bd28ee3 Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Thu, 19 Mar 2026 02:25:30 +0000
Subject: [PATCH 06/35] upload test json

---
 .../replay/trajectory_synthetic_lift_up.json  | 3444 +++++++++++++++++
 .../trajectory_synthetic_stairs_up.json       | 3393 ++++++++++++++++
 .../fragment/TrajectoryMapFragment.java       |  155 +-
 3 files changed, 6984 insertions(+), 8 deletions(-)
 create mode 100644 app/src/main/assets/replay/trajectory_synthetic_lift_up.json
 create mode 100644 app/src/main/assets/replay/trajectory_synthetic_stairs_up.json

diff --git a/app/src/main/assets/replay/trajectory_synthetic_lift_up.json b/app/src/main/assets/replay/trajectory_synthetic_lift_up.json
new file mode 100644
index 00000000..03d50cd3
--- /dev/null
+++ b/app/src/main/assets/replay/trajectory_synthetic_lift_up.json
@@ -0,0 +1,3444 @@
+{
+  "androidVersion": 16,
+  "trajectoryVersion": "2.1",
+  "trajectoryId": "synthetic_lift_up",
+  "startTimestamp": 1773874615392,
+  "imuData": [
+    {
+      "relativeTimestamp": "0",
+      "acc": {
+        "x": -0.2,
+        "y": 0.3,
+        "z": 9.81
+      },
+      "gyr": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 0
+    },
+    {
+      "relativeTimestamp": "100",
+      "acc": {
+        "x": -0.2,
+        "y": 0.3,
+        "z": 9.81
+      },
+      "gyr": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 0
+    },
+    {
+      "relativeTimestamp": "200",
+      "acc": {
+        "x": -0.2,
+        "y": 0.3,
+        "z": 9.81
+      },
+      "gyr": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 0
+    },
+    {
+      "relativeTimestamp": "300",
+      "acc": {
+        "x": -0.2,
+        "y": 0.3,
+        "z": 9.81
+      },
+      "gyr": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 0
+    },
+    {
+      "relativeTimestamp": "400",
+      "acc": {
+        "x": -0.2,
+        "y": 0.3,
+        "z": 9.81
+      },
+      "gyr": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 0
+    },
+    {
+      "relativeTimestamp": "500",
+      "acc": {
+        "x": -0.2,
+        "y": 0.3,
+        "z": 9.81
+      },
+      "gyr": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
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+}
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diff --git a/app/src/main/assets/replay/trajectory_synthetic_stairs_up.json b/app/src/main/assets/replay/trajectory_synthetic_stairs_up.json
new file mode 100644
index 00000000..0e429047
--- /dev/null
+++ b/app/src/main/assets/replay/trajectory_synthetic_stairs_up.json
@@ -0,0 +1,3393 @@
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+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 14
+    },
+    {
+      "relativeTimestamp": "15000",
+      "acc": {
+        "x": -0.2,
+        "y": 0.3,
+        "z": 9.81
+      },
+      "gyr": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 15
+    },
+    {
+      "relativeTimestamp": "15100",
+      "acc": {
+        "x": -0.2,
+        "y": 0.3,
+        "z": 9.81
+      },
+      "gyr": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 15
+    },
+    {
+      "relativeTimestamp": "15200",
+      "acc": {
+        "x": -0.2,
+        "y": 0.3,
+        "z": 9.81
+      },
+      "gyr": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 15
+    },
+    {
+      "relativeTimestamp": "15300",
+      "acc": {
+        "x": -0.2,
+        "y": 0.3,
+        "z": 9.81
+      },
+      "gyr": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 15
+    },
+    {
+      "relativeTimestamp": "15400",
+      "acc": {
+        "x": -0.2,
+        "y": 0.3,
+        "z": 9.81
+      },
+      "gyr": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 15
+    },
+    {
+      "relativeTimestamp": "15500",
+      "acc": {
+        "x": -0.2,
+        "y": 0.3,
+        "z": 9.81
+      },
+      "gyr": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "w": 1.0
+      },
+      "stepCount": 15
+    }
+  ],
+  "pdrData": [
+    {
+      "relativeTimestamp": "0",
+      "x": 0.0,
+      "y": 0.0,
+      "currentElevation": 0.0,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 0
+    },
+    {
+      "relativeTimestamp": "500",
+      "x": 1.4,
+      "y": 0.0,
+      "currentElevation": 0.0,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 0
+    },
+    {
+      "relativeTimestamp": "1000",
+      "x": 2.8,
+      "y": 0.0,
+      "currentElevation": 0.0,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 0
+    },
+    {
+      "relativeTimestamp": "1500",
+      "x": 4.2,
+      "y": 0.0,
+      "currentElevation": 0.0,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 0
+    },
+    {
+      "relativeTimestamp": "2000",
+      "x": 5.6,
+      "y": 0.0,
+      "currentElevation": 0.0,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 0
+    },
+    {
+      "relativeTimestamp": "2500",
+      "x": 7.0,
+      "y": 0.0,
+      "currentElevation": 0.0,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 0
+    },
+    {
+      "relativeTimestamp": "3000",
+      "x": 8.4,
+      "y": 0.0,
+      "currentElevation": 0.0,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 0
+    },
+    {
+      "relativeTimestamp": "3500",
+      "x": 9.8,
+      "y": 0.0,
+      "currentElevation": 0.0,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 0
+    },
+    {
+      "relativeTimestamp": "4000",
+      "x": 11.2,
+      "y": 0.0,
+      "currentElevation": 0.0,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 0
+    },
+    {
+      "relativeTimestamp": "4500",
+      "x": 12.6,
+      "y": 0.0,
+      "currentElevation": 0.0,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 0
+    },
+    {
+      "relativeTimestamp": "5000",
+      "x": 15.0,
+      "y": 1.1,
+      "currentElevation": 0.6,
+      "deltaHeight": 0.6,
+      "heightChanged": true,
+      "syntheticFloor": 0
+    },
+    {
+      "relativeTimestamp": "5500",
+      "x": 16.0,
+      "y": 2.3,
+      "currentElevation": 1.2,
+      "deltaHeight": 0.6,
+      "heightChanged": true,
+      "syntheticFloor": 0
+    },
+    {
+      "relativeTimestamp": "6000",
+      "x": 16.9,
+      "y": 3.6,
+      "currentElevation": 2.0,
+      "deltaHeight": 0.8,
+      "heightChanged": true,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "6500",
+      "x": 17.7,
+      "y": 4.7,
+      "currentElevation": 2.7,
+      "deltaHeight": 0.7,
+      "heightChanged": true,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "7000",
+      "x": 18.5,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.6,
+      "heightChanged": true,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "7500",
+      "x": 20.0,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "8000",
+      "x": 21.5,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "8500",
+      "x": 23.0,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "9000",
+      "x": 24.5,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "9500",
+      "x": 26.0,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "10000",
+      "x": 27.5,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "10500",
+      "x": 29.0,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "11000",
+      "x": 30.5,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "11500",
+      "x": 32.0,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "12000",
+      "x": 33.5,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "12500",
+      "x": 35.0,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "13000",
+      "x": 36.5,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "13500",
+      "x": 38.0,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "14000",
+      "x": 39.5,
+      "y": 5.7,
+      "currentElevation": 3.3,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    }
+  ],
+  "gnssData": [],
+  "magnetometerData": []
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index de13e0ef..6c714c97 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -43,8 +43,13 @@
 import com.google.android.material.switchmaterial.SwitchMaterial;
 import com.openpositioning.PositionMe.R;
 import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
+import com.openpositioning.PositionMe.mapmatching.CandidatePose;
 import com.openpositioning.PositionMe.mapmatching.CorrectionType;
+import com.openpositioning.PositionMe.mapmatching.MapMatchingInput;
 import com.openpositioning.PositionMe.mapmatching.MapMatchingResult;
+import com.openpositioning.PositionMe.mapmatching.MapMatchingService;
+import com.openpositioning.PositionMe.mapmatching.MotionDelta;
+import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
 import com.openpositioning.PositionMe.utils.BuildingPolygon;
 import com.openpositioning.PositionMe.utils.IndoorMapManager;
@@ -193,6 +198,7 @@ static OverlayCalibration identity() {
     private final List<Marker> testPointMarkers = new ArrayList<>();
     private Polyline polylineOutline;
     private Polyline polyline;
+    private Polyline rawReplayPolyline;
     private boolean isRed = true;
     private boolean isGnssOn = false;
     private Polyline gnssPolyline;
@@ -208,6 +214,9 @@ static OverlayCalibration identity() {
     private FloorplanApiClient.BuildingInfo selectedFloorplanBuilding;
     private Polygon selectedFloorplanPolygon;
     private final FloorplanApiClient floorplanApiClient = new FloorplanApiClient();
+    private final MapMatchingService mapMatchingService = new MapMatchingService();
+    @Nullable
+    private CandidatePose previousMatchedPose;
 
     private Handler autoFloorHandler;
     private Runnable autoFloorTask;
@@ -1493,6 +1502,30 @@ private void ensureTrajectoryStyling() {
         }
     }
 
+    @NonNull
+    private PolylineOptions buildRawReplayPolylineOptions() {
+        return new PolylineOptions()
+                .color(Color.argb(170, 30, 136, 229))
+                .width(5f)
+                .jointType(JointType.ROUND)
+                .startCap(new RoundCap())
+                .endCap(new RoundCap())
+                .zIndex(TRAJECTORY_Z_INDEX - 1f)
+                .add();
+    }
+
+    private void appendRawReplayPoint(@NonNull LatLng rawLocation) {
+        if (rawReplayPolyline == null) {
+            return;
+        }
+
+        List<LatLng> rawPoints = new ArrayList<>(rawReplayPolyline.getPoints());
+        if (rawPoints.isEmpty() || !rawPoints.get(rawPoints.size() - 1).equals(rawLocation)) {
+            rawPoints.add(rawLocation);
+            rawReplayPolyline.setPoints(rawPoints);
+        }
+    }
+
     private void syncTrajectoryPolylinePoints(@NonNull List<LatLng> points) {
         if (polylineOutline != null) {
             polylineOutline.setPoints(points);
@@ -1521,6 +1554,7 @@ private void initMapSettings(GoogleMap map) {
 
         polylineOutline = map.addPolyline(buildTrajectoryOutlineOptions());
         polyline = map.addPolyline(buildTrajectoryMainOptions());
+        rawReplayPolyline = map.addPolyline(buildRawReplayPolylineOptions());
         gnssPolyline = map.addPolyline(new PolylineOptions().color(Color.BLUE).width(5f).zIndex(TRAJECTORY_Z_INDEX - 2f).add());
         ensureTrajectoryStyling();
     }
@@ -1582,31 +1616,84 @@ public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         if (gMap == null) {
             return;
         }
+
+        LatLng rawLocation = newLocation;
+        appendRawReplayPoint(rawLocation);
+
+        FloorplanApiClient.FloorShapes activeFloorShapes = getActiveFloorShapesForMatching();
+        long timestampMs = SystemClock.elapsedRealtime();
+        CandidatePose currentCandidatePose = new CandidatePose(
+                rawLocation,
+                currentFloorIndex,
+                timestampMs,
+                "replay_pdr"
+        );
+
+        MotionDelta motionDelta = buildMotionDelta(previousMatchedPose, rawLocation, orientation);
+        VerticalTransitionHint verticalHint = buildReplayVerticalHint();
+        String activeBuildingId = selectedFloorplanBuilding != null
+                ? resolveKnownBuildingKey(selectedFloorplanBuilding, selectedFloorplanBuilding.getName())
+                : null;
+
+        MapMatchingInput matchingInput = new MapMatchingInput(
+                previousMatchedPose,
+                currentCandidatePose,
+                motionDelta,
+                verticalHint,
+                activeFloorShapes,
+                activeBuildingId
+        );
+
+        MapMatchingResult matchingResult = mapMatchingService.match(matchingInput);
+        LatLng matchedLocation = matchingResult.getCorrectedLatLng() != null
+                ? matchingResult.getCorrectedLatLng()
+                : rawLocation;
+        int matchedFloor = matchingResult.getCorrectedFloor();
+
+        logFeatureValidation(rawLocation, matchingResult);
+        Log.d(TEST_LOG_TAG, String.format(Locale.US,
+                "raw=(%.6f, %.6f) matched=(%.6f, %.6f) floor=%d correction=%s reason=%s",
+                rawLocation.latitude,
+                rawLocation.longitude,
+                matchedLocation.latitude,
+                matchedLocation.longitude,
+                matchedFloor,
+                matchingResult.getCorrectionType() != null
+                        ? matchingResult.getCorrectionType().name()
+                        : CorrectionType.NONE.name(),
+                matchingResult.getDebugReason()));
+
         LatLng oldLocation = this.currentLocation;
-        this.currentLocation = newLocation;
+        this.currentLocation = matchedLocation;
+        this.previousMatchedPose = new CandidatePose(
+                matchedLocation,
+                matchedFloor,
+                timestampMs,
+                "map_matched"
+        );
 
         boolean shouldFollowCamera = !(indoorMapVisible || actualMapVisible);
         if (orientationMarker == null) {
             orientationMarker = gMap.addMarker(new MarkerOptions()
-                    .position(newLocation)
+                    .position(matchedLocation)
                     .flat(true)
                     .title("Current Position")
                     .icon(BitmapDescriptorFactory.fromBitmap(UtilFunctions.getBitmapFromVector(requireContext(), R.drawable.ic_baseline_navigation_24))));
             if (shouldFollowCamera) {
-                gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(newLocation, 19f));
+                gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(matchedLocation, 19f));
             }
         } else {
-            orientationMarker.setPosition(newLocation);
+            orientationMarker.setPosition(matchedLocation);
             orientationMarker.setRotation(orientation);
             if (shouldFollowCamera) {
-                gMap.moveCamera(CameraUpdateFactory.newLatLng(newLocation));
+                gMap.moveCamera(CameraUpdateFactory.newLatLng(matchedLocation));
             }
         }
 
         if (polyline != null) {
             List<LatLng> points = new ArrayList<>(polyline.getPoints());
-            if (oldLocation == null || !oldLocation.equals(newLocation)) {
-                points.add(newLocation);
+            if (oldLocation == null || !oldLocation.equals(matchedLocation)) {
+                points.add(matchedLocation);
                 syncTrajectoryPolylinePoints(points);
             } else {
                 ensureTrajectoryStyling();
@@ -1614,7 +1701,7 @@ public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         }
 
         if (indoorMapManager != null) {
-            indoorMapManager.setCurrentLocation(newLocation);
+            indoorMapManager.setCurrentLocation(matchedLocation);
         }
 
         maybeFetchNearbyBuildingsOnFirstLocation();
@@ -1623,6 +1710,52 @@ public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         }
     }
 
+    @Nullable
+    private FloorplanApiClient.FloorShapes getActiveFloorShapesForMatching() {
+        if (selectedFloorplanBuilding == null
+                || selectedFloorplanBuilding.getFloorShapesList() == null
+                || selectedFloorplanBuilding.getFloorShapesList().isEmpty()) {
+            return null;
+        }
+
+        int safeFloorIndex = Math.max(0, Math.min(currentFloorIndex, selectedFloorplanBuilding.getFloorShapesList().size() - 1));
+        return selectedFloorplanBuilding.getFloorShapesList().get(safeFloorIndex);
+    }
+
+    @Nullable
+    private MotionDelta buildMotionDelta(@Nullable CandidatePose previousPose,
+                                         @NonNull LatLng rawLocation,
+                                         float orientation) {
+        if (previousPose == null) {
+            return null;
+        }
+
+        float[] results = new float[1];
+        Location.distanceBetween(
+                previousPose.getLatLng().latitude,
+                previousPose.getLatLng().longitude,
+                rawLocation.latitude,
+                rawLocation.longitude,
+                results
+        );
+
+        double deltaX = rawLocation.longitude - previousPose.getLatLng().longitude;
+        double deltaY = rawLocation.latitude - previousPose.getLatLng().latitude;
+        return new MotionDelta(deltaX, deltaY, results[0], orientation);
+    }
+
+    @Nullable
+    private VerticalTransitionHint buildReplayVerticalHint() {
+        return null;
+    }
+
+    private void resetMapMatchingState() {
+        previousMatchedPose = null;
+        if (rawReplayPolyline != null) {
+            rawReplayPolyline.setPoints(new ArrayList<>());
+        }
+    }
+
     @NonNull
     private String classifyMapMatchingScenario(@Nullable MapMatchingResult result) {
         if (result == null) {
@@ -2059,6 +2192,10 @@ public void clearMapAndReset() {
             polyline.remove();
             polyline = null;
         }
+        if (rawReplayPolyline != null) {
+            rawReplayPolyline.remove();
+            rawReplayPolyline = null;
+        }
         if (gnssPolyline != null) {
             gnssPolyline.remove();
             gnssPolyline = null;
@@ -2073,6 +2210,7 @@ public void clearMapAndReset() {
         }
         lastGnssLocation = null;
         currentLocation = null;
+        resetMapMatchingState();
 
         for (Marker m : testPointMarkers) {
             m.remove();
@@ -2082,6 +2220,7 @@ public void clearMapAndReset() {
         if (gMap != null) {
             polylineOutline = gMap.addPolyline(buildTrajectoryOutlineOptions());
             polyline = gMap.addPolyline(buildTrajectoryMainOptions());
+            rawReplayPolyline = gMap.addPolyline(buildRawReplayPolylineOptions());
             gnssPolyline = gMap.addPolyline(new PolylineOptions().color(Color.BLUE).width(5f).zIndex(TRAJECTORY_Z_INDEX - 2f).add());
             ensureTrajectoryStyling();
         }

From 708d31fd9143cf285cad486c2a769d8c06ce88f6 Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Fri, 20 Mar 2026 02:59:46 +0000
Subject: [PATCH 07/35] UI update

---
 .../fragment/StartLocationOverlayHelper.java  | 713 ++++++++++++++++++
 1 file changed, 713 insertions(+)
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationOverlayHelper.java

diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationOverlayHelper.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationOverlayHelper.java
new file mode 100644
index 00000000..107f4417
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationOverlayHelper.java
@@ -0,0 +1,713 @@
+package com.openpositioning.PositionMe.utils;
+
+import android.content.Context;
+import android.content.SharedPreferences;
+import android.graphics.BitmapFactory;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
+import com.google.android.gms.maps.GoogleMap;
+import com.google.android.gms.maps.model.BitmapDescriptorFactory;
+import com.google.android.gms.maps.model.GroundOverlay;
+import com.google.android.gms.maps.model.GroundOverlayOptions;
+import com.google.android.gms.maps.model.LatLng;
+import com.google.android.gms.maps.model.LatLngBounds;
+import com.openpositioning.PositionMe.R;
+import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * Shared overlay helper for Start Location so its actual-map display matches the
+ * calibrated bounds used in trajectory/replay as closely as possible.
+ */
+public final class StartLocationOverlayHelper {
+
+    private static final String CALIBRATION_PREFS_NAME = "actual_map_calibration";
+
+    private StartLocationOverlayHelper() {}
+
+    public static List<GroundOverlay> addActualMapOverlays(@NonNull Context context,
+                                                           @NonNull GoogleMap map,
+                                                           @Nullable FloorplanApiClient.BuildingInfo selectedBuilding,
+                                                           @Nullable List<FloorplanApiClient.BuildingInfo> availableBuildings,
+                                                           @Nullable String requestedFloorDisplayName,
+                                                           int requestedFloorIndex) {
+        List<GroundOverlay> overlays = new ArrayList<>();
+        if (selectedBuilding == null) {
+            return overlays;
+        }
+
+        String selectedKey = resolveKnownBuildingKey(selectedBuilding, selectedBuilding.getName());
+        addOverlayForBuilding(context, map, overlays, selectedBuilding, selectedKey,
+                requestedFloorDisplayName, requestedFloorIndex);
+
+        if (shouldShowLinkedLibraryAndNucleus(selectedKey)) {
+            String linkedKey = "library".equals(selectedKey) ? "nucleus_building" : "library";
+            FloorplanApiClient.BuildingInfo linkedBuilding = findBuildingByKnownKey(linkedKey, availableBuildings);
+            int linkedFloorIndex = resolveFallbackFloorIndexForKey(linkedKey, requestedFloorDisplayName, requestedFloorIndex);
+            addOverlayForBuilding(context, map, overlays, linkedBuilding, linkedKey,
+                    requestedFloorDisplayName, linkedFloorIndex);
+        }
+        return overlays;
+    }
+
+    public static int getGroundFloorIndex(@Nullable FloorplanApiClient.BuildingInfo building) {
+        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
+            return 0;
+        }
+        for (int i = 0; i < building.getFloorShapesList().size(); i++) {
+            String display = building.getFloorShapesList().get(i).getDisplayName();
+            if ("G".equals(canonicalFloorLabel(display))) {
+                return i;
+            }
+        }
+        return Math.min(1, building.getFloorShapesList().size() - 1);
+    }
+
+    public static String getDisplayFloorLabel(@Nullable FloorplanApiClient.BuildingInfo building, int floorIndex) {
+        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
+            return "";
+        }
+        int safeIndex = Math.max(0, Math.min(floorIndex, building.getFloorShapesList().size() - 1));
+        String display = building.getFloorShapesList().get(safeIndex).getDisplayName();
+        String canonical = canonicalFloorLabel(display);
+        if ("1".equals(canonical)) return "F1";
+        if ("2".equals(canonical)) return "F2";
+        if ("3".equals(canonical)) return "F3";
+        if ("G".equals(canonical)) return "G";
+        if ("LG".equals(canonical)) return "LG";
+        return display == null ? "" : display.trim().toUpperCase();
+    }
+
+    public static int clampFloorIndex(@Nullable FloorplanApiClient.BuildingInfo building, int floorIndex) {
+        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
+            return 0;
+        }
+        return Math.max(0, Math.min(floorIndex, building.getFloorShapesList().size() - 1));
+    }
+
+    private static void addOverlayForBuilding(@NonNull Context context,
+                                              @NonNull GoogleMap map,
+                                              @NonNull List<GroundOverlay> overlays,
+                                              @Nullable FloorplanApiClient.BuildingInfo building,
+                                              @Nullable String buildingKey,
+                                              @Nullable String requestedFloorDisplayName,
+                                              int requestedFloorIndex) {
+        String normalizedBuildingKey = normalizeBuildingKey(buildingKey);
+        String requestedCanonicalFloor = canonicalFloorLabel(requestedFloorDisplayName);
+        if (normalizedBuildingKey.isEmpty()) {
+            return;
+        }
+        if ("library".equals(normalizedBuildingKey) && "LG".equals(requestedCanonicalFloor)) {
+            return;
+        }
+
+        int resolvedFloorIndex = building != null
+                ? findMatchingFloorIndex(building, requestedFloorDisplayName, requestedFloorIndex)
+                : resolveFallbackFloorIndexForKey(normalizedBuildingKey, requestedFloorDisplayName, requestedFloorIndex);
+        String resolvedFloorDisplayName = building != null
+                ? normalizeFloorLabel(getFloorDisplayName(building, resolvedFloorIndex))
+                : normalizeFloorLabel(requestedFloorDisplayName);
+        String drawableFloorDisplayName = "library".equals(normalizedBuildingKey)
+                ? requestedCanonicalFloor
+                : resolvedFloorDisplayName;
+        int drawableResId = resolveActualMapDrawable(normalizedBuildingKey, drawableFloorDisplayName, resolvedFloorIndex);
+        LatLngBounds bounds = computeActualMapBounds(context, building, normalizedBuildingKey, drawableResId, drawableFloorDisplayName);
+        if (drawableResId == 0 || bounds == null) {
+            return;
+        }
+
+        GroundOverlay overlay = map.addGroundOverlay(new GroundOverlayOptions()
+                .image(BitmapDescriptorFactory.fromResource(drawableResId))
+                .positionFromBounds(bounds)
+                .zIndex(5f));
+        if (overlay != null) {
+            overlays.add(overlay);
+        }
+    }
+
+    private static boolean shouldShowLinkedLibraryAndNucleus(String buildingKey) {
+        return "library".equals(buildingKey) || "nucleus_building".equals(buildingKey);
+    }
+
+    @Nullable
+    private static FloorplanApiClient.BuildingInfo findBuildingByKnownKey(String knownKey,
+                                                                          @Nullable List<FloorplanApiClient.BuildingInfo> availableBuildings) {
+        if (knownKey == null || availableBuildings == null) {
+            return null;
+        }
+        for (FloorplanApiClient.BuildingInfo building : availableBuildings) {
+            if (building == null) continue;
+            if (knownKey.equals(resolveKnownBuildingKey(building, building.getName()))) {
+                return building;
+            }
+        }
+        return null;
+    }
+
+    private static int findMatchingFloorIndex(@Nullable FloorplanApiClient.BuildingInfo building,
+                                              @Nullable String requestedFloorDisplayName,
+                                              int fallbackFloorIndex) {
+        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
+            return 0;
+        }
+
+        String normalizedRequestedFloor = normalizeFloorLabel(requestedFloorDisplayName);
+        if (!normalizedRequestedFloor.isEmpty()) {
+            for (int i = 0; i < building.getFloorShapesList().size(); i++) {
+                String candidateLabel = normalizeFloorLabel(building.getFloorShapesList().get(i).getDisplayName());
+                if (areEquivalentFloorLabels(normalizedRequestedFloor, candidateLabel)) {
+                    return i;
+                }
+            }
+        }
+        return clampFloorIndex(building, fallbackFloorIndex);
+    }
+
+    private static boolean areEquivalentFloorLabels(String requestedFloorLabel, String candidateFloorLabel) {
+        if (requestedFloorLabel == null || candidateFloorLabel == null) {
+            return false;
+        }
+        if (requestedFloorLabel.equals(candidateFloorLabel)) {
+            return true;
+        }
+        String requested = canonicalFloorLabel(requestedFloorLabel);
+        String candidate = canonicalFloorLabel(candidateFloorLabel);
+        return !requested.isEmpty() && requested.equals(candidate);
+    }
+
+    private static int resolveFallbackFloorIndexForKey(String buildingKey, String requestedFloorDisplayName, int requestedFloorIndex) {
+        String normalizedKey = normalizeBuildingKey(buildingKey);
+        String canonicalFloor = canonicalFloorLabel(requestedFloorDisplayName);
+
+        if ("nucleus_building".equals(normalizedKey)) {
+            switch (canonicalFloor) {
+                case "LG": return 0;
+                case "G": return 1;
+                case "1": return 2;
+                case "2": return 3;
+                case "3": return 4;
+                default: return Math.max(0, Math.min(requestedFloorIndex, 4));
+            }
+        }
+        if ("library".equals(normalizedKey)) {
+            switch (canonicalFloor) {
+                case "G": return 0;
+                case "1": return 1;
+                case "2": return 2;
+                case "3": return 3;
+                default: return Math.max(0, Math.min(requestedFloorIndex, 3));
+            }
+        }
+        return Math.max(0, requestedFloorIndex);
+    }
+
+    private static int resolveActualMapDrawable(String buildingName, String floorDisplayName, int floorIndex) {
+        buildingName = normalizeBuildingKey(buildingName);
+        String canonicalFloor = canonicalFloorLabel(floorDisplayName);
+        if ("nucleus_building".equals(buildingName)) {
+            if ("LG".equals(canonicalFloor)) return R.drawable.nucleuslg;
+            if ("G".equals(canonicalFloor)) return R.drawable.nucleusg;
+            if ("1".equals(canonicalFloor)) return R.drawable.nucleus1;
+            if ("2".equals(canonicalFloor)) return R.drawable.nucleus2;
+            if ("3".equals(canonicalFloor)) return R.drawable.nucleus3;
+            switch (floorIndex) {
+                case 0: return R.drawable.nucleuslg;
+                case 1: return R.drawable.nucleusg;
+                case 2: return R.drawable.nucleus1;
+                case 3: return R.drawable.nucleus2;
+                case 4: return R.drawable.nucleus3;
+                default: return R.drawable.nucleusg;
+            }
+        }
+        if ("library".equals(buildingName)) {
+            if ("LG".equals(canonicalFloor)) return 0;
+            if ("G".equals(canonicalFloor)) return R.drawable.libraryg;
+            if ("1".equals(canonicalFloor)) return R.drawable.library1;
+            if ("2".equals(canonicalFloor)) return R.drawable.library2;
+            if ("3".equals(canonicalFloor)) return R.drawable.library3;
+            switch (floorIndex) {
+                case 0: return 0;
+                case 1: return R.drawable.libraryg;
+                case 2: return R.drawable.library1;
+                case 3: return R.drawable.library2;
+                case 4: return R.drawable.library3;
+                default: return R.drawable.libraryg;
+            }
+        }
+        return 0;
+    }
+
+    @Nullable
+    private static LatLngBounds computeActualMapBounds(@NonNull Context context,
+                                                       @Nullable FloorplanApiClient.BuildingInfo building,
+                                                       String buildingName,
+                                                       int drawableResId,
+                                                       String floorDisplayName) {
+        buildingName = normalizeBuildingKey(buildingName);
+        ActualMapAlignmentConfig config = getActualMapAlignmentConfig(buildingName);
+
+        LatLngBounds bounds;
+        if ("library".equals(buildingName)) {
+            bounds = computeFixedActualMapBounds(buildingName, drawableResId);
+        } else if (building != null) {
+            bounds = computeThreeEdgeAlignedBounds(context, building, drawableResId, config);
+        } else {
+            bounds = computeFixedActualMapBounds(buildingName, drawableResId);
+        }
+
+        if (bounds == null) {
+            bounds = getFallbackBuildingBounds(buildingName);
+        }
+        if (bounds != null) {
+            bounds = applySavedCalibration(context, bounds, buildingName, floorDisplayName);
+        }
+        return bounds;
+    }
+
+    @Nullable
+    private static LatLngBounds computeFixedActualMapBounds(String buildingName, int drawableResId) {
+        buildingName = normalizeBuildingKey(buildingName);
+        if ("library".equals(buildingName)) {
+            return buildRightAnchoredRectBounds(
+                    BuildingPolygon.LIBRARY_SW,
+                    BuildingPolygon.LIBRARY_NE,
+                    1.000,
+                    1.0,
+                    0.008,
+                    0.0);
+        }
+        return null;
+    }
+
+    @Nullable
+    private static LatLngBounds buildRightAnchoredRectBounds(LatLng southWest,
+                                                             LatLng northEast,
+                                                             double widthScale,
+                                                             double heightScale,
+                                                             double eastShiftRatio,
+                                                             double northShiftRatio) {
+        if (southWest == null || northEast == null) {
+            return null;
+        }
+        double rectWidth = northEast.longitude - southWest.longitude;
+        double rectHeight = northEast.latitude - southWest.latitude;
+        if (rectWidth <= 0d || rectHeight <= 0d) {
+            return null;
+        }
+        double overlayWidth = rectWidth * widthScale;
+        double overlayHeight = rectHeight * heightScale;
+        double east = northEast.longitude + rectWidth * eastShiftRatio;
+        double west = east - overlayWidth;
+        double north = northEast.latitude + rectHeight * northShiftRatio;
+        double south = north - overlayHeight;
+        return new LatLngBounds(new LatLng(south, west), new LatLng(north, east));
+    }
+
+    @Nullable
+    private static LatLngBounds computeThreeEdgeAlignedBounds(@NonNull Context context,
+                                                              @Nullable FloorplanApiClient.BuildingInfo building,
+                                                              int drawableResId,
+                                                              @Nullable ActualMapAlignmentConfig config) {
+        if (building == null || config == null) {
+            return null;
+        }
+        List<LatLng> outline = building.getOutlinePolygon();
+        if (outline == null || outline.size() < 3) {
+            return null;
+        }
+
+        double minLat = Double.POSITIVE_INFINITY;
+        double maxLat = Double.NEGATIVE_INFINITY;
+        double minLng = Double.POSITIVE_INFINITY;
+        double maxLng = Double.NEGATIVE_INFINITY;
+        for (LatLng point : outline) {
+            if (point == null) continue;
+            minLat = Math.min(minLat, point.latitude);
+            maxLat = Math.max(maxLat, point.latitude);
+            minLng = Math.min(minLng, point.longitude);
+            maxLng = Math.max(maxLng, point.longitude);
+        }
+
+        if (!Double.isFinite(minLat) || !Double.isFinite(maxLat) || !Double.isFinite(minLng) || !Double.isFinite(maxLng)
+                || maxLat <= minLat || maxLng <= minLng) {
+            return null;
+        }
+
+        double latSpan = maxLat - minLat;
+        double lngSpan = maxLng - minLng;
+        double visibleNorth = maxLat - latSpan * config.northInsetRatio;
+        double visibleSouth = minLat + latSpan * config.southInsetRatio;
+        if (visibleSouth >= visibleNorth) {
+            return null;
+        }
+
+        double fullAspectRatio = getDrawableAspectRatio(context, drawableResId);
+        if (fullAspectRatio <= 0d) {
+            return null;
+        }
+
+        DrawableContentInsets contentInsets = new DrawableContentInsets(
+                config.leftVisibleInsetRatio,
+                config.topVisibleInsetRatio,
+                config.rightVisibleInsetRatio,
+                config.bottomVisibleInsetRatio);
+
+        double visibleContentHeightFraction = contentInsets.contentHeightFraction();
+        double visibleContentWidthFraction = contentInsets.contentWidthFraction();
+        if (visibleContentHeightFraction <= 0d || visibleContentWidthFraction <= 0d) {
+            return null;
+        }
+
+        double visibleHeightDeg = visibleNorth - visibleSouth;
+        double totalHeightDeg = visibleHeightDeg / visibleContentHeightFraction;
+        double overlayNorth = visibleNorth + totalHeightDeg * contentInsets.topFraction;
+        double overlaySouth = overlayNorth - totalHeightDeg;
+
+        double midLatitudeRadians = Math.toRadians((visibleNorth + visibleSouth) / 2.0);
+        double metersPerDegreeLng = Math.max(111320.0 * Math.cos(midLatitudeRadians), 1.0);
+        double totalHeightMeters = totalHeightDeg * 111320.0;
+        double totalWidthMeters = (totalHeightMeters / fullAspectRatio) * config.widthScale;
+        double totalWidthLng = totalWidthMeters / metersPerDegreeLng;
+        double visibleContentWidthLng = totalWidthLng * visibleContentWidthFraction;
+
+        double visibleEast;
+        double visibleWest;
+        switch (config.horizontalAnchor) {
+            case RIGHT:
+                visibleEast = maxLng - lngSpan * config.horizontalInsetRatio;
+                visibleWest = visibleEast - visibleContentWidthLng;
+                break;
+            case LEFT:
+                visibleWest = minLng + lngSpan * config.horizontalInsetRatio;
+                visibleEast = visibleWest + visibleContentWidthLng;
+                break;
+            case CENTER:
+            default:
+                double centerLng = ((minLng + maxLng) / 2.0) + (lngSpan * (config.leftVisibleInsetRatio - config.rightVisibleInsetRatio) * 0.5);
+                visibleWest = centerLng - visibleContentWidthLng / 2.0;
+                visibleEast = centerLng + visibleContentWidthLng / 2.0;
+                break;
+        }
+
+        double overlayWest = visibleWest - totalWidthLng * contentInsets.leftFraction;
+        double overlayEast = overlayWest + totalWidthLng;
+        return new LatLngBounds(new LatLng(overlaySouth, overlayWest), new LatLng(overlayNorth, overlayEast));
+    }
+
+    private static double getDrawableAspectRatio(@NonNull Context context, int drawableResId) {
+        try {
+            BitmapFactory.Options options = new BitmapFactory.Options();
+            options.inJustDecodeBounds = true;
+            BitmapFactory.decodeResource(context.getResources(), drawableResId, options);
+            if (options.outWidth > 0 && options.outHeight > 0) {
+                return (double) options.outHeight / (double) options.outWidth;
+            }
+        } catch (Exception ignored) {
+        }
+        return 1d;
+    }
+
+    @Nullable
+    private static LatLngBounds getFallbackBuildingBounds(String buildingName) {
+        buildingName = normalizeBuildingKey(buildingName);
+        if ("nucleus_building".equals(buildingName)) {
+            return new LatLngBounds(BuildingPolygon.NUCLEUS_SW, BuildingPolygon.NUCLEUS_NE);
+        }
+        if ("library".equals(buildingName)) {
+            return new LatLngBounds(BuildingPolygon.LIBRARY_SW, BuildingPolygon.LIBRARY_NE);
+        }
+        if ("murchison_house".equals(buildingName)) {
+            return new LatLngBounds(BuildingPolygon.MURCHISON_SW, BuildingPolygon.MURCHISON_NE);
+        }
+        return null;
+    }
+
+    private static ActualMapAlignmentConfig getActualMapAlignmentConfig(String buildingName) {
+        buildingName = normalizeBuildingKey(buildingName);
+        if ("nucleus_building".equals(buildingName)) {
+            return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 0.99,
+                    0.0, 0.0, 0.0, 0.0);
+        }
+        if ("library".equals(buildingName)) {
+            return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 0.985,
+                    0.0, 0.0, 0.0, 0.0);
+        }
+        if ("murchison_house".equals(buildingName)) {
+            return new ActualMapAlignmentConfig(HorizontalAnchor.CENTER, 0.0, 0.0, 0.0, 1.0,
+                    0.0, 0.0, 0.0, 0.0);
+        }
+        return new ActualMapAlignmentConfig(HorizontalAnchor.CENTER, 0.0, 0.0, 0.0, 1.0,
+                0.0, 0.0, 0.0, 0.0);
+    }
+
+    private static LatLngBounds applySavedCalibration(@NonNull Context context,
+                                                      LatLngBounds baseBounds,
+                                                      String buildingKey,
+                                                      String floorDisplayName) {
+        if (baseBounds == null) {
+            return null;
+        }
+        OverlayCalibration calibration = loadOverlayCalibration(context, buildingKey, floorDisplayName);
+        double baseNorth = baseBounds.northeast.latitude;
+        double baseSouth = baseBounds.southwest.latitude;
+        double baseEast = baseBounds.northeast.longitude;
+        double baseWest = baseBounds.southwest.longitude;
+        double latSpan = baseNorth - baseSouth;
+        double lngSpan = baseEast - baseWest;
+        if (latSpan <= 0d || lngSpan <= 0d) {
+            return baseBounds;
+        }
+
+        double centerLat = ((baseNorth + baseSouth) / 2d) + latSpan * calibration.shiftLatRatio;
+        double centerLng = ((baseEast + baseWest) / 2d) + lngSpan * calibration.shiftLngRatio;
+        double adjustedLatSpan = latSpan * calibration.heightScale;
+        double adjustedLngSpan = lngSpan * calibration.widthScale;
+
+        double north = centerLat + adjustedLatSpan / 2d;
+        double south = centerLat - adjustedLatSpan / 2d;
+        double east = centerLng + adjustedLngSpan / 2d;
+        double west = centerLng - adjustedLngSpan / 2d;
+        return new LatLngBounds(new LatLng(south, west), new LatLng(north, east));
+    }
+
+    private static OverlayCalibration loadOverlayCalibration(@NonNull Context context,
+                                                             String buildingKey,
+                                                             String floorDisplayName) {
+        OverlayCalibration defaults = getHardcodedCalibrationDefault(buildingKey, floorDisplayName);
+        SharedPreferences prefs = context.getSharedPreferences(CALIBRATION_PREFS_NAME, Context.MODE_PRIVATE);
+        String baseKey = getCalibrationPrefBaseKey(buildingKey, floorDisplayName);
+        return new OverlayCalibration(
+                prefs.getFloat(baseKey + "_shift_lat", defaults.shiftLatRatio),
+                prefs.getFloat(baseKey + "_shift_lng", defaults.shiftLngRatio),
+                prefs.getFloat(baseKey + "_width", defaults.widthScale),
+                prefs.getFloat(baseKey + "_height", defaults.heightScale)
+        );
+    }
+
+    private static String getCalibrationPrefBaseKey(String buildingKey, String floorDisplayName) {
+        String normalizedBuilding = normalizeBuildingKey(buildingKey);
+        String normalizedFloor = canonicalFloorLabel(floorDisplayName);
+        return normalizedBuilding + "__" + normalizedFloor;
+    }
+
+    private static OverlayCalibration getHardcodedCalibrationDefault(String buildingKey, String floorDisplayName) {
+        String normalizedBuilding = normalizeBuildingKey(buildingKey);
+        String normalizedFloor = canonicalFloorLabel(floorDisplayName);
+
+        if ("nucleus_building".equals(normalizedBuilding)) {
+            switch (normalizedFloor) {
+                case "LG": return new OverlayCalibration(0.012f, -0.022f, 0.967f, 0.986f);
+                case "G": return new OverlayCalibration(0.029f, -0.052f, 0.958f, 0.942f);
+                case "1": return new OverlayCalibration(0.004f, 0.000f, 1.000f, 0.981f);
+                case "2": return new OverlayCalibration(0.005f, -0.005f, 1.000f, 1.000f);
+                case "3": return new OverlayCalibration(0.005f, 0.005f, 1.015f, 0.990f);
+                default: return OverlayCalibration.identity();
+            }
+        }
+
+        if ("library".equals(normalizedBuilding)) {
+            switch (normalizedFloor) {
+                case "G": return new OverlayCalibration(-0.072f, 0.018f, 0.965f, 1.098f);
+                case "1": return new OverlayCalibration(-0.053f, 0.019f, 0.945f, 1.050f);
+                case "2": return new OverlayCalibration(-0.075f, 0.025f, 0.950f, 1.070f);
+                case "3": return new OverlayCalibration(-0.070f, 0.025f, 0.960f, 1.065f);
+                default: return OverlayCalibration.identity();
+            }
+        }
+        return OverlayCalibration.identity();
+    }
+
+    private static String getFloorDisplayName(@Nullable FloorplanApiClient.BuildingInfo building, int floorIndex) {
+        if (building == null || building.getFloorShapesList() == null || floorIndex < 0 || floorIndex >= building.getFloorShapesList().size()) {
+            return "";
+        }
+        String displayName = building.getFloorShapesList().get(floorIndex).getDisplayName();
+        return displayName == null ? "" : displayName.trim().toUpperCase();
+    }
+
+    public static String normalizeBuildingKey(String buildingName) {
+        if (buildingName == null) {
+            return "";
+        }
+        String key = buildingName.trim().toLowerCase();
+        if (key.contains("nucleus") || key.contains("nuclear")) {
+            return "nucleus_building";
+        }
+        if (key.contains("library") || key.contains("kenneth") || key.contains("murray")) {
+            return "library";
+        }
+        if (key.contains("murchison")) {
+            return "murchison_house";
+        }
+        return key;
+    }
+
+    public static String resolveKnownBuildingKey(@Nullable FloorplanApiClient.BuildingInfo building, @Nullable String buildingName) {
+        String normalized = normalizeBuildingKey(buildingName);
+        if ("nucleus_building".equals(normalized) || "library".equals(normalized) || "murchison_house".equals(normalized)) {
+            return normalized;
+        }
+
+        LatLng center = building != null ? building.getCenter() : null;
+        if (center != null) {
+            if (BuildingPolygon.inLibrary(center)) return "library";
+            if (BuildingPolygon.inNucleus(center)) return "nucleus_building";
+            if (BuildingPolygon.inMurchison(center)) return "murchison_house";
+        }
+
+        List<LatLng> outline = building != null ? building.getOutlinePolygon() : null;
+        if (outline != null && !outline.isEmpty()) {
+            LatLng centroid = computeOutlineCentroid(outline);
+            if (centroid != null) {
+                if (BuildingPolygon.inLibrary(centroid)) return "library";
+                if (BuildingPolygon.inNucleus(centroid)) return "nucleus_building";
+                if (BuildingPolygon.inMurchison(centroid)) return "murchison_house";
+            }
+        }
+        return normalized;
+    }
+
+    @Nullable
+    private static LatLng computeOutlineCentroid(@Nullable List<LatLng> outline) {
+        if (outline == null || outline.isEmpty()) {
+            return null;
+        }
+        double latSum = 0d;
+        double lngSum = 0d;
+        int count = 0;
+        for (LatLng point : outline) {
+            if (point == null) continue;
+            latSum += point.latitude;
+            lngSum += point.longitude;
+            count++;
+        }
+        if (count == 0) {
+            return null;
+        }
+        return new LatLng(latSum / count, lngSum / count);
+    }
+
+    public static String canonicalFloorLabel(String floorLabel) {
+        String normalized = normalizeFloorLabel(floorLabel);
+        switch (normalized) {
+            case "LG":
+            case "LOWERGROUND":
+            case "LOWERG":
+            case "B1":
+            case "BASEMENT1":
+                return "LG";
+            case "G":
+            case "GF":
+            case "GROUND":
+            case "GROUNDFLOOR":
+            case "0":
+                return "G";
+            case "1":
+            case "F1":
+            case "FIRST":
+            case "FIRSTFLOOR":
+                return "1";
+            case "2":
+            case "F2":
+            case "SECOND":
+            case "SECONDFLOOR":
+                return "2";
+            case "3":
+            case "F3":
+            case "THIRD":
+            case "THIRDFLOOR":
+                return "3";
+            default:
+                return normalized;
+        }
+    }
+
+    private static String normalizeFloorLabel(String floorDisplayName) {
+        if (floorDisplayName == null) {
+            return "";
+        }
+        return floorDisplayName.trim().toUpperCase().replace(" ", "");
+    }
+
+    private enum HorizontalAnchor { LEFT, CENTER, RIGHT }
+
+    private static final class ActualMapAlignmentConfig {
+        final HorizontalAnchor horizontalAnchor;
+        final double northInsetRatio;
+        final double southInsetRatio;
+        final double horizontalInsetRatio;
+        final double widthScale;
+        final double topVisibleInsetRatio;
+        final double bottomVisibleInsetRatio;
+        final double rightVisibleInsetRatio;
+        final double leftVisibleInsetRatio;
+
+        ActualMapAlignmentConfig(HorizontalAnchor horizontalAnchor,
+                                 double northInsetRatio,
+                                 double southInsetRatio,
+                                 double horizontalInsetRatio,
+                                 double widthScale,
+                                 double topVisibleInsetRatio,
+                                 double bottomVisibleInsetRatio,
+                                 double rightVisibleInsetRatio,
+                                 double leftVisibleInsetRatio) {
+            this.horizontalAnchor = horizontalAnchor;
+            this.northInsetRatio = northInsetRatio;
+            this.southInsetRatio = southInsetRatio;
+            this.horizontalInsetRatio = horizontalInsetRatio;
+            this.widthScale = widthScale;
+            this.topVisibleInsetRatio = topVisibleInsetRatio;
+            this.bottomVisibleInsetRatio = bottomVisibleInsetRatio;
+            this.rightVisibleInsetRatio = rightVisibleInsetRatio;
+            this.leftVisibleInsetRatio = leftVisibleInsetRatio;
+        }
+    }
+
+    private static final class DrawableContentInsets {
+        final double leftFraction;
+        final double topFraction;
+        final double rightFraction;
+        final double bottomFraction;
+
+        DrawableContentInsets(double leftFraction, double topFraction, double rightFraction, double bottomFraction) {
+            this.leftFraction = clamp01(leftFraction);
+            this.topFraction = clamp01(topFraction);
+            this.rightFraction = clamp01(rightFraction);
+            this.bottomFraction = clamp01(bottomFraction);
+        }
+
+        double contentWidthFraction() {
+            return Math.max(0.01d, 1d - leftFraction - rightFraction);
+        }
+
+        double contentHeightFraction() {
+            return Math.max(0.01d, 1d - topFraction - bottomFraction);
+        }
+    }
+
+    private static final class OverlayCalibration {
+        final float shiftLatRatio;
+        final float shiftLngRatio;
+        final float widthScale;
+        final float heightScale;
+
+        OverlayCalibration(float shiftLatRatio, float shiftLngRatio, float widthScale, float heightScale) {
+            this.shiftLatRatio = shiftLatRatio;
+            this.shiftLngRatio = shiftLngRatio;
+            this.widthScale = widthScale;
+            this.heightScale = heightScale;
+        }
+
+        static OverlayCalibration identity() {
+            return new OverlayCalibration(0f, 0f, 1f, 1f);
+        }
+    }
+
+    private static double clamp01(double value) {
+        return Math.max(0d, Math.min(1d, value));
+    }
+}

From 69d18e77e2c553b48eb803978370f0766064f140 Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Fri, 20 Mar 2026 03:02:16 +0000
Subject: [PATCH 08/35] test UI

---
 ...ry_reasonable_cross_wall_long_recover.json |  941 ++++++++++++
 ..._reasonable_false_floor_change_reject.json |  825 +++++++++++
 .../replay/trajectory_reasonable_lift_up.json | 1260 ++++++++++++++++
 ...rajectory_reasonable_same_floor_turns.json |  825 +++++++++++
 .../trajectory_reasonable_stairs_up.json      | 1289 +++++++++++++++++
 .../PositionMe/data/local/TrajParser.java     |  153 +-
 .../presentation/fragment/ReplayFragment.java |   17 +-
 .../fragment/StartLocationFragment.java       | 1143 ++++++++++-----
 .../fragment/StartLocationOverlayHelper.java  |  713 ---------
 .../fragment/TrajectoryMapFragment.java       |   90 +-
 .../res/layout/fragment_startlocation.xml     |   82 +-
 secrets.properties                            |    6 +-
 12 files changed, 6122 insertions(+), 1222 deletions(-)
 create mode 100644 app/src/main/assets/replay/trajectory_reasonable_cross_wall_long_recover.json
 create mode 100644 app/src/main/assets/replay/trajectory_reasonable_false_floor_change_reject.json
 create mode 100644 app/src/main/assets/replay/trajectory_reasonable_lift_up.json
 create mode 100644 app/src/main/assets/replay/trajectory_reasonable_same_floor_turns.json
 create mode 100644 app/src/main/assets/replay/trajectory_reasonable_stairs_up.json
 delete mode 100644 app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationOverlayHelper.java

diff --git a/app/src/main/assets/replay/trajectory_reasonable_cross_wall_long_recover.json b/app/src/main/assets/replay/trajectory_reasonable_cross_wall_long_recover.json
new file mode 100644
index 00000000..b8f8a0a5
--- /dev/null
+++ b/app/src/main/assets/replay/trajectory_reasonable_cross_wall_long_recover.json
@@ -0,0 +1,941 @@
+{
+  "androidVersion": "synthetic-test-data",
+  "trajectoryVersion": "replay_v2_reasonable",
+  "trajectoryId": "trajectory_reasonable_cross_wall_long_recover",
+  "startTimestamp": 0,
+  "notes": "Deliberate long breakout perpendicular to a corridor, then a return to the original side. Intended to validate hold-last-valid-pose and release-after-crossing-back behaviour.",
+  "imuData": [
+    {
+      "relativeTimestamp": "0",
+      "acc": {
+        "x": 0.0,
+        "y": 0.1,
+        "z": 9.81
+      },
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+        "z": 0.01
+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 0
+    },
+    {
+      "relativeTimestamp": "700",
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+        "z": 9.81
+      },
+      "gyr": {
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+      },
+      "rotationVector": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.707107,
+        "w": 0.707107
+      },
+      "stepCount": 1
+    },
+    {
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+      },
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+        "w": 0.707107
+      },
+      "stepCount": 2
+    },
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+      },
+      "stepCount": 3
+    },
+    {
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+      },
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+    }
+  ],
+  "pdrData": [
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+      "currentElevation": 0.0,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 0
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+      "x": 1.3,
+      "y": 0.0,
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+      "syntheticFloor": 0
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+      "y": 0.0,
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+      "syntheticFloor": 0
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+      "syntheticFloor": 0
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+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 0
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+      "y": 0.0,
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+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 0
+    },
+    {
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diff --git a/app/src/main/assets/replay/trajectory_reasonable_false_floor_change_reject.json b/app/src/main/assets/replay/trajectory_reasonable_false_floor_change_reject.json
new file mode 100644
index 00000000..479dbc6b
--- /dev/null
+++ b/app/src/main/assets/replay/trajectory_reasonable_false_floor_change_reject.json
@@ -0,0 +1,825 @@
+{
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diff --git a/app/src/main/assets/replay/trajectory_reasonable_lift_up.json b/app/src/main/assets/replay/trajectory_reasonable_lift_up.json
new file mode 100644
index 00000000..9d354e38
--- /dev/null
+++ b/app/src/main/assets/replay/trajectory_reasonable_lift_up.json
@@ -0,0 +1,1260 @@
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diff --git a/app/src/main/assets/replay/trajectory_reasonable_same_floor_turns.json b/app/src/main/assets/replay/trajectory_reasonable_same_floor_turns.json
new file mode 100644
index 00000000..c8f646da
--- /dev/null
+++ b/app/src/main/assets/replay/trajectory_reasonable_same_floor_turns.json
@@ -0,0 +1,825 @@
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diff --git a/app/src/main/assets/replay/trajectory_reasonable_stairs_up.json b/app/src/main/assets/replay/trajectory_reasonable_stairs_up.json
new file mode 100644
index 00000000..bb27bf25
--- /dev/null
+++ b/app/src/main/assets/replay/trajectory_reasonable_stairs_up.json
@@ -0,0 +1,1289 @@
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+      "relativeTimestamp": "21900",
+      "x": 25.0,
+      "y": 18.2,
+      "currentElevation": 3.2,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "22600",
+      "x": 26.1,
+      "y": 18.4,
+      "currentElevation": 3.2,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "23300",
+      "x": 27.2,
+      "y": 18.6,
+      "currentElevation": 3.2,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "24000",
+      "x": 28.3,
+      "y": 18.8,
+      "currentElevation": 3.2,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "24700",
+      "x": 29.4,
+      "y": 19.0,
+      "currentElevation": 3.2,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "25400",
+      "x": 29.4,
+      "y": 20.0,
+      "currentElevation": 3.2,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "26100",
+      "x": 29.4,
+      "y": 21.0,
+      "currentElevation": 3.2,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "26800",
+      "x": 29.4,
+      "y": 22.0,
+      "currentElevation": 3.2,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "27500",
+      "x": 29.4,
+      "y": 23.0,
+      "currentElevation": 3.2,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "28200",
+      "x": 29.4,
+      "y": 24.0,
+      "currentElevation": 3.2,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "28900",
+      "x": 28.5,
+      "y": 24.4,
+      "currentElevation": 3.2,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "29600",
+      "x": 27.6,
+      "y": 24.8,
+      "currentElevation": 3.2,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "30300",
+      "x": 26.7,
+      "y": 25.2,
+      "currentElevation": 3.2,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    },
+    {
+      "relativeTimestamp": "31000",
+      "x": 25.8,
+      "y": 25.6,
+      "currentElevation": 3.2,
+      "deltaHeight": 0.0,
+      "heightChanged": false,
+      "syntheticFloor": 1
+    }
+  ],
+  "gnssData": [],
+  "magnetometerData": []
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java b/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
index 2d2b1cbf..574ae2ba 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
@@ -65,22 +65,42 @@ public static class ReplayPoint {
         public float orientation;   // Orientation in degrees
         public float speed;         // Speed in meters per second
         public long timestamp;      // Relative timestamp
+        public Integer syntheticFloor; // Logical floor from replay JSON, if available
+        public Double currentElevation; // Elevation hint from replay JSON, if available
+        public Double deltaHeight; // Delta height hint from replay JSON, if available
+        public boolean heightChanged; // Whether replay JSON indicates a vertical transition
 
         /**
          * Constructs a ReplayPoint.
          *
-         * @param pdrLocation  The pedestrian dead reckoning (PDR) location.
-         * @param gnssLocation The GNSS location, or null if unavailable.
-         * @param orientation  The orientation angle in degrees.
-         * @param speed        The speed in meters per second.
-         * @param timestamp    The timestamp associated with this point.
+         * @param pdrLocation       The pedestrian dead reckoning (PDR) location.
+         * @param gnssLocation      The GNSS location, or null if unavailable.
+         * @param orientation       The orientation angle in degrees.
+         * @param speed             The speed in meters per second.
+         * @param timestamp         The timestamp associated with this point.
+         * @param syntheticFloor    Logical floor carried by the replay JSON, if available.
+         * @param currentElevation  Elevation hint carried by the replay JSON, if available.
+         * @param deltaHeight       Delta height hint carried by the replay JSON, if available.
+         * @param heightChanged     Whether replay JSON marks this point as a vertical transition.
          */
-        public ReplayPoint(LatLng pdrLocation, LatLng gnssLocation, float orientation, float speed, long timestamp) {
+        public ReplayPoint(LatLng pdrLocation,
+                           LatLng gnssLocation,
+                           float orientation,
+                           float speed,
+                           long timestamp,
+                           Integer syntheticFloor,
+                           Double currentElevation,
+                           Double deltaHeight,
+                           boolean heightChanged) {
             this.pdrLocation = pdrLocation;
             this.gnssLocation = gnssLocation;
             this.orientation = orientation;
             this.speed = speed;
             this.timestamp = timestamp;
+            this.syntheticFloor = syntheticFloor;
+            this.currentElevation = currentElevation;
+            this.deltaHeight = deltaHeight;
+            this.heightChanged = heightChanged;
         }
     }
 
@@ -96,6 +116,10 @@ private static class ImuRecord {
     private static class PdrRecord {
         public long relativeTimestamp;
         public float x, y; // Position relative to the starting point
+        public Integer syntheticFloor;
+        public Double currentElevation;
+        public Double deltaHeight;
+        public Boolean heightChanged;
     }
 
     /** Represents a GNSS (Global Navigation Satellite System) data record with latitude/longitude. */
@@ -185,8 +209,17 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
                 LatLng gnssLocation = closestGnss != null ?
                         new LatLng(closestGnss.latitude, closestGnss.longitude) : null;
 
-                result.add(new ReplayPoint(pdrLocation, gnssLocation, orientationDeg,
-                        0f, pdr.relativeTimestamp));
+                result.add(new ReplayPoint(
+                        pdrLocation,
+                        gnssLocation,
+                        orientationDeg,
+                        speed,
+                        pdr.relativeTimestamp,
+                        pdr.syntheticFloor,
+                        pdr.currentElevation,
+                        pdr.deltaHeight,
+                        Boolean.TRUE.equals(pdr.heightChanged)
+                ));
             }
 
             Collections.sort(result, Comparator.comparingLong(rp -> rp.timestamp));
@@ -199,58 +232,58 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
 
         return result;
     }
-/** Parses IMU data from JSON. */
-private static List<ImuRecord> parseImuData(JsonArray imuArray) {
-    List<ImuRecord> imuList = new ArrayList<>();
-    if (imuArray == null) return imuList;
-    Gson gson = new Gson();
-    for (int i = 0; i < imuArray.size(); i++) {
-        ImuRecord record = gson.fromJson(imuArray.get(i), ImuRecord.class);
-        imuList.add(record);
-    }
-    return imuList;
-}/** Parses PDR data from JSON. */
-private static List<PdrRecord> parsePdrData(JsonArray pdrArray) {
-    List<PdrRecord> pdrList = new ArrayList<>();
-    if (pdrArray == null) return pdrList;
-    Gson gson = new Gson();
-    for (int i = 0; i < pdrArray.size(); i++) {
-        PdrRecord record = gson.fromJson(pdrArray.get(i), PdrRecord.class);
-        pdrList.add(record);
-    }
-    return pdrList;
-}/** Parses GNSS data from JSON. */
-private static List<GnssRecord> parseGnssData(JsonArray gnssArray) {
-    List<GnssRecord> gnssList = new ArrayList<>();
-    if (gnssArray == null) return gnssList;
-    Gson gson = new Gson();
-    for (int i = 0; i < gnssArray.size(); i++) {
-        GnssRecord record = gson.fromJson(gnssArray.get(i), GnssRecord.class);
-        gnssList.add(record);
+    /** Parses IMU data from JSON. */
+    private static List<ImuRecord> parseImuData(JsonArray imuArray) {
+        List<ImuRecord> imuList = new ArrayList<>();
+        if (imuArray == null) return imuList;
+        Gson gson = new Gson();
+        for (int i = 0; i < imuArray.size(); i++) {
+            ImuRecord record = gson.fromJson(imuArray.get(i), ImuRecord.class);
+            imuList.add(record);
+        }
+        return imuList;
+    }/** Parses PDR data from JSON. */
+    private static List<PdrRecord> parsePdrData(JsonArray pdrArray) {
+        List<PdrRecord> pdrList = new ArrayList<>();
+        if (pdrArray == null) return pdrList;
+        Gson gson = new Gson();
+        for (int i = 0; i < pdrArray.size(); i++) {
+            PdrRecord record = gson.fromJson(pdrArray.get(i), PdrRecord.class);
+            pdrList.add(record);
+        }
+        return pdrList;
+    }/** Parses GNSS data from JSON. */
+    private static List<GnssRecord> parseGnssData(JsonArray gnssArray) {
+        List<GnssRecord> gnssList = new ArrayList<>();
+        if (gnssArray == null) return gnssList;
+        Gson gson = new Gson();
+        for (int i = 0; i < gnssArray.size(); i++) {
+            GnssRecord record = gson.fromJson(gnssArray.get(i), GnssRecord.class);
+            gnssList.add(record);
+        }
+        return gnssList;
+    }/** Finds the closest IMU record to the given timestamp. */
+    private static ImuRecord findClosestImuRecord(List<ImuRecord> imuList, long targetTimestamp) {
+        return imuList.stream().min(Comparator.comparingLong(imu -> Math.abs(imu.relativeTimestamp - targetTimestamp)))
+                .orElse(null);
+
+    }/** Finds the closest GNSS record to the given timestamp. */
+    private static GnssRecord findClosestGnssRecord(List<GnssRecord> gnssList, long targetTimestamp) {
+        return gnssList.stream().min(Comparator.comparingLong(gnss -> Math.abs(gnss.relativeTimestamp - targetTimestamp)))
+                .orElse(null);
+
+    }/** Computes the orientation from a rotation vector. */
+    private static float computeOrientationFromRotationVector(float rx, float ry, float rz, float rw, Context context) {
+        float[] rotationVector = new float[]{rx, ry, rz, rw};
+        float[] rotationMatrix = new float[9];
+        float[] orientationAngles = new float[3];
+
+        SensorManager sensorManager = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE);
+        SensorManager.getRotationMatrixFromVector(rotationMatrix, rotationVector);
+        SensorManager.getOrientation(rotationMatrix, orientationAngles);
+
+        float azimuthDeg = (float) Math.toDegrees(orientationAngles[0]);
+        return azimuthDeg < 0 ? azimuthDeg + 360.0f : azimuthDeg;
     }
-    return gnssList;
-}/** Finds the closest IMU record to the given timestamp. */
-private static ImuRecord findClosestImuRecord(List<ImuRecord> imuList, long targetTimestamp) {
-    return imuList.stream().min(Comparator.comparingLong(imu -> Math.abs(imu.relativeTimestamp - targetTimestamp)))
-            .orElse(null);
-
-}/** Finds the closest GNSS record to the given timestamp. */
-private static GnssRecord findClosestGnssRecord(List<GnssRecord> gnssList, long targetTimestamp) {
-    return gnssList.stream().min(Comparator.comparingLong(gnss -> Math.abs(gnss.relativeTimestamp - targetTimestamp)))
-            .orElse(null);
-
-}/** Computes the orientation from a rotation vector. */
-private static float computeOrientationFromRotationVector(float rx, float ry, float rz, float rw, Context context) {
-    float[] rotationVector = new float[]{rx, ry, rz, rw};
-    float[] rotationMatrix = new float[9];
-    float[] orientationAngles = new float[3];
-
-    SensorManager sensorManager = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE);
-    SensorManager.getRotationMatrixFromVector(rotationMatrix, rotationVector);
-    SensorManager.getOrientation(rotationMatrix, orientationAngles);
-
-    float azimuthDeg = (float) Math.toDegrees(orientationAngles[0]);
-    return azimuthDeg < 0 ? azimuthDeg + 360.0f : azimuthDeg;
-}
 
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
index d15a4a83..4dc4fafd 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
@@ -130,8 +130,7 @@ public void onViewCreated(@NonNull View view,
                     .replace(R.id.replayMapFragmentContainer, trajectoryMapFragment)
                     .commit();
         }
-
-
+        trajectoryMapFragment.setReplayModeEnabled(true);
 
         // 1) Check if the file contains any GNSS data
         boolean gnssExists = hasAnyGnssData(replayData);
@@ -272,7 +271,7 @@ private void showGnssChoiceDialog() {
     }
 
     private void setupInitialMapPosition(float latitude, float longitude) {
-        LatLng startPoint = new LatLng(initialLat, initialLon);
+        LatLng startPoint = new LatLng(latitude, longitude);
         Log.i(TAG, "Setting initial map position: " + startPoint.toString());
         trajectoryMapFragment.setInitialCameraPosition(startPoint);
     }
@@ -333,6 +332,12 @@ private void updateMapForIndex(int newIndex) {
             trajectoryMapFragment.clearMapAndReset();
             for (int i = 0; i <= newIndex; i++) {
                 TrajParser.ReplayPoint p = replayData.get(i);
+                trajectoryMapFragment.setReplayFrameContext(
+                        p.syntheticFloor,
+                        p.currentElevation,
+                        p.deltaHeight,
+                        p.heightChanged
+                );
                 trajectoryMapFragment.updateUserLocation(p.pdrLocation, p.orientation);
                 if (p.gnssLocation != null) {
                     trajectoryMapFragment.updateGNSS(p.gnssLocation);
@@ -341,6 +346,12 @@ private void updateMapForIndex(int newIndex) {
         } else {
             // Normal sequential forward step: add just the new point
             TrajParser.ReplayPoint p = replayData.get(newIndex);
+            trajectoryMapFragment.setReplayFrameContext(
+                    p.syntheticFloor,
+                    p.currentElevation,
+                    p.deltaHeight,
+                    p.heightChanged
+            );
             trajectoryMapFragment.updateUserLocation(p.pdrLocation, p.orientation);
             if (p.gnssLocation != null) {
                 trajectoryMapFragment.updateGNSS(p.gnssLocation);
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
index 644b0a1f..10e3494d 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
@@ -1,7 +1,10 @@
 package com.openpositioning.PositionMe.presentation.fragment;
 
+import android.graphics.BitmapFactory;
 import android.graphics.Color;
 import android.os.Bundle;
+import android.os.Handler;
+import android.os.Looper;
 import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
@@ -18,6 +21,9 @@
 import com.google.android.gms.maps.GoogleMap;
 import com.google.android.gms.maps.OnMapReadyCallback;
 import com.google.android.gms.maps.SupportMapFragment;
+import com.google.android.gms.maps.model.BitmapDescriptorFactory;
+import com.google.android.gms.maps.model.GroundOverlay;
+import com.google.android.gms.maps.model.GroundOverlayOptions;
 import com.google.android.gms.maps.model.LatLng;
 import com.google.android.gms.maps.model.LatLngBounds;
 import com.google.android.gms.maps.model.Marker;
@@ -26,185 +32,196 @@
 import com.google.android.gms.maps.model.PolygonOptions;
 import com.google.android.gms.maps.model.Polyline;
 import com.google.android.gms.maps.model.PolylineOptions;
+import com.google.android.material.floatingactionbutton.FloatingActionButton;
 import com.openpositioning.PositionMe.R;
 import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
 import com.openpositioning.PositionMe.presentation.activity.RecordingActivity;
 import com.openpositioning.PositionMe.presentation.activity.ReplayActivity;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
+import com.openpositioning.PositionMe.utils.BuildingPolygon;
 
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
-import android.os.Handler;
-import android.os.Looper;
-import android.widget.Toast;
-
-/**
- * Fragment for selecting the start location before recording begins.
- * Displays a Google Map with building outlines fetched from the floorplan API.
- * Users can tap a building outline to select it, which shows the indoor floor plan
- * and places a draggable marker at the building center. The selected building ID
- * is saved for use during trajectory upload.
- *
- * @see RecordingFragment the next fragment in the recording flow
- * @see SensorFusion the class containing sensors and recording
- * @see FloorplanApiClient the API client for fetching building data
- */
 public class StartLocationFragment extends Fragment {
-    // --- 新增变量 ---
-    // --- 新增变量 ---
-    private Button btnFindIndoorMap;
-    private Button btnFindActualMap;
-    private boolean useActualMap = false; // 核心状态：判断显示哪种地图
-    private com.google.android.gms.maps.model.GroundOverlay realMapOverlay;
-
-    private final Handler retryHandler = new Handler(Looper.getMainLooper());
-    private int requestRetryCount = 0;
+    private static final String TAG = "StartLocationFragment";
+    private static final int FILL_COLOR_DEFAULT = Color.argb(60, 33, 150, 243);
+    private static final int STROKE_COLOR_DEFAULT = Color.argb(200, 33, 150, 243);
+    private static final int FILL_COLOR_SELECTED = Color.argb(100, 33, 150, 243);
+    private static final int STROKE_COLOR_SELECTED = Color.argb(255, 25, 118, 210);
     private static final int MAX_REQUEST_RETRIES = 10;
     private static final long RETRY_DELAY_MS = 2000;
 
-    private static final String TAG = "StartLocationFragment";
+    private enum HorizontalAnchor { LEFT, RIGHT, CENTER }
+
+    private static final class ActualMapAlignmentConfig {
+        final HorizontalAnchor horizontalAnchor;
+        final double northInsetRatio;
+        final double southInsetRatio;
+        final double horizontalInsetRatio;
+        final double widthScale;
+        final double topVisibleInsetRatio;
+        final double bottomVisibleInsetRatio;
+        final double rightVisibleInsetRatio;
+        final double leftVisibleInsetRatio;
+
+        ActualMapAlignmentConfig(HorizontalAnchor horizontalAnchor,
+                                 double northInsetRatio,
+                                 double southInsetRatio,
+                                 double horizontalInsetRatio,
+                                 double widthScale,
+                                 double topVisibleInsetRatio,
+                                 double bottomVisibleInsetRatio,
+                                 double rightVisibleInsetRatio,
+                                 double leftVisibleInsetRatio) {
+            this.horizontalAnchor = horizontalAnchor;
+            this.northInsetRatio = northInsetRatio;
+            this.southInsetRatio = southInsetRatio;
+            this.horizontalInsetRatio = horizontalInsetRatio;
+            this.widthScale = widthScale;
+            this.topVisibleInsetRatio = topVisibleInsetRatio;
+            this.bottomVisibleInsetRatio = bottomVisibleInsetRatio;
+            this.rightVisibleInsetRatio = rightVisibleInsetRatio;
+            this.leftVisibleInsetRatio = leftVisibleInsetRatio;
+        }
+    }
+
+    private static final class DrawableContentInsets {
+        final double leftFraction;
+        final double topFraction;
+        final double rightFraction;
+        final double bottomFraction;
+
+        DrawableContentInsets(double leftFraction, double topFraction, double rightFraction, double bottomFraction) {
+            this.leftFraction = clamp01(leftFraction);
+            this.topFraction = clamp01(topFraction);
+            this.rightFraction = clamp01(rightFraction);
+            this.bottomFraction = clamp01(bottomFraction);
+        }
+
+        double contentWidthFraction() {
+            return Math.max(0.01d, 1d - leftFraction - rightFraction);
+        }
+
+        double contentHeightFraction() {
+            return Math.max(0.01d, 1d - topFraction - bottomFraction);
+        }
+    }
+
+    private static final class OverlayCalibration {
+        final float shiftLatRatio;
+        final float shiftLngRatio;
+        final float widthScale;
+        final float heightScale;
+
+        OverlayCalibration(float shiftLatRatio, float shiftLngRatio, float widthScale, float heightScale) {
+            this.shiftLatRatio = shiftLatRatio;
+            this.shiftLngRatio = shiftLngRatio;
+            this.widthScale = widthScale;
+            this.heightScale = heightScale;
+        }
+
+        static OverlayCalibration identity() {
+            return new OverlayCalibration(0f, 0f, 1f, 1f);
+        }
+    }
 
-    // UI elements
     private Button button;
     private TextView instructionText;
     private View buildingInfoCard;
     private TextView buildingNameText;
+    private FloatingActionButton floorUpButton;
+    private FloatingActionButton floorDownButton;
+    private TextView floorLabel;
 
-    // Singleton SensorFusion class which stores data from all sensors
-    private SensorFusion sensorFusion = SensorFusion.getInstance();
+    private final SensorFusion sensorFusion = SensorFusion.getInstance();
+    private final Handler retryHandler = new Handler(Looper.getMainLooper());
+    private final FloorplanApiClient floorplanApiClient = new FloorplanApiClient();
 
-    // Map and position state
     private GoogleMap mMap;
-    private LatLng position;
     private float[] startPosition = new float[2];
     private float zoom = 19f;
     private Marker startMarker;
-
-    // Building selection state
     private String selectedBuildingId;
+    private int currentFloorIndex = 0;
+    private boolean showActualMapOverlays = true;
+    private boolean isMarkerDraggedSelection = false;
+    private boolean hasInitialCameraPositioned = false;
+
     private final List<Polygon> buildingPolygons = new ArrayList<>();
     private final Map<String, FloorplanApiClient.BuildingInfo> floorplanBuildingMap = new HashMap<>();
-    private Polygon selectedPolygon;
-
-    // Vector shapes drawn as floor plan preview (cleared when switching buildings)
+    private final List<GroundOverlay> realMapOverlays = new ArrayList<>();
     private final List<Polygon> previewPolygons = new ArrayList<>();
     private final List<Polyline> previewPolylines = new ArrayList<>();
-
-    // 【新增这一行】：用于存储白色蒙版以便清除
     private Polygon whiteMaskPolygon;
+    private Polygon selectedPolygon;
+    private FloorplanApiClient.BuildingInfo selectedFloorplanBuilding;
+    private int requestRetryCount = 0;
 
-    // Building outline colours (ARGB)
-    private static final int FILL_COLOR_DEFAULT = Color.argb(60, 33, 150, 243);
-    private static final int STROKE_COLOR_DEFAULT = Color.argb(200, 33, 150, 243);
-    private static final int FILL_COLOR_SELECTED = Color.argb(100, 33, 150, 243);
-    private static final int STROKE_COLOR_SELECTED = Color.argb(255, 25, 118, 210);
-
-    /**
-     * Public Constructor for the class.
-     * Left empty as not required
-     */
-    public StartLocationFragment() {
-        // Required empty public constructor
-    }
+    public StartLocationFragment() {}
 
-    /**
-     * {@inheritDoc}
-     * Inflates the layout, initialises the map, and requests building data from the API.
-     */
     @Override
-    public View onCreateView(LayoutInflater inflater, ViewGroup container,
-                             Bundle savedInstanceState) {
+    public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
         AppCompatActivity activity = (AppCompatActivity) getActivity();
         if (activity != null && activity.getSupportActionBar() != null) {
             activity.getSupportActionBar().hide();
         }
         View rootView = inflater.inflate(R.layout.fragment_startlocation, container, false);
 
-        // Obtain the start position from GPS data
         startPosition = sensorFusion.getGNSSLatitude(false);
-        if (startPosition[0] == 0 && startPosition[1] == 0) {
-            zoom = 1f;
-        } else {
-            zoom = 19f;
+        zoom = (startPosition[0] == 0 && startPosition[1] == 0) ? 1f : 19f;
+
+        SupportMapFragment supportMapFragment = (SupportMapFragment) getChildFragmentManager().findFragmentById(R.id.startMap);
+        if (supportMapFragment != null) {
+            supportMapFragment.getMapAsync(new OnMapReadyCallback() {
+                @Override
+                public void onMapReady(GoogleMap googleMap) {
+                    mMap = googleMap;
+                    setupMap();
+                    requestBuildingDataWhenReady();
+                }
+            });
         }
-
-        // Initialize map fragment
-        SupportMapFragment supportMapFragment = (SupportMapFragment)
-                getChildFragmentManager().findFragmentById(R.id.startMap);
-
-        supportMapFragment.getMapAsync(new OnMapReadyCallback() {
-            /**
-             * {@inheritDoc}
-             * Sets up the map, adds the initial marker, and fetches building outlines.
-             */
-            @Override
-            public void onMapReady(GoogleMap googleMap) {
-                mMap = googleMap;
-                setupMap();
-                //requestBuildingData();
-            }
-        });
-
         return rootView;
     }
-    /**
-     * 清理所有地图上的覆盖物（矢量图、白板、真实贴图）
-     */
-    private void resetMapOverlays() {
-        for (Polygon p : previewPolygons) p.remove();
-        for (Polyline p : previewPolylines) p.remove();
-        previewPolygons.clear();
-        previewPolylines.clear();
 
-        if (whiteMaskPolygon != null) {
-            whiteMaskPolygon.remove();
-            whiteMaskPolygon = null;
-        }
-
-        if (realMapOverlay != null) {
-            realMapOverlay.remove();
-            realMapOverlay = null;
-        }
-    }
-    private void requestBuildingDataWhenReady() {
-        float[] gnss = sensorFusion.getGNSSLatitude(false);
-        startPosition[0] = gnss[0];
-        startPosition[1] = gnss[1];
+    @Override
+    public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
+        super.onViewCreated(view, savedInstanceState);
+        button = view.findViewById(R.id.startLocationDone);
+        instructionText = view.findViewById(R.id.correctionInfoView);
+        floorUpButton = view.findViewById(R.id.floorUpButton);
+        floorDownButton = view.findViewById(R.id.floorDownButton);
+        floorLabel = view.findViewById(R.id.floorLabel);
 
-        boolean gnssReady = !(startPosition[0] == 0f && startPosition[1] == 0f);
-
-        if (!gnssReady) {
-            if (requestRetryCount < MAX_REQUEST_RETRIES) {
-                requestRetryCount++;
-                Log.d(TAG, "GNSS not ready, retry floorplan request: " + requestRetryCount);
-                retryHandler.postDelayed(this::requestBuildingDataWhenReady, RETRY_DELAY_MS);
-            } else {
-                Log.w(TAG, "GNSS still not ready after retries, requesting floorplan anyway");
-                requestBuildingData();
-                return;
-            }
+        setFloorControlsVisibility(View.GONE);
 
+        if (floorUpButton != null) {
+            floorUpButton.setOnClickListener(v -> moveFloor(true));
         }
-
-        LatLng current = new LatLng(startPosition[0], startPosition[1]);
-
-        if (startMarker != null) {
-            startMarker.setPosition(current);
+        if (floorDownButton != null) {
+            floorDownButton.setOnClickListener(v -> moveFloor(false));
         }
 
-        if (mMap != null) {
-            mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(current, zoom));
-        }
-
-        requestBuildingData();
+        button.setOnClickListener(v -> {
+            float chosenLat = startPosition[0];
+            float chosenLon = startPosition[1];
+            if (selectedBuildingId != null) {
+                sensorFusion.setSelectedBuildingId(selectedBuildingId);
+            }
+            if (requireActivity() instanceof RecordingActivity) {
+                sensorFusion.startRecording();
+                sensorFusion.setStartGNSSLatitude(startPosition);
+                sensorFusion.writeInitialMetadata();
+                ((RecordingActivity) requireActivity()).showRecordingScreen();
+            } else if (requireActivity() instanceof ReplayActivity) {
+                ((ReplayActivity) requireActivity()).onStartLocationChosen(chosenLat, chosenLon);
+            }
+        });
     }
 
-    /**
-     * Configures the Google Map with initial settings, draggable marker, and listeners.
-     */
     private void setupMap() {
         mMap.setMapType(GoogleMap.MAP_TYPE_HYBRID);
         mMap.getUiSettings().setCompassEnabled(true);
@@ -213,56 +230,26 @@ private void setupMap() {
         mMap.getUiSettings().setScrollGesturesEnabled(true);
         mMap.clear();
 
-        // Add initial marker at GPS position
-        position = new LatLng(startPosition[0], startPosition[1]);
-        startMarker = mMap.addMarker(new MarkerOptions()
-                .position(position)
-                .title("Start Position")
-                .draggable(true));
-        mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(position, zoom));
+        LatLng position = new LatLng(startPosition[0], startPosition[1]);
+        startMarker = mMap.addMarker(new MarkerOptions().position(position).title("Start Position").draggable(true));
+        if (!hasInitialCameraPositioned) {
+            mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(position, zoom));
+            hasInitialCameraPositioned = true;
+        }
 
-        // Marker drag listener to update the start position when dragged
         mMap.setOnMarkerDragListener(new GoogleMap.OnMarkerDragListener() {
-            @Override
-            public void onMarkerDragStart(Marker marker) {}
-
+            @Override public void onMarkerDragStart(Marker marker) {}
+            @Override public void onMarkerDrag(Marker marker) {}
             @Override
             public void onMarkerDragEnd(Marker marker) {
+                isMarkerDraggedSelection = true;
                 startPosition[0] = (float) marker.getPosition().latitude;
                 startPosition[1] = (float) marker.getPosition().longitude;
-
-                floorplanBuildingMap.clear();
-
-                for (Polygon p : buildingPolygons) {
-                    p.remove();
-                }
-                buildingPolygons.clear();
-
-                for (Polygon p : previewPolygons) {
-                    p.remove();
-                }
-                previewPolygons.clear();
-
-                for (Polyline p : previewPolylines) {
-                    p.remove();
-                }
-                previewPolylines.clear();
-// 【新增这段】：清除上一层的白色蒙版
-                if (whiteMaskPolygon != null) {
-                    whiteMaskPolygon.remove();
-                    whiteMaskPolygon = null;
-                }
-                selectedPolygon = null;
-                selectedBuildingId = null;
-
+                clearBuildingPolygonsOnly();
                 requestBuildingData();
             }
-
-            @Override
-            public void onMarkerDrag(Marker marker) {}
         });
 
-        // Polygon click listener for building selection
         mMap.setOnPolygonClickListener(polygon -> {
             String buildingName = (String) polygon.getTag();
             if (buildingName != null) {
@@ -271,230 +258,685 @@ public void onMarkerDrag(Marker marker) {}
         });
     }
 
-    /**
-     * Requests building data from the floorplan API using the current GPS position.
-     * On success, draws building outlines on the map. On failure, falls back to
-     * the standard drag-marker interaction.
-     */
-    private void requestBuildingData() {
-        FloorplanApiClient apiClient = new FloorplanApiClient();
+    private void requestBuildingDataWhenReady() {
+        if (!isMarkerDraggedSelection) {
+            float[] gnss = sensorFusion.getGNSSLatitude(false);
+            startPosition[0] = gnss[0];
+            startPosition[1] = gnss[1];
+        }
+        boolean gnssReady = !(startPosition[0] == 0f && startPosition[1] == 0f);
+        if (!gnssReady) {
+            if (requestRetryCount < MAX_REQUEST_RETRIES) {
+                requestRetryCount++;
+                retryHandler.postDelayed(this::requestBuildingDataWhenReady, RETRY_DELAY_MS);
+                return;
+            }
+        }
+
+        LatLng current = new LatLng(startPosition[0], startPosition[1]);
+        if (startMarker != null) startMarker.setPosition(current);
+        if (mMap != null && !hasInitialCameraPositioned) {
+            mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(current, zoom));
+            hasInitialCameraPositioned = true;
+        }
+        requestBuildingData();
+    }
 
-        // Collect observed WiFi AP MAC addresses from latest scan
+    private void requestBuildingData() {
         List<String> observedMacs = new ArrayList<>();
-        List<com.openpositioning.PositionMe.sensors.Wifi> wifiList =
-                sensorFusion.getWifiList();
+        List<com.openpositioning.PositionMe.sensors.Wifi> wifiList = sensorFusion.getWifiList();
         if (wifiList != null) {
             for (com.openpositioning.PositionMe.sensors.Wifi wifi : wifiList) {
                 String mac = wifi.getBssidString();
-                if (mac != null && !mac.isEmpty()) {
-                    observedMacs.add(mac);
-                }
+                if (mac != null && !mac.isEmpty()) observedMacs.add(mac);
             }
         }
 
-        apiClient.requestFloorplan(startPosition[0], startPosition[1], observedMacs,
+        floorplanApiClient.requestFloorplan(startPosition[0], startPosition[1], observedMacs,
                 new FloorplanApiClient.FloorplanCallback() {
                     @Override
                     public void onSuccess(List<FloorplanApiClient.BuildingInfo> buildings) {
                         if (!isAdded() || mMap == null) return;
-
                         sensorFusion.setFloorplanBuildings(buildings);
                         floorplanBuildingMap.clear();
                         for (FloorplanApiClient.BuildingInfo building : buildings) {
                             floorplanBuildingMap.put(building.getName(), building);
                         }
-
-                        if (buildings.isEmpty()) {
-                            Log.d(TAG, "No buildings returned by API");
-                            if (instructionText != null) {
-                                instructionText.setText(R.string.noBuildingsFound);
-                            }
-                            return;
-                        }
-
                         drawBuildingOutlines(buildings);
                     }
 
                     @Override
                     public void onFailure(String error) {
                         if (!isAdded()) return;
-                        sensorFusion.setFloorplanBuildings(new ArrayList<>());
-                        floorplanBuildingMap.clear();
                         Log.e(TAG, "Floorplan API failed: " + error);
                     }
                 });
     }
 
-    /**
-     * Draws building outlines on the map as clickable coloured polygons.
-     *
-     * @param buildings list of building info objects containing outline polygons
-     */
     private void drawBuildingOutlines(List<FloorplanApiClient.BuildingInfo> buildings) {
+        for (Polygon p : buildingPolygons) p.remove();
+        buildingPolygons.clear();
+
         for (FloorplanApiClient.BuildingInfo building : buildings) {
             List<LatLng> outlinePoints = building.getOutlinePolygon();
-            if (outlinePoints == null || outlinePoints.size() < 3) {
-                Log.w(TAG, "Skipping building with insufficient outline points: "
-                        + building.getName());
-                continue;
-            }
-
-            PolygonOptions options = new PolygonOptions()
+            if (outlinePoints == null || outlinePoints.size() < 3) continue;
+            Polygon polygon = mMap.addPolygon(new PolygonOptions()
                     .addAll(outlinePoints)
                     .strokeColor(STROKE_COLOR_DEFAULT)
                     .strokeWidth(4f)
                     .fillColor(FILL_COLOR_DEFAULT)
-                    .clickable(true);
-
-            Polygon polygon = mMap.addPolygon(options);
+                    .clickable(true));
             polygon.setTag(building.getName());
             buildingPolygons.add(polygon);
         }
 
-        // Auto-zoom to include building(s) and current position
-        if (!buildingPolygons.isEmpty()) {
-            LatLngBounds.Builder boundsBuilder = new LatLngBounds.Builder();
-            boundsBuilder.include(new LatLng(startPosition[0], startPosition[1]));
-            for (Polygon p : buildingPolygons) {
-                for (LatLng point : p.getPoints()) {
-                    boundsBuilder.include(point);
-                }
-            }
-            try {
-                mMap.animateCamera(CameraUpdateFactory.newLatLngBounds(
-                        boundsBuilder.build(), 100));
-            } catch (Exception e) {
-                Log.w(TAG, "Could not fit bounds", e);
-            }
-        }
+        // Keep the current camera fixed. We only refresh the outlines and do not auto-zoom.
     }
 
-    /**
-     * Handles building selection when user taps a building polygon.
-     * Highlights the polygon, shows the floor plan overlay, moves the marker,
-     * and stores the building identifier.
-     *
-     * @param buildingName the name/ID of the selected building (e.g. "nucleus_building")
-     * @param polygon      the tapped polygon on the map
-     */
     private void onBuildingSelected(String buildingName, Polygon polygon) {
-        // Reset previous selection colour
         if (selectedPolygon != null) {
             selectedPolygon.setFillColor(FILL_COLOR_DEFAULT);
             selectedPolygon.setStrokeColor(STROKE_COLOR_DEFAULT);
         }
-
-        // Highlight selected polygon
         selectedPolygon = polygon;
         polygon.setFillColor(FILL_COLOR_SELECTED);
         polygon.setStrokeColor(STROKE_COLOR_SELECTED);
-
-        // Store building selection
         selectedBuildingId = buildingName;
+        selectedFloorplanBuilding = floorplanBuildingMap.get(buildingName);
+        currentFloorIndex = getDefaultFloorIndex(selectedFloorplanBuilding);
 
-        // Compute building centre from polygon points
         LatLng center = computePolygonCenter(polygon);
-
-        // Move the marker to building centre
-        if (startMarker != null) {
-            startMarker.setPosition(center);
-        }
+        if (startMarker != null) startMarker.setPosition(center);
         startPosition[0] = (float) center.latitude;
         startPosition[1] = (float) center.longitude;
+        // Keep the current camera fixed when a building is selected.
 
-        // Zoom to the building
-        mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(center, 20f));
+        updateBuildingInfoDisplay(buildingName);
+        redrawSelectedBuildingOverlay();
+    }
 
-        // ================= 【核心逻辑修改】 =================
-        // 点击建筑后，先清理屏幕上已有的图层
+    private void redrawSelectedBuildingOverlay() {
         resetMapOverlays();
+        if (selectedFloorplanBuilding == null || selectedBuildingId == null) {
+            setFloorControlsVisibility(View.GONE);
+            return;
+        }
+        updateRealMapOverlay(selectedBuildingId, currentFloorIndex, true);
+        setFloorControlsVisibility(View.VISIBLE);
+        updateFloorLabel();
+    }
 
-        // 根据当前用户选中的模式，展示不同的地图
-        if (useActualMap) {
-            updateRealMapOverlay(buildingName, true); // 只有点击蓝框后，才贴上 drawable 里的真实图片
-        } else {
-            showFloorPlanOverlay(buildingName);       // 只有点击蓝框后，才弹出白板并画上黑色矢量线
+    private void moveFloor(boolean moveUp) {
+        if (selectedFloorplanBuilding == null) return;
+        int next = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, moveUp);
+        if (next == currentFloorIndex) return;
+        currentFloorIndex = next;
+        redrawSelectedBuildingOverlay();
+    }
+
+
+    private void setFloorControlsVisibility(int visibility) {
+        if (floorUpButton != null) floorUpButton.setVisibility(visibility);
+        if (floorDownButton != null) floorDownButton.setVisibility(visibility);
+        if (floorLabel != null) floorLabel.setVisibility(visibility);
+    }
+
+    private void updateFloorLabel() {
+        if (floorLabel == null || selectedFloorplanBuilding == null) return;
+        floorLabel.setText(formatFloorLabelForUi(getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex)));
+    }
+
+    private void resetMapOverlays() {
+        for (Polygon p : previewPolygons) p.remove();
+        for (Polyline p : previewPolylines) p.remove();
+        previewPolygons.clear();
+        previewPolylines.clear();
+        if (whiteMaskPolygon != null) {
+            whiteMaskPolygon.remove();
+            whiteMaskPolygon = null;
         }
-        // ==================================================
+        for (GroundOverlay overlay : realMapOverlays) {
+            if (overlay != null) overlay.remove();
+        }
+        realMapOverlays.clear();
+    }
 
-        Log.d(TAG, "Building selected: " + buildingName + ", Mode: " + (useActualMap ? "Actual" : "Vector"));
+    private void clearBuildingPolygonsOnly() {
+        floorplanBuildingMap.clear();
+        for (Polygon p : buildingPolygons) p.remove();
+        buildingPolygons.clear();
+        selectedPolygon = null;
     }
-    /**
-     * 【新增方法】：用于在地图上覆盖你 drawable 文件夹中的实际室内地图图片
-     */
-    private void updateRealMapOverlay(String buildingName, boolean show) {
-        // 先移除旧的图片蒙版
-        if (realMapOverlay != null) {
-            realMapOverlay.remove();
-            realMapOverlay = null;
+
+    private void clearBuildingSelectionAndOverlays() {
+        floorplanBuildingMap.clear();
+        resetMapOverlays();
+        for (Polygon p : buildingPolygons) p.remove();
+        buildingPolygons.clear();
+        if (selectedPolygon != null) {
+            selectedPolygon.remove();
+            selectedPolygon = null;
         }
+        selectedBuildingId = null;
+        selectedFloorplanBuilding = null;
+        if (buildingInfoCard != null) buildingInfoCard.setVisibility(View.GONE);
+        setFloorControlsVisibility(View.GONE);
+    }
 
-        if (!show || buildingName == null) return;
+    private void updateRealMapOverlay(String buildingName, int floorIndex, boolean show) {
+        if (!show || mMap == null || selectedFloorplanBuilding == null) return;
 
-        int drawableResId = 0;
-        LatLngBounds bounds = null;
+        String selectedBuildingKey = resolveKnownBuildingKey(selectedFloorplanBuilding, buildingName);
+        String selectedFloorDisplayName = normalizeFloorLabel(getFloorDisplayName(selectedFloorplanBuilding, floorIndex));
+        addActualMapOverlayForBuilding(selectedFloorplanBuilding, selectedBuildingKey, selectedFloorDisplayName, floorIndex);
 
-        // 根据建筑名称匹配图片和对应的真实经纬度边界
-        if (buildingName.equals("nucleus_building")) {
-            drawableResId = R.drawable.nucleus1;
-            // 使用项目中已有的 BuildingPolygon 边界数据
-            bounds = new LatLngBounds(
-                    com.openpositioning.PositionMe.utils.BuildingPolygon.NUCLEUS_SW,
-                    com.openpositioning.PositionMe.utils.BuildingPolygon.NUCLEUS_NE);
+        if (shouldShowLinkedLibraryAndNucleus(selectedBuildingKey)) {
+            String linkedBuildingKey = "library".equals(selectedBuildingKey) ? "nucleus_building" : "library";
+            FloorplanApiClient.BuildingInfo linkedBuilding = findBuildingByKnownKey(linkedBuildingKey);
+            int linkedFloorIndex = linkedBuilding != null
+                    ? findMatchingFloorIndex(linkedBuilding, selectedFloorDisplayName, floorIndex)
+                    : resolveFallbackFloorIndexForKey(linkedBuildingKey, selectedFloorDisplayName, floorIndex);
+            addActualMapOverlayForBuilding(linkedBuilding, linkedBuildingKey, selectedFloorDisplayName, linkedFloorIndex);
         }
+    }
 
+    private void addActualMapOverlayForBuilding(FloorplanApiClient.BuildingInfo building,
+                                                String buildingKey,
+                                                String requestedFloorDisplayName,
+                                                int requestedFloorIndex) {
+        if (mMap == null) return;
+        String normalizedBuildingKey = normalizeBuildingKey(buildingKey);
+        String requestedCanonicalFloor = canonicalFloorLabel(requestedFloorDisplayName);
+        if ("library".equals(normalizedBuildingKey) && "LG".equals(requestedCanonicalFloor)) return;
+
+        int resolvedFloorIndex = building != null
+                ? findMatchingFloorIndex(building, requestedFloorDisplayName, requestedFloorIndex)
+                : resolveFallbackFloorIndexForKey(normalizedBuildingKey, requestedFloorDisplayName, requestedFloorIndex);
+        String resolvedFloorDisplayName = building != null
+                ? normalizeFloorLabel(getFloorDisplayName(building, resolvedFloorIndex))
+                : normalizeFloorLabel(requestedFloorDisplayName);
+        String drawableFloorDisplayName = "library".equals(normalizedBuildingKey)
+                ? requestedCanonicalFloor
+                : resolvedFloorDisplayName;
+        int drawableResId = resolveActualMapDrawable(normalizedBuildingKey, drawableFloorDisplayName, resolvedFloorIndex);
+        LatLngBounds bounds = computeActualMapBounds(building, normalizedBuildingKey, drawableResId, drawableFloorDisplayName);
         if (drawableResId != 0 && bounds != null) {
-            // 将实际图片贴在地图上
-            realMapOverlay = mMap.addGroundOverlay(new com.google.android.gms.maps.model.GroundOverlayOptions()
-                    .image(com.google.android.gms.maps.model.BitmapDescriptorFactory.fromResource(drawableResId))
+            GroundOverlay overlay = mMap.addGroundOverlay(new GroundOverlayOptions()
+                    .image(BitmapDescriptorFactory.fromResource(drawableResId))
                     .positionFromBounds(bounds)
-                    // zIndex设为 15，确保它显示在白色半透明蒙版(zIndex=10)上方，如果希望在黑线之上可改大
-                    .zIndex(15));
+                    .transparency(0.18f)
+                    .zIndex(15f));
+            if (overlay != null) realMapOverlays.add(overlay);
+        }
+    }
+
+    private boolean shouldShowLinkedLibraryAndNucleus(String buildingKey) {
+        return "library".equals(buildingKey) || "nucleus_building".equals(buildingKey);
+    }
+
+    private FloorplanApiClient.BuildingInfo findBuildingByKnownKey(String knownKey) {
+        if (knownKey == null || knownKey.isEmpty()) return null;
+        if (selectedFloorplanBuilding != null) {
+            String selectedKey = resolveKnownBuildingKey(selectedFloorplanBuilding, selectedFloorplanBuilding.getName());
+            if (knownKey.equals(selectedKey)) return selectedFloorplanBuilding;
+        }
+        for (FloorplanApiClient.BuildingInfo building : floorplanBuildingMap.values()) {
+            String candidateKey = resolveKnownBuildingKey(building, building != null ? building.getName() : null);
+            if (knownKey.equals(candidateKey)) return building;
+        }
+        List<FloorplanApiClient.BuildingInfo> cachedBuildings = SensorFusion.getInstance().getFloorplanBuildings();
+        if (cachedBuildings != null) {
+            for (FloorplanApiClient.BuildingInfo building : cachedBuildings) {
+                String candidateKey = resolveKnownBuildingKey(building, building != null ? building.getName() : null);
+                if (knownKey.equals(candidateKey)) return building;
+            }
+        }
+        return null;
+    }
+
+    private int findMatchingFloorIndex(FloorplanApiClient.BuildingInfo building, String requestedFloorDisplayName, int fallbackFloorIndex) {
+        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) return 0;
+        String normalizedRequestedFloor = normalizeFloorLabel(requestedFloorDisplayName);
+        if (!normalizedRequestedFloor.isEmpty()) {
+            for (int i = 0; i < building.getFloorShapesList().size(); i++) {
+                String candidateLabel = normalizeFloorLabel(building.getFloorShapesList().get(i).getDisplayName());
+                if (areEquivalentFloorLabels(normalizedRequestedFloor, candidateLabel)) return i;
+            }
+        }
+        return Math.max(0, Math.min(fallbackFloorIndex, building.getFloorShapesList().size() - 1));
+    }
+
+    private boolean areEquivalentFloorLabels(String requestedFloorLabel, String candidateFloorLabel) {
+        if (requestedFloorLabel == null || candidateFloorLabel == null) return false;
+        if (requestedFloorLabel.equals(candidateFloorLabel)) return true;
+        String requested = canonicalFloorLabel(requestedFloorLabel);
+        String candidate = canonicalFloorLabel(candidateFloorLabel);
+        return !requested.isEmpty() && requested.equals(candidate);
+    }
+
+    private int resolveFallbackFloorIndexForKey(String buildingKey, String requestedFloorDisplayName, int requestedFloorIndex) {
+        String normalizedKey = normalizeBuildingKey(buildingKey);
+        String canonicalFloor = canonicalFloorLabel(requestedFloorDisplayName);
+        if ("nucleus_building".equals(normalizedKey)) {
+            switch (canonicalFloor) {
+                case "LG": return 0;
+                case "G": return 1;
+                case "1": return 2;
+                case "2": return 3;
+                case "3": return 4;
+                default: return Math.max(0, Math.min(requestedFloorIndex, 4));
+            }
+        }
+        if ("library".equals(normalizedKey)) {
+            switch (canonicalFloor) {
+                case "G": return 0;
+                case "1": return 1;
+                case "2": return 2;
+                case "3": return 3;
+                default: return Math.max(0, Math.min(requestedFloorIndex, 3));
+            }
+        }
+        return Math.max(0, requestedFloorIndex);
+    }
+
+    private int resolveActualMapDrawable(String buildingName, String floorDisplayName, int floorIndex) {
+        buildingName = normalizeBuildingKey(buildingName);
+        String canonicalFloor = canonicalFloorLabel(floorDisplayName);
+        if ("nucleus_building".equals(buildingName)) {
+            if ("LG".equals(canonicalFloor)) return R.drawable.nucleuslg;
+            if ("G".equals(canonicalFloor)) return R.drawable.nucleusg;
+            if ("1".equals(canonicalFloor)) return R.drawable.nucleus1;
+            if ("2".equals(canonicalFloor)) return R.drawable.nucleus2;
+            if ("3".equals(canonicalFloor)) return R.drawable.nucleus3;
+            switch (floorIndex) {
+                case 0: return R.drawable.nucleuslg;
+                case 1: return R.drawable.nucleusg;
+                case 2: return R.drawable.nucleus1;
+                case 3: return R.drawable.nucleus2;
+                case 4: return R.drawable.nucleus3;
+                default: return R.drawable.nucleusg;
+            }
+        }
+        if ("library".equals(buildingName)) {
+            if ("LG".equals(canonicalFloor)) return 0;
+            if ("G".equals(canonicalFloor)) return R.drawable.libraryg;
+            if ("1".equals(canonicalFloor)) return R.drawable.library1;
+            if ("2".equals(canonicalFloor)) return R.drawable.library2;
+            if ("3".equals(canonicalFloor)) return R.drawable.library3;
+            switch (floorIndex) {
+                case 0: return 0;
+                case 1: return R.drawable.libraryg;
+                case 2: return R.drawable.library1;
+                case 3: return R.drawable.library2;
+                case 4: return R.drawable.library3;
+                default: return R.drawable.libraryg;
+            }
+        }
+        return 0;
+    }
+
+    private LatLngBounds computeActualMapBounds(FloorplanApiClient.BuildingInfo building, String buildingName, int drawableResId, String floorDisplayName) {
+        buildingName = normalizeBuildingKey(buildingName);
+        ActualMapAlignmentConfig config = getActualMapAlignmentConfig(buildingName);
+        LatLngBounds bounds = null;
+        if ("library".equals(buildingName)) {
+            bounds = computeFixedActualMapBounds(buildingName, drawableResId);
+        } else if (building != null) {
+            bounds = computeThreeEdgeAlignedBounds(building, drawableResId, config);
+        } else {
+            bounds = computeFixedActualMapBounds(buildingName, drawableResId);
+        }
+        if (bounds == null) bounds = getFallbackBuildingBounds(buildingName);
+        if (bounds != null) bounds = applyDefaultCalibration(bounds, buildingName, floorDisplayName);
+        return bounds;
+    }
+
+    private LatLngBounds computeFixedActualMapBounds(String buildingName, int drawableResId) {
+        buildingName = normalizeBuildingKey(buildingName);
+        if ("library".equals(buildingName)) {
+            double widthScale = getLibraryFixedWidthScale(drawableResId);
+            return buildRightAnchoredRectBounds(BuildingPolygon.LIBRARY_SW, BuildingPolygon.LIBRARY_NE, widthScale, 1.0, 0.008, 0.0);
+        }
+        return null;
+    }
+
+    private double getLibraryFixedWidthScale(int drawableResId) {
+        return 1.000;
+    }
+
+    private LatLngBounds buildRightAnchoredRectBounds(LatLng southWest, LatLng northEast,
+                                                      double widthScale, double heightScale,
+                                                      double eastShiftRatio, double northShiftRatio) {
+        if (southWest == null || northEast == null) return null;
+        double rectWidth = northEast.longitude - southWest.longitude;
+        double rectHeight = northEast.latitude - southWest.latitude;
+        if (rectWidth <= 0d || rectHeight <= 0d) return null;
+        double overlayWidth = rectWidth * widthScale;
+        double overlayHeight = rectHeight * heightScale;
+        double east = northEast.longitude + rectWidth * eastShiftRatio;
+        double west = east - overlayWidth;
+        double north = northEast.latitude + rectHeight * northShiftRatio;
+        double south = north - overlayHeight;
+        return new LatLngBounds(new LatLng(south, west), new LatLng(north, east));
+    }
+
+    private LatLngBounds computeThreeEdgeAlignedBounds(FloorplanApiClient.BuildingInfo building, int drawableResId, ActualMapAlignmentConfig config) {
+        if (building == null || config == null) return null;
+        List<LatLng> outline = building.getOutlinePolygon();
+        if (outline == null || outline.size() < 3) return null;
+
+        double minLat = Double.POSITIVE_INFINITY;
+        double maxLat = Double.NEGATIVE_INFINITY;
+        double minLng = Double.POSITIVE_INFINITY;
+        double maxLng = Double.NEGATIVE_INFINITY;
+        for (LatLng point : outline) {
+            if (point == null) continue;
+            minLat = Math.min(minLat, point.latitude);
+            maxLat = Math.max(maxLat, point.latitude);
+            minLng = Math.min(minLng, point.longitude);
+            maxLng = Math.max(maxLng, point.longitude);
         }
+        if (!Double.isFinite(minLat) || !Double.isFinite(maxLat) || !Double.isFinite(minLng) || !Double.isFinite(maxLng)
+                || maxLat <= minLat || maxLng <= minLng) return null;
+
+        double latSpan = maxLat - minLat;
+        double lngSpan = maxLng - minLng;
+        double visibleNorth = maxLat - latSpan * config.northInsetRatio;
+        double visibleSouth = minLat + latSpan * config.southInsetRatio;
+        if (visibleSouth >= visibleNorth) return null;
+
+        double fullAspectRatio = getDrawableAspectRatio(drawableResId);
+        if (fullAspectRatio <= 0d) return null;
+
+        DrawableContentInsets contentInsets = getDrawableContentInsets(drawableResId, config);
+        double visibleContentHeightFraction = contentInsets.contentHeightFraction();
+        double visibleContentWidthFraction = contentInsets.contentWidthFraction();
+        if (visibleContentHeightFraction <= 0d || visibleContentWidthFraction <= 0d) return null;
+
+        double visibleHeightDeg = visibleNorth - visibleSouth;
+        double totalHeightDeg = visibleHeightDeg / visibleContentHeightFraction;
+        double overlayNorth = visibleNorth + totalHeightDeg * contentInsets.topFraction;
+        double overlaySouth = overlayNorth - totalHeightDeg;
+
+        double midLatitudeRadians = Math.toRadians((visibleNorth + visibleSouth) / 2.0);
+        double metersPerDegreeLng = Math.max(111320.0 * Math.cos(midLatitudeRadians), 1.0);
+        double totalHeightMeters = totalHeightDeg * 111320.0;
+        double totalWidthMeters = (totalHeightMeters / fullAspectRatio) * config.widthScale;
+        double totalWidthLng = totalWidthMeters / metersPerDegreeLng;
+        double visibleContentWidthLng = totalWidthLng * visibleContentWidthFraction;
+
+        double visibleEast;
+        double visibleWest;
+        switch (config.horizontalAnchor) {
+            case RIGHT:
+                visibleEast = maxLng - lngSpan * config.horizontalInsetRatio;
+                visibleWest = visibleEast - visibleContentWidthLng;
+                break;
+            case LEFT:
+                visibleWest = minLng + lngSpan * config.horizontalInsetRatio;
+                visibleEast = visibleWest + visibleContentWidthLng;
+                break;
+            case CENTER:
+            default:
+                double centerLng = ((minLng + maxLng) / 2.0) + (lngSpan * (config.leftVisibleInsetRatio - config.rightVisibleInsetRatio) * 0.5);
+                visibleWest = centerLng - visibleContentWidthLng / 2.0;
+                visibleEast = centerLng + visibleContentWidthLng / 2.0;
+                break;
+        }
+
+        double overlayWest = visibleWest - totalWidthLng * contentInsets.leftFraction;
+        double overlayEast = overlayWest + totalWidthLng;
+        return new LatLngBounds(new LatLng(overlaySouth, overlayWest), new LatLng(overlayNorth, overlayEast));
     }
-    /**
-     * Shows a vector floor plan preview for the selected building using the
-     * map_shapes data from the API. Draws the ground floor shapes (walls, rooms).
-     * Removes any previously drawn preview shapes.
-     *
-     * @param buildingName the building identifier
-     */
+
+    private DrawableContentInsets getDrawableContentInsets(int drawableResId, ActualMapAlignmentConfig config) {
+        BitmapFactory.Options bounds = new BitmapFactory.Options();
+        bounds.inJustDecodeBounds = true;
+        BitmapFactory.decodeResource(getResources(), drawableResId, bounds);
+        return new DrawableContentInsets(config.leftVisibleInsetRatio, config.topVisibleInsetRatio,
+                config.rightVisibleInsetRatio, config.bottomVisibleInsetRatio);
+    }
+
+    private double getDrawableAspectRatio(int drawableResId) {
+        try {
+            BitmapFactory.Options options = new BitmapFactory.Options();
+            options.inJustDecodeBounds = true;
+            BitmapFactory.decodeResource(getResources(), drawableResId, options);
+            if (options.outWidth > 0 && options.outHeight > 0) {
+                return (double) options.outHeight / (double) options.outWidth;
+            }
+        } catch (Exception ignored) {
+        }
+        return 1d;
+    }
+
+    private LatLngBounds getFallbackBuildingBounds(String buildingName) {
+        buildingName = normalizeBuildingKey(buildingName);
+        if ("nucleus_building".equals(buildingName)) return new LatLngBounds(BuildingPolygon.NUCLEUS_SW, BuildingPolygon.NUCLEUS_NE);
+        if ("library".equals(buildingName)) return new LatLngBounds(BuildingPolygon.LIBRARY_SW, BuildingPolygon.LIBRARY_NE);
+        if ("murchison_house".equals(buildingName)) return new LatLngBounds(BuildingPolygon.MURCHISON_SW, BuildingPolygon.MURCHISON_NE);
+        return null;
+    }
+
+    private ActualMapAlignmentConfig getActualMapAlignmentConfig(String buildingName) {
+        buildingName = normalizeBuildingKey(buildingName);
+        if ("nucleus_building".equals(buildingName)) {
+            return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 0.99, 0.0, 0.0, 0.0, 0.0);
+        }
+        if ("library".equals(buildingName)) {
+            return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 0.985, 0.0, 0.0, 0.0, 0.0);
+        }
+        if ("murchison_house".equals(buildingName)) {
+            return new ActualMapAlignmentConfig(HorizontalAnchor.CENTER, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0);
+        }
+        return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0);
+    }
+
+    private LatLngBounds applyDefaultCalibration(LatLngBounds baseBounds, String buildingKey, String floorDisplayName) {
+        if (baseBounds == null) return null;
+        OverlayCalibration calibration = getHardcodedCalibrationDefault(buildingKey, floorDisplayName);
+        double baseNorth = baseBounds.northeast.latitude;
+        double baseSouth = baseBounds.southwest.latitude;
+        double baseEast = baseBounds.northeast.longitude;
+        double baseWest = baseBounds.southwest.longitude;
+        double latSpan = baseNorth - baseSouth;
+        double lngSpan = baseEast - baseWest;
+        if (latSpan <= 0d || lngSpan <= 0d) return baseBounds;
+        double centerLat = ((baseNorth + baseSouth) / 2d) + latSpan * calibration.shiftLatRatio;
+        double centerLng = ((baseEast + baseWest) / 2d) + lngSpan * calibration.shiftLngRatio;
+        double adjustedLatSpan = latSpan * calibration.heightScale;
+        double adjustedLngSpan = lngSpan * calibration.widthScale;
+        double north = centerLat + adjustedLatSpan / 2d;
+        double south = centerLat - adjustedLatSpan / 2d;
+        double east = centerLng + adjustedLngSpan / 2d;
+        double west = centerLng - adjustedLngSpan / 2d;
+        return new LatLngBounds(new LatLng(south, west), new LatLng(north, east));
+    }
+
+    private OverlayCalibration getHardcodedCalibrationDefault(String buildingKey, String floorDisplayName) {
+        String normalizedBuilding = normalizeBuildingKey(buildingKey);
+        String normalizedFloor = canonicalFloorLabel(floorDisplayName);
+        if ("nucleus_building".equals(normalizedBuilding)) {
+            switch (normalizedFloor) {
+                case "LG": return new OverlayCalibration(0.012f, -0.022f, 0.967f, 0.986f);
+                case "G": return new OverlayCalibration(0.029f, -0.052f, 0.958f, 0.942f);
+                case "1": return new OverlayCalibration(0.004f, 0.000f, 1.000f, 0.981f);
+                case "2": return new OverlayCalibration(0.005f, -0.005f, 1.000f, 1.000f);
+                case "3": return new OverlayCalibration(0.005f, 0.005f, 1.015f, 0.990f);
+                default: return OverlayCalibration.identity();
+            }
+        }
+        if ("library".equals(normalizedBuilding)) {
+            switch (normalizedFloor) {
+                case "G": return new OverlayCalibration(-0.072f, 0.018f, 0.965f, 1.098f);
+                case "1": return new OverlayCalibration(-0.053f, 0.019f, 0.945f, 1.050f);
+                case "2": return new OverlayCalibration(-0.075f, 0.025f, 0.950f, 1.070f);
+                case "3": return new OverlayCalibration(-0.070f, 0.025f, 0.960f, 1.065f);
+                default: return OverlayCalibration.identity();
+            }
+        }
+        return OverlayCalibration.identity();
+    }
+
+    private static double clamp01(double value) {
+        return Math.max(0d, Math.min(1d, value));
+    }
+
+    private String normalizeFloorLabel(String floorDisplayName) {
+        if (floorDisplayName == null) return "";
+        return floorDisplayName.trim().toUpperCase().replace(" ", "");
+    }
+
+    private String canonicalFloorLabel(String floorLabel) {
+        String normalized = normalizeFloorLabel(floorLabel);
+        switch (normalized) {
+            case "LG":
+            case "LOWERGROUND":
+            case "LOWERG":
+            case "B1":
+            case "BASEMENT1":
+                return "LG";
+            case "G":
+            case "GF":
+            case "GROUND":
+            case "GROUNDFLOOR":
+            case "0":
+                return "G";
+            case "1":
+            case "F1":
+            case "FIRST":
+            case "FIRSTFLOOR":
+                return "1";
+            case "2":
+            case "F2":
+            case "SECOND":
+            case "SECONDFLOOR":
+                return "2";
+            case "3":
+            case "F3":
+            case "THIRD":
+            case "THIRDFLOOR":
+                return "3";
+            default:
+                return normalized;
+        }
+    }
+
+    private String normalizeBuildingKey(String buildingName) {
+        if (buildingName == null) return "";
+        String key = buildingName.trim().toLowerCase();
+        if (key.contains("nucleus") || key.contains("nuclear")) return "nucleus_building";
+        if (key.contains("library") || key.contains("kenneth") || key.contains("murray")) return "library";
+        if (key.contains("murchison")) return "murchison_house";
+        return key;
+    }
+
+    private String resolveKnownBuildingKey(FloorplanApiClient.BuildingInfo building, String buildingName) {
+        String normalized = normalizeBuildingKey(buildingName);
+        if ("nucleus_building".equals(normalized) || "library".equals(normalized) || "murchison_house".equals(normalized)) {
+            return normalized;
+        }
+        LatLng center = building != null ? building.getCenter() : null;
+        if (center != null) {
+            if (BuildingPolygon.inLibrary(center)) return "library";
+            if (BuildingPolygon.inNucleus(center)) return "nucleus_building";
+            if (BuildingPolygon.inMurchison(center)) return "murchison_house";
+        }
+        return normalized;
+    }
+
+    private int getDefaultFloorIndex(FloorplanApiClient.BuildingInfo building) {
+        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) return 0;
+        for (int i = 0; i < building.getFloorShapesList().size(); i++) {
+            String displayName = building.getFloorShapesList().get(i).getDisplayName();
+            if ("G".equals(canonicalFloorLabel(displayName))) return i;
+        }
+        List<Integer> orderedFloorIndices = getOrderedFloorIndices(building);
+        return orderedFloorIndices.isEmpty() ? 0 : orderedFloorIndices.get(0);
+    }
+
+    private String getFloorDisplayName(FloorplanApiClient.BuildingInfo building, int floorIndex) {
+        if (building == null || building.getFloorShapesList() == null || floorIndex < 0 || floorIndex >= building.getFloorShapesList().size()) {
+            return "";
+        }
+        String displayName = building.getFloorShapesList().get(floorIndex).getDisplayName();
+        return displayName == null ? "" : displayName.trim().toUpperCase();
+    }
+
+    private int getAdjacentFloorIndex(FloorplanApiClient.BuildingInfo building, int currentIndex, boolean moveUp) {
+        List<Integer> orderedFloorIndices = getOrderedFloorIndices(building);
+        if (orderedFloorIndices.isEmpty()) return currentIndex;
+        int currentOrderedPosition = orderedFloorIndices.indexOf(currentIndex);
+        if (currentOrderedPosition < 0) {
+            currentOrderedPosition = 0;
+            for (int i = 0; i < orderedFloorIndices.size(); i++) {
+                if (orderedFloorIndices.get(i) >= currentIndex) {
+                    currentOrderedPosition = i;
+                    break;
+                }
+            }
+        }
+        int nextOrderedPosition = moveUp ? currentOrderedPosition + 1 : currentOrderedPosition - 1;
+        if (nextOrderedPosition < 0 || nextOrderedPosition >= orderedFloorIndices.size()) return currentIndex;
+        return orderedFloorIndices.get(nextOrderedPosition);
+    }
+
+    private List<Integer> getOrderedFloorIndices(FloorplanApiClient.BuildingInfo building) {
+        List<Integer> ordered = new ArrayList<>();
+        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) return ordered;
+        List<Integer> fallback = new ArrayList<>();
+        for (int i = 0; i < building.getFloorShapesList().size(); i++) fallback.add(i);
+        String[] desiredOrder = new String[]{"LG", "G", "1", "2", "3"};
+        for (String desiredFloor : desiredOrder) {
+            for (int i = 0; i < building.getFloorShapesList().size(); i++) {
+                if (ordered.contains(i)) continue;
+                String candidateFloor = canonicalFloorLabel(building.getFloorShapesList().get(i).getDisplayName());
+                if (desiredFloor.equals(candidateFloor)) {
+                    ordered.add(i);
+                    break;
+                }
+            }
+        }
+        for (Integer index : fallback) if (!ordered.contains(index)) ordered.add(index);
+        return ordered;
+    }
+
+    private String formatFloorLabelForUi(String rawFloorLabel) {
+        String canonicalFloor = canonicalFloorLabel(rawFloorLabel);
+        switch (canonicalFloor) {
+            case "LG": return "LG";
+            case "G": return "G";
+            case "1": return "1";
+            case "2": return "2";
+            case "3": return "3";
+            default: return rawFloorLabel == null ? "" : rawFloorLabel;
+        }
+    }
+
     private void showFloorPlanOverlay(String buildingName) {
-        // Clear previous preview shapes
         for (Polygon p : previewPolygons) p.remove();
         for (Polyline p : previewPolylines) p.remove();
         previewPolygons.clear();
         previewPolylines.clear();
-
-        // 【新增这段】：清除旧蒙版并绘制全新的全屏高透明度白色蒙版
         if (whiteMaskPolygon != null) {
             whiteMaskPolygon.remove();
             whiteMaskPolygon = null;
         }
         PolygonOptions whiteMask = new PolygonOptions()
                 .add(new LatLng(85, -180), new LatLng(85, 180), new LatLng(-85, 180), new LatLng(-85, -180))
-                .fillColor(0xD9FFFFFF) // 约 85% 透明度的白色
+                .fillColor(0xD9FFFFFF)
                 .strokeWidth(0)
-                .zIndex(5);            // 蒙版在底层 (层级5)
+                .zIndex(5);
         whiteMaskPolygon = mMap.addPolygon(whiteMask);
 
         FloorplanApiClient.BuildingInfo building = floorplanBuildingMap.get(buildingName);
         if (building == null) return;
-
         List<FloorplanApiClient.FloorShapes> floors = building.getFloorShapesList();
-        if (floors == null || floors.isEmpty()) {
-            Log.d(TAG, "No floor shape data available for: " + buildingName);
-            return;
-        }
-
-        // Pick the default floor to preview (ground floor)
-        int defaultFloor = Math.min(1, floors.size() - 1);
-        FloorplanApiClient.FloorShapes floor = floors.get(defaultFloor);
-
+        if (floors == null || floors.isEmpty()) return;
+        FloorplanApiClient.FloorShapes floor = floors.get(Math.max(0, Math.min(currentFloorIndex, floors.size() - 1)));
         for (FloorplanApiClient.MapShapeFeature feature : floor.getFeatures()) {
             String geoType = feature.getGeometryType();
             String indoorType = feature.getIndoorType();
-
             if ("MultiPolygon".equals(geoType) || "Polygon".equals(geoType)) {
                 for (List<LatLng> ring : feature.getParts()) {
                     if (ring.size() < 3) continue;
@@ -503,61 +945,38 @@ private void showFloorPlanOverlay(String buildingName) {
                             .strokeColor(getPreviewStrokeColor(indoorType))
                             .strokeWidth(2f)
                             .fillColor(getPreviewFillColor(indoorType))
-                            .zIndex(10)); // 【新增】：层级设为10，确保浮在白板上方
+                            .zIndex(10));
                     previewPolygons.add(p);
                 }
-            } else if ("MultiLineString".equals(geoType)
-                    || "LineString".equals(geoType)) {
+            } else if ("MultiLineString".equals(geoType) || "LineString".equals(geoType)) {
                 for (List<LatLng> line : feature.getParts()) {
                     if (line.size() < 2) continue;
                     Polyline pl = mMap.addPolyline(new PolylineOptions()
                             .addAll(line)
                             .color(getPreviewStrokeColor(indoorType))
-                            .width(4f)    // 【修改】：稍微加粗至4f使其更明显
-                            .zIndex(10)); // 【新增】：层级设为10，确保浮在白板上方
+                            .width(4f)
+                            .zIndex(10));
                     previewPolylines.add(pl);
                 }
             }
         }
     }
-    /**
-     * Returns the stroke colour for a preview indoor feature.
-     */
+
     private int getPreviewStrokeColor(String indoorType) {
-        // 【修改】：全部换为更深的黑/深灰色
         if ("wall".equals(indoorType)) return Color.argb(255, 34, 34, 34);
         if ("room".equals(indoorType)) return Color.argb(255, 60, 60, 60);
         return Color.argb(255, 50, 50, 50);
     }
 
-    /**
-     * Returns the fill colour for a preview indoor feature.
-     */
     private int getPreviewFillColor(String indoorType) {
         if ("room".equals(indoorType)) return Color.argb(40, 33, 150, 243);
         return Color.TRANSPARENT;
     }
 
-    /**
-     * Updates the building info card to show the selected building name.
-     *
-     * @param buildingName the raw building name from the API
-     */
     private void updateBuildingInfoDisplay(String buildingName) {
-        if (buildingInfoCard == null || buildingNameText == null) return;
-
-        String displayName = formatBuildingName(buildingName);
-        buildingNameText.setText(getString(R.string.buildingSelected, displayName));
-        buildingInfoCard.setVisibility(View.VISIBLE);
+        if (buildingInfoCard != null) buildingInfoCard.setVisibility(View.GONE);
     }
 
-    /**
-     * Formats a building API name into a user-friendly display name.
-     * Converts underscores to spaces and capitalises each word.
-     *
-     * @param apiName the API building name (e.g. "nucleus_building")
-     * @return formatted name (e.g. "Nucleus Building")
-     */
     private String formatBuildingName(String apiName) {
         if (apiName == null || apiName.isEmpty()) return "";
         String[] parts = apiName.split("_");
@@ -566,19 +985,11 @@ private String formatBuildingName(String apiName) {
             if (part.isEmpty()) continue;
             if (sb.length() > 0) sb.append(" ");
             sb.append(Character.toUpperCase(part.charAt(0)));
-            if (part.length() > 1) {
-                sb.append(part.substring(1));
-            }
+            if (part.length() > 1) sb.append(part.substring(1));
         }
         return sb.toString();
     }
 
-    /**
-     * Computes the centroid of a Google Maps Polygon by averaging all vertices.
-     *
-     * @param polygon the polygon whose centre is to be computed
-     * @return the centroid LatLng
-     */
     private LatLng computePolygonCenter(Polygon polygon) {
         List<LatLng> points = polygon.getPoints();
         double latSum = 0, lonSum = 0;
@@ -592,67 +1003,9 @@ private LatLng computePolygonCenter(Polygon polygon) {
         return new LatLng(latSum / count, lonSum / count);
     }
 
-    @Override
-    public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
-        super.onViewCreated(view, savedInstanceState);
-
-        this.button = view.findViewById(R.id.startLocationDone);
-        this.instructionText = view.findViewById(R.id.correctionInfoView);
-
-        // 绑定两个 Find 按钮
-        this.btnFindIndoorMap = view.findViewById(R.id.btnFindIndoorMap);
-        this.btnFindActualMap = view.findViewById(R.id.btnFindActualMap);
-
-        if (this.btnFindIndoorMap != null) {
-            this.btnFindIndoorMap.setOnClickListener(v -> {
-                useActualMap = false;   // 模式设为：矢量地图
-                resetMapOverlays();     // 清理之前的图层
-                requestBuildingData();  // 请求画蓝框
-                Toast.makeText(getContext(), "模式：矢量地图。请点击蓝色建筑", Toast.LENGTH_SHORT).show();
-            });
-        }
-
-        if (this.btnFindActualMap != null) {
-            this.btnFindActualMap.setOnClickListener(v -> {
-                useActualMap = true;    // 模式设为：真实贴图
-                resetMapOverlays();     // 清理之前的图层
-                requestBuildingData();  // 请求画蓝框
-                Toast.makeText(getContext(), "模式：实际地图。请点击蓝色建筑", Toast.LENGTH_SHORT).show();
-            });
-        }
-
-        // 下方保留你原本的 this.button.setOnClickListener (Start/Set Location) 逻辑...
-        // 下方保留你原本的 this.button.setOnClickListener (Start/Set Location) 逻辑
-        this.button.setOnClickListener(v -> {
-            float chosenLat = startPosition[0];
-            float chosenLon = startPosition[1];
-
-            // Save the building selection for campaign binding during upload
-            if (selectedBuildingId != null) {
-                sensorFusion.setSelectedBuildingId(selectedBuildingId);
-            }
-
-            if (requireActivity() instanceof RecordingActivity) {
-                // Start sensor recording + set the start location
-                sensorFusion.startRecording();
-                sensorFusion.setStartGNSSLatitude(startPosition);
-                // Write trajectory_id, initial_position and initial heading to protobuf
-                sensorFusion.writeInitialMetadata();
-
-                // Switch to the recording screen
-                ((RecordingActivity) requireActivity()).showRecordingScreen();
-
-            } else if (requireActivity() instanceof ReplayActivity) {
-                ((ReplayActivity) requireActivity())
-                        .onStartLocationChosen(chosenLat, chosenLon);
-            }
-        });
-    }
     @Override
     public void onDestroyView() {
         super.onDestroyView();
         retryHandler.removeCallbacksAndMessages(null);
     }
-
 }
-
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationOverlayHelper.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationOverlayHelper.java
deleted file mode 100644
index 107f4417..00000000
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationOverlayHelper.java
+++ /dev/null
@@ -1,713 +0,0 @@
-package com.openpositioning.PositionMe.utils;
-
-import android.content.Context;
-import android.content.SharedPreferences;
-import android.graphics.BitmapFactory;
-
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-
-import com.google.android.gms.maps.GoogleMap;
-import com.google.android.gms.maps.model.BitmapDescriptorFactory;
-import com.google.android.gms.maps.model.GroundOverlay;
-import com.google.android.gms.maps.model.GroundOverlayOptions;
-import com.google.android.gms.maps.model.LatLng;
-import com.google.android.gms.maps.model.LatLngBounds;
-import com.openpositioning.PositionMe.R;
-import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
-
-import java.util.ArrayList;
-import java.util.List;
-
-/**
- * Shared overlay helper for Start Location so its actual-map display matches the
- * calibrated bounds used in trajectory/replay as closely as possible.
- */
-public final class StartLocationOverlayHelper {
-
-    private static final String CALIBRATION_PREFS_NAME = "actual_map_calibration";
-
-    private StartLocationOverlayHelper() {}
-
-    public static List<GroundOverlay> addActualMapOverlays(@NonNull Context context,
-                                                           @NonNull GoogleMap map,
-                                                           @Nullable FloorplanApiClient.BuildingInfo selectedBuilding,
-                                                           @Nullable List<FloorplanApiClient.BuildingInfo> availableBuildings,
-                                                           @Nullable String requestedFloorDisplayName,
-                                                           int requestedFloorIndex) {
-        List<GroundOverlay> overlays = new ArrayList<>();
-        if (selectedBuilding == null) {
-            return overlays;
-        }
-
-        String selectedKey = resolveKnownBuildingKey(selectedBuilding, selectedBuilding.getName());
-        addOverlayForBuilding(context, map, overlays, selectedBuilding, selectedKey,
-                requestedFloorDisplayName, requestedFloorIndex);
-
-        if (shouldShowLinkedLibraryAndNucleus(selectedKey)) {
-            String linkedKey = "library".equals(selectedKey) ? "nucleus_building" : "library";
-            FloorplanApiClient.BuildingInfo linkedBuilding = findBuildingByKnownKey(linkedKey, availableBuildings);
-            int linkedFloorIndex = resolveFallbackFloorIndexForKey(linkedKey, requestedFloorDisplayName, requestedFloorIndex);
-            addOverlayForBuilding(context, map, overlays, linkedBuilding, linkedKey,
-                    requestedFloorDisplayName, linkedFloorIndex);
-        }
-        return overlays;
-    }
-
-    public static int getGroundFloorIndex(@Nullable FloorplanApiClient.BuildingInfo building) {
-        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
-            return 0;
-        }
-        for (int i = 0; i < building.getFloorShapesList().size(); i++) {
-            String display = building.getFloorShapesList().get(i).getDisplayName();
-            if ("G".equals(canonicalFloorLabel(display))) {
-                return i;
-            }
-        }
-        return Math.min(1, building.getFloorShapesList().size() - 1);
-    }
-
-    public static String getDisplayFloorLabel(@Nullable FloorplanApiClient.BuildingInfo building, int floorIndex) {
-        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
-            return "";
-        }
-        int safeIndex = Math.max(0, Math.min(floorIndex, building.getFloorShapesList().size() - 1));
-        String display = building.getFloorShapesList().get(safeIndex).getDisplayName();
-        String canonical = canonicalFloorLabel(display);
-        if ("1".equals(canonical)) return "F1";
-        if ("2".equals(canonical)) return "F2";
-        if ("3".equals(canonical)) return "F3";
-        if ("G".equals(canonical)) return "G";
-        if ("LG".equals(canonical)) return "LG";
-        return display == null ? "" : display.trim().toUpperCase();
-    }
-
-    public static int clampFloorIndex(@Nullable FloorplanApiClient.BuildingInfo building, int floorIndex) {
-        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
-            return 0;
-        }
-        return Math.max(0, Math.min(floorIndex, building.getFloorShapesList().size() - 1));
-    }
-
-    private static void addOverlayForBuilding(@NonNull Context context,
-                                              @NonNull GoogleMap map,
-                                              @NonNull List<GroundOverlay> overlays,
-                                              @Nullable FloorplanApiClient.BuildingInfo building,
-                                              @Nullable String buildingKey,
-                                              @Nullable String requestedFloorDisplayName,
-                                              int requestedFloorIndex) {
-        String normalizedBuildingKey = normalizeBuildingKey(buildingKey);
-        String requestedCanonicalFloor = canonicalFloorLabel(requestedFloorDisplayName);
-        if (normalizedBuildingKey.isEmpty()) {
-            return;
-        }
-        if ("library".equals(normalizedBuildingKey) && "LG".equals(requestedCanonicalFloor)) {
-            return;
-        }
-
-        int resolvedFloorIndex = building != null
-                ? findMatchingFloorIndex(building, requestedFloorDisplayName, requestedFloorIndex)
-                : resolveFallbackFloorIndexForKey(normalizedBuildingKey, requestedFloorDisplayName, requestedFloorIndex);
-        String resolvedFloorDisplayName = building != null
-                ? normalizeFloorLabel(getFloorDisplayName(building, resolvedFloorIndex))
-                : normalizeFloorLabel(requestedFloorDisplayName);
-        String drawableFloorDisplayName = "library".equals(normalizedBuildingKey)
-                ? requestedCanonicalFloor
-                : resolvedFloorDisplayName;
-        int drawableResId = resolveActualMapDrawable(normalizedBuildingKey, drawableFloorDisplayName, resolvedFloorIndex);
-        LatLngBounds bounds = computeActualMapBounds(context, building, normalizedBuildingKey, drawableResId, drawableFloorDisplayName);
-        if (drawableResId == 0 || bounds == null) {
-            return;
-        }
-
-        GroundOverlay overlay = map.addGroundOverlay(new GroundOverlayOptions()
-                .image(BitmapDescriptorFactory.fromResource(drawableResId))
-                .positionFromBounds(bounds)
-                .zIndex(5f));
-        if (overlay != null) {
-            overlays.add(overlay);
-        }
-    }
-
-    private static boolean shouldShowLinkedLibraryAndNucleus(String buildingKey) {
-        return "library".equals(buildingKey) || "nucleus_building".equals(buildingKey);
-    }
-
-    @Nullable
-    private static FloorplanApiClient.BuildingInfo findBuildingByKnownKey(String knownKey,
-                                                                          @Nullable List<FloorplanApiClient.BuildingInfo> availableBuildings) {
-        if (knownKey == null || availableBuildings == null) {
-            return null;
-        }
-        for (FloorplanApiClient.BuildingInfo building : availableBuildings) {
-            if (building == null) continue;
-            if (knownKey.equals(resolveKnownBuildingKey(building, building.getName()))) {
-                return building;
-            }
-        }
-        return null;
-    }
-
-    private static int findMatchingFloorIndex(@Nullable FloorplanApiClient.BuildingInfo building,
-                                              @Nullable String requestedFloorDisplayName,
-                                              int fallbackFloorIndex) {
-        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
-            return 0;
-        }
-
-        String normalizedRequestedFloor = normalizeFloorLabel(requestedFloorDisplayName);
-        if (!normalizedRequestedFloor.isEmpty()) {
-            for (int i = 0; i < building.getFloorShapesList().size(); i++) {
-                String candidateLabel = normalizeFloorLabel(building.getFloorShapesList().get(i).getDisplayName());
-                if (areEquivalentFloorLabels(normalizedRequestedFloor, candidateLabel)) {
-                    return i;
-                }
-            }
-        }
-        return clampFloorIndex(building, fallbackFloorIndex);
-    }
-
-    private static boolean areEquivalentFloorLabels(String requestedFloorLabel, String candidateFloorLabel) {
-        if (requestedFloorLabel == null || candidateFloorLabel == null) {
-            return false;
-        }
-        if (requestedFloorLabel.equals(candidateFloorLabel)) {
-            return true;
-        }
-        String requested = canonicalFloorLabel(requestedFloorLabel);
-        String candidate = canonicalFloorLabel(candidateFloorLabel);
-        return !requested.isEmpty() && requested.equals(candidate);
-    }
-
-    private static int resolveFallbackFloorIndexForKey(String buildingKey, String requestedFloorDisplayName, int requestedFloorIndex) {
-        String normalizedKey = normalizeBuildingKey(buildingKey);
-        String canonicalFloor = canonicalFloorLabel(requestedFloorDisplayName);
-
-        if ("nucleus_building".equals(normalizedKey)) {
-            switch (canonicalFloor) {
-                case "LG": return 0;
-                case "G": return 1;
-                case "1": return 2;
-                case "2": return 3;
-                case "3": return 4;
-                default: return Math.max(0, Math.min(requestedFloorIndex, 4));
-            }
-        }
-        if ("library".equals(normalizedKey)) {
-            switch (canonicalFloor) {
-                case "G": return 0;
-                case "1": return 1;
-                case "2": return 2;
-                case "3": return 3;
-                default: return Math.max(0, Math.min(requestedFloorIndex, 3));
-            }
-        }
-        return Math.max(0, requestedFloorIndex);
-    }
-
-    private static int resolveActualMapDrawable(String buildingName, String floorDisplayName, int floorIndex) {
-        buildingName = normalizeBuildingKey(buildingName);
-        String canonicalFloor = canonicalFloorLabel(floorDisplayName);
-        if ("nucleus_building".equals(buildingName)) {
-            if ("LG".equals(canonicalFloor)) return R.drawable.nucleuslg;
-            if ("G".equals(canonicalFloor)) return R.drawable.nucleusg;
-            if ("1".equals(canonicalFloor)) return R.drawable.nucleus1;
-            if ("2".equals(canonicalFloor)) return R.drawable.nucleus2;
-            if ("3".equals(canonicalFloor)) return R.drawable.nucleus3;
-            switch (floorIndex) {
-                case 0: return R.drawable.nucleuslg;
-                case 1: return R.drawable.nucleusg;
-                case 2: return R.drawable.nucleus1;
-                case 3: return R.drawable.nucleus2;
-                case 4: return R.drawable.nucleus3;
-                default: return R.drawable.nucleusg;
-            }
-        }
-        if ("library".equals(buildingName)) {
-            if ("LG".equals(canonicalFloor)) return 0;
-            if ("G".equals(canonicalFloor)) return R.drawable.libraryg;
-            if ("1".equals(canonicalFloor)) return R.drawable.library1;
-            if ("2".equals(canonicalFloor)) return R.drawable.library2;
-            if ("3".equals(canonicalFloor)) return R.drawable.library3;
-            switch (floorIndex) {
-                case 0: return 0;
-                case 1: return R.drawable.libraryg;
-                case 2: return R.drawable.library1;
-                case 3: return R.drawable.library2;
-                case 4: return R.drawable.library3;
-                default: return R.drawable.libraryg;
-            }
-        }
-        return 0;
-    }
-
-    @Nullable
-    private static LatLngBounds computeActualMapBounds(@NonNull Context context,
-                                                       @Nullable FloorplanApiClient.BuildingInfo building,
-                                                       String buildingName,
-                                                       int drawableResId,
-                                                       String floorDisplayName) {
-        buildingName = normalizeBuildingKey(buildingName);
-        ActualMapAlignmentConfig config = getActualMapAlignmentConfig(buildingName);
-
-        LatLngBounds bounds;
-        if ("library".equals(buildingName)) {
-            bounds = computeFixedActualMapBounds(buildingName, drawableResId);
-        } else if (building != null) {
-            bounds = computeThreeEdgeAlignedBounds(context, building, drawableResId, config);
-        } else {
-            bounds = computeFixedActualMapBounds(buildingName, drawableResId);
-        }
-
-        if (bounds == null) {
-            bounds = getFallbackBuildingBounds(buildingName);
-        }
-        if (bounds != null) {
-            bounds = applySavedCalibration(context, bounds, buildingName, floorDisplayName);
-        }
-        return bounds;
-    }
-
-    @Nullable
-    private static LatLngBounds computeFixedActualMapBounds(String buildingName, int drawableResId) {
-        buildingName = normalizeBuildingKey(buildingName);
-        if ("library".equals(buildingName)) {
-            return buildRightAnchoredRectBounds(
-                    BuildingPolygon.LIBRARY_SW,
-                    BuildingPolygon.LIBRARY_NE,
-                    1.000,
-                    1.0,
-                    0.008,
-                    0.0);
-        }
-        return null;
-    }
-
-    @Nullable
-    private static LatLngBounds buildRightAnchoredRectBounds(LatLng southWest,
-                                                             LatLng northEast,
-                                                             double widthScale,
-                                                             double heightScale,
-                                                             double eastShiftRatio,
-                                                             double northShiftRatio) {
-        if (southWest == null || northEast == null) {
-            return null;
-        }
-        double rectWidth = northEast.longitude - southWest.longitude;
-        double rectHeight = northEast.latitude - southWest.latitude;
-        if (rectWidth <= 0d || rectHeight <= 0d) {
-            return null;
-        }
-        double overlayWidth = rectWidth * widthScale;
-        double overlayHeight = rectHeight * heightScale;
-        double east = northEast.longitude + rectWidth * eastShiftRatio;
-        double west = east - overlayWidth;
-        double north = northEast.latitude + rectHeight * northShiftRatio;
-        double south = north - overlayHeight;
-        return new LatLngBounds(new LatLng(south, west), new LatLng(north, east));
-    }
-
-    @Nullable
-    private static LatLngBounds computeThreeEdgeAlignedBounds(@NonNull Context context,
-                                                              @Nullable FloorplanApiClient.BuildingInfo building,
-                                                              int drawableResId,
-                                                              @Nullable ActualMapAlignmentConfig config) {
-        if (building == null || config == null) {
-            return null;
-        }
-        List<LatLng> outline = building.getOutlinePolygon();
-        if (outline == null || outline.size() < 3) {
-            return null;
-        }
-
-        double minLat = Double.POSITIVE_INFINITY;
-        double maxLat = Double.NEGATIVE_INFINITY;
-        double minLng = Double.POSITIVE_INFINITY;
-        double maxLng = Double.NEGATIVE_INFINITY;
-        for (LatLng point : outline) {
-            if (point == null) continue;
-            minLat = Math.min(minLat, point.latitude);
-            maxLat = Math.max(maxLat, point.latitude);
-            minLng = Math.min(minLng, point.longitude);
-            maxLng = Math.max(maxLng, point.longitude);
-        }
-
-        if (!Double.isFinite(minLat) || !Double.isFinite(maxLat) || !Double.isFinite(minLng) || !Double.isFinite(maxLng)
-                || maxLat <= minLat || maxLng <= minLng) {
-            return null;
-        }
-
-        double latSpan = maxLat - minLat;
-        double lngSpan = maxLng - minLng;
-        double visibleNorth = maxLat - latSpan * config.northInsetRatio;
-        double visibleSouth = minLat + latSpan * config.southInsetRatio;
-        if (visibleSouth >= visibleNorth) {
-            return null;
-        }
-
-        double fullAspectRatio = getDrawableAspectRatio(context, drawableResId);
-        if (fullAspectRatio <= 0d) {
-            return null;
-        }
-
-        DrawableContentInsets contentInsets = new DrawableContentInsets(
-                config.leftVisibleInsetRatio,
-                config.topVisibleInsetRatio,
-                config.rightVisibleInsetRatio,
-                config.bottomVisibleInsetRatio);
-
-        double visibleContentHeightFraction = contentInsets.contentHeightFraction();
-        double visibleContentWidthFraction = contentInsets.contentWidthFraction();
-        if (visibleContentHeightFraction <= 0d || visibleContentWidthFraction <= 0d) {
-            return null;
-        }
-
-        double visibleHeightDeg = visibleNorth - visibleSouth;
-        double totalHeightDeg = visibleHeightDeg / visibleContentHeightFraction;
-        double overlayNorth = visibleNorth + totalHeightDeg * contentInsets.topFraction;
-        double overlaySouth = overlayNorth - totalHeightDeg;
-
-        double midLatitudeRadians = Math.toRadians((visibleNorth + visibleSouth) / 2.0);
-        double metersPerDegreeLng = Math.max(111320.0 * Math.cos(midLatitudeRadians), 1.0);
-        double totalHeightMeters = totalHeightDeg * 111320.0;
-        double totalWidthMeters = (totalHeightMeters / fullAspectRatio) * config.widthScale;
-        double totalWidthLng = totalWidthMeters / metersPerDegreeLng;
-        double visibleContentWidthLng = totalWidthLng * visibleContentWidthFraction;
-
-        double visibleEast;
-        double visibleWest;
-        switch (config.horizontalAnchor) {
-            case RIGHT:
-                visibleEast = maxLng - lngSpan * config.horizontalInsetRatio;
-                visibleWest = visibleEast - visibleContentWidthLng;
-                break;
-            case LEFT:
-                visibleWest = minLng + lngSpan * config.horizontalInsetRatio;
-                visibleEast = visibleWest + visibleContentWidthLng;
-                break;
-            case CENTER:
-            default:
-                double centerLng = ((minLng + maxLng) / 2.0) + (lngSpan * (config.leftVisibleInsetRatio - config.rightVisibleInsetRatio) * 0.5);
-                visibleWest = centerLng - visibleContentWidthLng / 2.0;
-                visibleEast = centerLng + visibleContentWidthLng / 2.0;
-                break;
-        }
-
-        double overlayWest = visibleWest - totalWidthLng * contentInsets.leftFraction;
-        double overlayEast = overlayWest + totalWidthLng;
-        return new LatLngBounds(new LatLng(overlaySouth, overlayWest), new LatLng(overlayNorth, overlayEast));
-    }
-
-    private static double getDrawableAspectRatio(@NonNull Context context, int drawableResId) {
-        try {
-            BitmapFactory.Options options = new BitmapFactory.Options();
-            options.inJustDecodeBounds = true;
-            BitmapFactory.decodeResource(context.getResources(), drawableResId, options);
-            if (options.outWidth > 0 && options.outHeight > 0) {
-                return (double) options.outHeight / (double) options.outWidth;
-            }
-        } catch (Exception ignored) {
-        }
-        return 1d;
-    }
-
-    @Nullable
-    private static LatLngBounds getFallbackBuildingBounds(String buildingName) {
-        buildingName = normalizeBuildingKey(buildingName);
-        if ("nucleus_building".equals(buildingName)) {
-            return new LatLngBounds(BuildingPolygon.NUCLEUS_SW, BuildingPolygon.NUCLEUS_NE);
-        }
-        if ("library".equals(buildingName)) {
-            return new LatLngBounds(BuildingPolygon.LIBRARY_SW, BuildingPolygon.LIBRARY_NE);
-        }
-        if ("murchison_house".equals(buildingName)) {
-            return new LatLngBounds(BuildingPolygon.MURCHISON_SW, BuildingPolygon.MURCHISON_NE);
-        }
-        return null;
-    }
-
-    private static ActualMapAlignmentConfig getActualMapAlignmentConfig(String buildingName) {
-        buildingName = normalizeBuildingKey(buildingName);
-        if ("nucleus_building".equals(buildingName)) {
-            return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 0.99,
-                    0.0, 0.0, 0.0, 0.0);
-        }
-        if ("library".equals(buildingName)) {
-            return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 0.985,
-                    0.0, 0.0, 0.0, 0.0);
-        }
-        if ("murchison_house".equals(buildingName)) {
-            return new ActualMapAlignmentConfig(HorizontalAnchor.CENTER, 0.0, 0.0, 0.0, 1.0,
-                    0.0, 0.0, 0.0, 0.0);
-        }
-        return new ActualMapAlignmentConfig(HorizontalAnchor.CENTER, 0.0, 0.0, 0.0, 1.0,
-                0.0, 0.0, 0.0, 0.0);
-    }
-
-    private static LatLngBounds applySavedCalibration(@NonNull Context context,
-                                                      LatLngBounds baseBounds,
-                                                      String buildingKey,
-                                                      String floorDisplayName) {
-        if (baseBounds == null) {
-            return null;
-        }
-        OverlayCalibration calibration = loadOverlayCalibration(context, buildingKey, floorDisplayName);
-        double baseNorth = baseBounds.northeast.latitude;
-        double baseSouth = baseBounds.southwest.latitude;
-        double baseEast = baseBounds.northeast.longitude;
-        double baseWest = baseBounds.southwest.longitude;
-        double latSpan = baseNorth - baseSouth;
-        double lngSpan = baseEast - baseWest;
-        if (latSpan <= 0d || lngSpan <= 0d) {
-            return baseBounds;
-        }
-
-        double centerLat = ((baseNorth + baseSouth) / 2d) + latSpan * calibration.shiftLatRatio;
-        double centerLng = ((baseEast + baseWest) / 2d) + lngSpan * calibration.shiftLngRatio;
-        double adjustedLatSpan = latSpan * calibration.heightScale;
-        double adjustedLngSpan = lngSpan * calibration.widthScale;
-
-        double north = centerLat + adjustedLatSpan / 2d;
-        double south = centerLat - adjustedLatSpan / 2d;
-        double east = centerLng + adjustedLngSpan / 2d;
-        double west = centerLng - adjustedLngSpan / 2d;
-        return new LatLngBounds(new LatLng(south, west), new LatLng(north, east));
-    }
-
-    private static OverlayCalibration loadOverlayCalibration(@NonNull Context context,
-                                                             String buildingKey,
-                                                             String floorDisplayName) {
-        OverlayCalibration defaults = getHardcodedCalibrationDefault(buildingKey, floorDisplayName);
-        SharedPreferences prefs = context.getSharedPreferences(CALIBRATION_PREFS_NAME, Context.MODE_PRIVATE);
-        String baseKey = getCalibrationPrefBaseKey(buildingKey, floorDisplayName);
-        return new OverlayCalibration(
-                prefs.getFloat(baseKey + "_shift_lat", defaults.shiftLatRatio),
-                prefs.getFloat(baseKey + "_shift_lng", defaults.shiftLngRatio),
-                prefs.getFloat(baseKey + "_width", defaults.widthScale),
-                prefs.getFloat(baseKey + "_height", defaults.heightScale)
-        );
-    }
-
-    private static String getCalibrationPrefBaseKey(String buildingKey, String floorDisplayName) {
-        String normalizedBuilding = normalizeBuildingKey(buildingKey);
-        String normalizedFloor = canonicalFloorLabel(floorDisplayName);
-        return normalizedBuilding + "__" + normalizedFloor;
-    }
-
-    private static OverlayCalibration getHardcodedCalibrationDefault(String buildingKey, String floorDisplayName) {
-        String normalizedBuilding = normalizeBuildingKey(buildingKey);
-        String normalizedFloor = canonicalFloorLabel(floorDisplayName);
-
-        if ("nucleus_building".equals(normalizedBuilding)) {
-            switch (normalizedFloor) {
-                case "LG": return new OverlayCalibration(0.012f, -0.022f, 0.967f, 0.986f);
-                case "G": return new OverlayCalibration(0.029f, -0.052f, 0.958f, 0.942f);
-                case "1": return new OverlayCalibration(0.004f, 0.000f, 1.000f, 0.981f);
-                case "2": return new OverlayCalibration(0.005f, -0.005f, 1.000f, 1.000f);
-                case "3": return new OverlayCalibration(0.005f, 0.005f, 1.015f, 0.990f);
-                default: return OverlayCalibration.identity();
-            }
-        }
-
-        if ("library".equals(normalizedBuilding)) {
-            switch (normalizedFloor) {
-                case "G": return new OverlayCalibration(-0.072f, 0.018f, 0.965f, 1.098f);
-                case "1": return new OverlayCalibration(-0.053f, 0.019f, 0.945f, 1.050f);
-                case "2": return new OverlayCalibration(-0.075f, 0.025f, 0.950f, 1.070f);
-                case "3": return new OverlayCalibration(-0.070f, 0.025f, 0.960f, 1.065f);
-                default: return OverlayCalibration.identity();
-            }
-        }
-        return OverlayCalibration.identity();
-    }
-
-    private static String getFloorDisplayName(@Nullable FloorplanApiClient.BuildingInfo building, int floorIndex) {
-        if (building == null || building.getFloorShapesList() == null || floorIndex < 0 || floorIndex >= building.getFloorShapesList().size()) {
-            return "";
-        }
-        String displayName = building.getFloorShapesList().get(floorIndex).getDisplayName();
-        return displayName == null ? "" : displayName.trim().toUpperCase();
-    }
-
-    public static String normalizeBuildingKey(String buildingName) {
-        if (buildingName == null) {
-            return "";
-        }
-        String key = buildingName.trim().toLowerCase();
-        if (key.contains("nucleus") || key.contains("nuclear")) {
-            return "nucleus_building";
-        }
-        if (key.contains("library") || key.contains("kenneth") || key.contains("murray")) {
-            return "library";
-        }
-        if (key.contains("murchison")) {
-            return "murchison_house";
-        }
-        return key;
-    }
-
-    public static String resolveKnownBuildingKey(@Nullable FloorplanApiClient.BuildingInfo building, @Nullable String buildingName) {
-        String normalized = normalizeBuildingKey(buildingName);
-        if ("nucleus_building".equals(normalized) || "library".equals(normalized) || "murchison_house".equals(normalized)) {
-            return normalized;
-        }
-
-        LatLng center = building != null ? building.getCenter() : null;
-        if (center != null) {
-            if (BuildingPolygon.inLibrary(center)) return "library";
-            if (BuildingPolygon.inNucleus(center)) return "nucleus_building";
-            if (BuildingPolygon.inMurchison(center)) return "murchison_house";
-        }
-
-        List<LatLng> outline = building != null ? building.getOutlinePolygon() : null;
-        if (outline != null && !outline.isEmpty()) {
-            LatLng centroid = computeOutlineCentroid(outline);
-            if (centroid != null) {
-                if (BuildingPolygon.inLibrary(centroid)) return "library";
-                if (BuildingPolygon.inNucleus(centroid)) return "nucleus_building";
-                if (BuildingPolygon.inMurchison(centroid)) return "murchison_house";
-            }
-        }
-        return normalized;
-    }
-
-    @Nullable
-    private static LatLng computeOutlineCentroid(@Nullable List<LatLng> outline) {
-        if (outline == null || outline.isEmpty()) {
-            return null;
-        }
-        double latSum = 0d;
-        double lngSum = 0d;
-        int count = 0;
-        for (LatLng point : outline) {
-            if (point == null) continue;
-            latSum += point.latitude;
-            lngSum += point.longitude;
-            count++;
-        }
-        if (count == 0) {
-            return null;
-        }
-        return new LatLng(latSum / count, lngSum / count);
-    }
-
-    public static String canonicalFloorLabel(String floorLabel) {
-        String normalized = normalizeFloorLabel(floorLabel);
-        switch (normalized) {
-            case "LG":
-            case "LOWERGROUND":
-            case "LOWERG":
-            case "B1":
-            case "BASEMENT1":
-                return "LG";
-            case "G":
-            case "GF":
-            case "GROUND":
-            case "GROUNDFLOOR":
-            case "0":
-                return "G";
-            case "1":
-            case "F1":
-            case "FIRST":
-            case "FIRSTFLOOR":
-                return "1";
-            case "2":
-            case "F2":
-            case "SECOND":
-            case "SECONDFLOOR":
-                return "2";
-            case "3":
-            case "F3":
-            case "THIRD":
-            case "THIRDFLOOR":
-                return "3";
-            default:
-                return normalized;
-        }
-    }
-
-    private static String normalizeFloorLabel(String floorDisplayName) {
-        if (floorDisplayName == null) {
-            return "";
-        }
-        return floorDisplayName.trim().toUpperCase().replace(" ", "");
-    }
-
-    private enum HorizontalAnchor { LEFT, CENTER, RIGHT }
-
-    private static final class ActualMapAlignmentConfig {
-        final HorizontalAnchor horizontalAnchor;
-        final double northInsetRatio;
-        final double southInsetRatio;
-        final double horizontalInsetRatio;
-        final double widthScale;
-        final double topVisibleInsetRatio;
-        final double bottomVisibleInsetRatio;
-        final double rightVisibleInsetRatio;
-        final double leftVisibleInsetRatio;
-
-        ActualMapAlignmentConfig(HorizontalAnchor horizontalAnchor,
-                                 double northInsetRatio,
-                                 double southInsetRatio,
-                                 double horizontalInsetRatio,
-                                 double widthScale,
-                                 double topVisibleInsetRatio,
-                                 double bottomVisibleInsetRatio,
-                                 double rightVisibleInsetRatio,
-                                 double leftVisibleInsetRatio) {
-            this.horizontalAnchor = horizontalAnchor;
-            this.northInsetRatio = northInsetRatio;
-            this.southInsetRatio = southInsetRatio;
-            this.horizontalInsetRatio = horizontalInsetRatio;
-            this.widthScale = widthScale;
-            this.topVisibleInsetRatio = topVisibleInsetRatio;
-            this.bottomVisibleInsetRatio = bottomVisibleInsetRatio;
-            this.rightVisibleInsetRatio = rightVisibleInsetRatio;
-            this.leftVisibleInsetRatio = leftVisibleInsetRatio;
-        }
-    }
-
-    private static final class DrawableContentInsets {
-        final double leftFraction;
-        final double topFraction;
-        final double rightFraction;
-        final double bottomFraction;
-
-        DrawableContentInsets(double leftFraction, double topFraction, double rightFraction, double bottomFraction) {
-            this.leftFraction = clamp01(leftFraction);
-            this.topFraction = clamp01(topFraction);
-            this.rightFraction = clamp01(rightFraction);
-            this.bottomFraction = clamp01(bottomFraction);
-        }
-
-        double contentWidthFraction() {
-            return Math.max(0.01d, 1d - leftFraction - rightFraction);
-        }
-
-        double contentHeightFraction() {
-            return Math.max(0.01d, 1d - topFraction - bottomFraction);
-        }
-    }
-
-    private static final class OverlayCalibration {
-        final float shiftLatRatio;
-        final float shiftLngRatio;
-        final float widthScale;
-        final float heightScale;
-
-        OverlayCalibration(float shiftLatRatio, float shiftLngRatio, float widthScale, float heightScale) {
-            this.shiftLatRatio = shiftLatRatio;
-            this.shiftLngRatio = shiftLngRatio;
-            this.widthScale = widthScale;
-            this.heightScale = heightScale;
-        }
-
-        static OverlayCalibration identity() {
-            return new OverlayCalibration(0f, 0f, 1f, 1f);
-        }
-    }
-
-    private static double clamp01(double value) {
-        return Math.max(0d, Math.min(1d, value));
-    }
-}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 6c714c97..8c2fe5e3 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -218,6 +218,15 @@ static OverlayCalibration identity() {
     @Nullable
     private CandidatePose previousMatchedPose;
 
+    private boolean replayModeEnabled = false;
+    @Nullable
+    private Integer replaySyntheticFloor;
+    @Nullable
+    private Double replayCurrentElevation;
+    @Nullable
+    private Double replayDeltaHeight;
+    private boolean replayHeightChanged = false;
+
     private Handler autoFloorHandler;
     private Runnable autoFloorTask;
     private int lastCandidateFloor = Integer.MIN_VALUE;
@@ -1612,6 +1621,56 @@ public void onNothingSelected(AdapterView<?> parent) {
         });
     }
 
+    public void setReplayModeEnabled(boolean enabled) {
+        replayModeEnabled = enabled;
+        if (enabled) {
+            stopAutoFloor();
+        }
+        if (autoFloorSwitch != null) {
+            autoFloorSwitch.setChecked(false);
+            autoFloorSwitch.setEnabled(!enabled);
+            autoFloorSwitch.setAlpha(enabled ? 0.45f : 1f);
+        }
+    }
+
+    public void setReplayFrameContext(@Nullable Integer syntheticFloor,
+                                      @Nullable Double currentElevation,
+                                      @Nullable Double deltaHeight,
+                                      boolean heightChanged) {
+        setReplayModeEnabled(true);
+        replaySyntheticFloor = syntheticFloor;
+        replayCurrentElevation = currentElevation;
+        replayDeltaHeight = deltaHeight;
+        replayHeightChanged = heightChanged;
+    }
+
+    private int resolveReplayCandidateFloorIndex() {
+        if (!replayModeEnabled || replaySyntheticFloor == null) {
+            return currentFloorIndex;
+        }
+        if (selectedFloorplanBuilding == null || indoorMapManager == null) {
+            return currentFloorIndex;
+        }
+
+        indoorMapManager.setSelectedBuilding(selectedFloorplanBuilding);
+        int mappedFloorIndex = indoorMapManager.logicalFloorToIndex(replaySyntheticFloor);
+        int maxFloor = Math.max(0, selectedFloorplanBuilding.getFloorShapesList().size() - 1);
+        return Math.max(0, Math.min(mappedFloorIndex, maxFloor));
+    }
+
+    private void applyReplayMatchedFloorIfNeeded(int matchedFloorIndex) {
+        if (selectedFloorplanBuilding == null || indoorMapManager == null) {
+            return;
+        }
+        int maxFloor = Math.max(0, selectedFloorplanBuilding.getFloorShapesList().size() - 1);
+        int clampedFloor = Math.max(0, Math.min(matchedFloorIndex, maxFloor));
+        if (clampedFloor == currentFloorIndex) {
+            return;
+        }
+        indoorMapManager.setSelectedBuilding(selectedFloorplanBuilding);
+        setFloor(clampedFloor);
+    }
+
     public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         if (gMap == null) {
             return;
@@ -1622,9 +1681,10 @@ public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
 
         FloorplanApiClient.FloorShapes activeFloorShapes = getActiveFloorShapesForMatching();
         long timestampMs = SystemClock.elapsedRealtime();
+        int replayCandidateFloorIndex = resolveReplayCandidateFloorIndex();
         CandidatePose currentCandidatePose = new CandidatePose(
                 rawLocation,
-                currentFloorIndex,
+                replayCandidateFloorIndex,
                 timestampMs,
                 "replay_pdr"
         );
@@ -1671,6 +1731,7 @@ public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
                 timestampMs,
                 "map_matched"
         );
+        applyReplayMatchedFloorIfNeeded(matchedFloor);
 
         boolean shouldFollowCamera = !(indoorMapVisible || actualMapVisible);
         if (orientationMarker == null) {
@@ -1746,7 +1807,16 @@ private MotionDelta buildMotionDelta(@Nullable CandidatePose previousPose,
 
     @Nullable
     private VerticalTransitionHint buildReplayVerticalHint() {
-        return null;
+        if (!replayModeEnabled) {
+            return null;
+        }
+        if (replayCurrentElevation == null && replayDeltaHeight == null && !replayHeightChanged) {
+            return null;
+        }
+
+        double currentElevation = replayCurrentElevation != null ? replayCurrentElevation : 0d;
+        double deltaHeight = replayDeltaHeight != null ? replayDeltaHeight : 0d;
+        return new VerticalTransitionHint(currentElevation, deltaHeight, replayHeightChanged);
     }
 
     private void resetMapMatchingState() {
@@ -2210,6 +2280,10 @@ public void clearMapAndReset() {
         }
         lastGnssLocation = null;
         currentLocation = null;
+        replaySyntheticFloor = null;
+        replayCurrentElevation = null;
+        replayDeltaHeight = null;
+        replayHeightChanged = false;
         resetMapMatchingState();
 
         for (Marker m : testPointMarkers) {
@@ -2254,6 +2328,12 @@ public void clearMapAndReset() {
     }
 
     private void startAutoFloor() {
+        if (replayModeEnabled) {
+            if (autoFloorSwitch != null) {
+                autoFloorSwitch.setChecked(false);
+            }
+            return;
+        }
         if (autoFloorHandler == null) {
             autoFloorHandler = new Handler(Looper.getMainLooper());
         }
@@ -2272,6 +2352,9 @@ public void run() {
     }
 
     private void applyImmediateFloor() {
+        if (replayModeEnabled) {
+            return;
+        }
         if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
             return;
         }
@@ -2300,6 +2383,9 @@ private void stopAutoFloor() {
     }
 
     private void evaluateAutoFloor() {
+        if (replayModeEnabled) {
+            return;
+        }
         if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
             return;
         }
diff --git a/app/src/main/res/layout/fragment_startlocation.xml b/app/src/main/res/layout/fragment_startlocation.xml
index 343a13df..135478dd 100644
--- a/app/src/main/res/layout/fragment_startlocation.xml
+++ b/app/src/main/res/layout/fragment_startlocation.xml
@@ -20,33 +20,6 @@
             android:layout_width="match_parent"
             android:layout_height="match_parent">
 
-            <LinearLayout
-                android:id="@+id/topControlBar"
-                android:visibility="gone"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:orientation="horizontal"
-                android:gravity="center"
-                android:padding="8dp"
-                android:background="#B3FFFFFF"
-                app:layout_constraintTop_toTopOf="parent"
-                app:layout_constraintStart_toStartOf="parent"
-                app:layout_constraintEnd_toEndOf="parent">
-
-                <Button
-                    android:id="@+id/btnFindActualMap"
-                    android:layout_width="wrap_content"
-                    android:layout_height="wrap_content"
-                    android:layout_marginEnd="16dp"
-                    android:text="Find Actual Maps" />
-
-                <Button
-                    android:id="@+id/btnFindIndoorMap"
-                    android:layout_width="wrap_content"
-                    android:layout_height="wrap_content"
-                    android:text="Find Indoormaps" />
-            </LinearLayout>
-
             <com.google.android.material.card.MaterialCardView
                 android:id="@+id/cardView"
                 android:layout_width="match_parent"
@@ -60,45 +33,62 @@
                 app:layout_constraintEnd_toEndOf="parent">
 
                 <TextView
-                    android:layout_gravity="center"
                     android:id="@+id/correctionInfoView"
                     android:layout_width="wrap_content"
                     android:layout_height="wrap_content"
+                    android:layout_gravity="center"
                     android:layout_margin="16dp"
-                    android:text="@string/buildingSelectionInstructions"
+                    android:text="Drag the marker or tap a blue building outline, then choose the floor."
+                    android:textAlignment="center"
                     android:textAppearance="?attr/textAppearanceBodyLarge"
-                    android:textColor="@color/md_theme_onPrimary"
-                    android:textAlignment="center"/>
+                    android:textColor="@color/md_theme_onPrimary" />
             </com.google.android.material.card.MaterialCardView>
 
-            <com.google.android.material.card.MaterialCardView
-                android:id="@+id/buildingInfoCard"
+            <LinearLayout
+                android:id="@+id/floorControlPanel"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:layout_margin="8dp"
-                android:visibility="gone"
-                app:cardCornerRadius="8dp"
-                app:cardElevation="4dp"
+                android:orientation="vertical"
+                android:gravity="center"
+                android:padding="8dp"
+                android:background="#CCFFFFFF"
+                android:layout_margin="12dp"
                 app:layout_constraintTop_toBottomOf="@id/cardView"
-                app:layout_constraintStart_toStartOf="parent"
                 app:layout_constraintEnd_toEndOf="parent">
 
+                <com.google.android.material.floatingactionbutton.FloatingActionButton
+                    android:id="@+id/floorUpButton"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:contentDescription="Floor up"
+                    app:srcCompat="@android:drawable/arrow_up_float"
+                    app:fabSize="mini" />
+
                 <TextView
-                    android:id="@+id/buildingNameText"
+                    android:id="@+id/floorLabel"
                     android:layout_width="wrap_content"
                     android:layout_height="wrap_content"
-                    android:layout_margin="12dp"
-                    android:textAppearance="?attr/textAppearanceBodyMedium"
-                    android:drawablePadding="8dp"
-                    android:textAlignment="center"/>
-            </com.google.android.material.card.MaterialCardView>
+                    android:layout_marginTop="8dp"
+                    android:layout_marginBottom="8dp"
+                    android:text="G"
+                    android:textStyle="bold"
+                    android:textSize="18sp" />
+
+                <com.google.android.material.floatingactionbutton.FloatingActionButton
+                    android:id="@+id/floorDownButton"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:contentDescription="Floor down"
+                    app:srcCompat="@android:drawable/arrow_down_float"
+                    app:fabSize="mini" />
+            </LinearLayout>
 
             <Button
                 android:id="@+id/startLocationDone"
                 android:layout_width="150dp"
                 android:layout_height="56dp"
                 android:layout_marginBottom="24dp"
-                android:text="@string/setLocation"
+                android:text="Set Location"
                 android:textSize="24sp"
                 app:icon="@drawable/ic_baseline_add_location_24"
                 app:iconGravity="start"
@@ -110,4 +100,4 @@
         </androidx.constraintlayout.widget.ConstraintLayout>
 
     </FrameLayout>
-</RelativeLayout>
\ No newline at end of file
+</RelativeLayout>
diff --git a/secrets.properties b/secrets.properties
index 7907b650..d959890d 100644
--- a/secrets.properties
+++ b/secrets.properties
@@ -1,6 +1,6 @@
 #
 # Modify the variables to set your keys
 #
-MAPS_API_KEY=
-OPENPOSITIONING_API_KEY=
-OPENPOSITIONING_MASTER_KEY=
+MAPS_API_KEY=AIzaSyAhE0bUiRZAM1VUt0DwzMff8fKOmw-SCMM
+OPENPOSITIONING_API_KEY=B28brNJh6W9lBRTdi4n7hQ
+OPENPOSITIONING_MASTER_KEY=ewireless

From c4d43f2745004bf5428e030ab35e0e951e967cab Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Fri, 20 Mar 2026 03:04:34 +0000
Subject: [PATCH 09/35] delete key

---
 secrets.properties | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/secrets.properties b/secrets.properties
index d959890d..a25ed94c 100644
--- a/secrets.properties
+++ b/secrets.properties
@@ -1,6 +1,4 @@
 #
 # Modify the variables to set your keys
 #
-MAPS_API_KEY=AIzaSyAhE0bUiRZAM1VUt0DwzMff8fKOmw-SCMM
-OPENPOSITIONING_API_KEY=B28brNJh6W9lBRTdi4n7hQ
-OPENPOSITIONING_MASTER_KEY=ewireless
+

From 0e7cb085f7cf07e8aae4b40d14047a3232e91f63 Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Fri, 20 Mar 2026 06:47:28 +0000
Subject: [PATCH 10/35] floor test

---
 ...ry_reasonable_cross_wall_long_recover.json |   3 +-
 ..._reasonable_false_floor_change_reject.json |   3 +-
 .../replay/trajectory_reasonable_lift_up.json |   3 +-
 ...rajectory_reasonable_same_floor_turns.json |   3 +-
 .../trajectory_reasonable_stairs_up.json      |   3 +-
 .../PositionMe/data/local/TrajParser.java     |  11 +-
 .../presentation/activity/ReplayActivity.java |   2 +-
 .../presentation/fragment/ReplayFragment.java |   6 +-
 .../fragment/TrajectoryMapFragment.java       | 165 ++++++++++++++++--
 .../PositionMe/utils/IndoorMapManager.java    |  34 +++-
 10 files changed, 202 insertions(+), 31 deletions(-)

diff --git a/app/src/main/assets/replay/trajectory_reasonable_cross_wall_long_recover.json b/app/src/main/assets/replay/trajectory_reasonable_cross_wall_long_recover.json
index b8f8a0a5..327bd9a1 100644
--- a/app/src/main/assets/replay/trajectory_reasonable_cross_wall_long_recover.json
+++ b/app/src/main/assets/replay/trajectory_reasonable_cross_wall_long_recover.json
@@ -937,5 +937,6 @@
     }
   ],
   "gnssData": [],
-  "magnetometerData": []
+  "magnetometerData": [],
+  "initialFloor": 2
 }
\ No newline at end of file
diff --git a/app/src/main/assets/replay/trajectory_reasonable_false_floor_change_reject.json b/app/src/main/assets/replay/trajectory_reasonable_false_floor_change_reject.json
index 479dbc6b..c8e35654 100644
--- a/app/src/main/assets/replay/trajectory_reasonable_false_floor_change_reject.json
+++ b/app/src/main/assets/replay/trajectory_reasonable_false_floor_change_reject.json
@@ -821,5 +821,6 @@
     }
   ],
   "gnssData": [],
-  "magnetometerData": []
+  "magnetometerData": [],
+  "initialFloor": 2
 }
\ No newline at end of file
diff --git a/app/src/main/assets/replay/trajectory_reasonable_lift_up.json b/app/src/main/assets/replay/trajectory_reasonable_lift_up.json
index 9d354e38..7f2590d4 100644
--- a/app/src/main/assets/replay/trajectory_reasonable_lift_up.json
+++ b/app/src/main/assets/replay/trajectory_reasonable_lift_up.json
@@ -1256,5 +1256,6 @@
     }
   ],
   "gnssData": [],
-  "magnetometerData": []
+  "magnetometerData": [],
+  "initialFloor": 2
 }
\ No newline at end of file
diff --git a/app/src/main/assets/replay/trajectory_reasonable_same_floor_turns.json b/app/src/main/assets/replay/trajectory_reasonable_same_floor_turns.json
index c8f646da..11ab5e71 100644
--- a/app/src/main/assets/replay/trajectory_reasonable_same_floor_turns.json
+++ b/app/src/main/assets/replay/trajectory_reasonable_same_floor_turns.json
@@ -821,5 +821,6 @@
     }
   ],
   "gnssData": [],
-  "magnetometerData": []
+  "magnetometerData": [],
+  "initialFloor": 2
 }
\ No newline at end of file
diff --git a/app/src/main/assets/replay/trajectory_reasonable_stairs_up.json b/app/src/main/assets/replay/trajectory_reasonable_stairs_up.json
index bb27bf25..e3eb8b7f 100644
--- a/app/src/main/assets/replay/trajectory_reasonable_stairs_up.json
+++ b/app/src/main/assets/replay/trajectory_reasonable_stairs_up.json
@@ -1285,5 +1285,6 @@
     }
   ],
   "gnssData": [],
-  "magnetometerData": []
+  "magnetometerData": [],
+  "initialFloor": 2
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java b/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
index 574ae2ba..40c6a54a 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
@@ -69,6 +69,7 @@ public static class ReplayPoint {
         public Double currentElevation; // Elevation hint from replay JSON, if available
         public Double deltaHeight; // Delta height hint from replay JSON, if available
         public boolean heightChanged; // Whether replay JSON indicates a vertical transition
+        public Integer initialFloor; // Absolute initial logical floor for replay, if available
 
         /**
          * Constructs a ReplayPoint.
@@ -91,7 +92,8 @@ public ReplayPoint(LatLng pdrLocation,
                            Integer syntheticFloor,
                            Double currentElevation,
                            Double deltaHeight,
-                           boolean heightChanged) {
+                           boolean heightChanged,
+                           Integer initialFloor) {
             this.pdrLocation = pdrLocation;
             this.gnssLocation = gnssLocation;
             this.orientation = orientation;
@@ -101,6 +103,7 @@ public ReplayPoint(LatLng pdrLocation,
             this.currentElevation = currentElevation;
             this.deltaHeight = deltaHeight;
             this.heightChanged = heightChanged;
+            this.initialFloor = initialFloor;
         }
     }
 
@@ -170,6 +173,9 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
             Log.i(TAG, "Successfully read trajectory file: " + filePath);
 
             long startTimestamp = root.has("startTimestamp") ? root.get("startTimestamp").getAsLong() : 0;
+            Integer initialFloor = root.has("initialFloor") && !root.get("initialFloor").isJsonNull()
+                    ? root.get("initialFloor").getAsInt()
+                    : null;
 
             List<ImuRecord> imuList = parseImuData(root.getAsJsonArray("imuData"));
             List<PdrRecord> pdrList = parsePdrData(root.getAsJsonArray("pdrData"));
@@ -218,7 +224,8 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
                         pdr.syntheticFloor,
                         pdr.currentElevation,
                         pdr.deltaHeight,
-                        Boolean.TRUE.equals(pdr.heightChanged)
+                        Boolean.TRUE.equals(pdr.heightChanged),
+                        initialFloor
                 ));
             }
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
index 89ca6e5a..c9eeb9ab 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
@@ -38,7 +38,7 @@ public class ReplayActivity extends AppCompatActivity {
     /**
      * Asset file to replay. Put this file under app/src/main/assets/replay/.
      */
-    private static final String FORCED_ASSET_PATH = "replay/trajectory_long_same_floor.json";
+    private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_false_floor_change_reject.json";
 //修改验证的 asset里的 json文件
     private String filePath;
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
index 4dc4fafd..77762ad5 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
@@ -336,7 +336,8 @@ private void updateMapForIndex(int newIndex) {
                         p.syntheticFloor,
                         p.currentElevation,
                         p.deltaHeight,
-                        p.heightChanged
+                        p.heightChanged,
+                        p.initialFloor
                 );
                 trajectoryMapFragment.updateUserLocation(p.pdrLocation, p.orientation);
                 if (p.gnssLocation != null) {
@@ -350,7 +351,8 @@ private void updateMapForIndex(int newIndex) {
                     p.syntheticFloor,
                     p.currentElevation,
                     p.deltaHeight,
-                    p.heightChanged
+                    p.heightChanged,
+                    p.initialFloor
             );
             trajectoryMapFragment.updateUserLocation(p.pdrLocation, p.orientation);
             if (p.gnssLocation != null) {
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 8c2fe5e3..07b29def 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -226,6 +226,11 @@ static OverlayCalibration identity() {
     @Nullable
     private Double replayDeltaHeight;
     private boolean replayHeightChanged = false;
+    @Nullable
+    private Integer replayInitialFloor;
+    @Nullable
+    private Integer replayBaseFloorIndex;
+    private boolean replayDisplayFloorInitialized = false;
 
     private Handler autoFloorHandler;
     private Runnable autoFloorTask;
@@ -550,7 +555,7 @@ private void setFloor(int newFloorIndex) {
         }
 
         resetMapOverlays();
-        indoorMapManager.setVectorBaseplateEnabled(!actualMapVisible);
+        indoorMapManager.setVectorBaseplateEnabled(false);
         if (actualMapVisible) {
             updateRealMapOverlay(selectedFloorplanBuilding.getName(), currentFloorIndex, true);
         }
@@ -1156,6 +1161,8 @@ private void onFloorplanBuildingSelected(FloorplanApiClient.BuildingInfo buildin
         indoorMapVisible = false;
         actualMapVisible = false;
         currentFloorIndex = getDefaultFloorIndex(building);
+        replayBaseFloorIndex = null;
+        replayDisplayFloorInitialized = false;
 
         if (polygon != null) {
             polygon.setZIndex(1f);
@@ -1625,6 +1632,9 @@ public void setReplayModeEnabled(boolean enabled) {
         replayModeEnabled = enabled;
         if (enabled) {
             stopAutoFloor();
+        } else {
+            replayBaseFloorIndex = null;
+            replayDisplayFloorInitialized = false;
         }
         if (autoFloorSwitch != null) {
             autoFloorSwitch.setChecked(false);
@@ -1637,25 +1647,133 @@ public void setReplayFrameContext(@Nullable Integer syntheticFloor,
                                       @Nullable Double currentElevation,
                                       @Nullable Double deltaHeight,
                                       boolean heightChanged) {
+        setReplayFrameContext(syntheticFloor, currentElevation, deltaHeight, heightChanged, null);
+    }
+
+    public void setReplayFrameContext(@Nullable Integer syntheticFloor,
+                                      @Nullable Double currentElevation,
+                                      @Nullable Double deltaHeight,
+                                      boolean heightChanged,
+                                      @Nullable Integer initialFloor) {
         setReplayModeEnabled(true);
         replaySyntheticFloor = syntheticFloor;
         replayCurrentElevation = currentElevation;
         replayDeltaHeight = deltaHeight;
         replayHeightChanged = heightChanged;
+        if (initialFloor != null && (replayInitialFloor == null || !initialFloor.equals(replayInitialFloor))) {
+            replayBaseFloorIndex = null;
+            replayDisplayFloorInitialized = false;
+        }
+        replayInitialFloor = initialFloor;
+        maybeInitializeReplayDisplayFloor();
+        Log.d(TAG, String.format(Locale.US,
+                "Replay frame context initialFloor=%s syntheticFloor=%s elevation=%s deltaHeight=%s heightChanged=%s",
+                String.valueOf(initialFloor),
+                String.valueOf(syntheticFloor),
+                String.valueOf(currentElevation),
+                String.valueOf(deltaHeight),
+                String.valueOf(heightChanged)));
     }
 
     private int resolveReplayCandidateFloorIndex() {
-        if (!replayModeEnabled || replaySyntheticFloor == null) {
+        Integer baseFloorIndex = resolveReplayBaseFloorIndex();
+        if (!replayModeEnabled || baseFloorIndex == null || selectedFloorplanBuilding == null) {
             return currentFloorIndex;
         }
-        if (selectedFloorplanBuilding == null || indoorMapManager == null) {
-            return currentFloorIndex;
+
+        List<Integer> orderedFloorIndices = getOrderedFloorIndices(selectedFloorplanBuilding);
+        if (orderedFloorIndices.isEmpty()) {
+            return baseFloorIndex;
+        }
+
+        int basePosition = orderedFloorIndices.indexOf(baseFloorIndex);
+        if (basePosition < 0) {
+            return baseFloorIndex;
+        }
+
+        int relativeFloorOffset = 0;
+        if (replaySyntheticFloor != null && replaySyntheticFloor > 0 && hasReplayVerticalEvidence()) {
+            relativeFloorOffset = replaySyntheticFloor;
+        }
+
+        int targetPosition = Math.max(0, Math.min(basePosition + relativeFloorOffset, orderedFloorIndices.size() - 1));
+        return orderedFloorIndices.get(targetPosition);
+    }
+
+    @Nullable
+    private Integer resolveReplayBaseFloorIndex() {
+        if (!replayModeEnabled || selectedFloorplanBuilding == null) {
+            return null;
+        }
+        if (replayBaseFloorIndex != null) {
+            int maxFloor = Math.max(0, selectedFloorplanBuilding.getFloorShapesList().size() - 1);
+            return Math.max(0, Math.min(replayBaseFloorIndex, maxFloor));
+        }
+        if (replayInitialFloor == null) {
+            replayBaseFloorIndex = currentFloorIndex;
+            return replayBaseFloorIndex;
+        }
+
+        String desiredFloorLabel;
+        if (replayInitialFloor < 0) {
+            desiredFloorLabel = "LG";
+        } else if (replayInitialFloor == 0) {
+            desiredFloorLabel = "G";
+        } else {
+            desiredFloorLabel = String.valueOf(replayInitialFloor);
+        }
+
+        for (int i = 0; i < selectedFloorplanBuilding.getFloorShapesList().size(); i++) {
+            String candidateLabel = canonicalFloorLabel(selectedFloorplanBuilding.getFloorShapesList().get(i).getDisplayName());
+            if (desiredFloorLabel.equals(candidateLabel)) {
+                replayBaseFloorIndex = i;
+                return replayBaseFloorIndex;
+            }
         }
 
+        replayBaseFloorIndex = currentFloorIndex;
+        return replayBaseFloorIndex;
+    }
+
+    private boolean hasReplayVerticalEvidence() {
+        if (!replayModeEnabled) {
+            return false;
+        }
+        if (replayHeightChanged) {
+            return true;
+        }
+        if (replayDeltaHeight != null && Math.abs(replayDeltaHeight) >= 0.35d) {
+            return true;
+        }
+        if (replayCurrentElevation != null && Math.abs(replayCurrentElevation) >= 0.35d) {
+            return true;
+        }
+        return false;
+    }
+
+    private void maybeInitializeReplayDisplayFloor() {
+        if (!replayModeEnabled || replayDisplayFloorInitialized || selectedFloorplanBuilding == null || indoorMapManager == null) {
+            return;
+        }
+        Integer baseFloorIndex = resolveReplayBaseFloorIndex();
+        if (baseFloorIndex == null) {
+            return;
+        }
         indoorMapManager.setSelectedBuilding(selectedFloorplanBuilding);
-        int mappedFloorIndex = indoorMapManager.logicalFloorToIndex(replaySyntheticFloor);
-        int maxFloor = Math.max(0, selectedFloorplanBuilding.getFloorShapesList().size() - 1);
-        return Math.max(0, Math.min(mappedFloorIndex, maxFloor));
+        setFloor(baseFloorIndex);
+        replayDisplayFloorInitialized = true;
+        Log.d(TAG, "Initialized replay display floor index=" + baseFloorIndex);
+
+        // 修复：如果地图匹配在建筑加载之前处理了点，它会错误地锁定在0层（LG）。
+        // 强制将 previousMatchedPose 设置为正确的初始楼层，以防止错误的楼层变化拒绝。
+        if (previousMatchedPose != null && previousMatchedPose.getFloor() != baseFloorIndex) {
+            previousMatchedPose = new CandidatePose(
+                    previousMatchedPose.getLatLng(),
+                    baseFloorIndex,
+                    previousMatchedPose.getTimestampMs(),
+                    "map_matched"  // 修改这里：直接传入固定字符串，替代 getProvider()
+            );
+        }
     }
 
     private void applyReplayMatchedFloorIfNeeded(int matchedFloorIndex) {
@@ -1664,6 +1782,18 @@ private void applyReplayMatchedFloorIfNeeded(int matchedFloorIndex) {
         }
         int maxFloor = Math.max(0, selectedFloorplanBuilding.getFloorShapesList().size() - 1);
         int clampedFloor = Math.max(0, Math.min(matchedFloorIndex, maxFloor));
+
+        if (replayModeEnabled && !hasReplayVerticalEvidence()) {
+            if (previousMatchedPose != null) {
+                clampedFloor = previousMatchedPose.getFloor();
+            } else {
+                Integer baseFloorIndex = resolveReplayBaseFloorIndex();
+                if (baseFloorIndex != null) {
+                    clampedFloor = baseFloorIndex;
+                }
+            }
+        }
+
         if (clampedFloor == currentFloorIndex) {
             return;
         }
@@ -1679,9 +1809,9 @@ public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         LatLng rawLocation = newLocation;
         appendRawReplayPoint(rawLocation);
 
-        FloorplanApiClient.FloorShapes activeFloorShapes = getActiveFloorShapesForMatching();
         long timestampMs = SystemClock.elapsedRealtime();
         int replayCandidateFloorIndex = resolveReplayCandidateFloorIndex();
+        FloorplanApiClient.FloorShapes activeFloorShapes = getActiveFloorShapesForMatching();
         CandidatePose currentCandidatePose = new CandidatePose(
                 rawLocation,
                 replayCandidateFloorIndex,
@@ -1733,7 +1863,7 @@ public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         );
         applyReplayMatchedFloorIfNeeded(matchedFloor);
 
-        boolean shouldFollowCamera = !(indoorMapVisible || actualMapVisible);
+        boolean shouldFollowCamera = replayModeEnabled || !(indoorMapVisible || actualMapVisible);
         if (orientationMarker == null) {
             orientationMarker = gMap.addMarker(new MarkerOptions()
                     .position(matchedLocation)
@@ -1741,7 +1871,8 @@ public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
                     .title("Current Position")
                     .icon(BitmapDescriptorFactory.fromBitmap(UtilFunctions.getBitmapFromVector(requireContext(), R.drawable.ic_baseline_navigation_24))));
             if (shouldFollowCamera) {
-                gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(matchedLocation, 19f));
+                float zoom = replayModeEnabled ? gMap.getCameraPosition().zoom : 19f;
+                gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(matchedLocation, zoom));
             }
         } else {
             orientationMarker.setPosition(matchedLocation);
@@ -1779,7 +1910,14 @@ private FloorplanApiClient.FloorShapes getActiveFloorShapesForMatching() {
             return null;
         }
 
-        int safeFloorIndex = Math.max(0, Math.min(currentFloorIndex, selectedFloorplanBuilding.getFloorShapesList().size() - 1));
+        maybeInitializeReplayDisplayFloor();
+
+        int floorIndexForMatching = currentFloorIndex;
+        if (replayModeEnabled && replayInitialFloor != null) {
+            floorIndexForMatching = resolveReplayCandidateFloorIndex();
+        }
+
+        int safeFloorIndex = Math.max(0, Math.min(floorIndexForMatching, selectedFloorplanBuilding.getFloorShapesList().size() - 1));
         return selectedFloorplanBuilding.getFloorShapesList().get(safeFloorIndex);
     }
 
@@ -2284,6 +2422,9 @@ public void clearMapAndReset() {
         replayCurrentElevation = null;
         replayDeltaHeight = null;
         replayHeightChanged = false;
+        replayInitialFloor = null;
+        replayBaseFloorIndex = null;
+        replayDisplayFloorInitialized = false;
         resetMapMatchingState();
 
         for (Marker m : testPointMarkers) {
@@ -2442,4 +2583,4 @@ private void applyTrajectoryColorButtonState() {
         switchColorButton.setTextColor(Color.WHITE);
     }
 
-}
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java b/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
index 38ac1fb0..e7017269 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
@@ -34,7 +34,7 @@ public class IndoorMapManager {
     private final List<Polygon> drawnPolygons = new ArrayList<>();
     private final List<Polyline> drawnPolylines = new ArrayList<>();
     private List<FloorplanApiClient.FloorShapes> currentFloorShapes;
-    private boolean vectorBaseplateEnabled = true;
+    private boolean vectorBaseplateEnabled = false;
 
     public static final float NUCLEUS_FLOOR_HEIGHT = 4.2F;
     public static final float LIBRARY_FLOOR_HEIGHT = 3.6F;
@@ -42,7 +42,11 @@ public class IndoorMapManager {
 
     private static final int WALL_STROKE = Color.argb(255, 34, 34, 34);
     private static final int ROOM_STROKE = Color.argb(255, 60, 60, 60);
-    private static final int ROOM_FILL = Color.argb(40, 0, 0, 0);
+    private static final int ROOM_FILL = Color.argb(18, 0, 0, 0);
+    private static final int STAIRS_STROKE = Color.argb(255, 220, 20, 60);
+    private static final int STAIRS_FILL = Color.argb(90, 255, 0, 0);
+    private static final int LIFT_STROKE = Color.argb(255, 200, 0, 0);
+    private static final int LIFT_FILL = Color.argb(70, 255, 0, 0);
     private static final int DEFAULT_STROKE = Color.argb(255, 50, 50, 50);
 
     public IndoorMapManager(GoogleMap map) {
@@ -331,16 +335,16 @@ private void drawFloorShapes(int floorIndex) {
                     if (vectorBaseplateEnabled) {
                         Polygon underlay = gMap.addPolygon(new PolygonOptions()
                                 .addAll(ring)
-                                .strokeColor(Color.argb(145, 255, 255, 255))
-                                .strokeWidth(9f)
-                                .fillColor(Color.argb(125, 255, 255, 255))
+                                .strokeColor(Color.argb(0, 255, 255, 255))
+                                .strokeWidth(0f)
+                                .fillColor(Color.argb(0, 255, 255, 255))
                                 .zIndex(6f));
                         drawnPolygons.add(underlay);
                     }
                     Polygon p = gMap.addPolygon(new PolygonOptions()
                             .addAll(ring)
                             .strokeColor(getStrokeColor(indoorType))
-                            .strokeWidth(5f)
+                            .strokeWidth(4f)
                             .fillColor(getFillColor(indoorType))
                             .zIndex(10f));
                     drawnPolygons.add(p);
@@ -353,15 +357,15 @@ private void drawFloorShapes(int floorIndex) {
                     if (vectorBaseplateEnabled) {
                         Polyline underlay = gMap.addPolyline(new PolylineOptions()
                                 .addAll(line)
-                                .color(Color.argb(170, 255, 255, 255))
-                                .width(10f)
+                                .color(Color.argb(0, 255, 255, 255))
+                                .width(0f)
                                 .zIndex(6f));
                         drawnPolylines.add(underlay);
                     }
                     Polyline pl = gMap.addPolyline(new PolylineOptions()
                             .addAll(line)
                             .color(getStrokeColor(indoorType))
-                            .width(6f)
+                            .width(4.5f)
                             .zIndex(10f));
                     drawnPolylines.add(pl);
                 }
@@ -387,6 +391,12 @@ private int getStrokeColor(String indoorType) {
         if ("room".equals(indoorType)) {
             return ROOM_STROKE;
         }
+        if ("stairs".equals(indoorType)) {
+            return STAIRS_STROKE;
+        }
+        if ("lift".equals(indoorType)) {
+            return LIFT_STROKE;
+        }
         return DEFAULT_STROKE;
     }
 
@@ -394,6 +404,12 @@ private int getFillColor(String indoorType) {
         if ("room".equals(indoorType)) {
             return ROOM_FILL;
         }
+        if ("stairs".equals(indoorType)) {
+            return STAIRS_FILL;
+        }
+        if ("lift".equals(indoorType)) {
+            return LIFT_FILL;
+        }
         return Color.TRANSPARENT;
     }
 

From eada388ecd5f22dbbaad91d08c912aa7066aee77 Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Fri, 20 Mar 2026 07:52:35 +0000
Subject: [PATCH 11/35] Wall-penetrating logic modification

---
 .../replay/trajectory_perfect_stairs_up.json  | 20 +++++++++++
 .../mapmatching/MapMatchingService.java       | 34 ++++++++++++++++---
 .../presentation/activity/ReplayActivity.java | 16 +++++++--
 3 files changed, 63 insertions(+), 7 deletions(-)
 create mode 100644 app/src/main/assets/replay/trajectory_perfect_stairs_up.json

diff --git a/app/src/main/assets/replay/trajectory_perfect_stairs_up.json b/app/src/main/assets/replay/trajectory_perfect_stairs_up.json
new file mode 100644
index 00000000..a0db843d
--- /dev/null
+++ b/app/src/main/assets/replay/trajectory_perfect_stairs_up.json
@@ -0,0 +1,20 @@
+
+
+{
+  "androidVersion": "synthetic-test-data",
+  "trajectoryVersion": "replay_v2_reasonable",
+  "trajectoryId": "trajectory_perfect_stairs_up",
+  "startTimestamp": 0,
+  "notes": "Perfect straight stair climb with step distance > 1.5m to pass the likelyLiftMotion check in MapMatchingService.",
+  "imuData": [
+    { "relativeTimestamp": "0", "x": 0.0, "y": 0.0, "currentElevation": 0.0, "deltaHeight": 0.0, "heightChanged": false, "syntheticFloor": 0, "acc": {"x":0,"y":0,"z":9.81}, "gyr": {"x":0,"y":0,"z":0}, "rotationVector": {"x":0,"y":0,"z":0,"w":1}, "stepCount": 0 },
+    { "relativeTimestamp": "1000", "x": 0.0, "y": 1.6, "currentElevation": 0.0, "deltaHeight": 0.0, "heightChanged": false, "syntheticFloor": 0, "acc": {"x":0,"y":0,"z":9.81}, "gyr": {"x":0,"y":0,"z":0}, "rotationVector": {"x":0,"y":0,"z":0,"w":1}, "stepCount": 2 },
+    { "relativeTimestamp": "2000", "x": 0.0, "y": 3.2, "currentElevation": 0.0, "deltaHeight": 0.0, "heightChanged": false, "syntheticFloor": 0, "acc": {"x":0,"y":0,"z":9.81}, "gyr": {"x":0,"y":0,"z":0}, "rotationVector": {"x":0,"y":0,"z":0,"w":1}, "stepCount": 4 },
+    { "relativeTimestamp": "3000", "x": 0.0, "y": 4.8, "currentElevation": 0.0, "deltaHeight": 0.0, "heightChanged": false, "syntheticFloor": 0, "acc": {"x":0,"y":0,"z":9.81}, "gyr": {"x":0,"y":0,"z":0}, "rotationVector": {"x":0,"y":0,"z":0,"w":1}, "stepCount": 6 },
+    { "relativeTimestamp": "4000", "x": 0.0, "y": 6.4, "currentElevation": 1.5, "deltaHeight": 1.5, "heightChanged": false, "syntheticFloor": 0, "acc": {"x":0,"y":0,"z":9.81}, "gyr": {"x":0,"y":0,"z":0}, "rotationVector": {"x":0,"y":0,"z":0,"w":1}, "stepCount": 8 },
+    { "relativeTimestamp": "5000", "x": 0.0, "y": 8.0, "currentElevation": 3.0, "deltaHeight": 1.5, "heightChanged": false, "syntheticFloor": 0, "acc": {"x":0,"y":0,"z":9.81}, "gyr": {"x":0,"y":0,"z":0}, "rotationVector": {"x":0,"y":0,"z":0,"w":1}, "stepCount": 10 },
+    { "relativeTimestamp": "6000", "x": 0.0, "y": 9.6, "currentElevation": 4.0, "deltaHeight": 1.0, "heightChanged": true, "syntheticFloor": 1, "acc": {"x":0,"y":0,"z":9.81}, "gyr": {"x":0,"y":0,"z":0}, "rotationVector": {"x":0,"y":0,"z":0,"w":1}, "stepCount": 12 },
+    { "relativeTimestamp": "7000", "x": 0.0, "y": 11.2, "currentElevation": 4.0, "deltaHeight": 0.0, "heightChanged": true, "syntheticFloor": 1, "acc": {"x":0,"y":0,"z":9.81}, "gyr": {"x":0,"y":0,"z":0}, "rotationVector": {"x":0,"y":0,"z":0,"w":1}, "stepCount": 14 },
+    { "relativeTimestamp": "8000", "x": 0.0, "y": 12.8, "currentElevation": 4.0, "deltaHeight": 0.0, "heightChanged": true, "syntheticFloor": 1, "acc": {"x":0,"y":0,"z":9.81}, "gyr": {"x":0,"y":0,"z":0}, "rotationVector": {"x":0,"y":0,"z":0,"w":1}, "stepCount": 16 }
+  ]
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
index 80b931f8..e981d692 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
@@ -107,11 +107,35 @@ public MapMatchingResult match(@NonNull MapMatchingInput input) {
                 );
 
                 if (crossedWall) {
-                    correctedLatLng = previousPose.getLatLng();
-                    correctedFloor = previousPose.getFloor();
-                    correctionType = CorrectionType.THROUGH_WALL;
-                    debugReason = "Trajectory crossed wall. Reverted to previous pose.";
-                    validPosition = false;
+                    // 【高级优化：沿墙滑动策略 (Sliding against the wall)】
+                    // 将用户的移动意图拆解为纬度(Y)和经度(X)两个独立分量
+                    LatLng latOnlyPoint = new LatLng(candidateLatLng.latitude, previousPose.getLatLng().longitude);
+                    LatLng lngOnlyPoint = new LatLng(previousPose.getLatLng().latitude, candidateLatLng.longitude);
+
+                    // 分别测试仅在单一坐标轴上移动是否会穿墙
+                    boolean canMoveLat = !MapGeometryUtils.crossesWall(previousPose.getLatLng(), latOnlyPoint, floorShapes);
+                    boolean canMoveLng = !MapGeometryUtils.crossesWall(previousPose.getLatLng(), lngOnlyPoint, floorShapes);
+
+                    if (canMoveLat && !canMoveLng) {
+                        // 经度(东西)被墙挡住，但纬度(南北)畅通 -> 允许沿南北方向贴墙滑动
+                        correctedLatLng = latOnlyPoint;
+                        correctionType = CorrectionType.THROUGH_WALL;
+                        debugReason = "Crossed wall. Sliding along Latitude (N/S).";
+                        validPosition = true;
+                    } else if (!canMoveLat && canMoveLng) {
+                        // 纬度(南北)被墙挡住，但经度(东西)畅通 -> 允许沿东西方向贴墙滑动
+                        correctedLatLng = lngOnlyPoint;
+                        correctionType = CorrectionType.THROUGH_WALL;
+                        debugReason = "Crossed wall. Sliding along Longitude (E/W).";
+                        validPosition = true;
+                    } else {
+                        // 两个方向都被挡住（比如走进了直角死胡同），退回最安全的“原地罚站”策略
+                        correctedLatLng = previousPose.getLatLng();
+                        correctedFloor = previousPose.getFloor();
+                        correctionType = CorrectionType.THROUGH_WALL;
+                        debugReason = "Crossed wall. Stuck in corner, reverted to previous pose.";
+                        validPosition = false;
+                    }
                 }
             } else {
                 debugReason = "Step distance too small for wall check. Candidate pose accepted.";
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
index c9eeb9ab..03cd870f 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
@@ -38,8 +38,20 @@ public class ReplayActivity extends AppCompatActivity {
     /**
      * Asset file to replay. Put this file under app/src/main/assets/replay/.
      */
-    private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_false_floor_change_reject.json";
-//修改验证的 asset里的 json文件
+    //修改验证的 asset里的 json文件
+            //1. 验证在没有楼梯和电梯干扰的平地走廊上，你的系统不会乱跳层，且底图显示稳定
+    // private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_same_floor_turns.json";
+            //2. 一个核心功能：“不能穿墙”
+    //private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_cross_wall_long_recover.json";
+            //3. false-floor-change (错误换层拒绝)
+    //private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_false_floor_change_reject.json";
+            //4.1 测试 4 - stairs-up (楼梯上楼验证)
+    //private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_stairs_up.json";
+            //4.2 测试4 -直线新路径 不行 轨迹有问题 运行不了
+    //private static final String FORCED_ASSET_PATH = "replay/trajectory_perfect_stairs_up.json";
+            //5. 电梯测试
+    private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_lift_up.json";
+
     private String filePath;
 
     @Override

From 4c82bce4b25a3687d52eaee7142170511ce031af Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Fri, 20 Mar 2026 08:04:50 +0000
Subject: [PATCH 12/35] lift develop

---
 .../PositionMe/mapmatching/MapMatchingService.java   | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
index e981d692..56c5c704 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
@@ -129,11 +129,17 @@ public MapMatchingResult match(@NonNull MapMatchingInput input) {
                         debugReason = "Crossed wall. Sliding along Longitude (E/W).";
                         validPosition = true;
                     } else {
-                        // 两个方向都被挡住（比如走进了直角死胡同），退回最安全的“原地罚站”策略
+                        // 两个方向都被挡住（比如走进了直角死胡同），退回最安全的“原地罚站”XY坐标
                         correctedLatLng = previousPose.getLatLng();
-                        correctedFloor = previousPose.getFloor();
+
+                        // ★ 核心修复：解绑楼层和平面！如果当前正好触发了合法的电梯/楼梯换层，
+                        // 就保留新楼层，绝不强行撤销楼层！
+                        if (!floorChangeAllowed) {
+                            correctedFloor = previousPose.getFloor();
+                        }
+
                         correctionType = CorrectionType.THROUGH_WALL;
-                        debugReason = "Crossed wall. Stuck in corner, reverted to previous pose.";
+                        debugReason = "Crossed wall. Stuck in corner, reverted to previous XY pose.";
                         validPosition = false;
                     }
                 }

From e0b37da3f2deba214b552f143fd376d8b024d640 Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Thu, 26 Mar 2026 05:14:27 +0000
Subject: [PATCH 13/35] Go downstairs

---
 app/src/main/assets/replay/traj_1.json        | 450789 +++++++++++++++
 app/src/main/assets/replay/traj_2.json        | 120429 ++++
 .../assets/replay/traj_20260320_133314.json   | 183471 ++++++
 app/src/main/assets/replay/traj_3.json        | 183471 ++++++
 .../PositionMe/data/local/TrajParser.java     |    458 +-
 .../presentation/activity/ReplayActivity.java |      4 +-
 .../presentation/fragment/ReplayFragment.java |    103 +-
 .../fragment/StartLocationFragment.java       |     26 +-
 .../fragment/TrajectoryMapFragment.java       |    116 +-
 9 files changed, 938682 insertions(+), 185 deletions(-)
 create mode 100644 app/src/main/assets/replay/traj_1.json
 create mode 100644 app/src/main/assets/replay/traj_2.json
 create mode 100644 app/src/main/assets/replay/traj_20260320_133314.json
 create mode 100644 app/src/main/assets/replay/traj_3.json

diff --git a/app/src/main/assets/replay/traj_1.json b/app/src/main/assets/replay/traj_1.json
new file mode 100644
index 00000000..7b8630f2
--- /dev/null
+++ b/app/src/main/assets/replay/traj_1.json
@@ -0,0 +1,450789 @@
+从电梯下楼（F2-G）- 上到F3 - 走下去到F2（楼梯）
+{
+  "androidVersion": "16",
+  "trajectoryVersion": 2.0,
+  "trajectoryId": "updown",
+  "imuData": [{
+    "relativeTimestamp": "11",
+    "acc": {
+      "x": 0.38285163,
+      "y": -0.2644069,
+      "z": 10.226924
+    },
+    "gyr": {
+      "x": -0.21380283,
+      "y": -0.059406646,
+      "z": -0.016798794
+    },
+    "rotationVector": {
+      "x": -0.021514421,
+      "y": -0.029999455,
+      "z": -0.45413536,
+      "w": 0.89016765
+    },
+    "stepCount": 0
+  }, {
+    "relativeTimestamp": "22",
+    "acc": {
+      "x": 0.38285163,
+      "y": -0.2644069,
+      "z": 10.226924
+    },
+    "gyr": {
+      "x": -0.21380283,
+      "y": -0.059406646,
+      "z": -0.016798794
+    },
+    "rotationVector": {
+      "x": -0.021514421,
+      "y": -0.029999455,
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+    },
+    "stepCount": 0
+  }, {
+    "relativeTimestamp": "32",
+    "acc": {
+      "x": 0.381057,
+      "y": -0.30089745,
+      "z": 9.753743
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+    "gyr": {
+      "x": 0.015271631,
+      "y": 0.061850104,
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+    "rotationVector": {
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+    "stepCount": 0
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+    },
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+    "stepCount": 0
+  }, {
+    "relativeTimestamp": "52",
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+      "z": 9.753743
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+    "gyr": {
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+    },
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diff --git a/app/src/main/assets/replay/traj_2.json b/app/src/main/assets/replay/traj_2.json
new file mode 100644
index 00000000..b76187f7
--- /dev/null
+++ b/app/src/main/assets/replay/traj_2.json
@@ -0,0 +1,120429 @@
+上下楼梯。
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+}
\ No newline at end of file
diff --git a/app/src/main/assets/replay/traj_20260320_133314.json b/app/src/main/assets/replay/traj_20260320_133314.json
new file mode 100644
index 00000000..e3231210
--- /dev/null
+++ b/app/src/main/assets/replay/traj_20260320_133314.json
@@ -0,0 +1,183471 @@
+{
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+  "trajectoryVersion": 2.0,
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+}
\ No newline at end of file
diff --git a/app/src/main/assets/replay/traj_3.json b/app/src/main/assets/replay/traj_3.json
new file mode 100644
index 00000000..e3231210
--- /dev/null
+++ b/app/src/main/assets/replay/traj_3.json
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+    "manufacturerData": "EAZyHn/CEyU="
+  }, {
+    "macAddress": "D0:95:5E:73:8E:C7",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": [],
+    "manufacturerData": "EgIuAwcRBkcZ/jg2/8WGhtmnkrG+HQI="
+  }, {
+    "macAddress": "58:0E:2E:8C:66:6B",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": 26,
+    "serviceUuids": [],
+    "manufacturerData": "EAd0H8mPKnDoAQAAAAAAAAAAAAAAAIAAAAA="
+  }, {
+    "macAddress": "CD:7C:28:DA:41:A2",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": [],
+    "manufacturerData": "EgIAAA=="
+  }, {
+    "macAddress": "C1:CE:5F:5C:67:E1",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": [],
+    "manufacturerData": "EgIlAQ=="
+  }, {
+    "macAddress": "66:56:10:6C:4A:27",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": 26,
+    "serviceUuids": [],
+    "manufacturerData": "EAU9HIswEAEAAAAAAAAAAAAAAACAAAAA"
+  }, {
+    "macAddress": "C3:F9:85:36:60:F8",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": [],
+    "manufacturerData": "EgIAAQ=="
+  }, {
+    "macAddress": "39:B7:DE:A5:BC:B8",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": [],
+    "manufacturerData": "AQkgAg2zLTtQrLADhe/X6heVB3ms28Lp3I8F"
+  }, {
+    "macAddress": "5A:0E:A6:E8:CC:81",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": 26,
+    "serviceUuids": [],
+    "manufacturerData": "FggALs9hFV7Yrg=="
+  }, {
+    "macAddress": "F1:CE:54:29:1F:09",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": [],
+    "manufacturerData": "EgIAAA=="
+  }, {
+    "macAddress": "49:32:35:C7:69:A3",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": 26,
+    "serviceUuids": [],
+    "manufacturerData": "EAY3HkNNqvEBAAAAAAAAAAAAAAAAgAAAAA=="
+  }, {
+    "macAddress": "F7:91:E2:93:EB:22",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": [],
+    "manufacturerData": "EgIAAA=="
+  }, {
+    "macAddress": "E4:11:45:02:EC:31",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": [],
+    "manufacturerData": "EgIAAQ=="
+  }, {
+    "macAddress": "04:E6:99:FA:D8:96",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": [],
+    "manufacturerData": ""
+  }, {
+    "macAddress": "75:88:92:56:7A:44",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": 26,
+    "serviceUuids": [],
+    "manufacturerData": "CQgT+Ap+TzQbWBYIAAUUxexXn18="
+  }, {
+    "macAddress": "41:8C:82:32:08:62",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": 26,
+    "serviceUuids": [],
+    "manufacturerData": "FggAgvmIUioayA=="
+  }, {
+    "macAddress": "5C:DB:83:75:74:01",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": 26,
+    "serviceUuids": [],
+    "manufacturerData": "EAUlGJAsXA=="
+  }, {
+    "macAddress": "44:51:FC:6D:2C:13",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": ["0000fd82-0000-1000-8000-00805f9b34fb"],
+    "manufacturerData": "BAACArAxCQHUFoL6xQACADMAAAA="
+  }, {
+    "macAddress": "23:2B:3D:42:C9:D4",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": [],
+    "manufacturerData": ""
+  }, {
+    "macAddress": "C6:B3:58:CE:3E:F4",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": [],
+    "manufacturerData": "EgIAAA=="
+  }, {
+    "macAddress": "4C:36:5E:5C:56:D9",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": 26,
+    "serviceUuids": [],
+    "manufacturerData": "EAYZHRccUmgBAAAAAAAAAAAAAAAAgAAAAA=="
+  }, {
+    "macAddress": "F4:23:DF:5D:7E:81",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": [],
+    "manufacturerData": "EgIAAQ=="
+  }, {
+    "macAddress": "CF:DF:75:04:2A:22",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": [],
+    "manufacturerData": "EgI1Ag=="
+  }, {
+    "macAddress": "EF:02:D1:C5:CF:B8",
+    "name": "",
+    "txPowerLevel": 127,
+    "advertiseFlags": -1,
+    "serviceUuids": [],
+    "manufacturerData": "BxEGaxv4BmpZsnMroyZbqmlZ8A=="
+  }],
+  "startTimestamp": "1774013538432",
+  "initialPosition": {
+    "relativeTimestamp": "0",
+    "latitude": 55.923030853271484,
+    "longitude": -3.174191474914551,
+    "altitude": 0.0
+  },
+  "correctedPositions": [],
+  "accelerometerInfo": {
+    "name": "LSM6DSOTR Accelerometer",
+    "vendor": "STM",
+    "resolution": 0.0023942017,
+    "power": 0.15,
+    "version": 15933,
+    "type": 1,
+    "maxRange": 0.0,
+    "frequency": 0.0
+  },
+  "gyroscopeInfo": {
+    "name": "LSM6DSOTR Gyroscope",
+    "vendor": "STM",
+    "resolution": 6.1086525E-4,
+    "power": 0.65,
+    "version": 1,
+    "type": 4,
+    "maxRange": 0.0,
+    "frequency": 0.0
+  },
+  "rotationVectorInfo": {
+    "name": "Samsung Rotation Vector Sensor",
+    "vendor": "Samsung Electronics",
+    "resolution": 5.9604645E-8,
+    "power": 2.75,
+    "version": 3,
+    "type": 11,
+    "maxRange": 0.0,
+    "frequency": 0.0
+  },
+  "magnetometerInfo": {
+    "name": "MXG4300S Magnetometer",
+    "vendor": "Haechitech",
+    "resolution": 0.001,
+    "power": 1.95,
+    "version": 2,
+    "type": 2,
+    "maxRange": 0.0,
+    "frequency": 0.0
+  },
+  "barometerInfo": {
+    "name": "Not available",
+    "vendor": "-",
+    "resolution": -1.0,
+    "power": 0.0,
+    "version": 0,
+    "type": 0,
+    "maxRange": 0.0,
+    "frequency": 0.0
+  },
+  "lightSensorInfo": {
+    "name": "TCS3701 Light",
+    "vendor": "AMS, Inc.",
+    "resolution": 1.0,
+    "power": 0.75,
+    "version": 2002,
+    "type": 5,
+    "maxRange": 0.0,
+    "frequency": 0.0
+  },
+  "proximityInfo": {
+    "name": "Ear Hover Proximity Sensor (ProToS)",
+    "vendor": "Samsung Electronics.",
+    "resolution": 1.0,
+    "power": 0.75,
+    "version": 1,
+    "type": 8,
+    "maxRange": 0.0,
+    "frequency": 0.0
+  },
+  "testPoints": []
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java b/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
index 40c6a54a..f1419479 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
@@ -5,15 +5,15 @@
 import android.util.Log;
 
 import com.google.android.gms.maps.model.LatLng;
-import com.google.gson.Gson;
 import com.google.gson.JsonArray;
+import com.google.gson.JsonElement;
 import com.google.gson.JsonObject;
 import com.google.gson.JsonParser;
 import com.openpositioning.PositionMe.presentation.fragment.ReplayFragment;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
 
-import java.io.BufferedReader;
 import java.io.File;
+import java.io.BufferedReader;
 import java.io.FileReader;
 import java.util.ArrayList;
 import java.util.Collections;
@@ -21,69 +21,30 @@
 import java.util.List;
 
 /**
- * Handles parsing of trajectory data stored in JSON files, combining IMU, PDR, and GNSS data
- * to reconstruct motion paths.
- *
- * <p>
- * The **TrajParser** is primarily responsible for processing recorded trajectory data and
- * reconstructing motion information, including estimated positions, GNSS coordinates, speed, and orientation.
- * It does this by reading a JSON file containing:
- * </p>
- * <ul>
- *     <li>IMU (Inertial Measurement Unit) data</li>
- *     <li>PDR (Pedestrian Dead Reckoning) position data</li>
- *     <li>GNSS (Global Navigation Satellite System) location data</li>
- * </ul>
- *
- * <p>
- * **Usage in Module 'PositionMe.app.main':**
- * </p>
- * <ul>
- *     <li>**ReplayFragment** - Calls `parseTrajectoryData()` to read recorded trajectory files and process movement.</li>
- *     <li>Stores parsed trajectory data as `ReplayPoint` objects.</li>
- *     <li>Provides data for updating map visualizations in `ReplayFragment`.</li>
- * </ul>
- *
- * @see ReplayFragment which uses parsed trajectory data for visualization.
- * @see SensorFusion for motion processing and sensor integration.
- * @see com.openpositioning.PositionMe.presentation.fragment.ReplayFragment for implementation details.
- *
- * @author Shu Gu
- * @author Lin Cheng
+ * Handles parsing of trajectory data stored in JSON files, combining IMU, PDR, GNSS, and pressure data
+ * to reconstruct motion paths for replay.
  */
 public class TrajParser {
 
     private static final String TAG = "TrajParser";
+    private static final double SEA_LEVEL_PRESSURE_HPA = 1013.25d;
+    // 原始 replay 没有 building-specific floorHeight 时，先用保守默认值。
+    // 这样法国原始轨迹至少能在 replay 里看到“不是永远锁在基层”的楼层切换。
+    private static final double DEFAULT_REPLAY_FLOOR_HEIGHT_METERS = 4.0d;
+    private static final double HEIGHT_CHANGE_THRESHOLD_METERS = 0.35d;
 
-    /**
-     * Represents a single replay point containing estimated PDR position, GNSS location,
-     * orientation, speed, and timestamp.
-     */
     public static class ReplayPoint {
-        public LatLng pdrLocation;  // PDR-derived location estimate
-        public LatLng gnssLocation; // GNSS location (may be null if unavailable)
-        public float orientation;   // Orientation in degrees
-        public float speed;         // Speed in meters per second
-        public long timestamp;      // Relative timestamp
-        public Integer syntheticFloor; // Logical floor from replay JSON, if available
-        public Double currentElevation; // Elevation hint from replay JSON, if available
-        public Double deltaHeight; // Delta height hint from replay JSON, if available
-        public boolean heightChanged; // Whether replay JSON indicates a vertical transition
-        public Integer initialFloor; // Absolute initial logical floor for replay, if available
-
-        /**
-         * Constructs a ReplayPoint.
-         *
-         * @param pdrLocation       The pedestrian dead reckoning (PDR) location.
-         * @param gnssLocation      The GNSS location, or null if unavailable.
-         * @param orientation       The orientation angle in degrees.
-         * @param speed             The speed in meters per second.
-         * @param timestamp         The timestamp associated with this point.
-         * @param syntheticFloor    Logical floor carried by the replay JSON, if available.
-         * @param currentElevation  Elevation hint carried by the replay JSON, if available.
-         * @param deltaHeight       Delta height hint carried by the replay JSON, if available.
-         * @param heightChanged     Whether replay JSON marks this point as a vertical transition.
-         */
+        public LatLng pdrLocation;
+        public LatLng gnssLocation;
+        public float orientation;
+        public float speed;
+        public long timestamp;
+        public Integer syntheticFloor;
+        public Double currentElevation;
+        public Double deltaHeight;
+        public boolean heightChanged;
+        public Integer initialFloor;
+
         public ReplayPoint(LatLng pdrLocation,
                            LatLng gnssLocation,
                            float orientation,
@@ -107,50 +68,42 @@ public ReplayPoint(LatLng pdrLocation,
         }
     }
 
-    /** Represents an IMU (Inertial Measurement Unit) data record used for orientation calculations. */
     private static class ImuRecord {
         public long relativeTimestamp;
-        public float accX, accY, accZ; // Accelerometer values
-        public float gyrX, gyrY, gyrZ; // Gyroscope values
-        public float rotationVectorX, rotationVectorY, rotationVectorZ, rotationVectorW; // Rotation quaternion
+        public float rotationVectorX;
+        public float rotationVectorY;
+        public float rotationVectorZ;
+        public float rotationVectorW;
     }
 
-    /** Represents a Pedestrian Dead Reckoning (PDR) data record storing position shifts over time. */
     private static class PdrRecord {
         public long relativeTimestamp;
-        public float x, y; // Position relative to the starting point
+        public float x;
+        public float y;
         public Integer syntheticFloor;
         public Double currentElevation;
         public Double deltaHeight;
         public Boolean heightChanged;
     }
 
-    /** Represents a GNSS (Global Navigation Satellite System) data record with latitude/longitude. */
+    private static class PressureRecord {
+        public long relativeTimestamp;
+        public double pressureHpa;
+    }
+
     private static class GnssRecord {
         public long relativeTimestamp;
-        public double latitude, longitude; // GNSS coordinates
+        public double latitude;
+        public double longitude;
+    }
+
+    private static class VerticalReplayState {
+        public Integer syntheticFloor;
+        public Double currentElevation;
+        public Double deltaHeight;
+        public boolean heightChanged;
     }
 
-    /**
-     * Parses trajectory data from a JSON file and reconstructs a list of replay points.
-     *
-     * <p>
-     * This method processes a trajectory log file, extracting IMU, PDR, and GNSS records,
-     * and uses them to generate **ReplayPoint** objects. Each point contains:
-     * </p>
-     * <ul>
-     *     <li>Estimated PDR-based position.</li>
-     *     <li>GNSS location (if available).</li>
-     *     <li>Computed orientation using rotation vectors.</li>
-     *     <li>Speed estimation based on movement data.</li>
-     * </ul>
-     *
-     * @param filePath  Path to the JSON file containing trajectory data.
-     * @param context   Android application context (used for sensor processing).
-     * @param originLat Latitude of the reference origin.
-     * @param originLng Longitude of the reference origin.
-     * @return A list of parsed {@link ReplayPoint} objects.
-     */
     public static List<ReplayPoint> parseTrajectoryData(String filePath, Context context,
                                                         double originLat, double originLng) {
         List<ReplayPoint> result = new ArrayList<>();
@@ -166,35 +119,48 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
                 return result;
             }
 
-            BufferedReader br = new BufferedReader(new FileReader(file));
-            JsonObject root = new JsonParser().parse(br).getAsJsonObject();
-            br.close();
-
-            Log.i(TAG, "Successfully read trajectory file: " + filePath);
+            JsonObject root = readJsonObject(file);
+            if (root == null) {
+                Log.e(TAG, "Failed to parse root JSON object for file: " + filePath);
+                return result;
+            }
 
-            long startTimestamp = root.has("startTimestamp") ? root.get("startTimestamp").getAsLong() : 0;
             Integer initialFloor = root.has("initialFloor") && !root.get("initialFloor").isJsonNull()
-                    ? root.get("initialFloor").getAsInt()
+                    ? safeGetInt(root, "initialFloor")
                     : null;
 
             List<ImuRecord> imuList = parseImuData(root.getAsJsonArray("imuData"));
             List<PdrRecord> pdrList = parsePdrData(root.getAsJsonArray("pdrData"));
             List<GnssRecord> gnssList = parseGnssData(root.getAsJsonArray("gnssData"));
-
-            Log.i(TAG, "Parsed data - IMU: " + imuList.size() + " records, PDR: "
-                    + pdrList.size() + " records, GNSS: " + gnssList.size() + " records");
+            List<PressureRecord> pressureList = parsePressureData(root.getAsJsonArray("pressureData"));
+
+            Log.i(TAG, "Parsed data - IMU: " + imuList.size()
+                    + " records, PDR: " + pdrList.size()
+                    + " records, GNSS: " + gnssList.size()
+                    + " records, Pressure: " + pressureList.size() + " records");
+
+            double referenceAltitude = Double.NaN;
+            Double previousElevation = null;
+            Integer previousSyntheticFloor = null;
+            if (!pdrList.isEmpty() && !pressureList.isEmpty()) {
+                PressureRecord basePressure = findClosestPressureRecord(pressureList, pdrList.get(0).relativeTimestamp);
+                if (basePressure != null) {
+                    referenceAltitude = pressureToAltitudeMeters(basePressure.pressureHpa);
+                }
+            }
 
             for (int i = 0; i < pdrList.size(); i++) {
                 PdrRecord pdr = pdrList.get(i);
 
                 ImuRecord closestImu = findClosestImuRecord(imuList, pdr.relativeTimestamp);
-                float orientationDeg = closestImu != null ? computeOrientationFromRotationVector(
+                float orientationDeg = closestImu != null
+                        ? computeOrientationFromRotationVector(
                         closestImu.rotationVectorX,
                         closestImu.rotationVectorY,
                         closestImu.rotationVectorZ,
                         closestImu.rotationVectorW,
-                        context
-                ) : 0f;
+                        context)
+                        : 0f;
 
                 float speed = 0f;
                 if (i > 0) {
@@ -203,17 +169,42 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
                     double dx = pdr.x - prev.x;
                     double dy = pdr.y - prev.y;
                     double distance = Math.sqrt(dx * dx + dy * dy);
-                    if (dt > 0) speed = (float) (distance / dt);
+                    if (dt > 0) {
+                        speed = (float) (distance / dt);
+                    }
                 }
 
-
                 double lat = originLat + pdr.y * 1E-5;
                 double lng = originLng + pdr.x * 1E-5;
                 LatLng pdrLocation = new LatLng(lat, lng);
 
                 GnssRecord closestGnss = findClosestGnssRecord(gnssList, pdr.relativeTimestamp);
-                LatLng gnssLocation = closestGnss != null ?
-                        new LatLng(closestGnss.latitude, closestGnss.longitude) : null;
+                LatLng gnssLocation = closestGnss != null
+                        ? new LatLng(closestGnss.latitude, closestGnss.longitude)
+                        : null;
+
+                VerticalReplayState verticalState;
+                if (hasEmbeddedReplayVerticalFields(pdr)) {
+                    verticalState = new VerticalReplayState();
+                    verticalState.syntheticFloor = pdr.syntheticFloor;
+                    verticalState.currentElevation = pdr.currentElevation;
+                    verticalState.deltaHeight = pdr.deltaHeight;
+                    verticalState.heightChanged = Boolean.TRUE.equals(pdr.heightChanged);
+                } else {
+                    verticalState = deriveVerticalStateFromPressure(
+                            pressureList,
+                            pdr.relativeTimestamp,
+                            referenceAltitude,
+                            previousElevation,
+                            previousSyntheticFloor);
+                }
+
+                if (verticalState.currentElevation != null) {
+                    previousElevation = verticalState.currentElevation;
+                }
+                if (verticalState.syntheticFloor != null) {
+                    previousSyntheticFloor = verticalState.syntheticFloor;
+                }
 
                 result.add(new ReplayPoint(
                         pdrLocation,
@@ -221,16 +212,15 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
                         orientationDeg,
                         speed,
                         pdr.relativeTimestamp,
-                        pdr.syntheticFloor,
-                        pdr.currentElevation,
-                        pdr.deltaHeight,
-                        Boolean.TRUE.equals(pdr.heightChanged),
+                        verticalState.syntheticFloor,
+                        verticalState.currentElevation,
+                        verticalState.deltaHeight,
+                        verticalState.heightChanged,
                         initialFloor
                 ));
             }
 
             Collections.sort(result, Comparator.comparingLong(rp -> rp.timestamp));
-
             Log.i(TAG, "Final ReplayPoints count: " + result.size());
 
         } catch (Exception e) {
@@ -239,47 +229,220 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
 
         return result;
     }
-    /** Parses IMU data from JSON. */
+
+    private static JsonObject readJsonObject(File file) throws Exception {
+        StringBuilder sb = new StringBuilder();
+        try (BufferedReader reader = new BufferedReader(new FileReader(file))) {
+            String line;
+            while ((line = reader.readLine()) != null) {
+                sb.append(line).append('\n');
+            }
+        }
+        String raw = sb.toString();
+        int firstBrace = raw.indexOf('{');
+        if (firstBrace > 0) {
+            raw = raw.substring(firstBrace);
+        }
+        return new JsonParser().parse(raw).getAsJsonObject();
+    }
+
     private static List<ImuRecord> parseImuData(JsonArray imuArray) {
         List<ImuRecord> imuList = new ArrayList<>();
-        if (imuArray == null) return imuList;
-        Gson gson = new Gson();
-        for (int i = 0; i < imuArray.size(); i++) {
-            ImuRecord record = gson.fromJson(imuArray.get(i), ImuRecord.class);
+        if (imuArray == null) {
+            return imuList;
+        }
+
+        for (JsonElement element : imuArray) {
+            if (!element.isJsonObject()) {
+                continue;
+            }
+            JsonObject obj = element.getAsJsonObject();
+            ImuRecord record = new ImuRecord();
+            record.relativeTimestamp = safeGetLong(obj, "relativeTimestamp");
+
+            JsonObject rotationVector = obj.has("rotationVector") && obj.get("rotationVector").isJsonObject()
+                    ? obj.getAsJsonObject("rotationVector")
+                    : null;
+            if (rotationVector != null) {
+                record.rotationVectorX = safeGetFloat(rotationVector, "x");
+                record.rotationVectorY = safeGetFloat(rotationVector, "y");
+                record.rotationVectorZ = safeGetFloat(rotationVector, "z");
+                record.rotationVectorW = safeGetFloat(rotationVector, "w");
+            }
             imuList.add(record);
         }
         return imuList;
-    }/** Parses PDR data from JSON. */
+    }
+
     private static List<PdrRecord> parsePdrData(JsonArray pdrArray) {
         List<PdrRecord> pdrList = new ArrayList<>();
-        if (pdrArray == null) return pdrList;
-        Gson gson = new Gson();
-        for (int i = 0; i < pdrArray.size(); i++) {
-            PdrRecord record = gson.fromJson(pdrArray.get(i), PdrRecord.class);
+        if (pdrArray == null) {
+            return pdrList;
+        }
+
+        for (JsonElement element : pdrArray) {
+            if (!element.isJsonObject()) {
+                continue;
+            }
+            JsonObject obj = element.getAsJsonObject();
+            PdrRecord record = new PdrRecord();
+            record.relativeTimestamp = safeGetLong(obj, "relativeTimestamp");
+            record.x = safeGetFloat(obj, "x");
+            record.y = safeGetFloat(obj, "y");
+            record.syntheticFloor = obj.has("syntheticFloor") && !obj.get("syntheticFloor").isJsonNull()
+                    ? safeGetInt(obj, "syntheticFloor")
+                    : null;
+            record.currentElevation = obj.has("currentElevation") && !obj.get("currentElevation").isJsonNull()
+                    ? safeGetDouble(obj, "currentElevation")
+                    : null;
+            record.deltaHeight = obj.has("deltaHeight") && !obj.get("deltaHeight").isJsonNull()
+                    ? safeGetDouble(obj, "deltaHeight")
+                    : null;
+            record.heightChanged = obj.has("heightChanged") && !obj.get("heightChanged").isJsonNull()
+                    ? obj.get("heightChanged").getAsBoolean()
+                    : null;
             pdrList.add(record);
         }
         return pdrList;
-    }/** Parses GNSS data from JSON. */
+    }
+
+    private static List<PressureRecord> parsePressureData(JsonArray pressureArray) {
+        List<PressureRecord> pressureList = new ArrayList<>();
+        if (pressureArray == null) {
+            return pressureList;
+        }
+
+        for (JsonElement element : pressureArray) {
+            if (!element.isJsonObject()) {
+                continue;
+            }
+            JsonObject obj = element.getAsJsonObject();
+            if (!obj.has("pressure") || obj.get("pressure").isJsonNull()) {
+                continue;
+            }
+            PressureRecord record = new PressureRecord();
+            record.relativeTimestamp = safeGetLong(obj, "relativeTimestamp");
+            record.pressureHpa = safeGetDouble(obj, "pressure");
+            pressureList.add(record);
+        }
+        return pressureList;
+    }
+
     private static List<GnssRecord> parseGnssData(JsonArray gnssArray) {
         List<GnssRecord> gnssList = new ArrayList<>();
-        if (gnssArray == null) return gnssList;
-        Gson gson = new Gson();
-        for (int i = 0; i < gnssArray.size(); i++) {
-            GnssRecord record = gson.fromJson(gnssArray.get(i), GnssRecord.class);
+        if (gnssArray == null) {
+            return gnssList;
+        }
+
+        for (JsonElement element : gnssArray) {
+            if (!element.isJsonObject()) {
+                continue;
+            }
+            JsonObject obj = element.getAsJsonObject();
+            JsonObject position = obj.has("position") && obj.get("position").isJsonObject()
+                    ? obj.getAsJsonObject("position")
+                    : obj;
+
+            if (!position.has("latitude") || !position.has("longitude")) {
+                continue;
+            }
+
+            GnssRecord record = new GnssRecord();
+            record.relativeTimestamp = safeGetLong(position, "relativeTimestamp");
+            record.latitude = safeGetDouble(position, "latitude");
+            record.longitude = safeGetDouble(position, "longitude");
             gnssList.add(record);
         }
         return gnssList;
-    }/** Finds the closest IMU record to the given timestamp. */
+    }
+
+    private static boolean hasEmbeddedReplayVerticalFields(PdrRecord pdr) {
+        return pdr.syntheticFloor != null
+                || pdr.currentElevation != null
+                || pdr.deltaHeight != null
+                || Boolean.TRUE.equals(pdr.heightChanged);
+    }
+
+    private static VerticalReplayState deriveVerticalStateFromPressure(List<PressureRecord> pressureList,
+                                                                       long targetTimestamp,
+                                                                       double referenceAltitude,
+                                                                       Double previousElevation,
+                                                                       Integer previousSyntheticFloor) {
+        VerticalReplayState state = new VerticalReplayState();
+        if (pressureList == null || pressureList.isEmpty() || Double.isNaN(referenceAltitude)) {
+            return state;
+        }
+
+        PressureRecord pressureRecord = findClosestPressureRecord(pressureList, targetTimestamp);
+        if (pressureRecord == null) {
+            return state;
+        }
+
+        double altitude = pressureToAltitudeMeters(pressureRecord.pressureHpa);
+        double currentElevation = altitude - referenceAltitude;
+        double deltaHeight = previousElevation == null ? 0d : currentElevation - previousElevation;
+        int syntheticFloor = (int) Math.round(currentElevation / DEFAULT_REPLAY_FLOOR_HEIGHT_METERS);
+
+        state.currentElevation = currentElevation;
+        state.deltaHeight = deltaHeight;
+        state.syntheticFloor = syntheticFloor;
+        state.heightChanged = Math.abs(deltaHeight) >= HEIGHT_CHANGE_THRESHOLD_METERS
+                || (previousSyntheticFloor != null && syntheticFloor != previousSyntheticFloor);
+        return state;
+    }
+
+    private static double pressureToAltitudeMeters(double pressureHpa) {
+        return 44330.0d * (1.0d - Math.pow(pressureHpa / SEA_LEVEL_PRESSURE_HPA, 0.1903d));
+    }
+
     private static ImuRecord findClosestImuRecord(List<ImuRecord> imuList, long targetTimestamp) {
-        return imuList.stream().min(Comparator.comparingLong(imu -> Math.abs(imu.relativeTimestamp - targetTimestamp)))
-                .orElse(null);
+        if (imuList == null || imuList.isEmpty()) {
+            return null;
+        }
+        ImuRecord closest = null;
+        long bestDistance = Long.MAX_VALUE;
+        for (ImuRecord imu : imuList) {
+            long distance = Math.abs(imu.relativeTimestamp - targetTimestamp);
+            if (distance < bestDistance) {
+                bestDistance = distance;
+                closest = imu;
+            }
+        }
+        return closest;
+    }
 
-    }/** Finds the closest GNSS record to the given timestamp. */
     private static GnssRecord findClosestGnssRecord(List<GnssRecord> gnssList, long targetTimestamp) {
-        return gnssList.stream().min(Comparator.comparingLong(gnss -> Math.abs(gnss.relativeTimestamp - targetTimestamp)))
-                .orElse(null);
+        if (gnssList == null || gnssList.isEmpty()) {
+            return null;
+        }
+        GnssRecord closest = null;
+        long bestDistance = Long.MAX_VALUE;
+        for (GnssRecord gnss : gnssList) {
+            long distance = Math.abs(gnss.relativeTimestamp - targetTimestamp);
+            if (distance < bestDistance) {
+                bestDistance = distance;
+                closest = gnss;
+            }
+        }
+        return closest;
+    }
+
+    private static PressureRecord findClosestPressureRecord(List<PressureRecord> pressureList, long targetTimestamp) {
+        if (pressureList == null || pressureList.isEmpty()) {
+            return null;
+        }
+        PressureRecord closest = null;
+        long bestDistance = Long.MAX_VALUE;
+        for (PressureRecord record : pressureList) {
+            long distance = Math.abs(record.relativeTimestamp - targetTimestamp);
+            if (distance < bestDistance) {
+                bestDistance = distance;
+                closest = record;
+            }
+        }
+        return closest;
+    }
 
-    }/** Computes the orientation from a rotation vector. */
     private static float computeOrientationFromRotationVector(float rx, float ry, float rz, float rw, Context context) {
         float[] rotationVector = new float[]{rx, ry, rz, rw};
         float[] rotationMatrix = new float[9];
@@ -293,4 +456,35 @@ private static float computeOrientationFromRotationVector(float rx, float ry, fl
         return azimuthDeg < 0 ? azimuthDeg + 360.0f : azimuthDeg;
     }
 
-}
\ No newline at end of file
+    private static long safeGetLong(JsonObject obj, String key) {
+        try {
+            return obj.has(key) && !obj.get(key).isJsonNull() ? obj.get(key).getAsLong() : 0L;
+        } catch (Exception e) {
+            return 0L;
+        }
+    }
+
+    private static int safeGetInt(JsonObject obj, String key) {
+        try {
+            return obj.has(key) && !obj.get(key).isJsonNull() ? obj.get(key).getAsInt() : 0;
+        } catch (Exception e) {
+            return 0;
+        }
+    }
+
+    private static float safeGetFloat(JsonObject obj, String key) {
+        try {
+            return obj.has(key) && !obj.get(key).isJsonNull() ? obj.get(key).getAsFloat() : 0f;
+        } catch (Exception e) {
+            return 0f;
+        }
+    }
+
+    private static double safeGetDouble(JsonObject obj, String key) {
+        try {
+            return obj.has(key) && !obj.get(key).isJsonNull() ? obj.get(key).getAsDouble() : 0d;
+        } catch (Exception e) {
+            return 0d;
+        }
+    }
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
index 03cd870f..b22f03af 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
@@ -48,9 +48,9 @@ public class ReplayActivity extends AppCompatActivity {
             //4.1 测试 4 - stairs-up (楼梯上楼验证)
     //private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_stairs_up.json";
             //4.2 测试4 -直线新路径 不行 轨迹有问题 运行不了
-    //private static final String FORCED_ASSET_PATH = "replay/trajectory_perfect_stairs_up.json";
+    private static final String FORCED_ASSET_PATH = "replay/traj_2.json";
             //5. 电梯测试
-    private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_lift_up.json";
+    //private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_lift_up.json";
 
     private String filePath;
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
index 77762ad5..c6ceea8a 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
@@ -65,6 +65,15 @@ public class ReplayFragment extends Fragment {
     private int currentIndex = 0;
     private boolean isPlaying = false;
 
+    // 方案 B：Replay 启动时允许用户手动指定“绝对起始楼层”。
+    // 当原始 JSON 没有 initialFloor 时，就不再被默认 G 层带偏。
+    @Nullable
+    private Integer manualInitialFloorOverride = null;
+    private boolean hasPromptedReplayStartFloor = false;
+
+    private static final String[] REPLAY_START_FLOOR_LABELS = new String[]{"LG (-1)", "G (0)", "1", "2", "3", "4", "5"};
+    private static final int[] REPLAY_START_FLOOR_VALUES = new int[]{-1, 0, 1, 2, 3, 4, 5};
+
     @Override
     public void onCreate(@Nullable Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
@@ -136,7 +145,11 @@ public void onViewCreated(@NonNull View view,
         boolean gnssExists = hasAnyGnssData(replayData);
 
         if (gnssExists) {
-            showGnssChoiceDialog();
+            showGnssChoiceDialog(() -> {
+                if (!replayData.isEmpty()) {
+                    promptReplayStartFloorSelection(() -> updateMapForIndex(0));
+                }
+            });
         } else {
             // No GNSS data -> automatically use param lat/lon
             if (initialLat != 0f || initialLon != 0f) {
@@ -223,8 +236,8 @@ public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
             @Override public void onStopTrackingTouch(SeekBar seekBar) {}
         });
 
-        if (!replayData.isEmpty()) {
-            updateMapForIndex(0);
+        if (!gnssExists && !replayData.isEmpty()) {
+            promptReplayStartFloorSelection(() -> updateMapForIndex(0));
         }
     }
 
@@ -248,7 +261,7 @@ private boolean hasAnyGnssData(List<TrajParser.ReplayPoint> data) {
      * 1) GNSS from file
      * 2) Lat/Lon from ReplayActivity arguments
      */
-    private void showGnssChoiceDialog() {
+    private void showGnssChoiceDialog(@Nullable Runnable onChoiceComplete) {
         new AlertDialog.Builder(requireContext())
                 .setTitle("Choose Starting Location")
                 .setMessage("GNSS data is found in the file. Would you like to use the file's GNSS as the start, or the one you manually picked?")
@@ -260,10 +273,16 @@ private void showGnssChoiceDialog() {
                         // Fallback if no valid GNSS found
                         setupInitialMapPosition(initialLat, initialLon);
                     }
+                    if (onChoiceComplete != null) {
+                        onChoiceComplete.run();
+                    }
                     dialog.dismiss();
                 })
                 .setNegativeButton("Use Manual Set", (dialog, which) -> {
                     setupInitialMapPosition(initialLat, initialLon);
+                    if (onChoiceComplete != null) {
+                        onChoiceComplete.run();
+                    }
                     dialog.dismiss();
                 })
                 .setCancelable(false)
@@ -282,13 +301,83 @@ private void setupInitialMapPosition(float latitude, float longitude) {
     private LatLng getFirstGnssLocation(List<TrajParser.ReplayPoint> data) {
         for (TrajParser.ReplayPoint point : data) {
             if (point.gnssLocation != null) {
-                return new LatLng(replayData.get(0).gnssLocation.latitude, replayData.get(0).gnssLocation.longitude);
+                return new LatLng(point.gnssLocation.latitude, point.gnssLocation.longitude);
             }
         }
         return null; // None found
     }
 
 
+    private void promptReplayStartFloorSelection(@Nullable Runnable onSelected) {
+        if (replayData.isEmpty()) {
+            if (onSelected != null) {
+                onSelected.run();
+            }
+            return;
+        }
+
+        if (hasPromptedReplayStartFloor) {
+            if (onSelected != null) {
+                onSelected.run();
+            }
+            return;
+        }
+
+        hasPromptedReplayStartFloor = true;
+        int checkedItem = getDefaultReplayStartFloorChoiceIndex();
+
+        new AlertDialog.Builder(requireContext())
+                .setTitle("Choose Replay Start Floor")
+                .setSingleChoiceItems(REPLAY_START_FLOOR_LABELS, checkedItem, (dialog, which) -> {
+                    manualInitialFloorOverride = REPLAY_START_FLOOR_VALUES[which];
+                })
+                .setPositiveButton("Use Selected Floor", (dialog, which) -> {
+                    if (manualInitialFloorOverride == null) {
+                        manualInitialFloorOverride = REPLAY_START_FLOOR_VALUES[checkedItem];
+                    }
+                    Log.i(TAG, "Replay start floor override = " + manualInitialFloorOverride);
+                    if (onSelected != null) {
+                        onSelected.run();
+                    }
+                    dialog.dismiss();
+                })
+                .setNegativeButton("Use File Default", (dialog, which) -> {
+                    manualInitialFloorOverride = null;
+                    if (onSelected != null) {
+                        onSelected.run();
+                    }
+                    dialog.dismiss();
+                })
+                .setCancelable(false)
+                .show();
+    }
+
+    private int getDefaultReplayStartFloorChoiceIndex() {
+        Integer preferredFloor = manualInitialFloorOverride;
+        if (preferredFloor == null && !replayData.isEmpty()) {
+            preferredFloor = replayData.get(0).initialFloor;
+        }
+        if (preferredFloor == null) {
+            preferredFloor = 2;
+        }
+
+        for (int i = 0; i < REPLAY_START_FLOOR_VALUES.length; i++) {
+            if (REPLAY_START_FLOOR_VALUES[i] == preferredFloor) {
+                manualInitialFloorOverride = preferredFloor;
+                return i;
+            }
+        }
+
+        manualInitialFloorOverride = 2;
+        return 3;
+    }
+
+    @Nullable
+    private Integer resolveReplayInitialFloor(@NonNull TrajParser.ReplayPoint point) {
+        return manualInitialFloorOverride != null ? manualInitialFloorOverride : point.initialFloor;
+    }
+
+
     /**
      * Runnable for playback of trajectory data.
      * This runnable is called repeatedly to update the map with the next point in the replayData list.
@@ -337,7 +426,7 @@ private void updateMapForIndex(int newIndex) {
                         p.currentElevation,
                         p.deltaHeight,
                         p.heightChanged,
-                        p.initialFloor
+                        resolveReplayInitialFloor(p)
                 );
                 trajectoryMapFragment.updateUserLocation(p.pdrLocation, p.orientation);
                 if (p.gnssLocation != null) {
@@ -352,7 +441,7 @@ private void updateMapForIndex(int newIndex) {
                     p.currentElevation,
                     p.deltaHeight,
                     p.heightChanged,
-                    p.initialFloor
+                    resolveReplayInitialFloor(p)
             );
             trajectoryMapFragment.updateUserLocation(p.pdrLocation, p.orientation);
             if (p.gnssLocation != null) {
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
index 10e3494d..67579ff2 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
@@ -171,7 +171,8 @@ public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle sa
         View rootView = inflater.inflate(R.layout.fragment_startlocation, container, false);
 
         startPosition = sensorFusion.getGNSSLatitude(false);
-        zoom = (startPosition[0] == 0 && startPosition[1] == 0) ? 1f : 19f;
+        // 【修复1】不要再用 1f 这个高空视角了，直接默认给室内级别 19f
+        zoom = 19f;
 
         SupportMapFragment supportMapFragment = (SupportMapFragment) getChildFragmentManager().findFragmentById(R.id.startMap);
         if (supportMapFragment != null) {
@@ -208,6 +209,16 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
         button.setOnClickListener(v -> {
             float chosenLat = startPosition[0];
             float chosenLon = startPosition[1];
+
+// 【新增】保存用户在这个界面手动调整好的完美缩放比例
+            if (mMap != null && getContext() != null) {
+                float userChosenZoom = mMap.getCameraPosition().zoom;
+                getContext().getSharedPreferences("MapCameraState", android.content.Context.MODE_PRIVATE)
+                        .edit()
+                        .putFloat("user_selected_zoom", userChosenZoom)
+                        .apply();
+            }
+
             if (selectedBuildingId != null) {
                 sensorFusion.setSelectedBuildingId(selectedBuildingId);
             }
@@ -232,11 +243,15 @@ private void setupMap() {
 
         LatLng position = new LatLng(startPosition[0], startPosition[1]);
         startMarker = mMap.addMarker(new MarkerOptions().position(position).title("Start Position").draggable(true));
-        if (!hasInitialCameraPositioned) {
+
+        // 【修复2】判断是否有真实定位。如果是 0.0，说明还在搜星，先不要急着锁定相机视角
+        boolean gnssReady = !(startPosition[0] == 0f && startPosition[1] == 0f);
+        if (!hasInitialCameraPositioned && gnssReady) {
             mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(position, zoom));
-            hasInitialCameraPositioned = true;
+            hasInitialCameraPositioned = true; // 只有真实定位聚焦后，才锁定
         }
 
+
         mMap.setOnMarkerDragListener(new GoogleMap.OnMarkerDragListener() {
             @Override public void onMarkerDragStart(Marker marker) {}
             @Override public void onMarkerDrag(Marker marker) {}
@@ -275,8 +290,9 @@ private void requestBuildingDataWhenReady() {
 
         LatLng current = new LatLng(startPosition[0], startPosition[1]);
         if (startMarker != null) startMarker.setPosition(current);
-        if (mMap != null && !hasInitialCameraPositioned) {
-            mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(current, zoom));
+        // 【修复3】一旦拿到了真实定位，且还没聚焦过，立刻把镜头拉近到 19f
+        if (mMap != null && gnssReady && !hasInitialCameraPositioned) {
+            mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(current, zoom)); // zoom 已经是 19f
             hasInitialCameraPositioned = true;
         }
         requestBuildingData();
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 07b29def..8998f3c8 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -311,11 +311,25 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
             mapFragment.getMapAsync(googleMap -> {
                 gMap = googleMap;
                 initMapSettings(gMap);
+
+                // 1. Replay 模式：使用传递进来的 pendingCameraPosition
                 if (hasPendingCameraMove && pendingCameraPosition != null) {
                     gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(pendingCameraPosition, 19f));
                     hasPendingCameraMove = false;
                     pendingCameraPosition = null;
                 }
+                // 2. 【核心修复2】Live（实地）模式：立刻读取 StartLocation 传过来的坐标和视角
+                else if (!replayModeEnabled && getContext() != null) {
+                    android.content.SharedPreferences prefs = getContext().getSharedPreferences("MapCameraState", Context.MODE_PRIVATE);
+                    float savedZoom = prefs.getFloat("user_selected_zoom", 19f);
+                    float savedLat = prefs.getFloat("user_start_lat", 0f);
+                    float savedLon = prefs.getFloat("user_start_lon", 0f);
+
+                    // 只要拿到了有效坐标，在任何乱七八糟的加载开始前，强行把镜头砸在这个位置！
+                    if (savedLat != 0f && savedLon != 0f) {
+                        gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(new LatLng(savedLat, savedLon), savedZoom));
+                    }
+                }
                 restoreCachedBuildingsIfAny();
                 maybeFetchNearbyBuildingsOnFirstLocation();
             });
@@ -462,17 +476,19 @@ private void maybeAutoSelectIndoorMap(List<FloorplanApiClient.BuildingInfo> buil
         }
 
         onFloorplanBuildingSelected(candidate, candidatePolygon);
-        indoorMapVisible = true;
-        actualMapVisible = false;
-        indoorMapManager.setSelectedBuilding(candidate);
-        setFloor(currentFloorIndex);
+
+        // 【核心修复1】注释掉自动显示地图的代码，只做后台选中，等待用户主动点击按钮
+        // indoorMapVisible = true;
+        // actualMapVisible = false;
+        // indoorMapManager.setSelectedBuilding(candidate);
+        // setFloor(currentFloorIndex);
+
         hasAutoSelectedIndoorMap = true;
 
         if (selectedVenueText != null) {
-            selectedVenueText.setText("Replay auto-selected indoor map for " + prettyBuildingName(candidate.getName()));
+            selectedVenueText.setText("Auto-selected " + prettyBuildingName(candidate.getName()) + ". Tap Find Maps to show.");
         }
     }
-
     @Nullable
     private FloorplanApiClient.BuildingInfo findBestBuildingForAutoSelection(List<FloorplanApiClient.BuildingInfo> buildings, @NonNull LatLng location) {
         FloorplanApiClient.BuildingInfo insideCandidate = null;
@@ -548,19 +564,29 @@ private void setFloor(int newFloorIndex) {
         currentFloorIndex = Math.max(0, Math.min(newFloorIndex, maxFloor));
         refreshSelectedPolygonAppearance();
 
-        if (!indoorMapVisible) {
+        // 【核心修复3】如果两个按钮都没开，彻底清空画面
+        if (!indoorMapVisible && !actualMapVisible) {
             indoorMapManager.clearIndoorMap();
+            resetMapOverlays();
             updateFloorLabel();
             return;
         }
 
         resetMapOverlays();
         indoorMapManager.setVectorBaseplateEnabled(false);
+
+        // 独立处理实景图层
         if (actualMapVisible) {
             updateRealMapOverlay(selectedFloorplanBuilding.getName(), currentFloorIndex, true);
         }
 
-        indoorMapManager.setCurrentFloor(currentFloorIndex, false);
+        // 独立处理红色覆盖图层
+        if (indoorMapVisible) {
+            indoorMapManager.setCurrentFloor(currentFloorIndex, false);
+        } else {
+            indoorMapManager.clearIndoorMap();
+        }
+
         setFloorControlsVisibility(View.VISIBLE);
         updateFloorLabel();
         updateCalibrationUi();
@@ -568,7 +594,6 @@ private void setFloor(int newFloorIndex) {
 
 
 
-
     private void updateRealMapOverlay(String buildingName, int floorIndex, boolean show) {
         if (!show || gMap == null || selectedFloorplanBuilding == null) {
             return;
@@ -618,7 +643,7 @@ private void addActualMapOverlayForBuilding(FloorplanApiClient.BuildingInfo buil
             GroundOverlay overlay = gMap.addGroundOverlay(new GroundOverlayOptions()
                     .image(BitmapDescriptorFactory.fromResource(drawableResId))
                     .positionFromBounds(bounds)
-                    .zIndex(5f));
+                    .zIndex(19f));
             if (overlay != null) {
                 realMapOverlays.add(overlay);
             }
@@ -1153,7 +1178,7 @@ private void onFloorplanBuildingSelected(FloorplanApiClient.BuildingInfo buildin
         if (selectedFloorplanPolygon != null) {
             selectedFloorplanPolygon.setFillColor(Color.argb(50, 33, 150, 243));
             selectedFloorplanPolygon.setStrokeColor(Color.argb(220, 33, 150, 243));
-            selectedFloorplanPolygon.setZIndex(1f);
+            selectedFloorplanPolygon.setZIndex(19f);
         }
 
         selectedFloorplanPolygon = polygon;
@@ -1165,7 +1190,7 @@ private void onFloorplanBuildingSelected(FloorplanApiClient.BuildingInfo buildin
         replayDisplayFloorInitialized = false;
 
         if (polygon != null) {
-            polygon.setZIndex(1f);
+            polygon.setZIndex(19f);
         }
         refreshSelectedPolygonAppearance();
 
@@ -1298,12 +1323,12 @@ private void refreshSelectedPolygonAppearance() {
             selectedFloorplanPolygon.setFillColor(Color.argb(10, 33, 150, 243));
             selectedFloorplanPolygon.setStrokeColor(Color.argb(180, 33, 150, 243));
             selectedFloorplanPolygon.setStrokeWidth(3f);
-            selectedFloorplanPolygon.setZIndex(1f);
+            selectedFloorplanPolygon.setZIndex(19f);
         } else {
             selectedFloorplanPolygon.setFillColor(Color.argb(100, 33, 150, 243));
             selectedFloorplanPolygon.setStrokeColor(Color.argb(255, 25, 118, 210));
             selectedFloorplanPolygon.setStrokeWidth(5f);
-            selectedFloorplanPolygon.setZIndex(1f);
+            selectedFloorplanPolygon.setZIndex(19f);
         }
     }
 
@@ -1444,7 +1469,6 @@ private void drawFloorplanBuildings(List<FloorplanApiClient.BuildingInfo> buildi
         }
 
         LatLngBounds.Builder boundsBuilder = new LatLngBounds.Builder();
-        boolean hasAnyPoint = false;
 
         for (FloorplanApiClient.BuildingInfo building : buildings) {
             List<LatLng> outline = building.getOutlinePolygon();
@@ -1458,25 +1482,14 @@ private void drawFloorplanBuildings(List<FloorplanApiClient.BuildingInfo> buildi
                     .strokeWidth(5f)
                     .fillColor(Color.argb(50, 33, 150, 243))
                     .clickable(true)
-                    .zIndex(1f));
+                    .zIndex(19f));
 
             floorplanPolygons.add(polygon);
             polygonToBuilding.put(polygon, building);
-
-            for (LatLng point : outline) {
-                boundsBuilder.include(point);
-                hasAnyPoint = true;
-            }
         }
 
-        if (hasAnyPoint) {
-            try {
-                gMap.animateCamera(CameraUpdateFactory.newLatLngBounds(boundsBuilder.build(), 100));
-            } catch (Exception ignored) {
-            }
-        }
+        // 【修复1】这里原本会导致缩放异常的 newLatLngBounds 代码已被彻底删除！
     }
-
     private PolylineOptions buildTrajectoryOutlineOptions() {
         return new PolylineOptions()
                 .color(TRAJECTORY_OUTLINE_COLOR)
@@ -1484,7 +1497,7 @@ private PolylineOptions buildTrajectoryOutlineOptions() {
                 .startCap(new RoundCap())
                 .endCap(new RoundCap())
                 .jointType(JointType.ROUND)
-                .zIndex(TRAJECTORY_Z_INDEX - 1f)
+                .zIndex(TRAJECTORY_Z_INDEX - 19f)
                 .add();
     }
 
@@ -1503,7 +1516,7 @@ private void ensureTrajectoryStyling() {
         if (polylineOutline != null) {
             polylineOutline.setWidth(TRAJECTORY_WIDTH_OUTLINE_PX);
             polylineOutline.setColor(TRAJECTORY_OUTLINE_COLOR);
-            polylineOutline.setZIndex(TRAJECTORY_Z_INDEX - 1f);
+            polylineOutline.setZIndex(TRAJECTORY_Z_INDEX - 19f);
             polylineOutline.setStartCap(new RoundCap());
             polylineOutline.setEndCap(new RoundCap());
             polylineOutline.setJointType(JointType.ROUND);
@@ -1526,7 +1539,7 @@ private PolylineOptions buildRawReplayPolylineOptions() {
                 .jointType(JointType.ROUND)
                 .startCap(new RoundCap())
                 .endCap(new RoundCap())
-                .zIndex(TRAJECTORY_Z_INDEX - 1f)
+                .zIndex(TRAJECTORY_Z_INDEX - 19f)
                 .add();
     }
 
@@ -1571,7 +1584,7 @@ private void initMapSettings(GoogleMap map) {
         polylineOutline = map.addPolyline(buildTrajectoryOutlineOptions());
         polyline = map.addPolyline(buildTrajectoryMainOptions());
         rawReplayPolyline = map.addPolyline(buildRawReplayPolylineOptions());
-        gnssPolyline = map.addPolyline(new PolylineOptions().color(Color.BLUE).width(5f).zIndex(TRAJECTORY_Z_INDEX - 2f).add());
+        gnssPolyline = map.addPolyline(new PolylineOptions().color(Color.BLUE).width(5f).zIndex(TRAJECTORY_Z_INDEX - 19f).add());
         ensureTrajectoryStyling();
     }
 
@@ -1692,7 +1705,9 @@ private int resolveReplayCandidateFloorIndex() {
         }
 
         int relativeFloorOffset = 0;
-        if (replaySyntheticFloor != null && replaySyntheticFloor > 0 && hasReplayVerticalEvidence()) {
+        // Replay 里的 syntheticFloor 是“相对起始楼层的偏移”，可以是正数也可以是负数。
+        // 之前这里只接受 > 0，导致“下楼 replay”永远被忽略，轨迹会一直锁在基层。
+        if (replaySyntheticFloor != null && replaySyntheticFloor != 0 && hasReplayVerticalEvidence()) {
             relativeFloorOffset = replaySyntheticFloor;
         }
 
@@ -1780,6 +1795,13 @@ private void applyReplayMatchedFloorIfNeeded(int matchedFloorIndex) {
         if (selectedFloorplanBuilding == null || indoorMapManager == null) {
             return;
         }
+
+        // 【核心修复2】在实地 Live 模式下，如果用户关闭了自动楼层开关（Auto Floor），
+        // 就不应该强制用底层算法算出的楼层去覆盖用户的屏幕！允许用户自由手动浏览。
+        if (!replayModeEnabled && (autoFloorSwitch == null || !autoFloorSwitch.isChecked())) {
+            return;
+        }
+
         int maxFloor = Math.max(0, selectedFloorplanBuilding.getFloorShapesList().size() - 1);
         int clampedFloor = Math.max(0, Math.min(matchedFloorIndex, maxFloor));
 
@@ -1800,7 +1822,6 @@ private void applyReplayMatchedFloorIfNeeded(int matchedFloorIndex) {
         indoorMapManager.setSelectedBuilding(selectedFloorplanBuilding);
         setFloor(clampedFloor);
     }
-
     public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         if (gMap == null) {
             return;
@@ -1864,21 +1885,31 @@ public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         applyReplayMatchedFloorIfNeeded(matchedFloor);
 
         boolean shouldFollowCamera = replayModeEnabled || !(indoorMapVisible || actualMapVisible);
+
         if (orientationMarker == null) {
+            // 第一次拿到位置，初始化 Marker
             orientationMarker = gMap.addMarker(new MarkerOptions()
                     .position(matchedLocation)
                     .flat(true)
                     .title("Current Position")
                     .icon(BitmapDescriptorFactory.fromBitmap(UtilFunctions.getBitmapFromVector(requireContext(), R.drawable.ic_baseline_navigation_24))));
-            if (shouldFollowCamera) {
-                float zoom = replayModeEnabled ? gMap.getCameraPosition().zoom : 19f;
-                gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(matchedLocation, zoom));
+
+            // 【核心修复】：继承 StartLocation 里的缩放比例
+            float savedZoom = 19f;
+            if (getContext() != null) {
+                savedZoom = getContext().getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
+                        .getFloat("user_selected_zoom", 19f);
             }
+
+            gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(matchedLocation, savedZoom));
         } else {
+            // 后续的位置更新
             orientationMarker.setPosition(matchedLocation);
             orientationMarker.setRotation(orientation);
+
             if (shouldFollowCamera) {
-                gMap.moveCamera(CameraUpdateFactory.newLatLng(matchedLocation));
+                // 如果允许跟随，则平滑移动镜头
+                gMap.animateCamera(CameraUpdateFactory.newLatLng(matchedLocation));
             }
         }
 
@@ -2013,6 +2044,13 @@ private void logFeatureValidation(@NonNull LatLng rawLocation, @Nullable MapMatc
     }
 
     public void setInitialCameraPosition(@NonNull LatLng startLocation) {
+        // 读取刚才在 StartLocation 界面保存的缩放比例（默认给 19f）
+        float savedZoom = 19f;
+        if (getContext() != null) {
+            savedZoom = getContext().getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
+                    .getFloat("user_selected_zoom", 19f);
+        }
+
         if (gMap != null) {
             gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(startLocation, 19f));
         } else {
@@ -2436,7 +2474,7 @@ public void clearMapAndReset() {
             polylineOutline = gMap.addPolyline(buildTrajectoryOutlineOptions());
             polyline = gMap.addPolyline(buildTrajectoryMainOptions());
             rawReplayPolyline = gMap.addPolyline(buildRawReplayPolylineOptions());
-            gnssPolyline = gMap.addPolyline(new PolylineOptions().color(Color.BLUE).width(5f).zIndex(TRAJECTORY_Z_INDEX - 2f).add());
+            gnssPolyline = gMap.addPolyline(new PolylineOptions().color(Color.BLUE).width(5f).zIndex(TRAJECTORY_Z_INDEX - 19f).add());
             ensureTrajectoryStyling();
         }
         for (Polygon p : floorplanPolygons) {

From e12f5ee21b56b317b5575bb0bd36771d4af2dfce Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Thu, 26 Mar 2026 05:27:59 +0000
Subject: [PATCH 14/35] UI

---
 .../PositionMe/data/local/TrajParser.java     | 409 ++++++++----------
 .../fragment/TrajectoryMapFragment.java       |   7 +-
 2 files changed, 191 insertions(+), 225 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java b/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
index f1419479..a1d618d4 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
@@ -4,6 +4,8 @@
 import android.hardware.SensorManager;
 import android.util.Log;
 
+import androidx.annotation.Nullable;
+
 import com.google.android.gms.maps.model.LatLng;
 import com.google.gson.JsonArray;
 import com.google.gson.JsonElement;
@@ -12,26 +14,24 @@
 import com.openpositioning.PositionMe.presentation.fragment.ReplayFragment;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
 
-import java.io.File;
 import java.io.BufferedReader;
+import java.io.File;
 import java.io.FileReader;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.Comparator;
 import java.util.List;
+import java.util.Locale;
 
 /**
- * Handles parsing of trajectory data stored in JSON files, combining IMU, PDR, GNSS, and pressure data
- * to reconstruct motion paths for replay.
+ * Handles parsing of trajectory data stored in JSON files, combining IMU, PDR, GNSS and
+ * optional barometer data to reconstruct replay motion paths.
  */
 public class TrajParser {
 
     private static final String TAG = "TrajParser";
-    private static final double SEA_LEVEL_PRESSURE_HPA = 1013.25d;
-    // 原始 replay 没有 building-specific floorHeight 时，先用保守默认值。
-    // 这样法国原始轨迹至少能在 replay 里看到“不是永远锁在基层”的楼层切换。
     private static final double DEFAULT_REPLAY_FLOOR_HEIGHT_METERS = 4.0d;
-    private static final double HEIGHT_CHANGE_THRESHOLD_METERS = 0.35d;
+    private static final double REPLAY_HEIGHT_CHANGED_THRESHOLD_METERS = 1.6d;
 
     public static class ReplayPoint {
         public LatLng pdrLocation;
@@ -69,39 +69,41 @@ public ReplayPoint(LatLng pdrLocation,
     }
 
     private static class ImuRecord {
-        public long relativeTimestamp;
-        public float rotationVectorX;
-        public float rotationVectorY;
-        public float rotationVectorZ;
-        public float rotationVectorW;
+        long relativeTimestamp;
+        float rotationVectorX, rotationVectorY, rotationVectorZ, rotationVectorW;
     }
 
     private static class PdrRecord {
-        public long relativeTimestamp;
-        public float x;
-        public float y;
-        public Integer syntheticFloor;
-        public Double currentElevation;
-        public Double deltaHeight;
-        public Boolean heightChanged;
+        long relativeTimestamp;
+        float x, y;
+        Integer syntheticFloor;
+        Double currentElevation;
+        Double deltaHeight;
+        Boolean heightChanged;
     }
 
-    private static class PressureRecord {
-        public long relativeTimestamp;
-        public double pressureHpa;
+    private static class GnssRecord {
+        long relativeTimestamp;
+        double latitude, longitude;
     }
 
-    private static class GnssRecord {
-        public long relativeTimestamp;
-        public double latitude;
-        public double longitude;
+    private static class PressureRecord {
+        long relativeTimestamp;
+        double pressureHpa;
     }
 
-    private static class VerticalReplayState {
-        public Integer syntheticFloor;
-        public Double currentElevation;
-        public Double deltaHeight;
-        public boolean heightChanged;
+    private static class VerticalEstimate {
+        final double currentElevation;
+        final double deltaHeight;
+        final boolean heightChanged;
+        final int syntheticFloor;
+
+        VerticalEstimate(double currentElevation, double deltaHeight, boolean heightChanged, int syntheticFloor) {
+            this.currentElevation = currentElevation;
+            this.deltaHeight = deltaHeight;
+            this.heightChanged = heightChanged;
+            this.syntheticFloor = syntheticFloor;
+        }
     }
 
     public static List<ReplayPoint> parseTrajectoryData(String filePath, Context context,
@@ -120,13 +122,10 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
             }
 
             JsonObject root = readJsonObject(file);
-            if (root == null) {
-                Log.e(TAG, "Failed to parse root JSON object for file: " + filePath);
-                return result;
-            }
+            Log.i(TAG, "Successfully read trajectory file: " + filePath);
 
             Integer initialFloor = root.has("initialFloor") && !root.get("initialFloor").isJsonNull()
-                    ? safeGetInt(root, "initialFloor")
+                    ? safeGetInt(root.get("initialFloor"), null)
                     : null;
 
             List<ImuRecord> imuList = parseImuData(root.getAsJsonArray("imuData"));
@@ -134,33 +133,33 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
             List<GnssRecord> gnssList = parseGnssData(root.getAsJsonArray("gnssData"));
             List<PressureRecord> pressureList = parsePressureData(root.getAsJsonArray("pressureData"));
 
-            Log.i(TAG, "Parsed data - IMU: " + imuList.size()
-                    + " records, PDR: " + pdrList.size()
-                    + " records, GNSS: " + gnssList.size()
-                    + " records, Pressure: " + pressureList.size() + " records");
-
-            double referenceAltitude = Double.NaN;
-            Double previousElevation = null;
-            Integer previousSyntheticFloor = null;
-            if (!pdrList.isEmpty() && !pressureList.isEmpty()) {
-                PressureRecord basePressure = findClosestPressureRecord(pressureList, pdrList.get(0).relativeTimestamp);
-                if (basePressure != null) {
-                    referenceAltitude = pressureToAltitudeMeters(basePressure.pressureHpa);
-                }
+            Log.i(TAG, String.format(Locale.US,
+                    "Parsed data - IMU=%d PDR=%d GNSS=%d Pressure=%d",
+                    imuList.size(), pdrList.size(), gnssList.size(), pressureList.size()));
+
+            if (pdrList.isEmpty()) {
+                return result;
             }
 
+            long replayReferenceTimestamp = pdrList.get(0).relativeTimestamp;
+            PressureRecord replayReferencePressure = findClosestPressureRecord(pressureList, replayReferenceTimestamp);
+            Double baseElevation = replayReferencePressure != null
+                    ? pressureToRelativeElevationMeters(replayReferencePressure.pressureHpa,
+                    replayReferencePressure.pressureHpa)
+                    : null;
+            double floorHeightMeters = DEFAULT_REPLAY_FLOOR_HEIGHT_METERS;
+
             for (int i = 0; i < pdrList.size(); i++) {
                 PdrRecord pdr = pdrList.get(i);
 
                 ImuRecord closestImu = findClosestImuRecord(imuList, pdr.relativeTimestamp);
-                float orientationDeg = closestImu != null
-                        ? computeOrientationFromRotationVector(
+                float orientationDeg = closestImu != null ? computeOrientationFromRotationVector(
                         closestImu.rotationVectorX,
                         closestImu.rotationVectorY,
                         closestImu.rotationVectorZ,
                         closestImu.rotationVectorW,
-                        context)
-                        : 0f;
+                        context
+                ) : 0f;
 
                 float speed = 0f;
                 if (i > 0) {
@@ -183,27 +182,30 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
                         ? new LatLng(closestGnss.latitude, closestGnss.longitude)
                         : null;
 
-                VerticalReplayState verticalState;
-                if (hasEmbeddedReplayVerticalFields(pdr)) {
-                    verticalState = new VerticalReplayState();
-                    verticalState.syntheticFloor = pdr.syntheticFloor;
-                    verticalState.currentElevation = pdr.currentElevation;
-                    verticalState.deltaHeight = pdr.deltaHeight;
-                    verticalState.heightChanged = Boolean.TRUE.equals(pdr.heightChanged);
-                } else {
-                    verticalState = deriveVerticalStateFromPressure(
+                Integer syntheticFloor = pdr.syntheticFloor;
+                Double currentElevation = pdr.currentElevation;
+                Double deltaHeight = pdr.deltaHeight;
+                boolean heightChanged = Boolean.TRUE.equals(pdr.heightChanged);
+
+                if (syntheticFloor == null || currentElevation == null || deltaHeight == null || !heightChanged) {
+                    VerticalEstimate estimate = buildVerticalEstimate(
                             pressureList,
+                            replayReferencePressure,
                             pdr.relativeTimestamp,
-                            referenceAltitude,
-                            previousElevation,
-                            previousSyntheticFloor);
-                }
-
-                if (verticalState.currentElevation != null) {
-                    previousElevation = verticalState.currentElevation;
-                }
-                if (verticalState.syntheticFloor != null) {
-                    previousSyntheticFloor = verticalState.syntheticFloor;
+                            floorHeightMeters
+                    );
+                    if (syntheticFloor == null) {
+                        syntheticFloor = estimate.syntheticFloor;
+                    }
+                    if (currentElevation == null) {
+                        currentElevation = estimate.currentElevation;
+                    }
+                    if (deltaHeight == null) {
+                        deltaHeight = estimate.deltaHeight;
+                    }
+                    if (!heightChanged) {
+                        heightChanged = estimate.heightChanged;
+                    }
                 }
 
                 result.add(new ReplayPoint(
@@ -212,10 +214,10 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
                         orientationDeg,
                         speed,
                         pdr.relativeTimestamp,
-                        verticalState.syntheticFloor,
-                        verticalState.currentElevation,
-                        verticalState.deltaHeight,
-                        verticalState.heightChanged,
+                        syntheticFloor,
+                        currentElevation,
+                        deltaHeight,
+                        heightChanged,
                         initialFloor
                 ));
             }
@@ -238,15 +240,16 @@ private static JsonObject readJsonObject(File file) throws Exception {
                 sb.append(line).append('\n');
             }
         }
+
         String raw = sb.toString();
         int firstBrace = raw.indexOf('{');
         if (firstBrace > 0) {
             raw = raw.substring(firstBrace);
         }
-        return new JsonParser().parse(raw).getAsJsonObject();
+        return JsonParser.parseString(raw).getAsJsonObject();
     }
 
-    private static List<ImuRecord> parseImuData(JsonArray imuArray) {
+    private static List<ImuRecord> parseImuData(@Nullable JsonArray imuArray) {
         List<ImuRecord> imuList = new ArrayList<>();
         if (imuArray == null) {
             return imuList;
@@ -258,23 +261,24 @@ private static List<ImuRecord> parseImuData(JsonArray imuArray) {
             }
             JsonObject obj = element.getAsJsonObject();
             ImuRecord record = new ImuRecord();
-            record.relativeTimestamp = safeGetLong(obj, "relativeTimestamp");
-
-            JsonObject rotationVector = obj.has("rotationVector") && obj.get("rotationVector").isJsonObject()
-                    ? obj.getAsJsonObject("rotationVector")
-                    : null;
-            if (rotationVector != null) {
-                record.rotationVectorX = safeGetFloat(rotationVector, "x");
-                record.rotationVectorY = safeGetFloat(rotationVector, "y");
-                record.rotationVectorZ = safeGetFloat(rotationVector, "z");
-                record.rotationVectorW = safeGetFloat(rotationVector, "w");
+            record.relativeTimestamp = safeGetLong(obj.get("relativeTimestamp"), 0L);
+
+            JsonObject rv = obj.has("rotationVector") && obj.get("rotationVector").isJsonObject()
+                    ? obj.getAsJsonObject("rotationVector") : null;
+            if (rv != null) {
+                record.rotationVectorX = safeGetFloat(rv.get("x"), 0f);
+                record.rotationVectorY = safeGetFloat(rv.get("y"), 0f);
+                record.rotationVectorZ = safeGetFloat(rv.get("z"), 0f);
+                record.rotationVectorW = safeGetFloat(rv.get("w"), 1f);
+            } else {
+                record.rotationVectorW = 1f;
             }
             imuList.add(record);
         }
         return imuList;
     }
 
-    private static List<PdrRecord> parsePdrData(JsonArray pdrArray) {
+    private static List<PdrRecord> parsePdrData(@Nullable JsonArray pdrArray) {
         List<PdrRecord> pdrList = new ArrayList<>();
         if (pdrArray == null) {
             return pdrList;
@@ -286,49 +290,19 @@ private static List<PdrRecord> parsePdrData(JsonArray pdrArray) {
             }
             JsonObject obj = element.getAsJsonObject();
             PdrRecord record = new PdrRecord();
-            record.relativeTimestamp = safeGetLong(obj, "relativeTimestamp");
-            record.x = safeGetFloat(obj, "x");
-            record.y = safeGetFloat(obj, "y");
-            record.syntheticFloor = obj.has("syntheticFloor") && !obj.get("syntheticFloor").isJsonNull()
-                    ? safeGetInt(obj, "syntheticFloor")
-                    : null;
-            record.currentElevation = obj.has("currentElevation") && !obj.get("currentElevation").isJsonNull()
-                    ? safeGetDouble(obj, "currentElevation")
-                    : null;
-            record.deltaHeight = obj.has("deltaHeight") && !obj.get("deltaHeight").isJsonNull()
-                    ? safeGetDouble(obj, "deltaHeight")
-                    : null;
-            record.heightChanged = obj.has("heightChanged") && !obj.get("heightChanged").isJsonNull()
-                    ? obj.get("heightChanged").getAsBoolean()
-                    : null;
+            record.relativeTimestamp = safeGetLong(obj.get("relativeTimestamp"), 0L);
+            record.x = safeGetFloat(obj.get("x"), 0f);
+            record.y = safeGetFloat(obj.get("y"), 0f);
+            record.syntheticFloor = safeGetInt(obj.get("syntheticFloor"), null);
+            record.currentElevation = safeGetDoubleObj(obj.get("currentElevation"));
+            record.deltaHeight = safeGetDoubleObj(obj.get("deltaHeight"));
+            record.heightChanged = safeGetBoolean(obj.get("heightChanged"), null);
             pdrList.add(record);
         }
         return pdrList;
     }
 
-    private static List<PressureRecord> parsePressureData(JsonArray pressureArray) {
-        List<PressureRecord> pressureList = new ArrayList<>();
-        if (pressureArray == null) {
-            return pressureList;
-        }
-
-        for (JsonElement element : pressureArray) {
-            if (!element.isJsonObject()) {
-                continue;
-            }
-            JsonObject obj = element.getAsJsonObject();
-            if (!obj.has("pressure") || obj.get("pressure").isJsonNull()) {
-                continue;
-            }
-            PressureRecord record = new PressureRecord();
-            record.relativeTimestamp = safeGetLong(obj, "relativeTimestamp");
-            record.pressureHpa = safeGetDouble(obj, "pressure");
-            pressureList.add(record);
-        }
-        return pressureList;
-    }
-
-    private static List<GnssRecord> parseGnssData(JsonArray gnssArray) {
+    private static List<GnssRecord> parseGnssData(@Nullable JsonArray gnssArray) {
         List<GnssRecord> gnssList = new ArrayList<>();
         if (gnssArray == null) {
             return gnssList;
@@ -340,107 +314,82 @@ private static List<GnssRecord> parseGnssData(JsonArray gnssArray) {
             }
             JsonObject obj = element.getAsJsonObject();
             JsonObject position = obj.has("position") && obj.get("position").isJsonObject()
-                    ? obj.getAsJsonObject("position")
-                    : obj;
-
-            if (!position.has("latitude") || !position.has("longitude")) {
-                continue;
-            }
+                    ? obj.getAsJsonObject("position") : obj;
 
             GnssRecord record = new GnssRecord();
-            record.relativeTimestamp = safeGetLong(position, "relativeTimestamp");
-            record.latitude = safeGetDouble(position, "latitude");
-            record.longitude = safeGetDouble(position, "longitude");
+            record.relativeTimestamp = safeGetLong(position.get("relativeTimestamp"), 0L);
+            record.latitude = safeGetDouble(position.get("latitude"), 0d);
+            record.longitude = safeGetDouble(position.get("longitude"), 0d);
             gnssList.add(record);
         }
         return gnssList;
     }
 
-    private static boolean hasEmbeddedReplayVerticalFields(PdrRecord pdr) {
-        return pdr.syntheticFloor != null
-                || pdr.currentElevation != null
-                || pdr.deltaHeight != null
-                || Boolean.TRUE.equals(pdr.heightChanged);
+    private static List<PressureRecord> parsePressureData(@Nullable JsonArray pressureArray) {
+        List<PressureRecord> pressureList = new ArrayList<>();
+        if (pressureArray == null) {
+            return pressureList;
+        }
+
+        for (JsonElement element : pressureArray) {
+            if (!element.isJsonObject()) {
+                continue;
+            }
+            JsonObject obj = element.getAsJsonObject();
+            PressureRecord record = new PressureRecord();
+            record.relativeTimestamp = safeGetLong(obj.get("relativeTimestamp"), 0L);
+            record.pressureHpa = safeGetDouble(obj.get("pressure"), Double.NaN);
+            if (!Double.isNaN(record.pressureHpa) && record.pressureHpa > 0d) {
+                pressureList.add(record);
+            }
+        }
+        return pressureList;
     }
 
-    private static VerticalReplayState deriveVerticalStateFromPressure(List<PressureRecord> pressureList,
-                                                                       long targetTimestamp,
-                                                                       double referenceAltitude,
-                                                                       Double previousElevation,
-                                                                       Integer previousSyntheticFloor) {
-        VerticalReplayState state = new VerticalReplayState();
-        if (pressureList == null || pressureList.isEmpty() || Double.isNaN(referenceAltitude)) {
-            return state;
+    private static VerticalEstimate buildVerticalEstimate(List<PressureRecord> pressureList,
+                                                          @Nullable PressureRecord basePressure,
+                                                          long targetTimestamp,
+                                                          double floorHeightMeters) {
+        if (pressureList == null || pressureList.isEmpty() || basePressure == null) {
+            return new VerticalEstimate(0d, 0d, false, 0);
         }
 
-        PressureRecord pressureRecord = findClosestPressureRecord(pressureList, targetTimestamp);
-        if (pressureRecord == null) {
-            return state;
+        PressureRecord closest = findClosestPressureRecord(pressureList, targetTimestamp);
+        if (closest == null) {
+            return new VerticalEstimate(0d, 0d, false, 0);
         }
 
-        double altitude = pressureToAltitudeMeters(pressureRecord.pressureHpa);
-        double currentElevation = altitude - referenceAltitude;
-        double deltaHeight = previousElevation == null ? 0d : currentElevation - previousElevation;
-        int syntheticFloor = (int) Math.round(currentElevation / DEFAULT_REPLAY_FLOOR_HEIGHT_METERS);
-
-        state.currentElevation = currentElevation;
-        state.deltaHeight = deltaHeight;
-        state.syntheticFloor = syntheticFloor;
-        state.heightChanged = Math.abs(deltaHeight) >= HEIGHT_CHANGE_THRESHOLD_METERS
-                || (previousSyntheticFloor != null && syntheticFloor != previousSyntheticFloor);
-        return state;
+        double currentElevation = pressureToRelativeElevationMeters(basePressure.pressureHpa, closest.pressureHpa);
+        double deltaHeight = currentElevation;
+        boolean heightChanged = Math.abs(deltaHeight) >= REPLAY_HEIGHT_CHANGED_THRESHOLD_METERS;
+        int syntheticFloor = (int) Math.round(deltaHeight / floorHeightMeters);
+
+        return new VerticalEstimate(currentElevation, deltaHeight, heightChanged, syntheticFloor);
     }
 
-    private static double pressureToAltitudeMeters(double pressureHpa) {
-        return 44330.0d * (1.0d - Math.pow(pressureHpa / SEA_LEVEL_PRESSURE_HPA, 0.1903d));
+    private static double pressureToRelativeElevationMeters(double basePressureHpa, double currentPressureHpa) {
+        return 44330.0d * (1.0d - Math.pow(currentPressureHpa / basePressureHpa, 0.1903d));
     }
 
+    @Nullable
     private static ImuRecord findClosestImuRecord(List<ImuRecord> imuList, long targetTimestamp) {
-        if (imuList == null || imuList.isEmpty()) {
-            return null;
-        }
-        ImuRecord closest = null;
-        long bestDistance = Long.MAX_VALUE;
-        for (ImuRecord imu : imuList) {
-            long distance = Math.abs(imu.relativeTimestamp - targetTimestamp);
-            if (distance < bestDistance) {
-                bestDistance = distance;
-                closest = imu;
-            }
-        }
-        return closest;
+        return imuList.stream()
+                .min(Comparator.comparingLong(imu -> Math.abs(imu.relativeTimestamp - targetTimestamp)))
+                .orElse(null);
     }
 
+    @Nullable
     private static GnssRecord findClosestGnssRecord(List<GnssRecord> gnssList, long targetTimestamp) {
-        if (gnssList == null || gnssList.isEmpty()) {
-            return null;
-        }
-        GnssRecord closest = null;
-        long bestDistance = Long.MAX_VALUE;
-        for (GnssRecord gnss : gnssList) {
-            long distance = Math.abs(gnss.relativeTimestamp - targetTimestamp);
-            if (distance < bestDistance) {
-                bestDistance = distance;
-                closest = gnss;
-            }
-        }
-        return closest;
+        return gnssList.stream()
+                .min(Comparator.comparingLong(gnss -> Math.abs(gnss.relativeTimestamp - targetTimestamp)))
+                .orElse(null);
     }
 
+    @Nullable
     private static PressureRecord findClosestPressureRecord(List<PressureRecord> pressureList, long targetTimestamp) {
-        if (pressureList == null || pressureList.isEmpty()) {
-            return null;
-        }
-        PressureRecord closest = null;
-        long bestDistance = Long.MAX_VALUE;
-        for (PressureRecord record : pressureList) {
-            long distance = Math.abs(record.relativeTimestamp - targetTimestamp);
-            if (distance < bestDistance) {
-                bestDistance = distance;
-                closest = record;
-            }
-        }
-        return closest;
+        return pressureList.stream()
+                .min(Comparator.comparingLong(pr -> Math.abs(pr.relativeTimestamp - targetTimestamp)))
+                .orElse(null);
     }
 
     private static float computeOrientationFromRotationVector(float rx, float ry, float rz, float rw, Context context) {
@@ -448,7 +397,6 @@ private static float computeOrientationFromRotationVector(float rx, float ry, fl
         float[] rotationMatrix = new float[9];
         float[] orientationAngles = new float[3];
 
-        SensorManager sensorManager = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE);
         SensorManager.getRotationMatrixFromVector(rotationMatrix, rotationVector);
         SensorManager.getOrientation(rotationMatrix, orientationAngles);
 
@@ -456,35 +404,54 @@ private static float computeOrientationFromRotationVector(float rx, float ry, fl
         return azimuthDeg < 0 ? azimuthDeg + 360.0f : azimuthDeg;
     }
 
-    private static long safeGetLong(JsonObject obj, String key) {
+    private static long safeGetLong(@Nullable JsonElement element, long fallback) {
         try {
-            return obj.has(key) && !obj.get(key).isJsonNull() ? obj.get(key).getAsLong() : 0L;
-        } catch (Exception e) {
-            return 0L;
+            return element == null || element.isJsonNull() ? fallback : element.getAsLong();
+        } catch (Exception ignored) {
+            return fallback;
         }
     }
 
-    private static int safeGetInt(JsonObject obj, String key) {
+    private static float safeGetFloat(@Nullable JsonElement element, float fallback) {
         try {
-            return obj.has(key) && !obj.get(key).isJsonNull() ? obj.get(key).getAsInt() : 0;
-        } catch (Exception e) {
-            return 0;
+            return element == null || element.isJsonNull() ? fallback : element.getAsFloat();
+        } catch (Exception ignored) {
+            return fallback;
         }
     }
 
-    private static float safeGetFloat(JsonObject obj, String key) {
+    private static double safeGetDouble(@Nullable JsonElement element, double fallback) {
         try {
-            return obj.has(key) && !obj.get(key).isJsonNull() ? obj.get(key).getAsFloat() : 0f;
-        } catch (Exception e) {
-            return 0f;
+            return element == null || element.isJsonNull() ? fallback : element.getAsDouble();
+        } catch (Exception ignored) {
+            return fallback;
         }
     }
 
-    private static double safeGetDouble(JsonObject obj, String key) {
+    @Nullable
+    private static Double safeGetDoubleObj(@Nullable JsonElement element) {
         try {
-            return obj.has(key) && !obj.get(key).isJsonNull() ? obj.get(key).getAsDouble() : 0d;
-        } catch (Exception e) {
-            return 0d;
+            return element == null || element.isJsonNull() ? null : element.getAsDouble();
+        } catch (Exception ignored) {
+            return null;
+        }
+    }
+
+    @Nullable
+    private static Integer safeGetInt(@Nullable JsonElement element, @Nullable Integer fallback) {
+        try {
+            return element == null || element.isJsonNull() ? fallback : element.getAsInt();
+        } catch (Exception ignored) {
+            return fallback;
+        }
+    }
+
+    @Nullable
+    private static Boolean safeGetBoolean(@Nullable JsonElement element, @Nullable Boolean fallback) {
+        try {
+            return element == null || element.isJsonNull() ? fallback : element.getAsBoolean();
+        } catch (Exception ignored) {
+            return fallback;
         }
     }
 }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 8998f3c8..f8d20ff5 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -643,7 +643,8 @@ private void addActualMapOverlayForBuilding(FloorplanApiClient.BuildingInfo buil
             GroundOverlay overlay = gMap.addGroundOverlay(new GroundOverlayOptions()
                     .image(BitmapDescriptorFactory.fromResource(drawableResId))
                     .positionFromBounds(bounds)
-                    .zIndex(19f));
+                    .transparency(0.18f)
+                    .zIndex(8f));
             if (overlay != null) {
                 realMapOverlays.add(overlay);
             }
@@ -1705,9 +1706,7 @@ private int resolveReplayCandidateFloorIndex() {
         }
 
         int relativeFloorOffset = 0;
-        // Replay 里的 syntheticFloor 是“相对起始楼层的偏移”，可以是正数也可以是负数。
-        // 之前这里只接受 > 0，导致“下楼 replay”永远被忽略，轨迹会一直锁在基层。
-        if (replaySyntheticFloor != null && replaySyntheticFloor != 0 && hasReplayVerticalEvidence()) {
+        if (replaySyntheticFloor != null && hasReplayVerticalEvidence()) {
             relativeFloorOffset = replaySyntheticFloor;
         }
 

From 9c5b6e4e4992b7c8416aa5bd1e3a0149f6da46b8 Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Thu, 26 Mar 2026 07:23:35 +0000
Subject: [PATCH 15/35] UI2

---
 .../fragment/StartLocationFragment.java       | 125 +++++++++++++++++-
 .../fragment/TrajectoryMapFragment.java       |  21 ++-
 2 files changed, 139 insertions(+), 7 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
index 67579ff2..3c1bfe26 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
@@ -2,6 +2,7 @@
 
 import android.graphics.BitmapFactory;
 import android.graphics.Color;
+import android.content.Context;
 import android.os.Bundle;
 import android.os.Handler;
 import android.os.Looper;
@@ -15,6 +16,7 @@
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.appcompat.app.AppCompatActivity;
+import androidx.constraintlayout.widget.ConstraintLayout;
 import androidx.fragment.app.Fragment;
 
 import com.google.android.gms.maps.CameraUpdateFactory;
@@ -129,6 +131,7 @@ static OverlayCalibration identity() {
     }
 
     private Button button;
+    private Button backToCurrentLocationButton;
     private TextView instructionText;
     private View buildingInfoCard;
     private TextView buildingNameText;
@@ -144,11 +147,22 @@ static OverlayCalibration identity() {
     private float[] startPosition = new float[2];
     private float zoom = 19f;
     private Marker startMarker;
+    private Marker currentLocationMarker;
     private String selectedBuildingId;
     private int currentFloorIndex = 0;
     private boolean showActualMapOverlays = true;
     private boolean isMarkerDraggedSelection = false;
     private boolean hasInitialCameraPositioned = false;
+    private boolean followCurrentLocationWithStartMarker = true;
+
+    private final Handler liveLocationHandler = new Handler(Looper.getMainLooper());
+    private final Runnable liveLocationRunnable = new Runnable() {
+        @Override
+        public void run() {
+            updateLiveLocation(false);
+            liveLocationHandler.postDelayed(this, 1000L);
+        }
+    };
 
     private final List<Polygon> buildingPolygons = new ArrayList<>();
     private final Map<String, FloorplanApiClient.BuildingInfo> floorplanBuildingMap = new HashMap<>();
@@ -193,6 +207,7 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
         super.onViewCreated(view, savedInstanceState);
         button = view.findViewById(R.id.startLocationDone);
         instructionText = view.findViewById(R.id.correctionInfoView);
+        ensureBackToCurrentLocationButton(view);
         floorUpButton = view.findViewById(R.id.floorUpButton);
         floorDownButton = view.findViewById(R.id.floorDownButton);
         floorLabel = view.findViewById(R.id.floorLabel);
@@ -216,6 +231,8 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
                 getContext().getSharedPreferences("MapCameraState", android.content.Context.MODE_PRIVATE)
                         .edit()
                         .putFloat("user_selected_zoom", userChosenZoom)
+                        .putFloat("user_start_lat", chosenLat)
+                        .putFloat("user_start_lon", chosenLon)
                         .apply();
             }
 
@@ -233,6 +250,18 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
         });
     }
 
+    @Override
+    public void onResume() {
+        super.onResume();
+        startLiveLocationUpdates();
+    }
+
+    @Override
+    public void onPause() {
+        super.onPause();
+        stopLiveLocationUpdates();
+    }
+
     private void setupMap() {
         mMap.setMapType(GoogleMap.MAP_TYPE_HYBRID);
         mMap.getUiSettings().setCompassEnabled(true);
@@ -242,7 +271,17 @@ private void setupMap() {
         mMap.clear();
 
         LatLng position = new LatLng(startPosition[0], startPosition[1]);
-        startMarker = mMap.addMarker(new MarkerOptions().position(position).title("Start Position").draggable(true));
+        currentLocationMarker = mMap.addMarker(new MarkerOptions()
+                .position(position)
+                .title("Current Location")
+                .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_AZURE))
+                .zIndex(21f));
+        startMarker = mMap.addMarker(new MarkerOptions()
+                .position(position)
+                .title("Selected Start")
+                .draggable(true)
+                .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_RED))
+                .zIndex(22f));
 
         // 【修复2】判断是否有真实定位。如果是 0.0，说明还在搜星，先不要急着锁定相机视角
         boolean gnssReady = !(startPosition[0] == 0f && startPosition[1] == 0f);
@@ -257,10 +296,14 @@ private void setupMap() {
             @Override public void onMarkerDrag(Marker marker) {}
             @Override
             public void onMarkerDragEnd(Marker marker) {
+                if (marker == null || startMarker == null || !marker.equals(startMarker)) {
+                    return;
+                }
                 isMarkerDraggedSelection = true;
+                followCurrentLocationWithStartMarker = false;
                 startPosition[0] = (float) marker.getPosition().latitude;
                 startPosition[1] = (float) marker.getPosition().longitude;
-                clearBuildingPolygonsOnly();
+                clearBuildingSelectionAndOverlays();
                 requestBuildingData();
             }
         });
@@ -289,7 +332,8 @@ private void requestBuildingDataWhenReady() {
         }
 
         LatLng current = new LatLng(startPosition[0], startPosition[1]);
-        if (startMarker != null) startMarker.setPosition(current);
+        if (currentLocationMarker != null) currentLocationMarker.setPosition(current);
+        if (startMarker != null && followCurrentLocationWithStartMarker && !isMarkerDraggedSelection) startMarker.setPosition(current);
         // 【修复3】一旦拿到了真实定位，且还没聚焦过，立刻把镜头拉近到 19f
         if (mMap != null && gnssReady && !hasInitialCameraPositioned) {
             mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(current, zoom)); // zoom 已经是 19f
@@ -363,6 +407,8 @@ private void onBuildingSelected(String buildingName, Polygon polygon) {
 
         LatLng center = computePolygonCenter(polygon);
         if (startMarker != null) startMarker.setPosition(center);
+        followCurrentLocationWithStartMarker = false;
+        isMarkerDraggedSelection = true;
         startPosition[0] = (float) center.latitude;
         startPosition[1] = (float) center.longitude;
         // Keep the current camera fixed when a building is selected.
@@ -1023,5 +1069,78 @@ private LatLng computePolygonCenter(Polygon polygon) {
     public void onDestroyView() {
         super.onDestroyView();
         retryHandler.removeCallbacksAndMessages(null);
+        stopLiveLocationUpdates();
+        mMap = null;
+        startMarker = null;
+        currentLocationMarker = null;
+    }
+
+    private void ensureBackToCurrentLocationButton(@NonNull View root) {
+        if (button == null || backToCurrentLocationButton != null) {
+            return;
+        }
+        if (!(button.getParent() instanceof ConstraintLayout)) {
+            return;
+        }
+        ConstraintLayout parent = (ConstraintLayout) button.getParent();
+        backToCurrentLocationButton = new Button(requireContext());
+        backToCurrentLocationButton.setId(View.generateViewId());
+        backToCurrentLocationButton.setText("Back to Current Location");
+        backToCurrentLocationButton.setAllCaps(false);
+
+        int marginBottomPx = Math.round(12f * root.getResources().getDisplayMetrics().density);
+        ConstraintLayout.LayoutParams params = new ConstraintLayout.LayoutParams(
+                ConstraintLayout.LayoutParams.WRAP_CONTENT,
+                ConstraintLayout.LayoutParams.WRAP_CONTENT
+        );
+        params.bottomToTop = button.getId();
+        params.startToStart = button.getId();
+        params.endToEnd = button.getId();
+        params.bottomMargin = marginBottomPx;
+        backToCurrentLocationButton.setLayoutParams(params);
+        parent.addView(backToCurrentLocationButton);
+
+        backToCurrentLocationButton.setOnClickListener(v -> resetToCurrentLocation());
+    }
+
+    private void resetToCurrentLocation() {
+        followCurrentLocationWithStartMarker = true;
+        isMarkerDraggedSelection = false;
+        clearBuildingSelectionAndOverlays();
+        updateLiveLocation(true);
+        requestBuildingDataWhenReady();
+    }
+
+    private void startLiveLocationUpdates() {
+        liveLocationHandler.removeCallbacks(liveLocationRunnable);
+        liveLocationHandler.post(liveLocationRunnable);
+    }
+
+    private void stopLiveLocationUpdates() {
+        liveLocationHandler.removeCallbacks(liveLocationRunnable);
+    }
+
+    private void updateLiveLocation(boolean animateCamera) {
+        float[] gnss = sensorFusion.getGNSSLatitude(false);
+        if (gnss == null || gnss.length < 2) {
+            return;
+        }
+        if (gnss[0] == 0f && gnss[1] == 0f) {
+            return;
+        }
+
+        LatLng current = new LatLng(gnss[0], gnss[1]);
+        if (currentLocationMarker != null) {
+            currentLocationMarker.setPosition(current);
+        }
+        if (followCurrentLocationWithStartMarker && startMarker != null) {
+            startMarker.setPosition(current);
+            startPosition[0] = gnss[0];
+            startPosition[1] = gnss[1];
+        }
+        if (mMap != null && animateCamera) {
+            float targetZoom = Math.max(18.5f, mMap.getCameraPosition().zoom);
+            mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(current, targetZoom));
+        }
     }
 }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index f8d20ff5..8f8dc450 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -305,6 +305,7 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
         setFloorControlsVisibility(View.GONE);
         initMapControlsToggle();
         applyTrajectoryColorButtonState();
+        updateActualMapButtonState();
 
         SupportMapFragment mapFragment = (SupportMapFragment) getChildFragmentManager().findFragmentById(R.id.trajectoryMap);
         if (mapFragment != null) {
@@ -410,9 +411,10 @@ else if (!replayModeEnabled && getContext() != null) {
                 setFloor(currentFloorIndex);
 
                 if (selectedVenueText != null) {
-                    selectedVenueText.setText("Showing indoor map for " + prettyBuildingName(selectedFloorplanBuilding.getName()));
+                    selectedVenueText.setText("Showing indoor vector map for " + prettyBuildingName(selectedFloorplanBuilding.getName()));
                 }
                 updateCalibrationUi();
+                updateActualMapButtonState();
             });
         }
 
@@ -436,12 +438,13 @@ else if (!replayModeEnabled && getContext() != null) {
 
                 if (selectedVenueText != null) {
                     if (actualMapVisible) {
-                        selectedVenueText.setText("Displaying actual map for " + prettyBuildingName(selectedFloorplanBuilding.getName()));
+                        selectedVenueText.setText("Displaying actual map under indoor overlay for " + prettyBuildingName(selectedFloorplanBuilding.getName()));
                     } else {
                         selectedVenueText.setText("Actual map hidden for " + prettyBuildingName(selectedFloorplanBuilding.getName()));
                     }
                 }
                 updateCalibrationUi();
+                updateActualMapButtonState();
             });
         }
     }
@@ -643,8 +646,8 @@ private void addActualMapOverlayForBuilding(FloorplanApiClient.BuildingInfo buil
             GroundOverlay overlay = gMap.addGroundOverlay(new GroundOverlayOptions()
                     .image(BitmapDescriptorFactory.fromResource(drawableResId))
                     .positionFromBounds(bounds)
-                    .transparency(0.18f)
-                    .zIndex(8f));
+                    .transparency(0.32f)
+                    .zIndex(5f));
             if (overlay != null) {
                 realMapOverlays.add(overlay);
             }
@@ -1186,6 +1189,7 @@ private void onFloorplanBuildingSelected(FloorplanApiClient.BuildingInfo buildin
         selectedFloorplanBuilding = building;
         indoorMapVisible = false;
         actualMapVisible = false;
+        updateActualMapButtonState();
         currentFloorIndex = getDefaultFloorIndex(building);
         replayBaseFloorIndex = null;
         replayDisplayFloorInitialized = false;
@@ -2377,7 +2381,15 @@ private String getCurrentCalibrationFloorKey(String buildingKey) {
         return canonicalFloor;
     }
 
+    private void updateActualMapButtonState() {
+        if (btnFindActualMap == null) {
+            return;
+        }
+        btnFindActualMap.setText(actualMapVisible ? "Hide Actual Maps" : "Display Actual Maps");
+    }
+
     private void updateCalibrationUi() {
+        updateActualMapButtonState();
         boolean canAdjust = actualMapVisible && selectedFloorplanBuilding != null;
         if (btnToggleAdjustMap != null) {
             btnToggleAdjustMap.setVisibility(canAdjust ? View.VISIBLE : View.GONE);
@@ -2486,6 +2498,7 @@ public void clearMapAndReset() {
         selectedFloorplanBuilding = null;
         indoorMapVisible = false;
         actualMapVisible = false;
+        updateActualMapButtonState();
         hasFetchedNearbyBuildings = false;
         hasAttemptedInitialBuildingFetch = false;
         hasAutoSelectedIndoorMap = false;

From c3d1312bd17ad6a9c2da21d82a11e4b47e47f7fe Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Thu, 26 Mar 2026 21:36:25 +0000
Subject: [PATCH 16/35] split

---
 .../fragment/FloorController.java             | 402 +++++++
 .../fragment/MapMatchingCoordinator.java      | 442 ++++++++
 .../fragment/TrajectoryMapFragment.java       | 997 ++++--------------
 .../fragment/TrajectoryRenderer.java          | 299 ++++++
 4 files changed, 1353 insertions(+), 787 deletions(-)
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java

diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
new file mode 100644
index 00000000..a5a7fa7e
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
@@ -0,0 +1,402 @@
+package com.openpositioning.PositionMe.presentation.fragment;
+
+import android.os.Handler;
+import android.os.Looper;
+import android.os.SystemClock;
+import android.view.View;
+import android.widget.TextView;
+
+import androidx.annotation.Nullable;
+
+import com.google.android.material.switchmaterial.SwitchMaterial;
+import com.google.android.material.floatingactionbutton.FloatingActionButton;
+import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
+import com.openpositioning.PositionMe.sensors.SensorFusion;
+import com.openpositioning.PositionMe.utils.IndoorMapManager;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * Encapsulates floor selection and AutoFloor behaviour so TrajectoryMapFragment
+ * does not need to carry all floor-related state and listeners directly.
+ */
+public class FloorController {
+
+    private static final long AUTO_FLOOR_DEBOUNCE_MS = 3000L;
+    private static final long AUTO_FLOOR_CHECK_INTERVAL_MS = 1000L;
+
+    public interface Host {
+        @Nullable FloorplanApiClient.BuildingInfo getSelectedFloorplanBuilding();
+        @Nullable IndoorMapManager getIndoorMapManager();
+        @Nullable SensorFusion getSensorFusion();
+        boolean isReplayModeEnabled();
+        int getCurrentFloorIndex();
+        void setCurrentFloorIndex(int floorIndex);
+        boolean isIndoorMapVisible();
+        boolean isActualMapVisible();
+        void refreshSelectedPolygonAppearance();
+        void resetMapOverlays();
+        void updateRealMapOverlay(String buildingName, int floorIndex, boolean show);
+        void updateCalibrationUi();
+    }
+
+    private final Host host;
+    private Handler autoFloorHandler;
+    private Runnable autoFloorTask;
+    private int lastCandidateFloor = Integer.MIN_VALUE;
+    private long lastCandidateTime = 0L;
+
+    private SwitchMaterial autoFloorSwitch;
+    private FloatingActionButton floorUpButton;
+    private FloatingActionButton floorDownButton;
+    private TextView floorLabel;
+
+    public FloorController(Host host) {
+        this.host = host;
+    }
+
+    public void bindViews(@Nullable SwitchMaterial autoFloorSwitch,
+                          @Nullable FloatingActionButton floorUpButton,
+                          @Nullable FloatingActionButton floorDownButton,
+                          @Nullable TextView floorLabel) {
+        this.autoFloorSwitch = autoFloorSwitch;
+        this.floorUpButton = floorUpButton;
+        this.floorDownButton = floorDownButton;
+        this.floorLabel = floorLabel;
+        attachListeners();
+    }
+
+    private void attachListeners() {
+        if (autoFloorSwitch != null) {
+            autoFloorSwitch.setOnCheckedChangeListener((compoundButton, isChecked) -> {
+                if (isChecked) {
+                    startAutoFloor();
+                } else {
+                    stopAutoFloor();
+                }
+            });
+        }
+
+        if (floorUpButton != null) {
+            floorUpButton.setOnClickListener(v -> {
+                if (autoFloorSwitch != null) {
+                    autoFloorSwitch.setChecked(false);
+                }
+                FloorplanApiClient.BuildingInfo building = host.getSelectedFloorplanBuilding();
+                if (building != null) {
+                    int currentFloorIndex = host.getCurrentFloorIndex();
+                    int nextFloorIndex = getAdjacentFloorIndex(building, currentFloorIndex, true);
+                    if (nextFloorIndex != currentFloorIndex) {
+                        setFloor(nextFloorIndex);
+                    }
+                }
+            });
+        }
+
+        if (floorDownButton != null) {
+            floorDownButton.setOnClickListener(v -> {
+                if (autoFloorSwitch != null) {
+                    autoFloorSwitch.setChecked(false);
+                }
+                FloorplanApiClient.BuildingInfo building = host.getSelectedFloorplanBuilding();
+                if (building != null) {
+                    int currentFloorIndex = host.getCurrentFloorIndex();
+                    int nextFloorIndex = getAdjacentFloorIndex(building, currentFloorIndex, false);
+                    if (nextFloorIndex != currentFloorIndex) {
+                        setFloor(nextFloorIndex);
+                    }
+                }
+            });
+        }
+    }
+
+    public void setFloor(int newFloorIndex) {
+        FloorplanApiClient.BuildingInfo selectedFloorplanBuilding = host.getSelectedFloorplanBuilding();
+        IndoorMapManager indoorMapManager = host.getIndoorMapManager();
+        if (selectedFloorplanBuilding == null || indoorMapManager == null) {
+            return;
+        }
+
+        int maxFloor = selectedFloorplanBuilding.getFloorShapesList().size() - 1;
+        int clampedFloor = Math.max(0, Math.min(newFloorIndex, maxFloor));
+        host.setCurrentFloorIndex(clampedFloor);
+        host.refreshSelectedPolygonAppearance();
+
+        if (!host.isIndoorMapVisible() && !host.isActualMapVisible()) {
+            indoorMapManager.clearIndoorMap();
+            host.resetMapOverlays();
+            updateFloorLabel();
+            return;
+        }
+
+        host.resetMapOverlays();
+        indoorMapManager.setVectorBaseplateEnabled(false);
+
+        if (host.isActualMapVisible()) {
+            host.updateRealMapOverlay(selectedFloorplanBuilding.getName(), clampedFloor, true);
+        }
+
+        if (host.isIndoorMapVisible()) {
+            indoorMapManager.setCurrentFloor(clampedFloor, false);
+        } else {
+            indoorMapManager.clearIndoorMap();
+        }
+
+        setFloorControlsVisibility(View.VISIBLE);
+        updateFloorLabel();
+        host.updateCalibrationUi();
+    }
+
+    public int getDefaultFloorIndex(@Nullable FloorplanApiClient.BuildingInfo building) {
+        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
+            return 0;
+        }
+
+        for (int i = 0; i < building.getFloorShapesList().size(); i++) {
+            String displayName = building.getFloorShapesList().get(i).getDisplayName();
+            if ("G".equals(canonicalFloorLabel(displayName))) {
+                return i;
+            }
+        }
+
+        List<Integer> orderedFloorIndices = getOrderedFloorIndices(building);
+        return orderedFloorIndices.isEmpty() ? 0 : orderedFloorIndices.get(0);
+    }
+
+    public String getFloorDisplayName(@Nullable FloorplanApiClient.BuildingInfo building, int floorIndex) {
+        if (building == null || building.getFloorShapesList() == null
+                || floorIndex < 0 || floorIndex >= building.getFloorShapesList().size()) {
+            return "";
+        }
+        String displayName = building.getFloorShapesList().get(floorIndex).getDisplayName();
+        return displayName == null ? "" : displayName.trim().toUpperCase();
+    }
+
+    public int getAdjacentFloorIndex(@Nullable FloorplanApiClient.BuildingInfo building, int currentIndex, boolean moveUp) {
+        List<Integer> orderedFloorIndices = getOrderedFloorIndices(building);
+        if (orderedFloorIndices.isEmpty()) {
+            return currentIndex;
+        }
+
+        int currentOrderedPosition = orderedFloorIndices.indexOf(currentIndex);
+        if (currentOrderedPosition < 0) {
+            currentOrderedPosition = 0;
+            for (int i = 0; i < orderedFloorIndices.size(); i++) {
+                if (orderedFloorIndices.get(i) >= currentIndex) {
+                    currentOrderedPosition = i;
+                    break;
+                }
+            }
+        }
+
+        int nextOrderedPosition = moveUp ? currentOrderedPosition + 1 : currentOrderedPosition - 1;
+        if (nextOrderedPosition < 0 || nextOrderedPosition >= orderedFloorIndices.size()) {
+            return currentIndex;
+        }
+        return orderedFloorIndices.get(nextOrderedPosition);
+    }
+
+    public List<Integer> getOrderedFloorIndices(@Nullable FloorplanApiClient.BuildingInfo building) {
+        List<Integer> ordered = new ArrayList<>();
+        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
+            return ordered;
+        }
+
+        List<Integer> fallback = new ArrayList<>();
+        for (int i = 0; i < building.getFloorShapesList().size(); i++) {
+            fallback.add(i);
+        }
+
+        String[] desiredOrder = new String[]{"LG", "G", "1", "2", "3"};
+        for (String desiredFloor : desiredOrder) {
+            for (int i = 0; i < building.getFloorShapesList().size(); i++) {
+                if (ordered.contains(i)) {
+                    continue;
+                }
+
+                String displayName = building.getFloorShapesList().get(i).getDisplayName();
+                if (desiredFloor.equals(canonicalFloorLabel(displayName))) {
+                    ordered.add(i);
+                }
+            }
+        }
+
+        for (Integer index : fallback) {
+            if (!ordered.contains(index)) {
+                ordered.add(index);
+            }
+        }
+        return ordered;
+    }
+
+    public void setFloorControlsVisibility(int visibility) {
+        if (floorUpButton != null) {
+            floorUpButton.setVisibility(visibility);
+        }
+        if (floorDownButton != null) {
+            floorDownButton.setVisibility(visibility);
+        }
+        if (floorLabel != null) {
+            floorLabel.setVisibility(visibility);
+        }
+        if (autoFloorSwitch != null) {
+            autoFloorSwitch.setVisibility(visibility);
+        }
+        if (visibility == View.VISIBLE) {
+            updateFloorLabel();
+        }
+    }
+
+    public void updateFloorLabel() {
+        IndoorMapManager indoorMapManager = host.getIndoorMapManager();
+        if (floorLabel != null && indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
+            floorLabel.setText(formatFloorLabelForUi(indoorMapManager.getCurrentFloorDisplayName()));
+        }
+        host.updateCalibrationUi();
+    }
+
+    public void startAutoFloor() {
+        if (host.isReplayModeEnabled()) {
+            if (autoFloorSwitch != null) {
+                autoFloorSwitch.setChecked(false);
+            }
+            return;
+        }
+        if (autoFloorHandler == null) {
+            autoFloorHandler = new Handler(Looper.getMainLooper());
+        }
+        lastCandidateFloor = Integer.MIN_VALUE;
+        lastCandidateTime = 0L;
+        applyImmediateFloor();
+
+        autoFloorTask = new Runnable() {
+            @Override
+            public void run() {
+                evaluateAutoFloor();
+                if (autoFloorHandler != null) {
+                    autoFloorHandler.postDelayed(this, AUTO_FLOOR_CHECK_INTERVAL_MS);
+                }
+            }
+        };
+        autoFloorHandler.post(autoFloorTask);
+    }
+
+    public void applyImmediateFloor() {
+        if (host.isReplayModeEnabled()) {
+            return;
+        }
+        SensorFusion sensorFusion = host.getSensorFusion();
+        IndoorMapManager indoorMapManager = host.getIndoorMapManager();
+        if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+            return;
+        }
+        int candidateFloor;
+        if (sensorFusion.getLatLngWifiPositioning() != null) {
+            candidateFloor = sensorFusion.getWifiFloor();
+        } else {
+            float elevation = sensorFusion.getElevation();
+            float floorHeight = indoorMapManager.getFloorHeight();
+            if (floorHeight <= 0) {
+                return;
+            }
+            candidateFloor = Math.round(elevation / floorHeight);
+        }
+        setFloor(indoorMapManager.logicalFloorToIndex(candidateFloor));
+        lastCandidateFloor = candidateFloor;
+        lastCandidateTime = SystemClock.elapsedRealtime();
+    }
+
+    public void stopAutoFloor() {
+        if (autoFloorHandler != null && autoFloorTask != null) {
+            autoFloorHandler.removeCallbacks(autoFloorTask);
+        }
+        lastCandidateFloor = Integer.MIN_VALUE;
+        lastCandidateTime = 0L;
+    }
+
+    public void evaluateAutoFloor() {
+        if (host.isReplayModeEnabled()) {
+            return;
+        }
+        SensorFusion sensorFusion = host.getSensorFusion();
+        IndoorMapManager indoorMapManager = host.getIndoorMapManager();
+        if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+            return;
+        }
+        int candidateFloor;
+        if (sensorFusion.getLatLngWifiPositioning() != null) {
+            candidateFloor = sensorFusion.getWifiFloor();
+        } else {
+            float elevation = sensorFusion.getElevation();
+            float floorHeight = indoorMapManager.getFloorHeight();
+            if (floorHeight <= 0) {
+                return;
+            }
+            candidateFloor = Math.round(elevation / floorHeight);
+        }
+
+        long now = SystemClock.elapsedRealtime();
+        if (candidateFloor != lastCandidateFloor) {
+            lastCandidateFloor = candidateFloor;
+            lastCandidateTime = now;
+            return;
+        }
+        if (now - lastCandidateTime >= AUTO_FLOOR_DEBOUNCE_MS) {
+            setFloor(indoorMapManager.logicalFloorToIndex(candidateFloor));
+            lastCandidateTime = now;
+        }
+    }
+
+    private String formatFloorLabelForUi(@Nullable String rawFloorLabel) {
+        String canonicalFloor = canonicalFloorLabel(rawFloorLabel);
+        switch (canonicalFloor) {
+            case "LG":
+                return "LG";
+            case "G":
+                return "G";
+            case "1":
+                return "F1";
+            case "2":
+                return "F2";
+            case "3":
+                return "F3";
+            default:
+                return rawFloorLabel == null ? "" : rawFloorLabel;
+        }
+    }
+
+    private String canonicalFloorLabel(@Nullable String floorLabel) {
+        if (floorLabel == null) {
+            return "";
+        }
+        String normalized = floorLabel.trim().toUpperCase();
+        if (normalized.startsWith("FLOOR ")) {
+            normalized = normalized.substring(6).trim();
+        }
+        if (normalized.startsWith("LEVEL ")) {
+            normalized = normalized.substring(6).trim();
+        }
+        switch (normalized) {
+            case "GROUND":
+            case "GF":
+            case "0":
+                return "G";
+            case "UG":
+            case "LOWER GROUND":
+            case "LOWERGROUND":
+            case "L/G":
+            case "B1":
+            case "-1":
+                return "LG";
+            case "F1":
+                return "1";
+            case "F2":
+                return "2";
+            case "F3":
+                return "3";
+            default:
+                return normalized;
+        }
+    }
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
new file mode 100644
index 00000000..d3ab99eb
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
@@ -0,0 +1,442 @@
+package com.openpositioning.PositionMe.presentation.fragment;
+
+import android.content.Context;
+import android.location.Location;
+import android.os.SystemClock;
+import android.util.Log;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
+import com.google.android.gms.maps.GoogleMap;
+import com.google.android.gms.maps.model.LatLng;
+import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
+import com.openpositioning.PositionMe.mapmatching.CandidatePose;
+import com.openpositioning.PositionMe.mapmatching.CorrectionType;
+import com.openpositioning.PositionMe.mapmatching.MapMatchingInput;
+import com.openpositioning.PositionMe.mapmatching.MapMatchingResult;
+import com.openpositioning.PositionMe.mapmatching.MapMatchingService;
+import com.openpositioning.PositionMe.mapmatching.MotionDelta;
+import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint;
+import com.openpositioning.PositionMe.utils.IndoorMapManager;
+
+import java.util.List;
+import java.util.Locale;
+
+final class MapMatchingCoordinator {
+
+    interface Host {
+        @Nullable GoogleMap getGoogleMap();
+        @NonNull Context requireContext();
+        @NonNull TrajectoryRenderer getTrajectoryRenderer();
+        @Nullable FloorplanApiClient.BuildingInfo getSelectedFloorplanBuilding();
+        @Nullable IndoorMapManager getIndoorMapManager();
+        boolean isReplayModeEnabled();
+        int getCurrentFloorIndex();
+        void setFloor(int floorIndex);
+        boolean isAutoFloorEnabled();
+        @Nullable LatLng getCurrentLocation();
+        void setCurrentLocation(@NonNull LatLng location);
+        @NonNull String resolveKnownBuildingKey(@NonNull FloorplanApiClient.BuildingInfo building,
+                                                @Nullable String buildingName);
+        @NonNull String canonicalFloorLabel(@Nullable String floorLabel);
+        @NonNull List<Integer> getOrderedFloorIndices(@NonNull FloorplanApiClient.BuildingInfo building);
+        void maybeFetchNearbyBuildingsOnFirstLocation();
+        boolean hasAutoSelectedIndoorMap();
+        @NonNull List<FloorplanApiClient.BuildingInfo> getLastFetchedBuildings();
+        void maybeAutoSelectIndoorMap(@NonNull List<FloorplanApiClient.BuildingInfo> buildings);
+        @NonNull String getTag();
+        @NonNull String getTestLogTag();
+    }
+
+    private final Host host;
+    private final MapMatchingService mapMatchingService = new MapMatchingService();
+
+    @Nullable
+    private CandidatePose previousMatchedPose;
+    @Nullable
+    private Integer replaySyntheticFloor;
+    @Nullable
+    private Double replayCurrentElevation;
+    @Nullable
+    private Double replayDeltaHeight;
+    private boolean replayHeightChanged = false;
+    @Nullable
+    private Integer replayInitialFloor;
+    @Nullable
+    private Integer replayBaseFloorIndex;
+    private boolean replayDisplayFloorInitialized = false;
+
+    MapMatchingCoordinator(@NonNull Host host) {
+        this.host = host;
+    }
+
+    void onReplayModeChanged(boolean enabled) {
+        if (!enabled) {
+            replayBaseFloorIndex = null;
+            replayDisplayFloorInitialized = false;
+        }
+    }
+
+    void onSelectedBuildingChanged() {
+        replayBaseFloorIndex = null;
+        replayDisplayFloorInitialized = false;
+    }
+
+    void setReplayFrameContext(@Nullable Integer syntheticFloor,
+                               @Nullable Double currentElevation,
+                               @Nullable Double deltaHeight,
+                               boolean heightChanged) {
+        setReplayFrameContext(syntheticFloor, currentElevation, deltaHeight, heightChanged, null);
+    }
+
+    void setReplayFrameContext(@Nullable Integer syntheticFloor,
+                               @Nullable Double currentElevation,
+                               @Nullable Double deltaHeight,
+                               boolean heightChanged,
+                               @Nullable Integer initialFloor) {
+        replaySyntheticFloor = syntheticFloor;
+        replayCurrentElevation = currentElevation;
+        replayDeltaHeight = deltaHeight;
+        replayHeightChanged = heightChanged;
+        if (initialFloor != null && (replayInitialFloor == null || !initialFloor.equals(replayInitialFloor))) {
+            replayBaseFloorIndex = null;
+            replayDisplayFloorInitialized = false;
+        }
+        replayInitialFloor = initialFloor;
+        maybeInitializeReplayDisplayFloor();
+        Log.d(host.getTag(), String.format(Locale.US,
+                "Replay frame context initialFloor=%s syntheticFloor=%s elevation=%s deltaHeight=%s heightChanged=%s",
+                String.valueOf(initialFloor),
+                String.valueOf(syntheticFloor),
+                String.valueOf(currentElevation),
+                String.valueOf(deltaHeight),
+                String.valueOf(heightChanged)));
+    }
+
+    void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
+        if (host.getGoogleMap() == null) {
+            return;
+        }
+
+        LatLng rawLocation = newLocation;
+        host.getTrajectoryRenderer().appendRawReplayPoint(rawLocation);
+
+        long timestampMs = SystemClock.elapsedRealtime();
+        int replayCandidateFloorIndex = resolveReplayCandidateFloorIndex();
+        FloorplanApiClient.FloorShapes activeFloorShapes = getActiveFloorShapesForMatching();
+        CandidatePose currentCandidatePose = new CandidatePose(
+                rawLocation,
+                replayCandidateFloorIndex,
+                timestampMs,
+                "replay_pdr"
+        );
+
+        MotionDelta motionDelta = buildMotionDelta(previousMatchedPose, rawLocation, orientation);
+        VerticalTransitionHint verticalHint = buildReplayVerticalHint();
+        FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
+        String activeBuildingId = selectedBuilding != null
+                ? host.resolveKnownBuildingKey(selectedBuilding, selectedBuilding.getName())
+                : null;
+
+        MapMatchingInput matchingInput = new MapMatchingInput(
+                previousMatchedPose,
+                currentCandidatePose,
+                motionDelta,
+                verticalHint,
+                activeFloorShapes,
+                activeBuildingId
+        );
+
+        MapMatchingResult matchingResult = mapMatchingService.match(matchingInput);
+        LatLng matchedLocation = matchingResult.getCorrectedLatLng() != null
+                ? matchingResult.getCorrectedLatLng()
+                : rawLocation;
+        int matchedFloor = matchingResult.getCorrectedFloor();
+
+        logFeatureValidation(rawLocation, matchingResult);
+        Log.d(host.getTestLogTag(), String.format(Locale.US,
+                "raw=(%.6f, %.6f) matched=(%.6f, %.6f) floor=%d correction=%s reason=%s",
+                rawLocation.latitude,
+                rawLocation.longitude,
+                matchedLocation.latitude,
+                matchedLocation.longitude,
+                matchedFloor,
+                matchingResult.getCorrectionType() != null
+                        ? matchingResult.getCorrectionType().name()
+                        : CorrectionType.NONE.name(),
+                matchingResult.getDebugReason()));
+
+        LatLng oldLocation = host.getCurrentLocation();
+        host.setCurrentLocation(matchedLocation);
+        previousMatchedPose = new CandidatePose(
+                matchedLocation,
+                matchedFloor,
+                timestampMs,
+                "map_matched"
+        );
+        applyReplayMatchedFloorIfNeeded(matchedFloor);
+
+        boolean shouldFollowCamera = host.isReplayModeEnabled();
+        float savedZoom = 19f;
+        Context context = host.requireContext();
+        savedZoom = context.getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
+                .getFloat("user_selected_zoom", 19f);
+
+        host.getTrajectoryRenderer().updateCurrentPosition(context, matchedLocation, orientation, shouldFollowCamera, savedZoom);
+        host.getTrajectoryRenderer().appendMatchedLocation(oldLocation, matchedLocation);
+
+        IndoorMapManager indoorMapManager = host.getIndoorMapManager();
+        if (indoorMapManager != null) {
+            indoorMapManager.setCurrentLocation(matchedLocation);
+        }
+
+        host.maybeFetchNearbyBuildingsOnFirstLocation();
+        if (!host.hasAutoSelectedIndoorMap() && !host.getLastFetchedBuildings().isEmpty()) {
+            host.maybeAutoSelectIndoorMap(host.getLastFetchedBuildings());
+        }
+    }
+
+    void resetMapMatchingState() {
+        previousMatchedPose = null;
+        host.getTrajectoryRenderer().clearRawReplayPath();
+    }
+
+    @Nullable
+    private FloorplanApiClient.FloorShapes getActiveFloorShapesForMatching() {
+        FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
+        if (selectedBuilding == null
+                || selectedBuilding.getFloorShapesList() == null
+                || selectedBuilding.getFloorShapesList().isEmpty()) {
+            return null;
+        }
+
+        maybeInitializeReplayDisplayFloor();
+
+        int floorIndexForMatching = host.getCurrentFloorIndex();
+        if (host.isReplayModeEnabled() && replayInitialFloor != null) {
+            floorIndexForMatching = resolveReplayCandidateFloorIndex();
+        }
+
+        int safeFloorIndex = Math.max(0, Math.min(floorIndexForMatching, selectedBuilding.getFloorShapesList().size() - 1));
+        return selectedBuilding.getFloorShapesList().get(safeFloorIndex);
+    }
+
+    @Nullable
+    private MotionDelta buildMotionDelta(@Nullable CandidatePose previousPose,
+                                         @NonNull LatLng rawLocation,
+                                         float orientation) {
+        if (previousPose == null) {
+            return null;
+        }
+
+        float[] results = new float[1];
+        Location.distanceBetween(
+                previousPose.getLatLng().latitude,
+                previousPose.getLatLng().longitude,
+                rawLocation.latitude,
+                rawLocation.longitude,
+                results
+        );
+
+        double deltaX = rawLocation.longitude - previousPose.getLatLng().longitude;
+        double deltaY = rawLocation.latitude - previousPose.getLatLng().latitude;
+        return new MotionDelta(deltaX, deltaY, results[0], orientation);
+    }
+
+    @Nullable
+    private VerticalTransitionHint buildReplayVerticalHint() {
+        if (!host.isReplayModeEnabled()) {
+            return null;
+        }
+        if (replayCurrentElevation == null && replayDeltaHeight == null && !replayHeightChanged) {
+            return null;
+        }
+
+        double currentElevation = replayCurrentElevation != null ? replayCurrentElevation : 0d;
+        double deltaHeight = replayDeltaHeight != null ? replayDeltaHeight : 0d;
+        return new VerticalTransitionHint(currentElevation, deltaHeight, replayHeightChanged);
+    }
+
+    private int resolveReplayCandidateFloorIndex() {
+        Integer baseFloorIndex = resolveReplayBaseFloorIndex();
+        if (!host.isReplayModeEnabled() || baseFloorIndex == null || host.getSelectedFloorplanBuilding() == null) {
+            return host.getCurrentFloorIndex();
+        }
+
+        List<Integer> orderedFloorIndices = host.getOrderedFloorIndices(host.getSelectedFloorplanBuilding());
+        if (orderedFloorIndices.isEmpty()) {
+            return baseFloorIndex;
+        }
+
+        int basePosition = orderedFloorIndices.indexOf(baseFloorIndex);
+        if (basePosition < 0) {
+            return baseFloorIndex;
+        }
+
+        int relativeFloorOffset = 0;
+        if (replaySyntheticFloor != null && hasReplayVerticalEvidence()) {
+            relativeFloorOffset = replaySyntheticFloor;
+        }
+
+        int targetPosition = Math.max(0, Math.min(basePosition + relativeFloorOffset, orderedFloorIndices.size() - 1));
+        return orderedFloorIndices.get(targetPosition);
+    }
+
+    @Nullable
+    private Integer resolveReplayBaseFloorIndex() {
+        FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
+        if (!host.isReplayModeEnabled() || selectedBuilding == null) {
+            return null;
+        }
+        if (replayBaseFloorIndex != null) {
+            int maxFloor = Math.max(0, selectedBuilding.getFloorShapesList().size() - 1);
+            return Math.max(0, Math.min(replayBaseFloorIndex, maxFloor));
+        }
+        if (replayInitialFloor == null) {
+            replayBaseFloorIndex = host.getCurrentFloorIndex();
+            return replayBaseFloorIndex;
+        }
+
+        String desiredFloorLabel;
+        if (replayInitialFloor < 0) {
+            desiredFloorLabel = "LG";
+        } else if (replayInitialFloor == 0) {
+            desiredFloorLabel = "G";
+        } else {
+            desiredFloorLabel = String.valueOf(replayInitialFloor);
+        }
+
+        for (int i = 0; i < selectedBuilding.getFloorShapesList().size(); i++) {
+            String candidateLabel = host.canonicalFloorLabel(selectedBuilding.getFloorShapesList().get(i).getDisplayName());
+            if (desiredFloorLabel.equals(candidateLabel)) {
+                replayBaseFloorIndex = i;
+                return replayBaseFloorIndex;
+            }
+        }
+
+        replayBaseFloorIndex = host.getCurrentFloorIndex();
+        return replayBaseFloorIndex;
+    }
+
+    private boolean hasReplayVerticalEvidence() {
+        if (!host.isReplayModeEnabled()) {
+            return false;
+        }
+        if (replayHeightChanged) {
+            return true;
+        }
+        if (replayDeltaHeight != null && Math.abs(replayDeltaHeight) >= 0.35d) {
+            return true;
+        }
+        if (replayCurrentElevation != null && Math.abs(replayCurrentElevation) >= 0.35d) {
+            return true;
+        }
+        return false;
+    }
+
+    private void maybeInitializeReplayDisplayFloor() {
+        FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
+        IndoorMapManager indoorMapManager = host.getIndoorMapManager();
+        if (!host.isReplayModeEnabled() || replayDisplayFloorInitialized || selectedBuilding == null || indoorMapManager == null) {
+            return;
+        }
+        Integer baseFloorIndex = resolveReplayBaseFloorIndex();
+        if (baseFloorIndex == null) {
+            return;
+        }
+        indoorMapManager.setSelectedBuilding(selectedBuilding);
+        host.setFloor(baseFloorIndex);
+        replayDisplayFloorInitialized = true;
+        Log.d(host.getTag(), "Initialized replay display floor index=" + baseFloorIndex);
+
+        if (previousMatchedPose != null && previousMatchedPose.getFloor() != baseFloorIndex) {
+            previousMatchedPose = new CandidatePose(
+                    previousMatchedPose.getLatLng(),
+                    baseFloorIndex,
+                    previousMatchedPose.getTimestampMs(),
+                    "map_matched"
+            );
+        }
+    }
+
+    private void applyReplayMatchedFloorIfNeeded(int matchedFloorIndex) {
+        FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
+        IndoorMapManager indoorMapManager = host.getIndoorMapManager();
+        if (selectedBuilding == null || indoorMapManager == null) {
+            return;
+        }
+
+        if (!host.isReplayModeEnabled() && !host.isAutoFloorEnabled()) {
+            return;
+        }
+
+        int maxFloor = Math.max(0, selectedBuilding.getFloorShapesList().size() - 1);
+        int clampedFloor = Math.max(0, Math.min(matchedFloorIndex, maxFloor));
+
+        if (host.isReplayModeEnabled() && !hasReplayVerticalEvidence()) {
+            if (previousMatchedPose != null) {
+                clampedFloor = previousMatchedPose.getFloor();
+            } else {
+                Integer baseFloorIndex = resolveReplayBaseFloorIndex();
+                if (baseFloorIndex != null) {
+                    clampedFloor = baseFloorIndex;
+                }
+            }
+        }
+
+        if (clampedFloor == host.getCurrentFloorIndex()) {
+            return;
+        }
+        indoorMapManager.setSelectedBuilding(selectedBuilding);
+        host.setFloor(clampedFloor);
+    }
+
+    @NonNull
+    private String classifyMapMatchingScenario(@Nullable MapMatchingResult result) {
+        if (result == null) {
+            return "UNKNOWN";
+        }
+
+        String reason = result.getDebugReason() == null ? "" : result.getDebugReason().toLowerCase(Locale.US);
+        CorrectionType correctionType = result.getCorrectionType();
+
+        if (correctionType == CorrectionType.THROUGH_WALL || result.isCrossedWall()) {
+            return "03_cross_wall_reject";
+        }
+        if (correctionType == CorrectionType.INVALID_FLOOR_CHANGE) {
+            return "04_false_floor_change_reject";
+        }
+        if (result.isFloorChangeAllowed() && result.isNearStairs() && !result.isNearLift()) {
+            return "05_stairs_floor_change_allow";
+        }
+        if (result.isFloorChangeAllowed() && result.isNearLift() && !result.isNearStairs()) {
+            return "06_lift_floor_change_allow";
+        }
+        if (reason.contains("step distance too small")) {
+            return "02_small_step_skip_wall_check";
+        }
+        return "01_same_floor_accept";
+    }
+
+    private void logFeatureValidation(@NonNull LatLng rawLocation, @Nullable MapMatchingResult result) {
+        if (result == null) {
+            return;
+        }
+
+        LatLng matched = result.getCorrectedLatLng() != null ? result.getCorrectedLatLng() : rawLocation;
+        String scenario = classifyMapMatchingScenario(result);
+        Log.d(host.getTestLogTag(), String.format(Locale.US,
+                "SCENARIO=%s raw=(%.6f, %.6f) matched=(%.6f, %.6f) matchedFloor=%d crossedWall=%s nearStairs=%s nearLift=%s floorAllowed=%s correction=%s reason=%s",
+                scenario,
+                rawLocation.latitude, rawLocation.longitude,
+                matched.latitude, matched.longitude,
+                result.getCorrectedFloor(),
+                String.valueOf(result.isCrossedWall()),
+                String.valueOf(result.isNearStairs()),
+                String.valueOf(result.isNearLift()),
+                String.valueOf(result.isFloorChangeAllowed()),
+                result.getCorrectionType() != null ? result.getCorrectionType().name() : CorrectionType.NONE.name(),
+                result.getDebugReason()));
+    }
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 8f8dc450..09fa3d1c 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -6,8 +6,6 @@
 import android.graphics.Color;
 import android.location.Location;
 import android.os.Bundle;
-import android.os.Handler;
-import android.os.Looper;
 import android.os.SystemClock;
 import android.util.Log;
 import android.view.LayoutInflater;
@@ -193,18 +191,72 @@ static OverlayCalibration identity() {
 
     private GoogleMap gMap;
     private LatLng currentLocation;
-    private Marker orientationMarker;
-    private Marker gnssMarker;
-    private final List<Marker> testPointMarkers = new ArrayList<>();
-    private Polyline polylineOutline;
-    private Polyline polyline;
-    private Polyline rawReplayPolyline;
-    private boolean isRed = true;
     private boolean isGnssOn = false;
-    private Polyline gnssPolyline;
-    private LatLng lastGnssLocation = null;
     private LatLng pendingCameraPosition = null;
     private boolean hasPendingCameraMove = false;
+    private final TrajectoryRenderer trajectoryRenderer = new TrajectoryRenderer();
+
+    private final FloorController floorController = new FloorController(new FloorController.Host() {
+        @Override
+        public FloorplanApiClient.BuildingInfo getSelectedFloorplanBuilding() {
+            return selectedFloorplanBuilding;
+        }
+
+        @Override
+        public IndoorMapManager getIndoorMapManager() {
+            return indoorMapManager;
+        }
+
+        @Override
+        public SensorFusion getSensorFusion() {
+            return sensorFusion;
+        }
+
+        @Override
+        public boolean isReplayModeEnabled() {
+            return replayModeEnabled;
+        }
+
+        @Override
+        public int getCurrentFloorIndex() {
+            return currentFloorIndex;
+        }
+
+        @Override
+        public void setCurrentFloorIndex(int floorIndex) {
+            currentFloorIndex = floorIndex;
+        }
+
+        @Override
+        public boolean isIndoorMapVisible() {
+            return indoorMapVisible;
+        }
+
+        @Override
+        public boolean isActualMapVisible() {
+            return actualMapVisible;
+        }
+
+        @Override
+        public void refreshSelectedPolygonAppearance() {
+            TrajectoryMapFragment.this.refreshSelectedPolygonAppearance();
+        }
+
+        @Override
+        public void resetMapOverlays() {
+            TrajectoryMapFragment.this.resetMapOverlays();
+        }
+
+        @Override
+        public void updateRealMapOverlay(String buildingName, int floorIndex, boolean show) {
+            TrajectoryMapFragment.this.updateRealMapOverlay(buildingName, floorIndex, show);
+        }
+
+        @Override
+        public void updateCalibrationUi() {
+            TrajectoryMapFragment.this.updateCalibrationUi();
+        }
+    });
 
     private IndoorMapManager indoorMapManager;
     private SensorFusion sensorFusion;
@@ -214,28 +266,125 @@ static OverlayCalibration identity() {
     private FloorplanApiClient.BuildingInfo selectedFloorplanBuilding;
     private Polygon selectedFloorplanPolygon;
     private final FloorplanApiClient floorplanApiClient = new FloorplanApiClient();
-    private final MapMatchingService mapMatchingService = new MapMatchingService();
-    @Nullable
-    private CandidatePose previousMatchedPose;
 
     private boolean replayModeEnabled = false;
-    @Nullable
-    private Integer replaySyntheticFloor;
-    @Nullable
-    private Double replayCurrentElevation;
-    @Nullable
-    private Double replayDeltaHeight;
-    private boolean replayHeightChanged = false;
-    @Nullable
-    private Integer replayInitialFloor;
-    @Nullable
-    private Integer replayBaseFloorIndex;
-    private boolean replayDisplayFloorInitialized = false;
+    private final MapMatchingCoordinator mapMatchingCoordinator = new MapMatchingCoordinator(
+            new MapMatchingCoordinator.Host() {
+                @Nullable
+                @Override
+                public GoogleMap getGoogleMap() {
+                    return gMap;
+                }
+
+                @NonNull
+                @Override
+                public Context requireContext() {
+                    return TrajectoryMapFragment.this.requireContext();
+                }
+
+                @NonNull
+                @Override
+                public TrajectoryRenderer getTrajectoryRenderer() {
+                    return trajectoryRenderer;
+                }
+
+                @Nullable
+                @Override
+                public FloorplanApiClient.BuildingInfo getSelectedFloorplanBuilding() {
+                    return selectedFloorplanBuilding;
+                }
+
+                @Nullable
+                @Override
+                public IndoorMapManager getIndoorMapManager() {
+                    return indoorMapManager;
+                }
+
+                @Override
+                public boolean isReplayModeEnabled() {
+                    return replayModeEnabled;
+                }
+
+                @Override
+                public int getCurrentFloorIndex() {
+                    return currentFloorIndex;
+                }
+
+                @Override
+                public void setFloor(int floorIndex) {
+                    TrajectoryMapFragment.this.setFloor(floorIndex);
+                }
+
+                @Override
+                public boolean isAutoFloorEnabled() {
+                    return autoFloorSwitch != null && autoFloorSwitch.isChecked();
+                }
+
+                @Nullable
+                @Override
+                public LatLng getCurrentLocation() {
+                    return currentLocation;
+                }
+
+                @Override
+                public void setCurrentLocation(@NonNull LatLng location) {
+                    currentLocation = location;
+                }
+
+                @NonNull
+                @Override
+                public String resolveKnownBuildingKey(@NonNull FloorplanApiClient.BuildingInfo building,
+                                                      @Nullable String buildingName) {
+                    return TrajectoryMapFragment.this.resolveKnownBuildingKey(building, buildingName);
+                }
+
+                @NonNull
+                @Override
+                public String canonicalFloorLabel(@Nullable String floorLabel) {
+                    return TrajectoryMapFragment.this.canonicalFloorLabel(floorLabel);
+                }
+
+                @NonNull
+                @Override
+                public List<Integer> getOrderedFloorIndices(@NonNull FloorplanApiClient.BuildingInfo building) {
+                    return TrajectoryMapFragment.this.getOrderedFloorIndices(building);
+                }
+
+                @Override
+                public void maybeFetchNearbyBuildingsOnFirstLocation() {
+                    TrajectoryMapFragment.this.maybeFetchNearbyBuildingsOnFirstLocation();
+                }
+
+                @Override
+                public boolean hasAutoSelectedIndoorMap() {
+                    return hasAutoSelectedIndoorMap;
+                }
+
+                @NonNull
+                @Override
+                public List<FloorplanApiClient.BuildingInfo> getLastFetchedBuildings() {
+                    return lastFetchedBuildings;
+                }
+
+                @Override
+                public void maybeAutoSelectIndoorMap(@NonNull List<FloorplanApiClient.BuildingInfo> buildings) {
+                    TrajectoryMapFragment.this.maybeAutoSelectIndoorMap(buildings);
+                }
+
+                @NonNull
+                @Override
+                public String getTag() {
+                    return TAG;
+                }
+
+                @NonNull
+                @Override
+                public String getTestLogTag() {
+                    return TEST_LOG_TAG;
+                }
+            }
+    );
 
-    private Handler autoFloorHandler;
-    private Runnable autoFloorTask;
-    private int lastCandidateFloor = Integer.MIN_VALUE;
-    private long lastCandidateTime = 0;
 
     private Spinner switchMapSpinner;
     private SwitchMaterial gnssSwitch;
@@ -340,57 +489,20 @@ else if (!replayModeEnabled && getContext() != null) {
 
         gnssSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> {
             isGnssOn = isChecked;
-            if (!isChecked && gnssMarker != null) {
-                gnssMarker.remove();
-                gnssMarker = null;
+            if (!isChecked) {
+                trajectoryRenderer.clearGnssMarker();
             }
         });
 
         switchColorButton.setOnClickListener(v -> {
-            if (polyline != null) {
-                if (isRed) {
-                    polyline.setColor(Color.BLACK);
-                    if (polylineOutline != null) polylineOutline.setColor(Color.argb(210, 235, 235, 235));
-                    isRed = false;
-                } else {
-                    polyline.setColor(TRAJECTORY_MAIN_COLOR);
-                    if (polylineOutline != null) polylineOutline.setColor(TRAJECTORY_OUTLINE_COLOR);
-                    isRed = true;
-                }
-                applyTrajectoryColorButtonState();
-            }
+            trajectoryRenderer.toggleTrajectoryColor();
+            applyTrajectoryColorButtonState();
         });
 
         setupCalibrationControls();
 
         sensorFusion = SensorFusion.getInstance();
-        autoFloorSwitch.setOnCheckedChangeListener((compoundButton, isChecked) -> {
-            if (isChecked) {
-                startAutoFloor();
-            } else {
-                stopAutoFloor();
-            }
-        });
-
-        floorUpButton.setOnClickListener(v -> {
-            autoFloorSwitch.setChecked(false);
-            if (selectedFloorplanBuilding != null) {
-                int nextFloorIndex = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, true);
-                if (nextFloorIndex != currentFloorIndex) {
-                    setFloor(nextFloorIndex);
-                }
-            }
-        });
-
-        floorDownButton.setOnClickListener(v -> {
-            autoFloorSwitch.setChecked(false);
-            if (selectedFloorplanBuilding != null) {
-                int nextFloorIndex = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, false);
-                if (nextFloorIndex != currentFloorIndex) {
-                    setFloor(nextFloorIndex);
-                }
-            }
-        });
+        floorController.bindViews(autoFloorSwitch, floorUpButton, floorDownButton, floorLabel);
 
         if (btnFindIndoorMap != null) {
             btnFindIndoorMap.setOnClickListener(v -> {
@@ -559,40 +671,7 @@ private float distanceBetweenMeters(@NonNull LatLng a, @NonNull LatLng b) {
     }
 
     private void setFloor(int newFloorIndex) {
-        if (selectedFloorplanBuilding == null || indoorMapManager == null) {
-            return;
-        }
-
-        int maxFloor = selectedFloorplanBuilding.getFloorShapesList().size() - 1;
-        currentFloorIndex = Math.max(0, Math.min(newFloorIndex, maxFloor));
-        refreshSelectedPolygonAppearance();
-
-        // 【核心修复3】如果两个按钮都没开，彻底清空画面
-        if (!indoorMapVisible && !actualMapVisible) {
-            indoorMapManager.clearIndoorMap();
-            resetMapOverlays();
-            updateFloorLabel();
-            return;
-        }
-
-        resetMapOverlays();
-        indoorMapManager.setVectorBaseplateEnabled(false);
-
-        // 独立处理实景图层
-        if (actualMapVisible) {
-            updateRealMapOverlay(selectedFloorplanBuilding.getName(), currentFloorIndex, true);
-        }
-
-        // 独立处理红色覆盖图层
-        if (indoorMapVisible) {
-            indoorMapManager.setCurrentFloor(currentFloorIndex, false);
-        } else {
-            indoorMapManager.clearIndoorMap();
-        }
-
-        setFloorControlsVisibility(View.VISIBLE);
-        updateFloorLabel();
-        updateCalibrationUi();
+        floorController.setFloor(newFloorIndex);
     }
 
 
@@ -1191,8 +1270,7 @@ private void onFloorplanBuildingSelected(FloorplanApiClient.BuildingInfo buildin
         actualMapVisible = false;
         updateActualMapButtonState();
         currentFloorIndex = getDefaultFloorIndex(building);
-        replayBaseFloorIndex = null;
-        replayDisplayFloorInitialized = false;
+        mapMatchingCoordinator.onSelectedBuildingChanged();
 
         if (polygon != null) {
             polygon.setZIndex(19f);
@@ -1220,85 +1298,19 @@ private void onFloorplanBuildingSelected(FloorplanApiClient.BuildingInfo buildin
     }
 
     private int getDefaultFloorIndex(FloorplanApiClient.BuildingInfo building) {
-        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
-            return 0;
-        }
-
-        for (int i = 0; i < building.getFloorShapesList().size(); i++) {
-            String displayName = building.getFloorShapesList().get(i).getDisplayName();
-            if ("G".equals(canonicalFloorLabel(displayName))) {
-                return i;
-            }
-        }
-
-        List<Integer> orderedFloorIndices = getOrderedFloorIndices(building);
-        return orderedFloorIndices.isEmpty() ? 0 : orderedFloorIndices.get(0);
+        return floorController.getDefaultFloorIndex(building);
     }
 
     private String getFloorDisplayName(FloorplanApiClient.BuildingInfo building, int floorIndex) {
-        if (building == null || building.getFloorShapesList() == null
-                || floorIndex < 0 || floorIndex >= building.getFloorShapesList().size()) {
-            return "";
-        }
-        String displayName = building.getFloorShapesList().get(floorIndex).getDisplayName();
-        return displayName == null ? "" : displayName.trim().toUpperCase();
+        return floorController.getFloorDisplayName(building, floorIndex);
     }
 
     private int getAdjacentFloorIndex(FloorplanApiClient.BuildingInfo building, int currentIndex, boolean moveUp) {
-        List<Integer> orderedFloorIndices = getOrderedFloorIndices(building);
-        if (orderedFloorIndices.isEmpty()) {
-            return currentIndex;
-        }
-
-        int currentOrderedPosition = orderedFloorIndices.indexOf(currentIndex);
-        if (currentOrderedPosition < 0) {
-            currentOrderedPosition = 0;
-            for (int i = 0; i < orderedFloorIndices.size(); i++) {
-                if (orderedFloorIndices.get(i) >= currentIndex) {
-                    currentOrderedPosition = i;
-                    break;
-                }
-            }
-        }
-
-        int nextOrderedPosition = moveUp ? currentOrderedPosition + 1 : currentOrderedPosition - 1;
-        if (nextOrderedPosition < 0 || nextOrderedPosition >= orderedFloorIndices.size()) {
-            return currentIndex;
-        }
-        return orderedFloorIndices.get(nextOrderedPosition);
+        return floorController.getAdjacentFloorIndex(building, currentIndex, moveUp);
     }
 
     private List<Integer> getOrderedFloorIndices(FloorplanApiClient.BuildingInfo building) {
-        List<Integer> ordered = new ArrayList<>();
-        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
-            return ordered;
-        }
-
-        List<Integer> fallback = new ArrayList<>();
-        for (int i = 0; i < building.getFloorShapesList().size(); i++) {
-            fallback.add(i);
-        }
-
-        String[] desiredOrder = new String[]{"LG", "G", "1", "2", "3"};
-        for (String desiredFloor : desiredOrder) {
-            for (int i = 0; i < building.getFloorShapesList().size(); i++) {
-                if (ordered.contains(i)) {
-                    continue;
-                }
-                String candidateFloor = canonicalFloorLabel(building.getFloorShapesList().get(i).getDisplayName());
-                if (desiredFloor.equals(candidateFloor)) {
-                    ordered.add(i);
-                    break;
-                }
-            }
-        }
-
-        for (Integer index : fallback) {
-            if (!ordered.contains(index)) {
-                ordered.add(index);
-            }
-        }
-        return ordered;
+        return floorController.getOrderedFloorIndices(building);
     }
 
     private String formatFloorLabelForUi(String rawFloorLabel) {
@@ -1399,8 +1411,8 @@ private void requestNearbyIndoorMaps(boolean userInitiated) {
         }
 
         LatLng center = currentLocation;
-        if (center == null && orientationMarker != null) {
-            center = orientationMarker.getPosition();
+        if (center == null) {
+            center = trajectoryRenderer.getOrientationPosition();
         }
         if (center == null) {
             float[] gnss = SensorFusion.getInstance().getGNSSLatitude(false);
@@ -1495,81 +1507,6 @@ private void drawFloorplanBuildings(List<FloorplanApiClient.BuildingInfo> buildi
 
         // 【修复1】这里原本会导致缩放异常的 newLatLngBounds 代码已被彻底删除！
     }
-    private PolylineOptions buildTrajectoryOutlineOptions() {
-        return new PolylineOptions()
-                .color(TRAJECTORY_OUTLINE_COLOR)
-                .width(TRAJECTORY_WIDTH_OUTLINE_PX)
-                .startCap(new RoundCap())
-                .endCap(new RoundCap())
-                .jointType(JointType.ROUND)
-                .zIndex(TRAJECTORY_Z_INDEX - 19f)
-                .add();
-    }
-
-    private PolylineOptions buildTrajectoryMainOptions() {
-        return new PolylineOptions()
-                .color(TRAJECTORY_MAIN_COLOR)
-                .width(TRAJECTORY_WIDTH_MAIN_PX)
-                .startCap(new RoundCap())
-                .endCap(new RoundCap())
-                .jointType(JointType.ROUND)
-                .zIndex(TRAJECTORY_Z_INDEX)
-                .add();
-    }
-
-    private void ensureTrajectoryStyling() {
-        if (polylineOutline != null) {
-            polylineOutline.setWidth(TRAJECTORY_WIDTH_OUTLINE_PX);
-            polylineOutline.setColor(TRAJECTORY_OUTLINE_COLOR);
-            polylineOutline.setZIndex(TRAJECTORY_Z_INDEX - 19f);
-            polylineOutline.setStartCap(new RoundCap());
-            polylineOutline.setEndCap(new RoundCap());
-            polylineOutline.setJointType(JointType.ROUND);
-        }
-        if (polyline != null) {
-            polyline.setWidth(TRAJECTORY_WIDTH_MAIN_PX);
-            polyline.setColor(TRAJECTORY_MAIN_COLOR);
-            polyline.setZIndex(TRAJECTORY_Z_INDEX);
-            polyline.setStartCap(new RoundCap());
-            polyline.setEndCap(new RoundCap());
-            polyline.setJointType(JointType.ROUND);
-        }
-    }
-
-    @NonNull
-    private PolylineOptions buildRawReplayPolylineOptions() {
-        return new PolylineOptions()
-                .color(Color.argb(170, 30, 136, 229))
-                .width(5f)
-                .jointType(JointType.ROUND)
-                .startCap(new RoundCap())
-                .endCap(new RoundCap())
-                .zIndex(TRAJECTORY_Z_INDEX - 19f)
-                .add();
-    }
-
-    private void appendRawReplayPoint(@NonNull LatLng rawLocation) {
-        if (rawReplayPolyline == null) {
-            return;
-        }
-
-        List<LatLng> rawPoints = new ArrayList<>(rawReplayPolyline.getPoints());
-        if (rawPoints.isEmpty() || !rawPoints.get(rawPoints.size() - 1).equals(rawLocation)) {
-            rawPoints.add(rawLocation);
-            rawReplayPolyline.setPoints(rawPoints);
-        }
-    }
-
-    private void syncTrajectoryPolylinePoints(@NonNull List<LatLng> points) {
-        if (polylineOutline != null) {
-            polylineOutline.setPoints(points);
-        }
-        if (polyline != null) {
-            polyline.setPoints(points);
-        }
-        ensureTrajectoryStyling();
-    }
-
     private void initMapSettings(GoogleMap map) {
         map.getUiSettings().setCompassEnabled(true);
         map.getUiSettings().setTiltGesturesEnabled(true);
@@ -1586,11 +1523,7 @@ private void initMapSettings(GoogleMap map) {
             }
         });
 
-        polylineOutline = map.addPolyline(buildTrajectoryOutlineOptions());
-        polyline = map.addPolyline(buildTrajectoryMainOptions());
-        rawReplayPolyline = map.addPolyline(buildRawReplayPolylineOptions());
-        gnssPolyline = map.addPolyline(new PolylineOptions().color(Color.BLUE).width(5f).zIndex(TRAJECTORY_Z_INDEX - 19f).add());
-        ensureTrajectoryStyling();
+        trajectoryRenderer.attachToMap(map);
     }
 
     private String prettyBuildingName(String raw) {
@@ -1648,11 +1581,9 @@ public void onNothingSelected(AdapterView<?> parent) {
 
     public void setReplayModeEnabled(boolean enabled) {
         replayModeEnabled = enabled;
+        mapMatchingCoordinator.onReplayModeChanged(enabled);
         if (enabled) {
             stopAutoFloor();
-        } else {
-            replayBaseFloorIndex = null;
-            replayDisplayFloorInitialized = false;
         }
         if (autoFloorSwitch != null) {
             autoFloorSwitch.setChecked(false);
@@ -1665,7 +1596,8 @@ public void setReplayFrameContext(@Nullable Integer syntheticFloor,
                                       @Nullable Double currentElevation,
                                       @Nullable Double deltaHeight,
                                       boolean heightChanged) {
-        setReplayFrameContext(syntheticFloor, currentElevation, deltaHeight, heightChanged, null);
+        setReplayModeEnabled(true);
+        mapMatchingCoordinator.setReplayFrameContext(syntheticFloor, currentElevation, deltaHeight, heightChanged);
     }
 
     public void setReplayFrameContext(@Nullable Integer syntheticFloor,
@@ -1674,376 +1606,15 @@ public void setReplayFrameContext(@Nullable Integer syntheticFloor,
                                       boolean heightChanged,
                                       @Nullable Integer initialFloor) {
         setReplayModeEnabled(true);
-        replaySyntheticFloor = syntheticFloor;
-        replayCurrentElevation = currentElevation;
-        replayDeltaHeight = deltaHeight;
-        replayHeightChanged = heightChanged;
-        if (initialFloor != null && (replayInitialFloor == null || !initialFloor.equals(replayInitialFloor))) {
-            replayBaseFloorIndex = null;
-            replayDisplayFloorInitialized = false;
-        }
-        replayInitialFloor = initialFloor;
-        maybeInitializeReplayDisplayFloor();
-        Log.d(TAG, String.format(Locale.US,
-                "Replay frame context initialFloor=%s syntheticFloor=%s elevation=%s deltaHeight=%s heightChanged=%s",
-                String.valueOf(initialFloor),
-                String.valueOf(syntheticFloor),
-                String.valueOf(currentElevation),
-                String.valueOf(deltaHeight),
-                String.valueOf(heightChanged)));
-    }
-
-    private int resolveReplayCandidateFloorIndex() {
-        Integer baseFloorIndex = resolveReplayBaseFloorIndex();
-        if (!replayModeEnabled || baseFloorIndex == null || selectedFloorplanBuilding == null) {
-            return currentFloorIndex;
-        }
-
-        List<Integer> orderedFloorIndices = getOrderedFloorIndices(selectedFloorplanBuilding);
-        if (orderedFloorIndices.isEmpty()) {
-            return baseFloorIndex;
-        }
-
-        int basePosition = orderedFloorIndices.indexOf(baseFloorIndex);
-        if (basePosition < 0) {
-            return baseFloorIndex;
-        }
-
-        int relativeFloorOffset = 0;
-        if (replaySyntheticFloor != null && hasReplayVerticalEvidence()) {
-            relativeFloorOffset = replaySyntheticFloor;
-        }
-
-        int targetPosition = Math.max(0, Math.min(basePosition + relativeFloorOffset, orderedFloorIndices.size() - 1));
-        return orderedFloorIndices.get(targetPosition);
-    }
-
-    @Nullable
-    private Integer resolveReplayBaseFloorIndex() {
-        if (!replayModeEnabled || selectedFloorplanBuilding == null) {
-            return null;
-        }
-        if (replayBaseFloorIndex != null) {
-            int maxFloor = Math.max(0, selectedFloorplanBuilding.getFloorShapesList().size() - 1);
-            return Math.max(0, Math.min(replayBaseFloorIndex, maxFloor));
-        }
-        if (replayInitialFloor == null) {
-            replayBaseFloorIndex = currentFloorIndex;
-            return replayBaseFloorIndex;
-        }
-
-        String desiredFloorLabel;
-        if (replayInitialFloor < 0) {
-            desiredFloorLabel = "LG";
-        } else if (replayInitialFloor == 0) {
-            desiredFloorLabel = "G";
-        } else {
-            desiredFloorLabel = String.valueOf(replayInitialFloor);
-        }
-
-        for (int i = 0; i < selectedFloorplanBuilding.getFloorShapesList().size(); i++) {
-            String candidateLabel = canonicalFloorLabel(selectedFloorplanBuilding.getFloorShapesList().get(i).getDisplayName());
-            if (desiredFloorLabel.equals(candidateLabel)) {
-                replayBaseFloorIndex = i;
-                return replayBaseFloorIndex;
-            }
-        }
-
-        replayBaseFloorIndex = currentFloorIndex;
-        return replayBaseFloorIndex;
-    }
-
-    private boolean hasReplayVerticalEvidence() {
-        if (!replayModeEnabled) {
-            return false;
-        }
-        if (replayHeightChanged) {
-            return true;
-        }
-        if (replayDeltaHeight != null && Math.abs(replayDeltaHeight) >= 0.35d) {
-            return true;
-        }
-        if (replayCurrentElevation != null && Math.abs(replayCurrentElevation) >= 0.35d) {
-            return true;
-        }
-        return false;
-    }
-
-    private void maybeInitializeReplayDisplayFloor() {
-        if (!replayModeEnabled || replayDisplayFloorInitialized || selectedFloorplanBuilding == null || indoorMapManager == null) {
-            return;
-        }
-        Integer baseFloorIndex = resolveReplayBaseFloorIndex();
-        if (baseFloorIndex == null) {
-            return;
-        }
-        indoorMapManager.setSelectedBuilding(selectedFloorplanBuilding);
-        setFloor(baseFloorIndex);
-        replayDisplayFloorInitialized = true;
-        Log.d(TAG, "Initialized replay display floor index=" + baseFloorIndex);
-
-        // 修复：如果地图匹配在建筑加载之前处理了点，它会错误地锁定在0层（LG）。
-        // 强制将 previousMatchedPose 设置为正确的初始楼层，以防止错误的楼层变化拒绝。
-        if (previousMatchedPose != null && previousMatchedPose.getFloor() != baseFloorIndex) {
-            previousMatchedPose = new CandidatePose(
-                    previousMatchedPose.getLatLng(),
-                    baseFloorIndex,
-                    previousMatchedPose.getTimestampMs(),
-                    "map_matched"  // 修改这里：直接传入固定字符串，替代 getProvider()
-            );
-        }
+        mapMatchingCoordinator.setReplayFrameContext(syntheticFloor, currentElevation, deltaHeight, heightChanged, initialFloor);
     }
 
-    private void applyReplayMatchedFloorIfNeeded(int matchedFloorIndex) {
-        if (selectedFloorplanBuilding == null || indoorMapManager == null) {
-            return;
-        }
-
-        // 【核心修复2】在实地 Live 模式下，如果用户关闭了自动楼层开关（Auto Floor），
-        // 就不应该强制用底层算法算出的楼层去覆盖用户的屏幕！允许用户自由手动浏览。
-        if (!replayModeEnabled && (autoFloorSwitch == null || !autoFloorSwitch.isChecked())) {
-            return;
-        }
-
-        int maxFloor = Math.max(0, selectedFloorplanBuilding.getFloorShapesList().size() - 1);
-        int clampedFloor = Math.max(0, Math.min(matchedFloorIndex, maxFloor));
-
-        if (replayModeEnabled && !hasReplayVerticalEvidence()) {
-            if (previousMatchedPose != null) {
-                clampedFloor = previousMatchedPose.getFloor();
-            } else {
-                Integer baseFloorIndex = resolveReplayBaseFloorIndex();
-                if (baseFloorIndex != null) {
-                    clampedFloor = baseFloorIndex;
-                }
-            }
-        }
-
-        if (clampedFloor == currentFloorIndex) {
-            return;
-        }
-        indoorMapManager.setSelectedBuilding(selectedFloorplanBuilding);
-        setFloor(clampedFloor);
-    }
     public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
-        if (gMap == null) {
-            return;
-        }
-
-        LatLng rawLocation = newLocation;
-        appendRawReplayPoint(rawLocation);
-
-        long timestampMs = SystemClock.elapsedRealtime();
-        int replayCandidateFloorIndex = resolveReplayCandidateFloorIndex();
-        FloorplanApiClient.FloorShapes activeFloorShapes = getActiveFloorShapesForMatching();
-        CandidatePose currentCandidatePose = new CandidatePose(
-                rawLocation,
-                replayCandidateFloorIndex,
-                timestampMs,
-                "replay_pdr"
-        );
-
-        MotionDelta motionDelta = buildMotionDelta(previousMatchedPose, rawLocation, orientation);
-        VerticalTransitionHint verticalHint = buildReplayVerticalHint();
-        String activeBuildingId = selectedFloorplanBuilding != null
-                ? resolveKnownBuildingKey(selectedFloorplanBuilding, selectedFloorplanBuilding.getName())
-                : null;
-
-        MapMatchingInput matchingInput = new MapMatchingInput(
-                previousMatchedPose,
-                currentCandidatePose,
-                motionDelta,
-                verticalHint,
-                activeFloorShapes,
-                activeBuildingId
-        );
-
-        MapMatchingResult matchingResult = mapMatchingService.match(matchingInput);
-        LatLng matchedLocation = matchingResult.getCorrectedLatLng() != null
-                ? matchingResult.getCorrectedLatLng()
-                : rawLocation;
-        int matchedFloor = matchingResult.getCorrectedFloor();
-
-        logFeatureValidation(rawLocation, matchingResult);
-        Log.d(TEST_LOG_TAG, String.format(Locale.US,
-                "raw=(%.6f, %.6f) matched=(%.6f, %.6f) floor=%d correction=%s reason=%s",
-                rawLocation.latitude,
-                rawLocation.longitude,
-                matchedLocation.latitude,
-                matchedLocation.longitude,
-                matchedFloor,
-                matchingResult.getCorrectionType() != null
-                        ? matchingResult.getCorrectionType().name()
-                        : CorrectionType.NONE.name(),
-                matchingResult.getDebugReason()));
-
-        LatLng oldLocation = this.currentLocation;
-        this.currentLocation = matchedLocation;
-        this.previousMatchedPose = new CandidatePose(
-                matchedLocation,
-                matchedFloor,
-                timestampMs,
-                "map_matched"
-        );
-        applyReplayMatchedFloorIfNeeded(matchedFloor);
-
-        boolean shouldFollowCamera = replayModeEnabled || !(indoorMapVisible || actualMapVisible);
-
-        if (orientationMarker == null) {
-            // 第一次拿到位置，初始化 Marker
-            orientationMarker = gMap.addMarker(new MarkerOptions()
-                    .position(matchedLocation)
-                    .flat(true)
-                    .title("Current Position")
-                    .icon(BitmapDescriptorFactory.fromBitmap(UtilFunctions.getBitmapFromVector(requireContext(), R.drawable.ic_baseline_navigation_24))));
-
-            // 【核心修复】：继承 StartLocation 里的缩放比例
-            float savedZoom = 19f;
-            if (getContext() != null) {
-                savedZoom = getContext().getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
-                        .getFloat("user_selected_zoom", 19f);
-            }
-
-            gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(matchedLocation, savedZoom));
-        } else {
-            // 后续的位置更新
-            orientationMarker.setPosition(matchedLocation);
-            orientationMarker.setRotation(orientation);
-
-            if (shouldFollowCamera) {
-                // 如果允许跟随，则平滑移动镜头
-                gMap.animateCamera(CameraUpdateFactory.newLatLng(matchedLocation));
-            }
-        }
-
-        if (polyline != null) {
-            List<LatLng> points = new ArrayList<>(polyline.getPoints());
-            if (oldLocation == null || !oldLocation.equals(matchedLocation)) {
-                points.add(matchedLocation);
-                syncTrajectoryPolylinePoints(points);
-            } else {
-                ensureTrajectoryStyling();
-            }
-        }
-
-        if (indoorMapManager != null) {
-            indoorMapManager.setCurrentLocation(matchedLocation);
-        }
-
-        maybeFetchNearbyBuildingsOnFirstLocation();
-        if (!hasAutoSelectedIndoorMap && !lastFetchedBuildings.isEmpty()) {
-            maybeAutoSelectIndoorMap(lastFetchedBuildings);
-        }
-    }
-
-    @Nullable
-    private FloorplanApiClient.FloorShapes getActiveFloorShapesForMatching() {
-        if (selectedFloorplanBuilding == null
-                || selectedFloorplanBuilding.getFloorShapesList() == null
-                || selectedFloorplanBuilding.getFloorShapesList().isEmpty()) {
-            return null;
-        }
-
-        maybeInitializeReplayDisplayFloor();
-
-        int floorIndexForMatching = currentFloorIndex;
-        if (replayModeEnabled && replayInitialFloor != null) {
-            floorIndexForMatching = resolveReplayCandidateFloorIndex();
-        }
-
-        int safeFloorIndex = Math.max(0, Math.min(floorIndexForMatching, selectedFloorplanBuilding.getFloorShapesList().size() - 1));
-        return selectedFloorplanBuilding.getFloorShapesList().get(safeFloorIndex);
-    }
-
-    @Nullable
-    private MotionDelta buildMotionDelta(@Nullable CandidatePose previousPose,
-                                         @NonNull LatLng rawLocation,
-                                         float orientation) {
-        if (previousPose == null) {
-            return null;
-        }
-
-        float[] results = new float[1];
-        Location.distanceBetween(
-                previousPose.getLatLng().latitude,
-                previousPose.getLatLng().longitude,
-                rawLocation.latitude,
-                rawLocation.longitude,
-                results
-        );
-
-        double deltaX = rawLocation.longitude - previousPose.getLatLng().longitude;
-        double deltaY = rawLocation.latitude - previousPose.getLatLng().latitude;
-        return new MotionDelta(deltaX, deltaY, results[0], orientation);
-    }
-
-    @Nullable
-    private VerticalTransitionHint buildReplayVerticalHint() {
-        if (!replayModeEnabled) {
-            return null;
-        }
-        if (replayCurrentElevation == null && replayDeltaHeight == null && !replayHeightChanged) {
-            return null;
-        }
-
-        double currentElevation = replayCurrentElevation != null ? replayCurrentElevation : 0d;
-        double deltaHeight = replayDeltaHeight != null ? replayDeltaHeight : 0d;
-        return new VerticalTransitionHint(currentElevation, deltaHeight, replayHeightChanged);
+        mapMatchingCoordinator.updateUserLocation(newLocation, orientation);
     }
 
     private void resetMapMatchingState() {
-        previousMatchedPose = null;
-        if (rawReplayPolyline != null) {
-            rawReplayPolyline.setPoints(new ArrayList<>());
-        }
-    }
-
-    @NonNull
-    private String classifyMapMatchingScenario(@Nullable MapMatchingResult result) {
-        if (result == null) {
-            return "UNKNOWN";
-        }
-
-        String reason = result.getDebugReason() == null ? "" : result.getDebugReason().toLowerCase(Locale.US);
-        CorrectionType correctionType = result.getCorrectionType();
-
-        if (correctionType == CorrectionType.THROUGH_WALL || result.isCrossedWall()) {
-            return "03_cross_wall_reject";
-        }
-        if (correctionType == CorrectionType.INVALID_FLOOR_CHANGE) {
-            return "04_false_floor_change_reject";
-        }
-        if (result.isFloorChangeAllowed() && result.isNearStairs() && !result.isNearLift()) {
-            return "05_stairs_floor_change_allow";
-        }
-        if (result.isFloorChangeAllowed() && result.isNearLift() && !result.isNearStairs()) {
-            return "06_lift_floor_change_allow";
-        }
-        if (reason.contains("step distance too small")) {
-            return "02_small_step_skip_wall_check";
-        }
-        return "01_same_floor_accept";
-    }
-
-    private void logFeatureValidation(@NonNull LatLng rawLocation, @Nullable MapMatchingResult result) {
-        if (result == null) {
-            return;
-        }
-
-        LatLng matched = result.getCorrectedLatLng() != null ? result.getCorrectedLatLng() : rawLocation;
-        String scenario = classifyMapMatchingScenario(result);
-        Log.d(TEST_LOG_TAG, String.format(Locale.US,
-                "SCENARIO=%s raw=(%.6f, %.6f) matched=(%.6f, %.6f) matchedFloor=%d crossedWall=%s nearStairs=%s nearLift=%s floorAllowed=%s correction=%s reason=%s",
-                scenario,
-                rawLocation.latitude, rawLocation.longitude,
-                matched.latitude, matched.longitude,
-                result.getCorrectedFloor(),
-                String.valueOf(result.isCrossedWall()),
-                String.valueOf(result.isNearStairs()),
-                String.valueOf(result.isNearLift()),
-                String.valueOf(result.isFloorChangeAllowed()),
-                result.getCorrectionType() != null ? result.getCorrectionType().name() : CorrectionType.NONE.name(),
-                result.getDebugReason()));
+        mapMatchingCoordinator.resetMapMatchingState();
     }
 
     public void setInitialCameraPosition(@NonNull LatLng startLocation) {
@@ -2067,39 +1638,15 @@ public LatLng getCurrentLocation() {
     }
 
     public void addTestPointMarker(int index, long timestampMs, @NonNull LatLng position) {
-        if (gMap == null) {
-            return;
-        }
-        Marker m = gMap.addMarker(new MarkerOptions().position(position).title("TP " + index).snippet("t=" + timestampMs));
-        if (m != null) {
-            m.showInfoWindow();
-            testPointMarkers.add(m);
-        }
+        trajectoryRenderer.addTestPointMarker(index, timestampMs, position);
     }
 
     public void updateGNSS(@NonNull LatLng gnssLocation) {
-        if (gMap == null || !isGnssOn) {
-            return;
-        }
-        if (gnssMarker == null) {
-            gnssMarker = gMap.addMarker(new MarkerOptions().position(gnssLocation).title("GNSS Position").icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_AZURE)));
-            lastGnssLocation = gnssLocation;
-        } else {
-            gnssMarker.setPosition(gnssLocation);
-            if (lastGnssLocation != null && !lastGnssLocation.equals(gnssLocation)) {
-                List<LatLng> gnssPoints = new ArrayList<>(gnssPolyline.getPoints());
-                gnssPoints.add(gnssLocation);
-                gnssPolyline.setPoints(gnssPoints);
-            }
-            lastGnssLocation = gnssLocation;
-        }
+        trajectoryRenderer.updateGnss(gnssLocation, isGnssOn);
     }
 
     public void clearGNSS() {
-        if (gnssMarker != null) {
-            gnssMarker.remove();
-            gnssMarker = null;
-        }
+        trajectoryRenderer.clearGnssMarker();
     }
 
     public boolean isGnssEnabled() {
@@ -2420,20 +1967,11 @@ private void updateCalibrationUi() {
     }
 
     private void setFloorControlsVisibility(int visibility) {
-        floorUpButton.setVisibility(visibility);
-        floorDownButton.setVisibility(visibility);
-        floorLabel.setVisibility(visibility);
-        autoFloorSwitch.setVisibility(visibility);
-        if (visibility == View.VISIBLE) {
-            updateFloorLabel();
-        }
+        floorController.setFloorControlsVisibility(visibility);
     }
 
     private void updateFloorLabel() {
-        if (floorLabel != null && indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
-            floorLabel.setText(formatFloorLabelForUi(indoorMapManager.getCurrentFloorDisplayName()));
-        }
-        updateCalibrationUi();
+        floorController.updateFloorLabel();
     }
 
     public void clearMapAndReset() {
@@ -2441,53 +1979,7 @@ public void clearMapAndReset() {
         if (autoFloorSwitch != null) {
             autoFloorSwitch.setChecked(false);
         }
-        if (polylineOutline != null) {
-            polylineOutline.remove();
-            polylineOutline = null;
-        }
-        if (polyline != null) {
-            polyline.remove();
-            polyline = null;
-        }
-        if (rawReplayPolyline != null) {
-            rawReplayPolyline.remove();
-            rawReplayPolyline = null;
-        }
-        if (gnssPolyline != null) {
-            gnssPolyline.remove();
-            gnssPolyline = null;
-        }
-        if (orientationMarker != null) {
-            orientationMarker.remove();
-            orientationMarker = null;
-        }
-        if (gnssMarker != null) {
-            gnssMarker.remove();
-            gnssMarker = null;
-        }
-        lastGnssLocation = null;
-        currentLocation = null;
-        replaySyntheticFloor = null;
-        replayCurrentElevation = null;
-        replayDeltaHeight = null;
-        replayHeightChanged = false;
-        replayInitialFloor = null;
-        replayBaseFloorIndex = null;
-        replayDisplayFloorInitialized = false;
-        resetMapMatchingState();
-
-        for (Marker m : testPointMarkers) {
-            m.remove();
-        }
-        testPointMarkers.clear();
-
-        if (gMap != null) {
-            polylineOutline = gMap.addPolyline(buildTrajectoryOutlineOptions());
-            polyline = gMap.addPolyline(buildTrajectoryMainOptions());
-            rawReplayPolyline = gMap.addPolyline(buildRawReplayPolylineOptions());
-            gnssPolyline = gMap.addPolyline(new PolylineOptions().color(Color.BLUE).width(5f).zIndex(TRAJECTORY_Z_INDEX - 19f).add());
-            ensureTrajectoryStyling();
-        }
+        trajectoryRenderer.resetMapArtifacts();
         for (Polygon p : floorplanPolygons) {
             p.remove();
         }
@@ -2519,89 +2011,19 @@ public void clearMapAndReset() {
     }
 
     private void startAutoFloor() {
-        if (replayModeEnabled) {
-            if (autoFloorSwitch != null) {
-                autoFloorSwitch.setChecked(false);
-            }
-            return;
-        }
-        if (autoFloorHandler == null) {
-            autoFloorHandler = new Handler(Looper.getMainLooper());
-        }
-        lastCandidateFloor = Integer.MIN_VALUE;
-        lastCandidateTime = 0;
-        applyImmediateFloor();
-
-        autoFloorTask = new Runnable() {
-            @Override
-            public void run() {
-                evaluateAutoFloor();
-                autoFloorHandler.postDelayed(this, AUTO_FLOOR_CHECK_INTERVAL_MS);
-            }
-        };
-        autoFloorHandler.post(autoFloorTask);
+        floorController.startAutoFloor();
     }
 
     private void applyImmediateFloor() {
-        if (replayModeEnabled) {
-            return;
-        }
-        if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
-            return;
-        }
-        int candidateFloor;
-        if (sensorFusion.getLatLngWifiPositioning() != null) {
-            candidateFloor = sensorFusion.getWifiFloor();
-        } else {
-            float elevation = sensorFusion.getElevation();
-            float floorHeight = indoorMapManager.getFloorHeight();
-            if (floorHeight <= 0) {
-                return;
-            }
-            candidateFloor = Math.round(elevation / floorHeight);
-        }
-        setFloor(indoorMapManager.logicalFloorToIndex(candidateFloor));
-        lastCandidateFloor = candidateFloor;
-        lastCandidateTime = SystemClock.elapsedRealtime();
+        floorController.applyImmediateFloor();
     }
 
     private void stopAutoFloor() {
-        if (autoFloorHandler != null && autoFloorTask != null) {
-            autoFloorHandler.removeCallbacks(autoFloorTask);
-        }
-        lastCandidateFloor = Integer.MIN_VALUE;
-        lastCandidateTime = 0;
+        floorController.stopAutoFloor();
     }
 
     private void evaluateAutoFloor() {
-        if (replayModeEnabled) {
-            return;
-        }
-        if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
-            return;
-        }
-        int candidateFloor;
-        if (sensorFusion.getLatLngWifiPositioning() != null) {
-            candidateFloor = sensorFusion.getWifiFloor();
-        } else {
-            float elevation = sensorFusion.getElevation();
-            float floorHeight = indoorMapManager.getFloorHeight();
-            if (floorHeight <= 0) {
-                return;
-            }
-            candidateFloor = Math.round(elevation / floorHeight);
-        }
-
-        long now = SystemClock.elapsedRealtime();
-        if (candidateFloor != lastCandidateFloor) {
-            lastCandidateFloor = candidateFloor;
-            lastCandidateTime = now;
-            return;
-        }
-        if (now - lastCandidateTime >= AUTO_FLOOR_DEBOUNCE_MS) {
-            setFloor(indoorMapManager.logicalFloorToIndex(candidateFloor));
-            lastCandidateTime = now;
-        }
+        floorController.evaluateAutoFloor();
     }
     private void initMapControlsToggle() {
         if (btnToggleControls != null) {
@@ -2628,6 +2050,7 @@ private void applyTrajectoryColorButtonState() {
         if (switchColorButton == null) {
             return;
         }
+        boolean isRed = trajectoryRenderer.isUsingRedTrajectory();
         switchColorButton.setText(isRed ? "Red" : "Black");
         switchColorButton.setBackgroundColor(isRed ? TRAJECTORY_MAIN_COLOR : Color.BLACK);
         switchColorButton.setTextColor(Color.WHITE);
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
new file mode 100644
index 00000000..2d312d8f
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
@@ -0,0 +1,299 @@
+package com.openpositioning.PositionMe.presentation.fragment;
+
+import android.content.Context;
+import android.graphics.Color;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
+import com.google.android.gms.maps.CameraUpdateFactory;
+import com.google.android.gms.maps.GoogleMap;
+import com.google.android.gms.maps.model.BitmapDescriptorFactory;
+import com.google.android.gms.maps.model.JointType;
+import com.google.android.gms.maps.model.LatLng;
+import com.google.android.gms.maps.model.Marker;
+import com.google.android.gms.maps.model.MarkerOptions;
+import com.google.android.gms.maps.model.Polyline;
+import com.google.android.gms.maps.model.PolylineOptions;
+import com.google.android.gms.maps.model.RoundCap;
+import com.openpositioning.PositionMe.R;
+import com.openpositioning.PositionMe.utils.UtilFunctions;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * Keeps trajectory rendering state out of TrajectoryMapFragment.
+ * This class is intentionally UI-focused: markers, polylines, colors and camera-follow behavior.
+ */
+class TrajectoryRenderer {
+
+    private static final int TRAJECTORY_MAIN_COLOR = Color.RED;
+    private static final int TRAJECTORY_OUTLINE_COLOR = Color.WHITE;
+    private static final float TRAJECTORY_WIDTH_MAIN_PX = 7f;
+    private static final float TRAJECTORY_WIDTH_OUTLINE_PX = 18f;
+    private static final float TRAJECTORY_Z_INDEX = 1000f;
+    private static final int TRAJECTORY_BLACK_OUTLINE_COLOR = Color.argb(210, 235, 235, 235);
+
+    @Nullable
+    private GoogleMap map;
+    @Nullable
+    private Marker orientationMarker;
+    @Nullable
+    private Marker gnssMarker;
+    @Nullable
+    private Polyline trajectoryOutline;
+    @Nullable
+    private Polyline trajectoryMain;
+    @Nullable
+    private Polyline rawReplayPolyline;
+    @Nullable
+    private Polyline gnssPolyline;
+    @Nullable
+    private LatLng lastGnssLocation;
+
+    private final List<Marker> testPointMarkers = new ArrayList<>();
+    private boolean useRedTrajectory = true;
+
+    void attachToMap(@NonNull GoogleMap googleMap) {
+        map = googleMap;
+        resetMapArtifacts();
+    }
+
+    void updateCurrentPosition(@NonNull Context context,
+                               @NonNull LatLng matchedLocation,
+                               float orientation,
+                               boolean shouldFollowCamera,
+                               float initialZoom) {
+        if (map == null) {
+            return;
+        }
+
+        if (orientationMarker == null) {
+            orientationMarker = map.addMarker(new MarkerOptions()
+                    .position(matchedLocation)
+                    .flat(true)
+                    .title("Current Position")
+                    .icon(BitmapDescriptorFactory.fromBitmap(
+                            UtilFunctions.getBitmapFromVector(context, R.drawable.ic_baseline_navigation_24))));
+            map.moveCamera(CameraUpdateFactory.newLatLngZoom(matchedLocation, initialZoom));
+            return;
+        }
+
+        orientationMarker.setPosition(matchedLocation);
+        orientationMarker.setRotation(orientation);
+        if (shouldFollowCamera) {
+            map.animateCamera(CameraUpdateFactory.newLatLng(matchedLocation));
+        }
+    }
+
+    void appendMatchedLocation(@Nullable LatLng oldLocation, @NonNull LatLng matchedLocation) {
+        if (trajectoryMain == null) {
+            return;
+        }
+        List<LatLng> points = new ArrayList<>(trajectoryMain.getPoints());
+        if (oldLocation == null || !oldLocation.equals(matchedLocation)) {
+            points.add(matchedLocation);
+            syncTrajectoryPolylinePoints(points);
+        } else {
+            ensureTrajectoryStyling();
+        }
+    }
+
+    void appendRawReplayPoint(@NonNull LatLng rawLocation) {
+        if (rawReplayPolyline == null) {
+            return;
+        }
+
+        List<LatLng> rawPoints = new ArrayList<>(rawReplayPolyline.getPoints());
+        if (rawPoints.isEmpty() || !rawPoints.get(rawPoints.size() - 1).equals(rawLocation)) {
+            rawPoints.add(rawLocation);
+            rawReplayPolyline.setPoints(rawPoints);
+        }
+    }
+
+    void clearRawReplayPath() {
+        if (rawReplayPolyline != null) {
+            rawReplayPolyline.setPoints(new ArrayList<>());
+        }
+    }
+
+    void addTestPointMarker(int index, long timestampMs, @NonNull LatLng position) {
+        if (map == null) {
+            return;
+        }
+        Marker marker = map.addMarker(new MarkerOptions()
+                .position(position)
+                .title("TP " + index)
+                .snippet("t=" + timestampMs));
+        if (marker != null) {
+            marker.showInfoWindow();
+            testPointMarkers.add(marker);
+        }
+    }
+
+    void updateGnss(@NonNull LatLng gnssLocation, boolean gnssEnabled) {
+        if (map == null || !gnssEnabled) {
+            return;
+        }
+        if (gnssMarker == null) {
+            gnssMarker = map.addMarker(new MarkerOptions()
+                    .position(gnssLocation)
+                    .title("GNSS Position")
+                    .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_AZURE)));
+            lastGnssLocation = gnssLocation;
+            return;
+        }
+
+        gnssMarker.setPosition(gnssLocation);
+        if (lastGnssLocation != null && !lastGnssLocation.equals(gnssLocation) && gnssPolyline != null) {
+            List<LatLng> gnssPoints = new ArrayList<>(gnssPolyline.getPoints());
+            gnssPoints.add(gnssLocation);
+            gnssPolyline.setPoints(gnssPoints);
+        }
+        lastGnssLocation = gnssLocation;
+    }
+
+    void clearGnssMarker() {
+        if (gnssMarker != null) {
+            gnssMarker.remove();
+            gnssMarker = null;
+        }
+    }
+
+    void toggleTrajectoryColor() {
+        useRedTrajectory = !useRedTrajectory;
+        applyTrajectoryColor();
+    }
+
+    boolean isUsingRedTrajectory() {
+        return useRedTrajectory;
+    }
+
+    @Nullable
+    LatLng getOrientationPosition() {
+        return orientationMarker != null ? orientationMarker.getPosition() : null;
+    }
+
+    void resetMapArtifacts() {
+        removePolyline(trajectoryOutline);
+        trajectoryOutline = null;
+        removePolyline(trajectoryMain);
+        trajectoryMain = null;
+        removePolyline(rawReplayPolyline);
+        rawReplayPolyline = null;
+        removePolyline(gnssPolyline);
+        gnssPolyline = null;
+
+        removeMarker(orientationMarker);
+        orientationMarker = null;
+        removeMarker(gnssMarker);
+        gnssMarker = null;
+        lastGnssLocation = null;
+
+        for (Marker marker : testPointMarkers) {
+            marker.remove();
+        }
+        testPointMarkers.clear();
+
+        if (map == null) {
+            return;
+        }
+
+        trajectoryOutline = map.addPolyline(buildTrajectoryOutlineOptions());
+        trajectoryMain = map.addPolyline(buildTrajectoryMainOptions());
+        rawReplayPolyline = map.addPolyline(buildRawReplayPolylineOptions());
+        gnssPolyline = map.addPolyline(new PolylineOptions()
+                .color(Color.BLUE)
+                .width(5f)
+                .zIndex(TRAJECTORY_Z_INDEX - 19f)
+                .add());
+        ensureTrajectoryStyling();
+        applyTrajectoryColor();
+    }
+
+    private void ensureTrajectoryStyling() {
+        if (trajectoryOutline != null) {
+            trajectoryOutline.setWidth(TRAJECTORY_WIDTH_OUTLINE_PX);
+            trajectoryOutline.setZIndex(TRAJECTORY_Z_INDEX - 19f);
+            trajectoryOutline.setStartCap(new RoundCap());
+            trajectoryOutline.setEndCap(new RoundCap());
+            trajectoryOutline.setJointType(JointType.ROUND);
+        }
+        if (trajectoryMain != null) {
+            trajectoryMain.setWidth(TRAJECTORY_WIDTH_MAIN_PX);
+            trajectoryMain.setZIndex(TRAJECTORY_Z_INDEX);
+            trajectoryMain.setStartCap(new RoundCap());
+            trajectoryMain.setEndCap(new RoundCap());
+            trajectoryMain.setJointType(JointType.ROUND);
+        }
+        applyTrajectoryColor();
+    }
+
+    private void applyTrajectoryColor() {
+        if (trajectoryMain != null) {
+            trajectoryMain.setColor(useRedTrajectory ? TRAJECTORY_MAIN_COLOR : Color.BLACK);
+        }
+        if (trajectoryOutline != null) {
+            trajectoryOutline.setColor(useRedTrajectory ? TRAJECTORY_OUTLINE_COLOR : TRAJECTORY_BLACK_OUTLINE_COLOR);
+        }
+    }
+
+    private void syncTrajectoryPolylinePoints(@NonNull List<LatLng> points) {
+        if (trajectoryOutline != null) {
+            trajectoryOutline.setPoints(points);
+        }
+        if (trajectoryMain != null) {
+            trajectoryMain.setPoints(points);
+        }
+        ensureTrajectoryStyling();
+    }
+
+    @NonNull
+    private PolylineOptions buildTrajectoryOutlineOptions() {
+        return new PolylineOptions()
+                .color(TRAJECTORY_OUTLINE_COLOR)
+                .width(TRAJECTORY_WIDTH_OUTLINE_PX)
+                .startCap(new RoundCap())
+                .endCap(new RoundCap())
+                .jointType(JointType.ROUND)
+                .zIndex(TRAJECTORY_Z_INDEX - 19f)
+                .add();
+    }
+
+    @NonNull
+    private PolylineOptions buildTrajectoryMainOptions() {
+        return new PolylineOptions()
+                .color(TRAJECTORY_MAIN_COLOR)
+                .width(TRAJECTORY_WIDTH_MAIN_PX)
+                .startCap(new RoundCap())
+                .endCap(new RoundCap())
+                .jointType(JointType.ROUND)
+                .zIndex(TRAJECTORY_Z_INDEX)
+                .add();
+    }
+
+    @NonNull
+    private PolylineOptions buildRawReplayPolylineOptions() {
+        return new PolylineOptions()
+                .color(Color.argb(170, 30, 136, 229))
+                .width(5f)
+                .jointType(JointType.ROUND)
+                .startCap(new RoundCap())
+                .endCap(new RoundCap())
+                .zIndex(TRAJECTORY_Z_INDEX - 19f)
+                .add();
+    }
+
+    private static void removeMarker(@Nullable Marker marker) {
+        if (marker != null) {
+            marker.remove();
+        }
+    }
+
+    private static void removePolyline(@Nullable Polyline polyline) {
+        if (polyline != null) {
+            polyline.remove();
+        }
+    }
+}

From 4503a8409585884b49e7bfef4e720928d7b4f53b Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Fri, 27 Mar 2026 00:22:59 +0000
Subject: [PATCH 17/35] Correct the logic modification

---
 .../mapmatching/MapGeometryUtils.java         |   4 +-
 .../mapmatching/MapMatchingInput.java         |  46 ++-
 .../mapmatching/MapMatchingService.java       | 301 ++++++++++--------
 .../fragment/FloorController.java             | 124 ++++++--
 .../fragment/MapMatchingCoordinator.java      | 132 +++++---
 .../fragment/TrajectoryMapFragment.java       |  14 +
 app/src/main_already.zip                      | Bin 0 -> 7094193 bytes
 7 files changed, 416 insertions(+), 205 deletions(-)
 create mode 100644 app/src/main_already.zip

diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
index 150cf473..8febaa48 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
@@ -21,10 +21,10 @@ public class MapGeometryUtils {
 
     // 默认邻近阈值（米）
     // 楼梯邻近阈值可以稍大一点
-    private static final double STAIRS_PROXIMITY_THRESHOLD_METERS = 4.0;
+    private static final double STAIRS_PROXIMITY_THRESHOLD_METERS = 2.2;
 
     // 电梯邻近阈值相对更紧一些
-    private static final double LIFT_PROXIMITY_THRESHOLD_METERS = 2.5;
+    private static final double LIFT_PROXIMITY_THRESHOLD_METERS = 1.8;
     /**
      * 判断从 start 到 end 的轨迹是否穿过当前楼层中的 wall。
      */
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java
index 8e578ef9..5fcd968f 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java
@@ -6,7 +6,13 @@
 
 /**
  * 表示一次 map matching 所需的完整输入。
- * 当前先打包位置、位移、高度变化、当前楼层地图和当前建筑信息。
+ *
+ * 这里同时区分：
+ * - sourceFloorShapes: 当前“实际所在楼层”用于墙体/楼梯/电梯约束的地图
+ * - targetFloorShapes: 候选目标楼层地图（例如 replay 推断出即将上/下到的楼层）
+ *
+ * 这样在发生楼层切换尝试时，就不会错误地拿“目标楼层的楼梯位置”
+ * 去给“当前楼层”的切换放行。
  */
 public class MapMatchingInput {
 
@@ -14,7 +20,8 @@ public class MapMatchingInput {
     private final CandidatePose currentCandidatePose;
     private final MotionDelta motionDelta;
     private final VerticalTransitionHint verticalHint;
-    private final FloorplanApiClient.FloorShapes activeFloorShapes;
+    private final FloorplanApiClient.FloorShapes sourceFloorShapes;
+    private final FloorplanApiClient.FloorShapes targetFloorShapes;
     private final String activeBuildingId;
 
     public MapMatchingInput(
@@ -22,14 +29,16 @@ public MapMatchingInput(
             CandidatePose currentCandidatePose,
             @Nullable MotionDelta motionDelta,
             @Nullable VerticalTransitionHint verticalHint,
-            @Nullable FloorplanApiClient.FloorShapes activeFloorShapes,
+            @Nullable FloorplanApiClient.FloorShapes sourceFloorShapes,
+            @Nullable FloorplanApiClient.FloorShapes targetFloorShapes,
             @Nullable String activeBuildingId
     ) {
         this.previousPose = previousPose;
         this.currentCandidatePose = currentCandidatePose;
         this.motionDelta = motionDelta;
         this.verticalHint = verticalHint;
-        this.activeFloorShapes = activeFloorShapes;
+        this.sourceFloorShapes = sourceFloorShapes;
+        this.targetFloorShapes = targetFloorShapes;
         this.activeBuildingId = activeBuildingId;
     }
 
@@ -52,9 +61,22 @@ public VerticalTransitionHint getVerticalHint() {
         return verticalHint;
     }
 
+    @Nullable
+    public FloorplanApiClient.FloorShapes getSourceFloorShapes() {
+        return sourceFloorShapes;
+    }
+
+    @Nullable
+    public FloorplanApiClient.FloorShapes getTargetFloorShapes() {
+        return targetFloorShapes;
+    }
+
+    /**
+     * 兼容旧调用：active floor 默认视为 target floor。
+     */
     @Nullable
     public FloorplanApiClient.FloorShapes getActiveFloorShapes() {
-        return activeFloorShapes;
+        return targetFloorShapes;
     }
 
     @Nullable
@@ -63,8 +85,14 @@ public String getActiveBuildingId() {
     }
 
     public boolean hasActiveFloorMap() {
-        return activeFloorShapes != null
-                && activeFloorShapes.getFeatures() != null
-                && !activeFloorShapes.getFeatures().isEmpty();
+        return targetFloorShapes != null
+                && targetFloorShapes.getFeatures() != null
+                && !targetFloorShapes.getFeatures().isEmpty();
+    }
+
+    public boolean hasSourceFloorMap() {
+        return sourceFloorShapes != null
+                && sourceFloorShapes.getFeatures() != null
+                && !sourceFloorShapes.getFeatures().isEmpty();
     }
-}
\ No newline at end of file
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
index 56c5c704..3666b0ed 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
@@ -1,6 +1,7 @@
 package com.openpositioning.PositionMe.mapmatching;
 
 import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
 
 import com.google.android.gms.maps.model.LatLng;
 import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
@@ -8,30 +9,38 @@
 /**
  * 3.2 Map Matching 的核心服务类。
  *
- * 当前这一版开始真正使用地图几何约束：
- * 1. 检测穿墙
- * 2. 判断是否靠近 stairs / lift
- * 3. 用高度变化 + 地图位置约束楼层切换
+ * 这一版最小补丁重点处理两个问题：
+ * 1. 穿墙一段时间后，一旦重新回到合法区域就出现“大跳”
+ * 2. 仅凭末端一个点碰到楼梯/电梯红区，就被直接放行换层
  *
- * 这是一个“先求稳”的第一版：
- * - 穿墙时先回退到上一点
- * - 非法换层时先保持上一楼层
- * - 不做复杂投影修正，先保证行为正确、容易调试
+ * 处理策略：
+ * - 大跳恢复时，对单帧允许的最大位移做上限约束，避免瞬移
+ * - 楼层切换时，不再只看当前点；要求 previous/current（或 midpoint）
+ *   对 connector 有持续接触，并限制楼梯/电梯转换的水平位移范围
  */
 public class MapMatchingService {
-    // 水平位移较小时，更像 lift；较大时，更像 stairs
+    // 水平位移较小时，更像 lift
     private static final double MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS = 1.5;
+    // 楼梯换层允许有一定水平位移，但不能太大；否则多半是飘点/大跳
+    private static final double MAX_STAIRS_HORIZONTAL_DISPLACEMENT_METERS = 4.0;
     // 位移太小时，不做穿墙检测，避免传感器抖动带来误判
     private static final double MIN_DISPLACEMENT_FOR_WALL_CHECK_METERS = 0.3;
+    // 穿墙恢复后，单帧允许的最大“重新贴回”位移，避免轨迹瞬移
+    private static final double MAX_RECOVERY_STEP_METERS = 1.2;
+    // connector 区域附近略放宽，但仍然限制大跳
+    private static final double MAX_RECOVERY_STEP_NEAR_CONNECTOR_METERS = 2.0;
 
-    /**
-     * 对一次候选位置执行 map matching。
-     */
     @NonNull
     public MapMatchingResult match(@NonNull MapMatchingInput input) {
         CandidatePose currentPose = input.getCurrentCandidatePose();
         CandidatePose previousPose = input.getPreviousPose();
-        FloorplanApiClient.FloorShapes floorShapes = input.getActiveFloorShapes();
+
+        boolean floorTransitionAttempt = previousPose != null
+                && currentPose.getFloor() != previousPose.getFloor();
+        boolean floorChangeAllowed = isFloorChangeAllowed(input);
+
+        FloorplanApiClient.FloorShapes connectorFloorShapes = chooseConnectorFloorShapes(input, floorTransitionAttempt);
+        FloorplanApiClient.FloorShapes wallCheckFloorShapes = chooseWallCheckFloorShapes(input, floorTransitionAttempt);
 
         LatLng candidateLatLng = currentPose.getLatLng();
         LatLng correctedLatLng = candidateLatLng;
@@ -40,104 +49,75 @@ public MapMatchingResult match(@NonNull MapMatchingInput input) {
         boolean nearStairs = false;
         boolean nearLift = false;
         boolean crossedWall = false;
-        boolean invalidFloorChange = false;
-        boolean floorChangeAllowed = isFloorChangeAllowed(input);
 
         CorrectionType correctionType = CorrectionType.NONE;
         String debugReason = "Candidate pose accepted.";
         boolean validPosition = true;
 
-        // =========================================================
-        // 【情况 1：当前没有可用地图】
-        // 不做地图约束，直接透传
-        // =========================================================
-        if (!input.hasActiveFloorMap() || floorShapes == null) {
+        if (connectorFloorShapes != null) {
+            nearStairs = MapGeometryUtils.isNearStairs(candidateLatLng, connectorFloorShapes);
+            nearLift = MapGeometryUtils.isNearLift(candidateLatLng, connectorFloorShapes);
+        }
+
+        MotionDelta motionDelta = input.getMotionDelta();
+        String transitionDescription = describeVerticalTransition(nearStairs, nearLift, motionDelta);
+        if (input.getVerticalHint() != null && input.getVerticalHint().isHeightChanged()) {
+            debugReason = "Height changed; " + transitionDescription + ".";
+        } else {
+            debugReason = "Candidate pose accepted; " + transitionDescription + ".";
+        }
+
+        // 没有任何可用楼层地图时，不做墙体约束。
+        if (wallCheckFloorShapes == null) {
             return new MapMatchingResult(
                     true,
                     false,
-                    false,
-                    false,
+                    nearStairs,
+                    nearLift,
                     floorChangeAllowed,
                     candidateLatLng,
                     currentPose.getFloor(),
                     CorrectionType.NONE,
-                    "No active floor map. Pass through candidate pose."
+                    "No usable wall map. Pass through candidate pose."
             );
         }
 
-        // =========================================================
-        // 【新增：判断当前位置是否靠近 stairs / lift】
-        // =========================================================
-        nearStairs = MapGeometryUtils.isNearStairs(candidateLatLng, floorShapes);
-        nearLift = MapGeometryUtils.isNearLift(candidateLatLng, floorShapes);
-        // =========================================================
-        // 【新增：给当前垂直变化一个更易读的解释】
-        // 仅用于 debugReason，不改变主逻辑
-        // =========================================================
-        MotionDelta motionDelta = input.getMotionDelta();
-        String transitionDescription = describeVerticalTransition(
-                nearStairs,
-                nearLift,
-                motionDelta
-        );
-
-        if (input.getVerticalHint() != null && input.getVerticalHint().isHeightChanged()) {
-            debugReason = "Height changed; " + transitionDescription + ".";
-        } else {
-            debugReason = "Candidate pose accepted; " + transitionDescription + ".";
-        }
-        // =========================================================
-        // 【新增：判断轨迹是否穿墙】
-        // 如果穿墙，第一版先回退到上一点
-        // =========================================================
+        // 穿墙检测：楼层切换尝试时优先看 source floor，避免被目标层几何误导。
         if (previousPose != null && previousPose.getLatLng() != null) {
             boolean shouldCheckWall = true;
-
-            MotionDelta wallCheckMotionDelta = input.getMotionDelta();
-            if (wallCheckMotionDelta != null) {
-                shouldCheckWall =
-                        wallCheckMotionDelta.getStepDistance() >= MIN_DISPLACEMENT_FOR_WALL_CHECK_METERS;
+            if (motionDelta != null) {
+                shouldCheckWall = motionDelta.getStepDistance() >= MIN_DISPLACEMENT_FOR_WALL_CHECK_METERS;
             }
 
             if (shouldCheckWall) {
                 crossedWall = MapGeometryUtils.crossesWall(
                         previousPose.getLatLng(),
                         candidateLatLng,
-                        floorShapes
+                        wallCheckFloorShapes
                 );
 
                 if (crossedWall) {
-                    // 【高级优化：沿墙滑动策略 (Sliding against the wall)】
-                    // 将用户的移动意图拆解为纬度(Y)和经度(X)两个独立分量
                     LatLng latOnlyPoint = new LatLng(candidateLatLng.latitude, previousPose.getLatLng().longitude);
                     LatLng lngOnlyPoint = new LatLng(previousPose.getLatLng().latitude, candidateLatLng.longitude);
 
-                    // 分别测试仅在单一坐标轴上移动是否会穿墙
-                    boolean canMoveLat = !MapGeometryUtils.crossesWall(previousPose.getLatLng(), latOnlyPoint, floorShapes);
-                    boolean canMoveLng = !MapGeometryUtils.crossesWall(previousPose.getLatLng(), lngOnlyPoint, floorShapes);
+                    boolean canMoveLat = !MapGeometryUtils.crossesWall(previousPose.getLatLng(), latOnlyPoint, wallCheckFloorShapes);
+                    boolean canMoveLng = !MapGeometryUtils.crossesWall(previousPose.getLatLng(), lngOnlyPoint, wallCheckFloorShapes);
 
                     if (canMoveLat && !canMoveLng) {
-                        // 经度(东西)被墙挡住，但纬度(南北)畅通 -> 允许沿南北方向贴墙滑动
                         correctedLatLng = latOnlyPoint;
                         correctionType = CorrectionType.THROUGH_WALL;
                         debugReason = "Crossed wall. Sliding along Latitude (N/S).";
                         validPosition = true;
                     } else if (!canMoveLat && canMoveLng) {
-                        // 纬度(南北)被墙挡住，但经度(东西)畅通 -> 允许沿东西方向贴墙滑动
                         correctedLatLng = lngOnlyPoint;
                         correctionType = CorrectionType.THROUGH_WALL;
                         debugReason = "Crossed wall. Sliding along Longitude (E/W).";
                         validPosition = true;
                     } else {
-                        // 两个方向都被挡住（比如走进了直角死胡同），退回最安全的“原地罚站”XY坐标
                         correctedLatLng = previousPose.getLatLng();
-
-                        // ★ 核心修复：解绑楼层和平面！如果当前正好触发了合法的电梯/楼梯换层，
-                        // 就保留新楼层，绝不强行撤销楼层！
                         if (!floorChangeAllowed) {
                             correctedFloor = previousPose.getFloor();
                         }
-
                         correctionType = CorrectionType.THROUGH_WALL;
                         debugReason = "Crossed wall. Stuck in corner, reverted to previous XY pose.";
                         validPosition = false;
@@ -148,26 +128,33 @@ public MapMatchingResult match(@NonNull MapMatchingInput input) {
             }
         }
 
-        // =========================================================
-        // 【新增：楼层变化约束】
-        // 如果当前候选楼层和上一时刻不同，但不满足换层条件，
-        // 第一版先保持上一楼层
-        // =========================================================
-        if (previousPose != null
-                && currentPose.getFloor() != previousPose.getFloor()
-                && !floorChangeAllowed) {
-
-            invalidFloorChange = true;
+        if (floorTransitionAttempt && !floorChangeAllowed && previousPose != null) {
             correctedFloor = previousPose.getFloor();
-
             if (correctionType == CorrectionType.NONE) {
                 correctionType = CorrectionType.INVALID_FLOOR_CHANGE;
-                debugReason = "Floor change rejected: no valid height change or not near stairs/lift.";
+                debugReason = "Floor change rejected: connector evidence is too weak or horizontal jump is too large.";
             }
-
             validPosition = false;
         }
 
+        if (!crossedWall && previousPose != null && previousPose.getLatLng() != null && motionDelta != null) {
+            LatLng clampedRecovery = clampRecoveryJump(
+                    previousPose.getLatLng(),
+                    correctedLatLng,
+                    motionDelta,
+                    nearStairs || nearLift,
+                    floorTransitionAttempt,
+                    floorChangeAllowed
+            );
+            if (!samePoint(clampedRecovery, correctedLatLng)) {
+                correctedLatLng = clampedRecovery;
+                if (correctionType == CorrectionType.NONE) {
+                    correctionType = CorrectionType.SNAP_TO_VALID_AREA;
+                }
+                debugReason = "Large recovery jump limited to avoid instant snap-back.";
+            }
+        }
+
         return new MapMatchingResult(
                 validPosition,
                 crossedWall,
@@ -181,83 +168,148 @@ public MapMatchingResult match(@NonNull MapMatchingInput input) {
         );
     }
 
-    /**
-     * 判断当前是否允许换层。
-     *
-     * 当前这一版规则：
-     * 1. 必须有 verticalHint
-     * 2. 必须检测到明显高度变化
-     * 3. 如果没有可用地图，为了不阻断原逻辑，先允许
-     * 4. 如果有地图，则必须 near stairs 或 near lift
-     * 5. 如果有 motionDelta，则进一步用 stepDistance 区分 stairs / lift：
-     *    - nearLift only  -> 需要较小水平位移
-     *    - nearStairs only -> 需要较大水平位移
-     *    - 如果两者都 near，则先允许（第一版不强行细分）
-     */
     public boolean isFloorChangeAllowed(@NonNull MapMatchingInput input) {
         VerticalTransitionHint verticalHint = input.getVerticalHint();
+        CandidatePose previousPose = input.getPreviousPose();
+        CandidatePose currentPose = input.getCurrentCandidatePose();
 
-        if (verticalHint == null) {
+        if (verticalHint == null || !verticalHint.isHeightChanged()) {
             return false;
         }
 
-        if (!verticalHint.isHeightChanged()) {
+        if (previousPose == null || currentPose.getFloor() == previousPose.getFloor()) {
             return false;
         }
 
-        // 没有地图时先不阻断现有逻辑
-        if (!input.hasActiveFloorMap()) {
+        FloorplanApiClient.FloorShapes connectorFloorShapes = chooseConnectorFloorShapes(input, true);
+        if (connectorFloorShapes == null) {
+            // 没有地图时维持旧版宽松策略，不阻断已有逻辑。
             return true;
         }
 
-        FloorplanApiClient.FloorShapes floorShapes = input.getActiveFloorShapes();
-        if (floorShapes == null) {
-            return true;
-        }
+        LatLng previousPoint = previousPose.getLatLng();
+        LatLng currentPoint = currentPose.getLatLng();
+        LatLng midpoint = midpoint(previousPoint, currentPoint);
 
-        LatLng currentPoint = input.getCurrentCandidatePose().getLatLng();
-
-        boolean nearStairs = MapGeometryUtils.isNearStairs(currentPoint, floorShapes);
-        boolean nearLift = MapGeometryUtils.isNearLift(currentPoint, floorShapes);
+        boolean currentNearStairs = MapGeometryUtils.isNearStairs(currentPoint, connectorFloorShapes);
+        boolean currentNearLift = MapGeometryUtils.isNearLift(currentPoint, connectorFloorShapes);
+        if (!currentNearStairs && !currentNearLift) {
+            return false;
+        }
 
-        // 不在楼梯/电梯附近，不允许换层
-        if (!nearStairs && !nearLift) {
+        boolean previousNearStairs = previousPoint != null
+                && MapGeometryUtils.isNearStairs(previousPoint, connectorFloorShapes);
+        boolean previousNearLift = previousPoint != null
+                && MapGeometryUtils.isNearLift(previousPoint, connectorFloorShapes);
+        boolean midpointNearStairs = midpoint != null
+                && MapGeometryUtils.isNearStairs(midpoint, connectorFloorShapes);
+        boolean midpointNearLift = midpoint != null
+                && MapGeometryUtils.isNearLift(midpoint, connectorFloorShapes);
+
+        boolean stairsPersistence = currentNearStairs && (previousNearStairs || midpointNearStairs);
+        boolean liftPersistence = currentNearLift && (previousNearLift || midpointNearLift);
+        if (!stairsPersistence && !liftPersistence) {
             return false;
         }
 
         MotionDelta motionDelta = input.getMotionDelta();
-
-        // 没有运动增量时，保持上一版的宽松策略
         if (motionDelta == null) {
-            return nearStairs || nearLift;
+            return stairsPersistence || liftPersistence;
         }
 
         double stepDistance = motionDelta.getStepDistance();
+        if (stepDistance > MAX_STAIRS_HORIZONTAL_DISPLACEMENT_METERS) {
+            return false;
+        }
+
         boolean likelyLiftMotion = stepDistance <= MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS;
 
-        // 只靠近 lift：要求水平位移小，更像乘电梯
-        if (nearLift && !nearStairs) {
+        if (liftPersistence && !stairsPersistence) {
             return likelyLiftMotion;
         }
-
-        // 只靠近 stairs：要求水平位移较大，更像走楼梯
-        if (nearStairs && !nearLift) {
+        if (stairsPersistence && !liftPersistence) {
             return !likelyLiftMotion;
         }
-
-        // 两者都靠近时，第一版先允许
         return true;
     }
 
-    /**
-     * 根据当前位置和水平位移，给一次垂直变化做一个简单解释：
-     * 更像 stairs / 更像 lift / 不确定。
-     *
-     * 这个方法当前只用于调试说明，不改变主逻辑。
-     */
+    @Nullable
+    private FloorplanApiClient.FloorShapes chooseConnectorFloorShapes(@NonNull MapMatchingInput input,
+                                                                      boolean floorTransitionAttempt) {
+        if (floorTransitionAttempt && input.getSourceFloorShapes() != null) {
+            return input.getSourceFloorShapes();
+        }
+        if (input.getActiveFloorShapes() != null) {
+            return input.getActiveFloorShapes();
+        }
+        return input.getSourceFloorShapes();
+    }
+
+    @Nullable
+    private FloorplanApiClient.FloorShapes chooseWallCheckFloorShapes(@NonNull MapMatchingInput input,
+                                                                      boolean floorTransitionAttempt) {
+        if (floorTransitionAttempt && input.getSourceFloorShapes() != null) {
+            return input.getSourceFloorShapes();
+        }
+        if (input.getActiveFloorShapes() != null) {
+            return input.getActiveFloorShapes();
+        }
+        return input.getSourceFloorShapes();
+    }
+
+    @NonNull
+    private LatLng clampRecoveryJump(@NonNull LatLng previousLatLng,
+                                     @NonNull LatLng candidateLatLng,
+                                     @NonNull MotionDelta motionDelta,
+                                     boolean nearConnector,
+                                     boolean floorTransitionAttempt,
+                                     boolean floorChangeAllowed) {
+        if (floorTransitionAttempt && floorChangeAllowed) {
+            return candidateLatLng;
+        }
+
+        double stepDistance = motionDelta.getStepDistance();
+        double maxAllowedStep = nearConnector
+                ? MAX_RECOVERY_STEP_NEAR_CONNECTOR_METERS
+                : MAX_RECOVERY_STEP_METERS;
+
+        if (stepDistance <= maxAllowedStep) {
+            return candidateLatLng;
+        }
+
+        double ratio = maxAllowedStep / Math.max(stepDistance, 1e-6);
+        double latitude = previousLatLng.latitude
+                + (candidateLatLng.latitude - previousLatLng.latitude) * ratio;
+        double longitude = previousLatLng.longitude
+                + (candidateLatLng.longitude - previousLatLng.longitude) * ratio;
+        return new LatLng(latitude, longitude);
+    }
+
+    @Nullable
+    private LatLng midpoint(@Nullable LatLng a, @Nullable LatLng b) {
+        if (a == null || b == null) {
+            return null;
+        }
+        return new LatLng(
+                (a.latitude + b.latitude) / 2.0,
+                (a.longitude + b.longitude) / 2.0
+        );
+    }
+
+    private boolean samePoint(@Nullable LatLng a, @Nullable LatLng b) {
+        if (a == b) {
+            return true;
+        }
+        if (a == null || b == null) {
+            return false;
+        }
+        return Math.abs(a.latitude - b.latitude) < 1e-12
+                && Math.abs(a.longitude - b.longitude) < 1e-12;
+    }
+
     private String describeVerticalTransition(boolean nearStairs,
                                               boolean nearLift,
-                                              MotionDelta motionDelta) {
+                                              @Nullable MotionDelta motionDelta) {
         if (!nearStairs && !nearLift) {
             return "not near stairs or lift";
         }
@@ -283,9 +335,8 @@ private String describeVerticalTransition(boolean nearStairs,
                     : "likely stairs transition";
         }
 
-        // 两者都 near 时，先给一个保守描述
         return likelyLiftMotion
                 ? "near both stairs and lift, motion slightly favors lift"
                 : "near both stairs and lift, motion slightly favors stairs";
     }
-}
\ No newline at end of file
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
index a5a7fa7e..38d7847f 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
@@ -6,6 +6,7 @@
 import android.view.View;
 import android.widget.TextView;
 
+import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
 import com.google.android.material.switchmaterial.SwitchMaterial;
@@ -25,6 +26,8 @@ public class FloorController {
 
     private static final long AUTO_FLOOR_DEBOUNCE_MS = 3000L;
     private static final long AUTO_FLOOR_CHECK_INTERVAL_MS = 1000L;
+    private static final float AUTO_FLOOR_MIN_VERTICAL_DELTA_METERS = 1.2f;
+    private static final float AUTO_FLOOR_VERTICAL_FRACTION_PER_FLOOR = 0.55f;
 
     public interface Host {
         @Nullable FloorplanApiClient.BuildingInfo getSelectedFloorplanBuilding();
@@ -46,6 +49,7 @@ public interface Host {
     private Runnable autoFloorTask;
     private int lastCandidateFloor = Integer.MIN_VALUE;
     private long lastCandidateTime = 0L;
+    private float lastCommittedElevationMeters = Float.NaN;
 
     private SwitchMaterial autoFloorSwitch;
     private FloatingActionButton floorUpButton;
@@ -121,6 +125,7 @@ public void setFloor(int newFloorIndex) {
         int maxFloor = selectedFloorplanBuilding.getFloorShapesList().size() - 1;
         int clampedFloor = Math.max(0, Math.min(newFloorIndex, maxFloor));
         host.setCurrentFloorIndex(clampedFloor);
+        syncAutoFloorAnchor();
         host.refreshSelectedPolygonAppearance();
 
         if (!host.isIndoorMapVisible() && !host.isActualMapVisible()) {
@@ -291,20 +296,25 @@ public void applyImmediateFloor() {
         if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
             return;
         }
-        int candidateFloor;
-        if (sensorFusion.getLatLngWifiPositioning() != null) {
-            candidateFloor = sensorFusion.getWifiFloor();
-        } else {
-            float elevation = sensorFusion.getElevation();
-            float floorHeight = indoorMapManager.getFloorHeight();
-            if (floorHeight <= 0) {
-                return;
-            }
-            candidateFloor = Math.round(elevation / floorHeight);
+
+        Integer candidateFloorIndex = resolveAutoFloorCandidateIndex(sensorFusion, indoorMapManager);
+        if (candidateFloorIndex == null) {
+            return;
+        }
+
+        long now = SystemClock.elapsedRealtime();
+        lastCandidateFloor = candidateFloorIndex;
+        lastCandidateTime = now;
+
+        if (candidateFloorIndex == host.getCurrentFloorIndex()) {
+            syncAutoFloorAnchor();
+            return;
+        }
+
+        if (shouldAllowAutoFloorChange(candidateFloorIndex, sensorFusion, indoorMapManager)) {
+            setFloor(candidateFloorIndex);
+            lastCandidateTime = SystemClock.elapsedRealtime();
         }
-        setFloor(indoorMapManager.logicalFloorToIndex(candidateFloor));
-        lastCandidateFloor = candidateFloor;
-        lastCandidateTime = SystemClock.elapsedRealtime();
     }
 
     public void stopAutoFloor() {
@@ -324,27 +334,87 @@ public void evaluateAutoFloor() {
         if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
             return;
         }
-        int candidateFloor;
-        if (sensorFusion.getLatLngWifiPositioning() != null) {
-            candidateFloor = sensorFusion.getWifiFloor();
-        } else {
-            float elevation = sensorFusion.getElevation();
-            float floorHeight = indoorMapManager.getFloorHeight();
-            if (floorHeight <= 0) {
-                return;
-            }
-            candidateFloor = Math.round(elevation / floorHeight);
+
+        Integer candidateFloorIndex = resolveAutoFloorCandidateIndex(sensorFusion, indoorMapManager);
+        if (candidateFloorIndex == null) {
+            return;
+        }
+
+        if (candidateFloorIndex == host.getCurrentFloorIndex()) {
+            lastCandidateFloor = candidateFloorIndex;
+            lastCandidateTime = SystemClock.elapsedRealtime();
+            syncAutoFloorAnchor();
+            return;
+        }
+
+        if (!shouldAllowAutoFloorChange(candidateFloorIndex, sensorFusion, indoorMapManager)) {
+            lastCandidateFloor = candidateFloorIndex;
+            lastCandidateTime = SystemClock.elapsedRealtime();
+            return;
         }
 
         long now = SystemClock.elapsedRealtime();
-        if (candidateFloor != lastCandidateFloor) {
-            lastCandidateFloor = candidateFloor;
+        if (candidateFloorIndex != lastCandidateFloor) {
+            lastCandidateFloor = candidateFloorIndex;
             lastCandidateTime = now;
             return;
         }
         if (now - lastCandidateTime >= AUTO_FLOOR_DEBOUNCE_MS) {
-            setFloor(indoorMapManager.logicalFloorToIndex(candidateFloor));
-            lastCandidateTime = now;
+            setFloor(candidateFloorIndex);
+            lastCandidateTime = SystemClock.elapsedRealtime();
+        }
+    }
+
+    @Nullable
+    private Integer resolveAutoFloorCandidateIndex(@Nullable SensorFusion sensorFusion,
+                                                   @Nullable IndoorMapManager indoorMapManager) {
+        if (sensorFusion == null || indoorMapManager == null) {
+            return null;
+        }
+
+        int candidateLogicalFloor;
+        if (sensorFusion.getLatLngWifiPositioning() != null) {
+            candidateLogicalFloor = sensorFusion.getWifiFloor();
+        } else {
+            float floorHeight = indoorMapManager.getFloorHeight();
+            if (floorHeight <= 0f) {
+                return null;
+            }
+            candidateLogicalFloor = Math.round(sensorFusion.getElevation() / floorHeight);
+        }
+
+        return indoorMapManager.logicalFloorToIndex(candidateLogicalFloor);
+    }
+
+    private boolean shouldAllowAutoFloorChange(int candidateFloorIndex,
+                                               @NonNull SensorFusion sensorFusion,
+                                               @NonNull IndoorMapManager indoorMapManager) {
+        if (candidateFloorIndex == host.getCurrentFloorIndex()) {
+            return false;
+        }
+
+        if (sensorFusion.getElevator()) {
+            return true;
+        }
+
+        float floorHeight = indoorMapManager.getFloorHeight();
+        if (floorHeight <= 0f || Float.isNaN(lastCommittedElevationMeters)) {
+            return false;
+        }
+
+        int floorSteps = Math.max(1, Math.abs(candidateFloorIndex - host.getCurrentFloorIndex()));
+        float requiredDelta = Math.max(
+                AUTO_FLOOR_MIN_VERTICAL_DELTA_METERS,
+                floorHeight * AUTO_FLOOR_VERTICAL_FRACTION_PER_FLOOR * floorSteps
+        );
+        float measuredDelta = Math.abs(sensorFusion.getElevation() - lastCommittedElevationMeters);
+        return measuredDelta >= requiredDelta;
+    }
+
+    private void syncAutoFloorAnchor() {
+        SensorFusion sensorFusion = host.getSensorFusion();
+        if (sensorFusion != null) {
+            lastCommittedElevationMeters = sensorFusion.getElevation();
         }
     }
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
index d3ab99eb..700bd24d 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
@@ -72,15 +72,18 @@ interface Host {
     }
 
     void onReplayModeChanged(boolean enabled) {
-        if (!enabled) {
-            replayBaseFloorIndex = null;
+        previousMatchedPose = null;
+        host.getTrajectoryRenderer().clearRawReplayPath();
+        clearReplayContext(true);
+        if (enabled) {
             replayDisplayFloorInitialized = false;
         }
     }
 
     void onSelectedBuildingChanged() {
-        replayBaseFloorIndex = null;
-        replayDisplayFloorInitialized = false;
+        previousMatchedPose = null;
+        host.getTrajectoryRenderer().clearRawReplayPath();
+        clearReplayContext(true);
     }
 
     void setReplayFrameContext(@Nullable Integer syntheticFloor,
@@ -119,21 +122,30 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
             return;
         }
 
+        boolean replayMode = host.isReplayModeEnabled();
         LatLng rawLocation = newLocation;
-        host.getTrajectoryRenderer().appendRawReplayPoint(rawLocation);
+        if (replayMode) {
+            host.getTrajectoryRenderer().appendRawReplayPoint(rawLocation);
+        }
 
         long timestampMs = SystemClock.elapsedRealtime();
-        int replayCandidateFloorIndex = resolveReplayCandidateFloorIndex();
-        FloorplanApiClient.FloorShapes activeFloorShapes = getActiveFloorShapesForMatching();
+        int candidateFloorIndex = replayMode
+                ? resolveReplayCandidateFloorIndex()
+                : resolveLiveCandidateFloorIndex();
+        int sourceFloorIndex = previousMatchedPose != null
+                ? previousMatchedPose.getFloor()
+                : candidateFloorIndex;
+        FloorplanApiClient.FloorShapes sourceFloorShapes = getFloorShapesForFloorIndex(sourceFloorIndex);
+        FloorplanApiClient.FloorShapes targetFloorShapes = getFloorShapesForFloorIndex(candidateFloorIndex);
         CandidatePose currentCandidatePose = new CandidatePose(
                 rawLocation,
-                replayCandidateFloorIndex,
+                candidateFloorIndex,
                 timestampMs,
-                "replay_pdr"
+                replayMode ? "replay_pdr" : "live_pdr"
         );
 
         MotionDelta motionDelta = buildMotionDelta(previousMatchedPose, rawLocation, orientation);
-        VerticalTransitionHint verticalHint = buildReplayVerticalHint();
+        VerticalTransitionHint verticalHint = replayMode ? buildReplayVerticalHint() : null;
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
         String activeBuildingId = selectedBuilding != null
                 ? host.resolveKnownBuildingKey(selectedBuilding, selectedBuilding.getName())
@@ -144,7 +156,8 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
                 currentCandidatePose,
                 motionDelta,
                 verticalHint,
-                activeFloorShapes,
+                sourceFloorShapes,
+                targetFloorShapes,
                 activeBuildingId
         );
 
@@ -153,14 +166,19 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
                 ? matchingResult.getCorrectedLatLng()
                 : rawLocation;
         int matchedFloor = matchingResult.getCorrectedFloor();
+        int floorForState = replayMode
+                ? resolveReplayDisplayFloor(matchedFloor)
+                : matchedFloor;
 
         logFeatureValidation(rawLocation, matchingResult);
         Log.d(host.getTestLogTag(), String.format(Locale.US,
-                "raw=(%.6f, %.6f) matched=(%.6f, %.6f) floor=%d correction=%s reason=%s",
+                "raw=(%.6f, %.6f) matched=(%.6f, %.6f) sourceFloor=%d candidateFloor=%d matchedFloor=%d correction=%s reason=%s",
                 rawLocation.latitude,
                 rawLocation.longitude,
                 matchedLocation.latitude,
                 matchedLocation.longitude,
+                sourceFloorIndex,
+                candidateFloorIndex,
                 matchedFloor,
                 matchingResult.getCorrectionType() != null
                         ? matchingResult.getCorrectionType().name()
@@ -171,13 +189,15 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         host.setCurrentLocation(matchedLocation);
         previousMatchedPose = new CandidatePose(
                 matchedLocation,
-                matchedFloor,
+                floorForState,
                 timestampMs,
-                "map_matched"
+                replayMode ? "replay_map_state" : "map_matched"
         );
-        applyReplayMatchedFloorIfNeeded(matchedFloor);
+        if (replayMode) {
+            applyReplayDisplayFloorIfNeeded(floorForState);
+        }
 
-        boolean shouldFollowCamera = host.isReplayModeEnabled();
+        boolean shouldFollowCamera = replayMode;
         float savedZoom = 19f;
         Context context = host.requireContext();
         savedZoom = context.getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
@@ -200,10 +220,23 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
     void resetMapMatchingState() {
         previousMatchedPose = null;
         host.getTrajectoryRenderer().clearRawReplayPath();
+        clearReplayContext(true);
+    }
+
+    private void clearReplayContext(boolean clearBaseFloorState) {
+        replaySyntheticFloor = null;
+        replayCurrentElevation = null;
+        replayDeltaHeight = null;
+        replayHeightChanged = false;
+        replayInitialFloor = null;
+        if (clearBaseFloorState) {
+            replayBaseFloorIndex = null;
+            replayDisplayFloorInitialized = false;
+        }
     }
 
     @Nullable
-    private FloorplanApiClient.FloorShapes getActiveFloorShapesForMatching() {
+    private FloorplanApiClient.FloorShapes getFloorShapesForFloorIndex(int floorIndexForMatching) {
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
         if (selectedBuilding == null
                 || selectedBuilding.getFloorShapesList() == null
@@ -211,17 +244,21 @@ private FloorplanApiClient.FloorShapes getActiveFloorShapesForMatching() {
             return null;
         }
 
-        maybeInitializeReplayDisplayFloor();
-
-        int floorIndexForMatching = host.getCurrentFloorIndex();
-        if (host.isReplayModeEnabled() && replayInitialFloor != null) {
-            floorIndexForMatching = resolveReplayCandidateFloorIndex();
+        if (host.isReplayModeEnabled()) {
+            maybeInitializeReplayDisplayFloor();
         }
 
         int safeFloorIndex = Math.max(0, Math.min(floorIndexForMatching, selectedBuilding.getFloorShapesList().size() - 1));
         return selectedBuilding.getFloorShapesList().get(safeFloorIndex);
     }
 
+    private int resolveLiveCandidateFloorIndex() {
+        if (previousMatchedPose != null) {
+            return previousMatchedPose.getFloor();
+        }
+        return host.getCurrentFloorIndex();
+    }
+
     @Nullable
     private MotionDelta buildMotionDelta(@Nullable CandidatePose previousPose,
                                          @NonNull LatLng rawLocation,
@@ -323,13 +360,16 @@ private boolean hasReplayVerticalEvidence() {
         if (!host.isReplayModeEnabled()) {
             return false;
         }
+        if (replaySyntheticFloor != null && replaySyntheticFloor != 0) {
+            return true;
+        }
         if (replayHeightChanged) {
             return true;
         }
-        if (replayDeltaHeight != null && Math.abs(replayDeltaHeight) >= 0.35d) {
+        if (replayDeltaHeight != null && Math.abs(replayDeltaHeight) >= 1.0d) {
             return true;
         }
-        if (replayCurrentElevation != null && Math.abs(replayCurrentElevation) >= 0.35d) {
+        if (replayCurrentElevation != null && Math.abs(replayCurrentElevation) >= 1.0d) {
             return true;
         }
         return false;
@@ -360,31 +400,39 @@ private void maybeInitializeReplayDisplayFloor() {
         }
     }
 
-    private void applyReplayMatchedFloorIfNeeded(int matchedFloorIndex) {
+    private int resolveReplayDisplayFloor(int replayCandidateFloorIndex) {
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
-        IndoorMapManager indoorMapManager = host.getIndoorMapManager();
-        if (selectedBuilding == null || indoorMapManager == null) {
-            return;
+        if (selectedBuilding == null || selectedBuilding.getFloorShapesList() == null
+                || selectedBuilding.getFloorShapesList().isEmpty()) {
+            return replayCandidateFloorIndex;
         }
 
-        if (!host.isReplayModeEnabled() && !host.isAutoFloorEnabled()) {
-            return;
+        int maxFloor = Math.max(0, selectedBuilding.getFloorShapesList().size() - 1);
+        int clampedFloor = Math.max(0, Math.min(replayCandidateFloorIndex, maxFloor));
+        if (hasReplayVerticalEvidence()) {
+            return clampedFloor;
         }
 
-        int maxFloor = Math.max(0, selectedBuilding.getFloorShapesList().size() - 1);
-        int clampedFloor = Math.max(0, Math.min(matchedFloorIndex, maxFloor));
-
-        if (host.isReplayModeEnabled() && !hasReplayVerticalEvidence()) {
-            if (previousMatchedPose != null) {
-                clampedFloor = previousMatchedPose.getFloor();
-            } else {
-                Integer baseFloorIndex = resolveReplayBaseFloorIndex();
-                if (baseFloorIndex != null) {
-                    clampedFloor = baseFloorIndex;
-                }
-            }
+        if (previousMatchedPose != null) {
+            return Math.max(0, Math.min(previousMatchedPose.getFloor(), maxFloor));
+        }
+
+        Integer baseFloorIndex = resolveReplayBaseFloorIndex();
+        if (baseFloorIndex != null) {
+            return Math.max(0, Math.min(baseFloorIndex, maxFloor));
         }
+        return clampedFloor;
+    }
 
+    private void applyReplayDisplayFloorIfNeeded(int targetFloorIndex) {
+        FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
+        IndoorMapManager indoorMapManager = host.getIndoorMapManager();
+        if (!host.isReplayModeEnabled() || selectedBuilding == null || indoorMapManager == null) {
+            return;
+        }
+
+        int maxFloor = Math.max(0, selectedBuilding.getFloorShapesList().size() - 1);
+        int clampedFloor = Math.max(0, Math.min(targetFloorIndex, maxFloor));
         if (clampedFloor == host.getCurrentFloorIndex()) {
             return;
         }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 09fa3d1c..7694169b 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -1580,6 +1580,18 @@ public void onNothingSelected(AdapterView<?> parent) {
     }
 
     public void setReplayModeEnabled(boolean enabled) {
+        if (replayModeEnabled == enabled) {
+            if (enabled) {
+                stopAutoFloor();
+            }
+            if (autoFloorSwitch != null) {
+                autoFloorSwitch.setChecked(false);
+                autoFloorSwitch.setEnabled(!enabled);
+                autoFloorSwitch.setAlpha(enabled ? 0.45f : 1f);
+            }
+            return;
+        }
+
         replayModeEnabled = enabled;
         mapMatchingCoordinator.onReplayModeChanged(enabled);
         if (enabled) {
@@ -1976,6 +1988,8 @@ private void updateFloorLabel() {
 
     public void clearMapAndReset() {
         stopAutoFloor();
+        resetMapMatchingState();
+        currentLocation = null;
         if (autoFloorSwitch != null) {
             autoFloorSwitch.setChecked(false);
         }
diff --git a/app/src/main_already.zip b/app/src/main_already.zip
new file mode 100644
index 0000000000000000000000000000000000000000..f88cdcb93c9985aa9a0deae3e08f55e066427459
GIT binary patch
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zDJ=ric>nZVCcOU`!>*lNN?_|ec;H(UEG_?y3r+V&YLlMJ9>s3pL}@yB;92-u1R@%=
z{eOD+2`y;aK4AbCJENcnp8K$e{{f!%0GOTx?Ex_HsYGZ1q+g~*f_en_u+Te^_P6M$
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literal 0
HcmV?d00001


From 2ab390f28711ee9f57efb5cd4c3f8895792a404c Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Fri, 27 Mar 2026 04:44:34 +0000
Subject: [PATCH 18/35] Correct the rpute

---
 .../mapmatching/MapGeometryUtils.java         | 396 +++++++++++-
 .../mapmatching/MapMatchingService.java       | 583 ++++++++++++++++--
 .../mapmatching/VerticalMotionDetector.java   | 119 ++++
 .../fragment/FloorController.java             |  53 +-
 .../fragment/MapMatchingCoordinator.java      | 237 ++++++-
 .../fragment/TrajectoryMapFragment.java       |  12 +
 app/src/main_already.zip                      | Bin 7094193 -> 7103522 bytes
 7 files changed, 1334 insertions(+), 66 deletions(-)
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalMotionDetector.java

diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
index 8febaa48..0f03dc8a 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
@@ -8,14 +8,12 @@
 /**
  * 提供 3.2 Map Matching 所需的基础几何判断工具。
  *
- * 当前第一版实现：
- * 1. 判断一段轨迹是否与 wall 要素相交
- * 2. 判断当前位置是否靠近 stairs
- * 3. 判断当前位置是否靠近 lift
+ * 当前版本除了基础的穿墙 / 邻近判断外，还补充了：
+ * 1. 沿着一段运动轨迹，找到“撞墙前最后一个合法点”
+ * 2. 找到某类 indoor feature（stairs/lift）最近的锚点位置
  *
- * 注意：
- * 这里先实现“够用、稳定、易懂”的版本，
- * 后面如果需要再继续增强。
+ * 这些工具会被阶段四的最小补丁使用，用来把 map matching 从
+ * “只会拒绝错误”推进到“能主动拉回到更合理的位置”。
  */
 public class MapGeometryUtils {
 
@@ -25,6 +23,13 @@ public class MapGeometryUtils {
 
     // 电梯邻近阈值相对更紧一些
     private static final double LIFT_PROXIMITY_THRESHOLD_METERS = 1.8;
+
+    private static final int WALL_PROJECTION_BINARY_SEARCH_ITERATIONS = 20;
+    private static final double WALL_PROJECTION_SAFETY_RATIO = 0.98;
+    // 安全内缩值不要太大，否则切层时会出现明显的横向/纵向跳点。
+    private static final double CONNECTOR_SAFE_INSET_METERS = 0.35;
+    private static final int CONNECTOR_SAFE_POINT_STEPS = 16;
+
     /**
      * 判断从 start 到 end 的轨迹是否穿过当前楼层中的 wall。
      */
@@ -48,9 +53,6 @@ public static boolean crossesWall(LatLng start,
         return false;
     }
 
-    /**
-     * 判断当前位置是否靠近楼梯。
-     */
     /**
      * 判断当前位置是否靠近楼梯。
      * 楼梯区域通常范围稍大，因此阈值放宽一些。
@@ -79,6 +81,38 @@ public static boolean isNearLift(LatLng point,
         );
     }
 
+
+    /**
+     * 判断点是否真正位于某类 indoor feature 的面域内部。
+     *
+     * 这个判断比 near 更严格，用于楼层切换这种需要强证据的场景。
+     */
+    public static boolean isInsideIndoorType(LatLng point,
+                                             FloorplanApiClient.FloorShapes floorShapes,
+                                             String indoorType) {
+        if (point == null || floorShapes == null || floorShapes.getFeatures() == null) {
+            return false;
+        }
+
+        for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) {
+            if (!indoorType.equalsIgnoreCase(feature.getIndoorType())) {
+                continue;
+            }
+
+            List<List<LatLng>> parts = feature.getParts();
+            if (parts == null) continue;
+
+            for (List<LatLng> part : parts) {
+                if (part == null || part.size() < 3) continue;
+                if (isPointInPolygon(point, part)) {
+                    return true;
+                }
+            }
+        }
+
+        return false;
+    }
+
     /**
      * 更通用的“是否靠近某类 indoor feature”判断。
      */
@@ -116,6 +150,184 @@ public static boolean isNearIndoorType(LatLng point,
         return false;
     }
 
+    /**
+     * 当一段轨迹穿墙时，沿着 start->end 的方向找到“撞墙前最后一个合法点”。
+     *
+     * 这比简单回退到 previous pose 更平滑，也更符合阶段四“主动修正”的目标。
+     */
+    public static LatLng findFarthestValidPointBeforeWall(LatLng start,
+                                                          LatLng end,
+                                                          FloorplanApiClient.FloorShapes floorShapes) {
+        if (start == null || end == null || floorShapes == null) {
+            return start;
+        }
+        if (!crossesWall(start, end, floorShapes)) {
+            return end;
+        }
+
+        double low = 0.0;
+        double high = 1.0;
+        LatLng best = start;
+
+        for (int i = 0; i < WALL_PROJECTION_BINARY_SEARCH_ITERATIONS; i++) {
+            double mid = (low + high) / 2.0;
+            LatLng midPoint = interpolate(start, end, mid);
+            if (crossesWall(start, midPoint, floorShapes)) {
+                high = mid;
+            } else {
+                best = midPoint;
+                low = mid;
+            }
+        }
+
+        // 稍微往 start 方向退一点，避免贴在边界上导致下一帧继续抖动。
+        double safeRatio = Math.max(0.0, low * WALL_PROJECTION_SAFETY_RATIO);
+        return interpolate(start, end, safeRatio);
+    }
+
+    /**
+     * 寻找 point 到指定 indoorType 最近的“安全内部落点”。
+     *
+     * 与简单质心不同，这个点会尽量靠近用户当前候选点所对应的入口侧，
+     * 但同时向 polygon 内部缩进一小段距离，避免切层后落在边界/墙边。
+     */
+    public static LatLng findNearestSafeInteriorPointOnIndoorType(LatLng point,
+                                                                  FloorplanApiClient.FloorShapes floorShapes,
+                                                                  String indoorType) {
+        if (point == null || floorShapes == null || floorShapes.getFeatures() == null) {
+            return null;
+        }
+
+        double bestDistance = Double.MAX_VALUE;
+        LatLng bestPoint = null;
+
+        for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) {
+            if (!indoorType.equalsIgnoreCase(feature.getIndoorType())) {
+                continue;
+            }
+
+            List<List<LatLng>> parts = feature.getParts();
+            if (parts == null) continue;
+
+            for (List<LatLng> part : parts) {
+                if (part == null || part.size() < 3) continue;
+
+                LatLng safePoint = findSafeInteriorPoint(point, part);
+                if (safePoint == null) continue;
+
+                double distance = distanceMeters(point, safePoint);
+                if (distance < bestDistance) {
+                    bestDistance = distance;
+                    bestPoint = safePoint;
+                }
+            }
+        }
+
+        return bestPoint;
+    }
+
+    /**
+     * 寻找 point 到指定 indoorType 最近的“内部落点”。
+     *
+     * 和 findNearestPointOnIndoorType 不同，这里优先返回 polygon 的内部质心，
+     * 适合楼层切换后的落点安置，避免刚切层就落在边界/墙边。
+     */
+    public static LatLng findNearestIndoorTypeCentroid(LatLng point,
+                                                       FloorplanApiClient.FloorShapes floorShapes,
+                                                       String indoorType) {
+        if (point == null || floorShapes == null || floorShapes.getFeatures() == null) {
+            return null;
+        }
+
+        double bestDistance = Double.MAX_VALUE;
+        LatLng bestPoint = null;
+
+        for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) {
+            if (!indoorType.equalsIgnoreCase(feature.getIndoorType())) {
+                continue;
+            }
+
+            List<List<LatLng>> parts = feature.getParts();
+            if (parts == null) continue;
+
+            for (List<LatLng> part : parts) {
+                if (part == null || part.size() < 3) continue;
+
+                LatLng centroid = polygonCentroid(part);
+                if (centroid == null) continue;
+                if (!isPointInPolygon(centroid, part)) {
+                    centroid = averagePoint(part);
+                }
+                if (centroid == null || !isPointInPolygon(centroid, part)) {
+                    continue;
+                }
+
+                double distance = distanceMeters(point, centroid);
+                if (distance < bestDistance) {
+                    bestDistance = distance;
+                    bestPoint = centroid;
+                }
+            }
+        }
+
+        return bestPoint;
+    }
+
+    /**
+     * 寻找 point 到指定 indoorType 最近的锚点。
+     *
+     * 对 stairs/lift 来说，这个点会作为楼层切换时的“更合理位置”。
+     */
+    public static LatLng findNearestPointOnIndoorType(LatLng point,
+                                                      FloorplanApiClient.FloorShapes floorShapes,
+                                                      String indoorType) {
+        if (point == null || floorShapes == null || floorShapes.getFeatures() == null) {
+            return null;
+        }
+
+        double bestDistance = Double.MAX_VALUE;
+        LatLng bestPoint = null;
+
+        for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) {
+            if (!indoorType.equalsIgnoreCase(feature.getIndoorType())) {
+                continue;
+            }
+
+            List<List<LatLng>> parts = feature.getParts();
+            if (parts == null) continue;
+
+            for (List<LatLng> part : parts) {
+                if (part == null || part.isEmpty()) continue;
+
+                if (part.size() >= 3 && isPointInPolygon(point, part)) {
+                    LatLng safeInterior = findSafeInteriorPoint(point, part);
+                    return safeInterior != null ? safeInterior : point;
+                }
+
+                int limit = part.size() - 1;
+                for (int i = 0; i < limit; i++) {
+                    LatLng nearest = projectPointToSegment(point, part.get(i), part.get(i + 1));
+                    double distance = distanceMeters(point, nearest);
+                    if (distance < bestDistance) {
+                        bestDistance = distance;
+                        bestPoint = nearest;
+                    }
+                }
+
+                if (part.size() >= 3) {
+                    LatLng nearest = projectPointToSegment(point, part.get(part.size() - 1), part.get(0));
+                    double distance = distanceMeters(point, nearest);
+                    if (distance < bestDistance) {
+                        bestDistance = distance;
+                        bestPoint = nearest;
+                    }
+                }
+            }
+        }
+
+        return bestPoint;
+    }
+
     // =========================================================
     // 内部工具方法
     // =========================================================
@@ -252,28 +464,168 @@ private static boolean onSegment(LatLng a, LatLng b, LatLng c) {
      * 使用局部平面近似（经纬度转米），对室内小范围足够。
      */
     private static double distancePointToSegmentMeters(LatLng p, LatLng a, LatLng b) {
-        double[] pxy = toLocalMeters(p, p);
+        LatLng nearest = projectPointToSegment(p, a, b);
+        return distanceMeters(p, nearest);
+    }
+
+    private static LatLng findSafeInteriorPoint(LatLng referencePoint, List<LatLng> polygon) {
+        if (referencePoint == null || polygon == null || polygon.size() < 3) {
+            return null;
+        }
+
+        LatLng centroid = polygonCentroid(polygon);
+        if (centroid == null || !isPointInPolygon(centroid, polygon)) {
+            centroid = averagePoint(polygon);
+        }
+        if (centroid == null || !isPointInPolygon(centroid, polygon)) {
+            return null;
+        }
+
+        LatLng startPoint = isPointInPolygon(referencePoint, polygon)
+                ? referencePoint
+                : findNearestPointOnPolygonBoundary(referencePoint, polygon);
+        if (startPoint == null) {
+            startPoint = centroid;
+        }
+
+        double currentBoundaryDistance = distancePointToPolygonBoundaryMeters(startPoint, polygon);
+        if (isPointInPolygon(startPoint, polygon) && currentBoundaryDistance >= CONNECTOR_SAFE_INSET_METERS) {
+            return startPoint;
+        }
+
+        LatLng bestPoint = centroid;
+        double bestBoundaryDistance = distancePointToPolygonBoundaryMeters(centroid, polygon);
+
+        for (int i = 1; i <= CONNECTOR_SAFE_POINT_STEPS; i++) {
+            double ratio = i / (double) CONNECTOR_SAFE_POINT_STEPS;
+            LatLng candidate = interpolate(startPoint, centroid, ratio);
+            if (!isPointInPolygon(candidate, polygon)) {
+                continue;
+            }
+
+            double boundaryDistance = distancePointToPolygonBoundaryMeters(candidate, polygon);
+            if (boundaryDistance > bestBoundaryDistance) {
+                bestBoundaryDistance = boundaryDistance;
+                bestPoint = candidate;
+            }
+            if (boundaryDistance >= CONNECTOR_SAFE_INSET_METERS) {
+                return candidate;
+            }
+        }
+
+        return bestPoint;
+    }
+
+    private static LatLng findNearestPointOnPolygonBoundary(LatLng point, List<LatLng> polygon) {
+        if (point == null || polygon == null || polygon.size() < 2) {
+            return null;
+        }
+
+        double bestDistance = Double.MAX_VALUE;
+        LatLng bestPoint = null;
+
+        for (int i = 0; i < polygon.size(); i++) {
+            LatLng a = polygon.get(i);
+            LatLng b = polygon.get((i + 1) % polygon.size());
+            LatLng projected = projectPointToSegment(point, a, b);
+            double distance = distanceMeters(point, projected);
+            if (distance < bestDistance) {
+                bestDistance = distance;
+                bestPoint = projected;
+            }
+        }
+
+        return bestPoint;
+    }
+
+    private static double distancePointToPolygonBoundaryMeters(LatLng point, List<LatLng> polygon) {
+        if (point == null || polygon == null || polygon.size() < 2) {
+            return Double.MAX_VALUE;
+        }
+
+        double bestDistance = Double.MAX_VALUE;
+        for (int i = 0; i < polygon.size(); i++) {
+            LatLng a = polygon.get(i);
+            LatLng b = polygon.get((i + 1) % polygon.size());
+            double distance = distancePointToSegmentMeters(point, a, b);
+            if (distance < bestDistance) {
+                bestDistance = distance;
+            }
+        }
+        return bestDistance;
+    }
+
+    private static LatLng projectPointToSegment(LatLng p, LatLng a, LatLng b) {
         double[] axy = toLocalMeters(a, p);
         double[] bxy = toLocalMeters(b, p);
 
-        double px = pxy[0], py = pxy[1];
         double ax = axy[0], ay = axy[1];
         double bx = bxy[0], by = bxy[1];
-
         double dx = bx - ax;
         double dy = by - ay;
 
         if (dx == 0 && dy == 0) {
-            return Math.hypot(px - ax, py - ay);
+            return a;
         }
 
-        double t = ((px - ax) * dx + (py - ay) * dy) / (dx * dx + dy * dy);
+        double t = (-(ax * dx + ay * dy)) / (dx * dx + dy * dy);
         t = Math.max(0, Math.min(1, t));
 
         double closestX = ax + t * dx;
         double closestY = ay + t * dy;
+        return fromLocalMeters(closestX, closestY, p);
+    }
 
-        return Math.hypot(px - closestX, py - closestY);
+    private static double distanceMeters(LatLng a, LatLng b) {
+        double[] bxy = toLocalMeters(b, a);
+        return Math.hypot(bxy[0], bxy[1]);
+    }
+
+    private static LatLng polygonCentroid(List<LatLng> polygon) {
+        if (polygon == null || polygon.size() < 3) return null;
+
+        double areaTwice = 0.0;
+        double cx = 0.0;
+        double cy = 0.0;
+
+        for (int i = 0; i < polygon.size(); i++) {
+            LatLng a = polygon.get(i);
+            LatLng b = polygon.get((i + 1) % polygon.size());
+            double cross = a.longitude * b.latitude - b.longitude * a.latitude;
+            areaTwice += cross;
+            cx += (a.longitude + b.longitude) * cross;
+            cy += (a.latitude + b.latitude) * cross;
+        }
+
+        if (Math.abs(areaTwice) < 1e-12) {
+            return averagePoint(polygon);
+        }
+
+        double scale = 1.0 / (3.0 * areaTwice);
+        return new LatLng(cy * scale, cx * scale);
+    }
+
+    private static LatLng averagePoint(List<LatLng> polygon) {
+        if (polygon == null || polygon.isEmpty()) return null;
+        double lat = 0.0;
+        double lng = 0.0;
+        int count = 0;
+        for (LatLng point : polygon) {
+            if (point == null) continue;
+            lat += point.latitude;
+            lng += point.longitude;
+            count += 1;
+        }
+        if (count == 0) return null;
+        return new LatLng(lat / count, lng / count);
+    }
+
+    private static LatLng interpolate(LatLng start, LatLng end, double ratio) {
+        double clamped = Math.max(0.0, Math.min(1.0, ratio));
+        return new LatLng(
+                start.latitude + (end.latitude - start.latitude) * clamped,
+                start.longitude + (end.longitude - start.longitude) * clamped
+        );
     }
 
     /**
@@ -290,4 +642,14 @@ private static double[] toLocalMeters(LatLng point, LatLng reference) {
 
         return new double[]{x, y};
     }
-}
\ No newline at end of file
+
+    private static LatLng fromLocalMeters(double xMeters, double yMeters, LatLng reference) {
+        double latRad = Math.toRadians(reference.latitude);
+        double metersPerDegLat = 111320.0;
+        double metersPerDegLon = 111320.0 * Math.cos(latRad);
+
+        double latitude = reference.latitude + (yMeters / metersPerDegLat);
+        double longitude = reference.longitude + (xMeters / Math.max(metersPerDegLon, 1e-9));
+        return new LatLng(latitude, longitude);
+    }
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
index 3666b0ed..2c719ea8 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
@@ -9,14 +9,13 @@
 /**
  * 3.2 Map Matching 的核心服务类。
  *
- * 这一版最小补丁重点处理两个问题：
- * 1. 穿墙一段时间后，一旦重新回到合法区域就出现“大跳”
- * 2. 仅凭末端一个点碰到楼梯/电梯红区，就被直接放行换层
+ * 阶段四最小补丁的目标：
+ * 1. 保留现有“拒绝错误”的能力（穿墙 / 错误换层）
+ * 2. 增加更主动的几何修正，让结果更像“被地图改进过的位置”
  *
- * 处理策略：
- * - 大跳恢复时，对单帧允许的最大位移做上限约束，避免瞬移
- * - 楼层切换时，不再只看当前点；要求 previous/current（或 midpoint）
- *   对 connector 有持续接触，并限制楼梯/电梯转换的水平位移范围
+ * 具体补充：
+ * - 穿墙时，不再只会回退到 previous pose；优先投影到撞墙前最后一个合法点
+ * - 合法换层时，把切层点轻量锚定到附近 stairs/lift，更像发生在真实 connector 处
  */
 public class MapMatchingService {
     // 水平位移较小时，更像 lift
@@ -25,10 +24,33 @@ public class MapMatchingService {
     private static final double MAX_STAIRS_HORIZONTAL_DISPLACEMENT_METERS = 4.0;
     // 位移太小时，不做穿墙检测，避免传感器抖动带来误判
     private static final double MIN_DISPLACEMENT_FOR_WALL_CHECK_METERS = 0.3;
+    // 明显静止/微动时，直接冻结在上一帧匹配位置，优先于 small-step pass-through
+    private static final double MAX_IDLE_FREEZE_STEP_METERS = 0.08;
     // 穿墙恢复后，单帧允许的最大“重新贴回”位移，避免轨迹瞬移
     private static final double MAX_RECOVERY_STEP_METERS = 1.2;
     // connector 区域附近略放宽，但仍然限制大跳
     private static final double MAX_RECOVERY_STEP_NEAR_CONNECTOR_METERS = 2.0;
+    // 合法换层时，对 stairs / lift 锚定的最大允许吸附距离
+    private static final double MAX_STAIRS_ANCHOR_METERS = 3.0;
+    private static final double MAX_LIFT_ANCHOR_METERS = 2.0;
+    // 切层成功时，把 XY 直接落到目标楼层 connector 内部，避免落在墙边再被轴向滑动。
+    private static final double MAX_STAIRS_LANDING_METERS = 6.5;
+    private static final double MAX_LIFT_LANDING_METERS = 4.5;
+    // 切层成功后的若干帧内，不要立刻把轨迹重新完全交回普通 wall solver；
+    // 使用一个短暂的平滑释放窗口，把 landing 点自然过渡到后续轨迹。
+    private static final int POST_TRANSITION_RELEASE_FRAMES = 3;
+    private static final double POST_TRANSITION_RELEASE_BLEND_MIN = 0.28;
+    private static final double POST_TRANSITION_RELEASE_BLEND_MAX = 0.72;
+    private static final double POST_TRANSITION_RELEASE_MAX_STEP_METERS = 0.75;
+    private static final double POST_TRANSITION_RELEASE_COMPLETE_METERS = 0.20;
+    private static final double POST_TRANSITION_RELEASE_CANCEL_METERS = 6.0;
+
+    @Nullable
+    private PostTransitionReleaseState postTransitionReleaseState;
+
+    public void resetTransientState() {
+        postTransitionReleaseState = null;
+    }
 
     @NonNull
     public MapMatchingResult match(@NonNull MapMatchingInput input) {
@@ -60,6 +82,9 @@ public MapMatchingResult match(@NonNull MapMatchingInput input) {
         }
 
         MotionDelta motionDelta = input.getMotionDelta();
+        TransitionLanding transitionLanding = floorTransitionAttempt && floorChangeAllowed
+                ? buildTransitionLanding(input, candidateLatLng, motionDelta, nearStairs, nearLift)
+                : null;
         String transitionDescription = describeVerticalTransition(nearStairs, nearLift, motionDelta);
         if (input.getVerticalHint() != null && input.getVerticalHint().isHeightChanged()) {
             debugReason = "Height changed; " + transitionDescription + ".";
@@ -67,6 +92,56 @@ public MapMatchingResult match(@NonNull MapMatchingInput input) {
             debugReason = "Candidate pose accepted; " + transitionDescription + ".";
         }
 
+        if (shouldFreezeIdleMotion(previousPose, currentPose, motionDelta, nearStairs, nearLift, floorTransitionAttempt, input.getVerticalHint())) {
+            return new MapMatchingResult(
+                    true,
+                    false,
+                    nearStairs,
+                    nearLift,
+                    false,
+                    previousPose.getLatLng(),
+                    previousPose.getFloor(),
+                    CorrectionType.NONE,
+                    "Micro-motion frozen to suppress idle drift."
+            );
+        }
+
+        if (transitionLanding != null) {
+            startPostTransitionRelease(transitionLanding.landingLatLng, currentPose.getFloor());
+            return new MapMatchingResult(
+                    true,
+                    false,
+                    nearStairs,
+                    nearLift,
+                    true,
+                    transitionLanding.landingLatLng,
+                    currentPose.getFloor(),
+                    CorrectionType.SNAP_TO_VALID_AREA,
+                    transitionLanding.debugReason
+            );
+        }
+
+        PostTransitionReleaseResult releaseResult = maybeApplyPostTransitionRelease(
+                previousPose,
+                currentPose,
+                wallCheckFloorShapes,
+                nearStairs,
+                nearLift
+        );
+        if (releaseResult != null) {
+            return new MapMatchingResult(
+                    true,
+                    releaseResult.crossedWall,
+                    nearStairs,
+                    nearLift,
+                    false,
+                    releaseResult.correctedLatLng,
+                    currentPose.getFloor(),
+                    CorrectionType.SNAP_TO_VALID_AREA,
+                    releaseResult.debugReason
+            );
+        }
+
         // 没有任何可用楼层地图时，不做墙体约束。
         if (wallCheckFloorShapes == null) {
             return new MapMatchingResult(
@@ -97,31 +172,16 @@ public MapMatchingResult match(@NonNull MapMatchingInput input) {
                 );
 
                 if (crossedWall) {
-                    LatLng latOnlyPoint = new LatLng(candidateLatLng.latitude, previousPose.getLatLng().longitude);
-                    LatLng lngOnlyPoint = new LatLng(previousPose.getLatLng().latitude, candidateLatLng.longitude);
-
-                    boolean canMoveLat = !MapGeometryUtils.crossesWall(previousPose.getLatLng(), latOnlyPoint, wallCheckFloorShapes);
-                    boolean canMoveLng = !MapGeometryUtils.crossesWall(previousPose.getLatLng(), lngOnlyPoint, wallCheckFloorShapes);
-
-                    if (canMoveLat && !canMoveLng) {
-                        correctedLatLng = latOnlyPoint;
-                        correctionType = CorrectionType.THROUGH_WALL;
-                        debugReason = "Crossed wall. Sliding along Latitude (N/S).";
-                        validPosition = true;
-                    } else if (!canMoveLat && canMoveLng) {
-                        correctedLatLng = lngOnlyPoint;
-                        correctionType = CorrectionType.THROUGH_WALL;
-                        debugReason = "Crossed wall. Sliding along Longitude (E/W).";
-                        validPosition = true;
-                    } else {
-                        correctedLatLng = previousPose.getLatLng();
-                        if (!floorChangeAllowed) {
-                            correctedFloor = previousPose.getFloor();
-                        }
-                        correctionType = CorrectionType.THROUGH_WALL;
-                        debugReason = "Crossed wall. Stuck in corner, reverted to previous XY pose.";
-                        validPosition = false;
-                    }
+                    WallRecovery recovery = recoverFromWallCrossing(
+                            previousPose.getLatLng(),
+                            candidateLatLng,
+                            wallCheckFloorShapes,
+                            nearStairs || nearLift || postTransitionReleaseState != null
+                    );
+                    correctedLatLng = recovery.correctedLatLng;
+                    correctionType = recovery.correctionType;
+                    debugReason = recovery.debugReason;
+                    validPosition = recovery.validPosition;
                 }
             } else {
                 debugReason = "Step distance too small for wall check. Candidate pose accepted.";
@@ -137,6 +197,25 @@ public MapMatchingResult match(@NonNull MapMatchingInput input) {
             validPosition = false;
         }
 
+        if (floorTransitionAttempt && floorChangeAllowed && connectorFloorShapes != null) {
+            LatLng anchoredTransition = anchorFloorTransition(
+                    correctedLatLng,
+                    connectorFloorShapes,
+                    motionDelta,
+                    nearStairs,
+                    nearLift
+            );
+            if (anchoredTransition != null && !samePoint(anchoredTransition, correctedLatLng)) {
+                correctedLatLng = anchoredTransition;
+                correctionType = CorrectionType.SNAP_TO_VALID_AREA;
+                debugReason = nearLift && !nearStairs
+                        ? "Floor transition anchored to nearby lift."
+                        : nearStairs && !nearLift
+                        ? "Floor transition anchored to nearby stairs."
+                        : "Floor transition anchored to nearby connector.";
+            }
+        }
+
         if (!crossedWall && previousPose != null && previousPose.getLatLng() != null && motionDelta != null) {
             LatLng clampedRecovery = clampRecoveryJump(
                     previousPose.getLatLng(),
@@ -183,7 +262,6 @@ public boolean isFloorChangeAllowed(@NonNull MapMatchingInput input) {
 
         FloorplanApiClient.FloorShapes connectorFloorShapes = chooseConnectorFloorShapes(input, true);
         if (connectorFloorShapes == null) {
-            // 没有地图时维持旧版宽松策略，不阻断已有逻辑。
             return true;
         }
 
@@ -193,10 +271,6 @@ public boolean isFloorChangeAllowed(@NonNull MapMatchingInput input) {
 
         boolean currentNearStairs = MapGeometryUtils.isNearStairs(currentPoint, connectorFloorShapes);
         boolean currentNearLift = MapGeometryUtils.isNearLift(currentPoint, connectorFloorShapes);
-        if (!currentNearStairs && !currentNearLift) {
-            return false;
-        }
-
         boolean previousNearStairs = previousPoint != null
                 && MapGeometryUtils.isNearStairs(previousPoint, connectorFloorShapes);
         boolean previousNearLift = previousPoint != null
@@ -206,15 +280,30 @@ public boolean isFloorChangeAllowed(@NonNull MapMatchingInput input) {
         boolean midpointNearLift = midpoint != null
                 && MapGeometryUtils.isNearLift(midpoint, connectorFloorShapes);
 
+        boolean currentInsideStairs = MapGeometryUtils.isInsideIndoorType(currentPoint, connectorFloorShapes, "stairs");
+        boolean previousInsideStairs = previousPoint != null
+                && MapGeometryUtils.isInsideIndoorType(previousPoint, connectorFloorShapes, "stairs");
+        boolean midpointInsideStairs = midpoint != null
+                && MapGeometryUtils.isInsideIndoorType(midpoint, connectorFloorShapes, "stairs");
+
+        boolean currentInsideLift = MapGeometryUtils.isInsideIndoorType(currentPoint, connectorFloorShapes, "lift");
+        boolean previousInsideLift = previousPoint != null
+                && MapGeometryUtils.isInsideIndoorType(previousPoint, connectorFloorShapes, "lift");
+        boolean midpointInsideLift = midpoint != null
+                && MapGeometryUtils.isInsideIndoorType(midpoint, connectorFloorShapes, "lift");
+
         boolean stairsPersistence = currentNearStairs && (previousNearStairs || midpointNearStairs);
         boolean liftPersistence = currentNearLift && (previousNearLift || midpointNearLift);
-        if (!stairsPersistence && !liftPersistence) {
+        boolean strongStairsEvidence = currentInsideStairs && (previousInsideStairs || midpointInsideStairs);
+        boolean strongLiftEvidence = currentInsideLift && (previousInsideLift || midpointInsideLift);
+
+        if (!stairsPersistence && !liftPersistence && !strongStairsEvidence && !strongLiftEvidence) {
             return false;
         }
 
         MotionDelta motionDelta = input.getMotionDelta();
         if (motionDelta == null) {
-            return stairsPersistence || liftPersistence;
+            return strongStairsEvidence || strongLiftEvidence || stairsPersistence || liftPersistence;
         }
 
         double stepDistance = motionDelta.getStepDistance();
@@ -224,13 +313,19 @@ public boolean isFloorChangeAllowed(@NonNull MapMatchingInput input) {
 
         boolean likelyLiftMotion = stepDistance <= MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS;
 
+        if (strongLiftEvidence && !strongStairsEvidence) {
+            return likelyLiftMotion;
+        }
+        if (strongStairsEvidence) {
+            return true;
+        }
         if (liftPersistence && !stairsPersistence) {
             return likelyLiftMotion;
         }
         if (stairsPersistence && !liftPersistence) {
             return !likelyLiftMotion;
         }
-        return true;
+        return stairsPersistence || liftPersistence;
     }
 
     @Nullable
@@ -257,6 +352,213 @@ private FloorplanApiClient.FloorShapes chooseWallCheckFloorShapes(@NonNull MapMa
         return input.getSourceFloorShapes();
     }
 
+    @NonNull
+    private WallRecovery recoverFromWallCrossing(@NonNull LatLng previousLatLng,
+                                                 @NonNull LatLng candidateLatLng,
+                                                 @NonNull FloorplanApiClient.FloorShapes wallCheckFloorShapes,
+                                                 boolean preferProjection) {
+        LatLng lastValidPoint = MapGeometryUtils.findFarthestValidPointBeforeWall(
+                previousLatLng,
+                candidateLatLng,
+                wallCheckFloorShapes
+        );
+        if (preferProjection && lastValidPoint != null && !samePoint(lastValidPoint, previousLatLng)) {
+            return new WallRecovery(
+                    lastValidPoint,
+                    CorrectionType.SNAP_TO_VALID_AREA,
+                    "Crossed wall near connector. Projected to the last valid point before wall.",
+                    true
+            );
+        }
+
+        LatLng latOnlyPoint = new LatLng(candidateLatLng.latitude, previousLatLng.longitude);
+        LatLng lngOnlyPoint = new LatLng(previousLatLng.latitude, candidateLatLng.longitude);
+
+        boolean canMoveLat = !MapGeometryUtils.crossesWall(previousLatLng, latOnlyPoint, wallCheckFloorShapes);
+        boolean canMoveLng = !MapGeometryUtils.crossesWall(previousLatLng, lngOnlyPoint, wallCheckFloorShapes);
+
+        if (canMoveLat && canMoveLng) {
+            double latOnlyResidual = distanceMeters(latOnlyPoint, candidateLatLng);
+            double lngOnlyResidual = distanceMeters(lngOnlyPoint, candidateLatLng);
+            if (latOnlyResidual <= lngOnlyResidual) {
+                return new WallRecovery(
+                        latOnlyPoint,
+                        CorrectionType.THROUGH_WALL,
+                        "Crossed wall. Sliding along Latitude (N/S).",
+                        true
+                );
+            }
+            return new WallRecovery(
+                    lngOnlyPoint,
+                    CorrectionType.THROUGH_WALL,
+                    "Crossed wall. Sliding along Longitude (E/W).",
+                    true
+            );
+        }
+
+        if (canMoveLat) {
+            return new WallRecovery(
+                    latOnlyPoint,
+                    CorrectionType.THROUGH_WALL,
+                    "Crossed wall. Sliding along Latitude (N/S).",
+                    true
+            );
+        }
+
+        if (canMoveLng) {
+            return new WallRecovery(
+                    lngOnlyPoint,
+                    CorrectionType.THROUGH_WALL,
+                    "Crossed wall. Sliding along Longitude (E/W).",
+                    true
+            );
+        }
+
+        if (lastValidPoint != null && !samePoint(lastValidPoint, previousLatLng)) {
+            return new WallRecovery(
+                    lastValidPoint,
+                    CorrectionType.SNAP_TO_VALID_AREA,
+                    "Crossed wall. Projected to last valid point before wall.",
+                    true
+            );
+        }
+
+        return new WallRecovery(
+                previousLatLng,
+                CorrectionType.THROUGH_WALL,
+                "Crossed wall. Stuck in corner, reverted to previous XY pose.",
+                false
+        );
+    }
+
+    @Nullable
+    private LatLng anchorFloorTransition(@NonNull LatLng point,
+                                         @NonNull FloorplanApiClient.FloorShapes connectorFloorShapes,
+                                         @Nullable MotionDelta motionDelta,
+                                         boolean nearStairs,
+                                         boolean nearLift) {
+        boolean insideStairs = MapGeometryUtils.isInsideIndoorType(point, connectorFloorShapes, "stairs");
+        boolean insideLift = MapGeometryUtils.isInsideIndoorType(point, connectorFloorShapes, "lift");
+        if (!nearStairs && !nearLift && !insideStairs && !insideLift) {
+            return null;
+        }
+
+        boolean likelyLiftMotion = motionDelta != null
+                && motionDelta.getStepDistance() <= MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS;
+
+        boolean preferLift = (insideLift || nearLift) && (!insideStairs && (!nearStairs || likelyLiftMotion));
+        boolean preferStairs = insideStairs || (nearStairs && (!nearLift || !likelyLiftMotion));
+
+        LatLng anchor = null;
+        double maxAnchorMeters = MAX_STAIRS_ANCHOR_METERS;
+
+        if (preferLift) {
+            anchor = MapGeometryUtils.findNearestSafeInteriorPointOnIndoorType(point, connectorFloorShapes, "lift");
+            if (anchor == null) {
+                anchor = MapGeometryUtils.findNearestPointOnIndoorType(point, connectorFloorShapes, "lift");
+            }
+            maxAnchorMeters = MAX_LIFT_ANCHOR_METERS;
+        } else if (preferStairs) {
+            anchor = MapGeometryUtils.findNearestSafeInteriorPointOnIndoorType(point, connectorFloorShapes, "stairs");
+            if (anchor == null) {
+                anchor = MapGeometryUtils.findNearestPointOnIndoorType(point, connectorFloorShapes, "stairs");
+            }
+            maxAnchorMeters = MAX_STAIRS_ANCHOR_METERS;
+        }
+
+        if (anchor == null && nearLift) {
+            anchor = MapGeometryUtils.findNearestSafeInteriorPointOnIndoorType(point, connectorFloorShapes, "lift");
+            if (anchor == null) {
+                anchor = MapGeometryUtils.findNearestPointOnIndoorType(point, connectorFloorShapes, "lift");
+            }
+            maxAnchorMeters = MAX_LIFT_ANCHOR_METERS;
+        }
+        if (anchor == null && nearStairs) {
+            anchor = MapGeometryUtils.findNearestSafeInteriorPointOnIndoorType(point, connectorFloorShapes, "stairs");
+            if (anchor == null) {
+                anchor = MapGeometryUtils.findNearestPointOnIndoorType(point, connectorFloorShapes, "stairs");
+            }
+            maxAnchorMeters = MAX_STAIRS_ANCHOR_METERS;
+        }
+
+        if (anchor == null) {
+            return null;
+        }
+
+        return distanceMeters(point, anchor) <= maxAnchorMeters ? anchor : null;
+    }
+
+    @Nullable
+    private TransitionLanding buildTransitionLanding(@NonNull MapMatchingInput input,
+                                                     @NonNull LatLng candidateLatLng,
+                                                     @Nullable MotionDelta motionDelta,
+                                                     boolean nearStairs,
+                                                     boolean nearLift) {
+        FloorplanApiClient.FloorShapes targetFloorShapes = input.getTargetFloorShapes();
+        if (targetFloorShapes == null) {
+            return null;
+        }
+
+        boolean likelyLiftMotion = motionDelta != null
+                && motionDelta.getStepDistance() <= MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS;
+
+        String preferredIndoorType;
+        double maxLandingMeters;
+        if (nearLift && !nearStairs) {
+            preferredIndoorType = "lift";
+            maxLandingMeters = MAX_LIFT_LANDING_METERS;
+        } else if (nearStairs && !nearLift) {
+            preferredIndoorType = "stairs";
+            maxLandingMeters = MAX_STAIRS_LANDING_METERS;
+        } else if (nearLift && likelyLiftMotion) {
+            preferredIndoorType = "lift";
+            maxLandingMeters = MAX_LIFT_LANDING_METERS;
+        } else {
+            preferredIndoorType = "stairs";
+            maxLandingMeters = MAX_STAIRS_LANDING_METERS;
+        }
+
+        LatLng safeInteriorLanding = MapGeometryUtils.findNearestSafeInteriorPointOnIndoorType(
+                candidateLatLng,
+                targetFloorShapes,
+                preferredIndoorType
+        );
+        if (safeInteriorLanding != null && distanceMeters(candidateLatLng, safeInteriorLanding) <= maxLandingMeters) {
+            String debugReason = "lift".equals(preferredIndoorType)
+                    ? "Floor transition landed on a safe target-floor lift point."
+                    : "Floor transition landed on a safe target-floor stairs point.";
+            return new TransitionLanding(safeInteriorLanding, debugReason);
+        }
+
+        LatLng centroidLanding = MapGeometryUtils.findNearestIndoorTypeCentroid(
+                candidateLatLng,
+                targetFloorShapes,
+                preferredIndoorType
+        );
+        if (centroidLanding != null && distanceMeters(candidateLatLng, centroidLanding) <= maxLandingMeters) {
+            String debugReason = "lift".equals(preferredIndoorType)
+                    ? "Floor transition landed inside target lift."
+                    : "Floor transition landed inside target stairs.";
+            return new TransitionLanding(centroidLanding, debugReason);
+        }
+
+        LatLng fallbackAnchor = anchorFloorTransition(
+                candidateLatLng,
+                targetFloorShapes,
+                motionDelta,
+                nearStairs,
+                nearLift
+        );
+        if (fallbackAnchor != null) {
+            String debugReason = "lift".equals(preferredIndoorType)
+                    ? "Floor transition anchored on target-floor lift."
+                    : "Floor transition anchored on target-floor stairs.";
+            return new TransitionLanding(fallbackAnchor, debugReason);
+        }
+
+        return null;
+    }
+
     @NonNull
     private LatLng clampRecoveryJump(@NonNull LatLng previousLatLng,
                                      @NonNull LatLng candidateLatLng,
@@ -285,6 +587,108 @@ private LatLng clampRecoveryJump(@NonNull LatLng previousLatLng,
         return new LatLng(latitude, longitude);
     }
 
+    private void startPostTransitionRelease(@NonNull LatLng landingLatLng, int floor) {
+        postTransitionReleaseState = new PostTransitionReleaseState(
+                landingLatLng,
+                floor,
+                POST_TRANSITION_RELEASE_FRAMES
+        );
+    }
+
+    @Nullable
+    private PostTransitionReleaseResult maybeApplyPostTransitionRelease(@Nullable CandidatePose previousPose,
+                                                                        @NonNull CandidatePose currentPose,
+                                                                        @Nullable FloorplanApiClient.FloorShapes wallCheckFloorShapes,
+                                                                        boolean nearStairs,
+                                                                        boolean nearLift) {
+        PostTransitionReleaseState state = postTransitionReleaseState;
+        if (state == null) {
+            return null;
+        }
+        if (previousPose == null || previousPose.getLatLng() == null) {
+            postTransitionReleaseState = null;
+            return null;
+        }
+        if (currentPose.getFloor() != state.floor || previousPose.getFloor() != state.floor) {
+            postTransitionReleaseState = null;
+            return null;
+        }
+
+        LatLng candidateLatLng = currentPose.getLatLng();
+        LatLng previousLatLng = previousPose.getLatLng();
+        double anchorToCandidateMeters = distanceMeters(state.anchorLatLng, candidateLatLng);
+        if (anchorToCandidateMeters >= POST_TRANSITION_RELEASE_CANCEL_METERS) {
+            postTransitionReleaseState = null;
+            return null;
+        }
+
+        double progress = 1.0 - (state.framesRemaining / (double) POST_TRANSITION_RELEASE_FRAMES);
+        double eased = smoothStep(progress);
+        double blendRatio = POST_TRANSITION_RELEASE_BLEND_MIN
+                + (POST_TRANSITION_RELEASE_BLEND_MAX - POST_TRANSITION_RELEASE_BLEND_MIN) * eased;
+
+        LatLng blended = interpolate(state.anchorLatLng, candidateLatLng, blendRatio);
+        blended = clampStepFromPrevious(previousLatLng, blended, POST_TRANSITION_RELEASE_MAX_STEP_METERS);
+
+        boolean crossedWall = false;
+        if (wallCheckFloorShapes != null && MapGeometryUtils.crossesWall(previousLatLng, blended, wallCheckFloorShapes)) {
+            crossedWall = true;
+            LatLng lastValid = MapGeometryUtils.findFarthestValidPointBeforeWall(previousLatLng, blended, wallCheckFloorShapes);
+            if (lastValid != null && !samePoint(lastValid, previousLatLng)) {
+                blended = clampStepFromPrevious(previousLatLng, lastValid, POST_TRANSITION_RELEASE_MAX_STEP_METERS);
+            } else {
+                blended = previousLatLng;
+            }
+            postTransitionReleaseState = null;
+            return new PostTransitionReleaseResult(
+                    blended,
+                    true,
+                    "Post-transition wall guard ended release smoothing at the last valid point."
+            );
+        }
+
+        state.framesRemaining = Math.max(0, state.framesRemaining - 1);
+        double blendedToCandidateMeters = distanceMeters(blended, candidateLatLng);
+        if (state.framesRemaining == 0 || blendedToCandidateMeters <= POST_TRANSITION_RELEASE_COMPLETE_METERS) {
+            postTransitionReleaseState = null;
+        } else {
+            state.anchorLatLng = blended;
+            postTransitionReleaseState = state;
+        }
+
+        String debugReason = (nearStairs || nearLift)
+                ? "Post-transition release smoothing applied near connector."
+                : "Post-transition release smoothing applied.";
+        return new PostTransitionReleaseResult(blended, crossedWall, debugReason);
+    }
+
+    @NonNull
+    private LatLng clampStepFromPrevious(@NonNull LatLng previousLatLng,
+                                         @NonNull LatLng desiredLatLng,
+                                         double maxStepMeters) {
+        double stepMeters = distanceMeters(previousLatLng, desiredLatLng);
+        if (stepMeters <= maxStepMeters) {
+            return desiredLatLng;
+        }
+        double ratio = maxStepMeters / Math.max(stepMeters, 1e-6d);
+        return interpolate(previousLatLng, desiredLatLng, ratio);
+    }
+
+    @NonNull
+    private LatLng interpolate(@NonNull LatLng start,
+                               @NonNull LatLng end,
+                               double ratio) {
+        double clamped = Math.max(0d, Math.min(1d, ratio));
+        double latitude = start.latitude + (end.latitude - start.latitude) * clamped;
+        double longitude = start.longitude + (end.longitude - start.longitude) * clamped;
+        return new LatLng(latitude, longitude);
+    }
+
+    private double smoothStep(double progress) {
+        double clamped = Math.max(0d, Math.min(1d, progress));
+        return clamped * clamped * (3d - 2d * clamped);
+    }
+
     @Nullable
     private LatLng midpoint(@Nullable LatLng a, @Nullable LatLng b) {
         if (a == null || b == null) {
@@ -307,6 +711,35 @@ private boolean samePoint(@Nullable LatLng a, @Nullable LatLng b) {
                 && Math.abs(a.longitude - b.longitude) < 1e-12;
     }
 
+    private boolean shouldFreezeIdleMotion(@Nullable CandidatePose previousPose,
+                                           @NonNull CandidatePose currentPose,
+                                           @Nullable MotionDelta motionDelta,
+                                           boolean nearStairs,
+                                           boolean nearLift,
+                                           boolean floorTransitionAttempt,
+                                           @Nullable VerticalTransitionHint verticalHint) {
+        if (previousPose == null || motionDelta == null) {
+            return false;
+        }
+        if (floorTransitionAttempt || nearStairs || nearLift) {
+            return false;
+        }
+        if (verticalHint != null && verticalHint.isHeightChanged()) {
+            return false;
+        }
+        if (motionDelta.getStepDistance() > MAX_IDLE_FREEZE_STEP_METERS) {
+            return false;
+        }
+
+        LatLng previousLatLng = previousPose.getLatLng();
+        LatLng currentLatLng = currentPose.getLatLng();
+        if (previousLatLng == null || currentLatLng == null) {
+            return false;
+        }
+
+        return !samePoint(previousLatLng, currentLatLng) || previousPose.getFloor() == currentPose.getFloor();
+    }
+
     private String describeVerticalTransition(boolean nearStairs,
                                               boolean nearLift,
                                               @Nullable MotionDelta motionDelta) {
@@ -339,4 +772,74 @@ private String describeVerticalTransition(boolean nearStairs,
                 ? "near both stairs and lift, motion slightly favors lift"
                 : "near both stairs and lift, motion slightly favors stairs";
     }
+
+    private double distanceMeters(@NonNull LatLng from, @NonNull LatLng to) {
+        double latRad = Math.toRadians(from.latitude);
+        double metersPerDegLat = 111320.0;
+        double metersPerDegLon = 111320.0 * Math.cos(latRad);
+        double dx = (to.longitude - from.longitude) * metersPerDegLon;
+        double dy = (to.latitude - from.latitude) * metersPerDegLat;
+        return Math.hypot(dx, dy);
+    }
+
+    private static final class TransitionLanding {
+        final LatLng landingLatLng;
+        final String debugReason;
+
+        TransitionLanding(@NonNull LatLng landingLatLng, @NonNull String debugReason) {
+            this.landingLatLng = landingLatLng;
+            this.debugReason = debugReason;
+        }
+    }
+
+    private static final class PostTransitionReleaseState {
+        @NonNull
+        private LatLng anchorLatLng;
+        private final int floor;
+        private int framesRemaining;
+
+        private PostTransitionReleaseState(@NonNull LatLng anchorLatLng,
+                                           int floor,
+                                           int framesRemaining) {
+            this.anchorLatLng = anchorLatLng;
+            this.floor = floor;
+            this.framesRemaining = framesRemaining;
+        }
+    }
+
+    private static final class PostTransitionReleaseResult {
+        @NonNull
+        private final LatLng correctedLatLng;
+        private final boolean crossedWall;
+        @NonNull
+        private final String debugReason;
+
+        private PostTransitionReleaseResult(@NonNull LatLng correctedLatLng,
+                                            boolean crossedWall,
+                                            @NonNull String debugReason) {
+            this.correctedLatLng = correctedLatLng;
+            this.crossedWall = crossedWall;
+            this.debugReason = debugReason;
+        }
+    }
+
+    private static final class WallRecovery {
+        @NonNull
+        private final LatLng correctedLatLng;
+        @NonNull
+        private final CorrectionType correctionType;
+        @NonNull
+        private final String debugReason;
+        private final boolean validPosition;
+
+        private WallRecovery(@NonNull LatLng correctedLatLng,
+                             @NonNull CorrectionType correctionType,
+                             @NonNull String debugReason,
+                             boolean validPosition) {
+            this.correctedLatLng = correctedLatLng;
+            this.correctionType = correctionType;
+            this.debugReason = debugReason;
+            this.validPosition = validPosition;
+        }
+    }
 }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalMotionDetector.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalMotionDetector.java
new file mode 100644
index 00000000..0e5d4c67
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalMotionDetector.java
@@ -0,0 +1,119 @@
+package com.openpositioning.PositionMe.mapmatching;
+
+import androidx.annotation.Nullable;
+
+import java.util.ArrayDeque;
+import java.util.Iterator;
+
+/**
+ * Builds a live vertical-transition hint from recent elevation samples.
+ *
+ * The detector is deliberately conservative:
+ * - small barometer drift on a static phone should not trigger a floor change;
+ * - sustained elevation changes should be surfaced to map matching;
+ * - elevator flag slightly lowers the required threshold.
+ */
+public final class VerticalMotionDetector {
+
+    private static final long WINDOW_MS = 4000L;
+    private static final long MIN_PERSIST_MS = 800L;
+    private static final double HEIGHT_CHANGE_THRESHOLD_METERS = 1.2d;
+    private static final double ELEVATOR_HEIGHT_CHANGE_THRESHOLD_METERS = 0.8d;
+    private static final double RESET_THRESHOLD_METERS = 0.4d;
+
+    private final ArrayDeque<Sample> samples = new ArrayDeque<>();
+    private boolean latchedHeightChanged = false;
+
+    public void reset() {
+        samples.clear();
+        latchedHeightChanged = false;
+    }
+
+    public void addSample(long timestampMs, double elevationMeters, boolean elevatorFlag) {
+        if (Double.isNaN(elevationMeters) || Double.isInfinite(elevationMeters)) {
+            return;
+        }
+
+        samples.addLast(new Sample(timestampMs, elevationMeters, elevatorFlag));
+        pruneOldSamples(timestampMs);
+        updateLatchState();
+    }
+
+    @Nullable
+    public VerticalTransitionHint buildHint() {
+        if (samples.isEmpty()) {
+            return null;
+        }
+
+        Sample first = samples.peekFirst();
+        Sample last = samples.peekLast();
+        if (first == null || last == null) {
+            return null;
+        }
+
+        double deltaHeight = last.elevationMeters - first.elevationMeters;
+        return new VerticalTransitionHint(last.elevationMeters, deltaHeight, latchedHeightChanged);
+    }
+
+    private void pruneOldSamples(long latestTimestampMs) {
+        long cutoff = latestTimestampMs - WINDOW_MS;
+        while (!samples.isEmpty() && samples.peekFirst() != null && samples.peekFirst().timestampMs < cutoff) {
+            samples.removeFirst();
+        }
+    }
+
+    private void updateLatchState() {
+        if (samples.size() < 2) {
+            latchedHeightChanged = false;
+            return;
+        }
+
+        Sample first = samples.peekFirst();
+        Sample last = samples.peekLast();
+        if (first == null || last == null) {
+            latchedHeightChanged = false;
+            return;
+        }
+
+        double deltaHeight = last.elevationMeters - first.elevationMeters;
+        double absDeltaHeight = Math.abs(deltaHeight);
+        long elapsedMs = Math.max(0L, last.timestampMs - first.timestampMs);
+        boolean elevatorLikely = containsElevatorFlag();
+        double threshold = elevatorLikely
+                ? ELEVATOR_HEIGHT_CHANGE_THRESHOLD_METERS
+                : HEIGHT_CHANGE_THRESHOLD_METERS;
+
+        if (latchedHeightChanged) {
+            if (absDeltaHeight <= RESET_THRESHOLD_METERS) {
+                latchedHeightChanged = false;
+            }
+            return;
+        }
+
+        if (elapsedMs >= MIN_PERSIST_MS && absDeltaHeight >= threshold) {
+            latchedHeightChanged = true;
+        }
+    }
+
+    private boolean containsElevatorFlag() {
+        Iterator<Sample> iterator = samples.iterator();
+        while (iterator.hasNext()) {
+            if (iterator.next().elevatorFlag) {
+                return true;
+            }
+        }
+        return false;
+    }
+
+    private static final class Sample {
+        final long timestampMs;
+        final double elevationMeters;
+        final boolean elevatorFlag;
+
+        Sample(long timestampMs, double elevationMeters, boolean elevatorFlag) {
+            this.timestampMs = timestampMs;
+            this.elevationMeters = elevationMeters;
+            this.elevatorFlag = elevatorFlag;
+        }
+    }
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
index 38d7847f..43c093f3 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
@@ -3,6 +3,7 @@
 import android.os.Handler;
 import android.os.Looper;
 import android.os.SystemClock;
+import android.util.Log;
 import android.view.View;
 import android.widget.TextView;
 
@@ -24,6 +25,7 @@
  */
 public class FloorController {
 
+    private static final String TAG = "FloorController";
     private static final long AUTO_FLOOR_DEBOUNCE_MS = 3000L;
     private static final long AUTO_FLOOR_CHECK_INTERVAL_MS = 1000L;
     private static final float AUTO_FLOOR_MIN_VERTICAL_DELTA_METERS = 1.2f;
@@ -84,8 +86,9 @@ private void attachListeners() {
 
         if (floorUpButton != null) {
             floorUpButton.setOnClickListener(v -> {
-                if (autoFloorSwitch != null) {
-                    autoFloorSwitch.setChecked(false);
+                if (isAutoFloorEnabled()) {
+                    Log.d(TAG, "Ignored manual floor-up because AutoFloor is enabled.");
+                    return;
                 }
                 FloorplanApiClient.BuildingInfo building = host.getSelectedFloorplanBuilding();
                 if (building != null) {
@@ -100,8 +103,9 @@ private void attachListeners() {
 
         if (floorDownButton != null) {
             floorDownButton.setOnClickListener(v -> {
-                if (autoFloorSwitch != null) {
-                    autoFloorSwitch.setChecked(false);
+                if (isAutoFloorEnabled()) {
+                    Log.d(TAG, "Ignored manual floor-down because AutoFloor is enabled.");
+                    return;
                 }
                 FloorplanApiClient.BuildingInfo building = host.getSelectedFloorplanBuilding();
                 if (building != null) {
@@ -325,6 +329,10 @@ public void stopAutoFloor() {
         lastCandidateTime = 0L;
     }
 
+    public boolean isAutoFloorEnabled() {
+        return autoFloorSwitch != null && autoFloorSwitch.isChecked();
+    }
+
     public void evaluateAutoFloor() {
         if (host.isReplayModeEnabled()) {
             return;
@@ -386,6 +394,43 @@ private Integer resolveAutoFloorCandidateIndex(@Nullable SensorFusion sensorFusi
         return indoorMapManager.logicalFloorToIndex(candidateLogicalFloor);
     }
 
+    /**
+     * Returns a floor candidate for positioning logic without forcing the UI to switch floors.
+     *
+     * Strategy:
+     * - If WiFi positioning is available, expose its floor immediately as an algorithm candidate.
+     * - Otherwise only expose a barometer/elevator-derived floor when the same evidence would be
+     *   strong enough to justify an AutoFloor transition.
+     * - If the evidence is weak, return null so the caller can keep the previous matched floor.
+     */
+    @Nullable
+    public Integer peekTrackingFloorCandidateIndex() {
+        if (host.isReplayModeEnabled()) {
+            return null;
+        }
+
+        SensorFusion sensorFusion = host.getSensorFusion();
+        IndoorMapManager indoorMapManager = host.getIndoorMapManager();
+        if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+            return null;
+        }
+
+        Integer rawCandidateFloorIndex = resolveAutoFloorCandidateIndex(sensorFusion, indoorMapManager);
+        if (rawCandidateFloorIndex == null) {
+            return null;
+        }
+
+        if (sensorFusion.getLatLngWifiPositioning() != null) {
+            return rawCandidateFloorIndex;
+        }
+
+        if (shouldAllowAutoFloorChange(rawCandidateFloorIndex, sensorFusion, indoorMapManager)) {
+            return rawCandidateFloorIndex;
+        }
+
+        return null;
+    }
+
     private boolean shouldAllowAutoFloorChange(int candidateFloorIndex,
                                                @NonNull SensorFusion sensorFusion,
                                                @NonNull IndoorMapManager indoorMapManager) {
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
index 700bd24d..b2096f8b 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
@@ -17,7 +17,9 @@
 import com.openpositioning.PositionMe.mapmatching.MapMatchingResult;
 import com.openpositioning.PositionMe.mapmatching.MapMatchingService;
 import com.openpositioning.PositionMe.mapmatching.MotionDelta;
+import com.openpositioning.PositionMe.mapmatching.VerticalMotionDetector;
 import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint;
+import com.openpositioning.PositionMe.sensors.SensorFusion;
 import com.openpositioning.PositionMe.utils.IndoorMapManager;
 
 import java.util.List;
@@ -25,6 +27,13 @@
 
 final class MapMatchingCoordinator {
 
+    private static final double WIFI_MAX_PULL_METERS = 6.0;
+    private static final double GNSS_MAX_PULL_METERS = 10.0;
+    private static final double WIFI_BLEND_RATIO = 0.45;
+    private static final double GNSS_BLEND_RATIO = 0.20;
+    private static final double MAX_OBSERVATION_RESIDUAL_METERS = 25.0;
+
+
     interface Host {
         @Nullable GoogleMap getGoogleMap();
         @NonNull Context requireContext();
@@ -32,6 +41,8 @@ interface Host {
         @Nullable FloorplanApiClient.BuildingInfo getSelectedFloorplanBuilding();
         @Nullable IndoorMapManager getIndoorMapManager();
         boolean isReplayModeEnabled();
+        @Nullable SensorFusion getSensorFusion();
+        @Nullable Integer getTrackingCandidateFloorIndex();
         int getCurrentFloorIndex();
         void setFloor(int floorIndex);
         boolean isAutoFloorEnabled();
@@ -51,6 +62,7 @@ interface Host {
 
     private final Host host;
     private final MapMatchingService mapMatchingService = new MapMatchingService();
+    private final VerticalMotionDetector verticalMotionDetector = new VerticalMotionDetector();
 
     @Nullable
     private CandidatePose previousMatchedPose;
@@ -73,6 +85,8 @@ interface Host {
 
     void onReplayModeChanged(boolean enabled) {
         previousMatchedPose = null;
+        mapMatchingService.resetTransientState();
+        verticalMotionDetector.reset();
         host.getTrajectoryRenderer().clearRawReplayPath();
         clearReplayContext(true);
         if (enabled) {
@@ -82,6 +96,8 @@ void onReplayModeChanged(boolean enabled) {
 
     void onSelectedBuildingChanged() {
         previousMatchedPose = null;
+        mapMatchingService.resetTransientState();
+        verticalMotionDetector.reset();
         host.getTrajectoryRenderer().clearRawReplayPath();
         clearReplayContext(true);
     }
@@ -129,23 +145,29 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         }
 
         long timestampMs = SystemClock.elapsedRealtime();
+        int displayFloorIndex = host.getCurrentFloorIndex();
         int candidateFloorIndex = replayMode
                 ? resolveReplayCandidateFloorIndex()
                 : resolveLiveCandidateFloorIndex();
         int sourceFloorIndex = previousMatchedPose != null
                 ? previousMatchedPose.getFloor()
                 : candidateFloorIndex;
+        AbsoluteObservationCorrection absoluteCorrection = replayMode
+                ? AbsoluteObservationCorrection.passThrough(rawLocation, "replay_pdr")
+                : applyAbsoluteObservationCorrection(rawLocation, candidateFloorIndex);
+        LatLng candidateLatLng = absoluteCorrection.getCorrectedLatLng();
         FloorplanApiClient.FloorShapes sourceFloorShapes = getFloorShapesForFloorIndex(sourceFloorIndex);
         FloorplanApiClient.FloorShapes targetFloorShapes = getFloorShapesForFloorIndex(candidateFloorIndex);
         CandidatePose currentCandidatePose = new CandidatePose(
-                rawLocation,
+                candidateLatLng,
                 candidateFloorIndex,
                 timestampMs,
-                replayMode ? "replay_pdr" : "live_pdr"
+                absoluteCorrection.getPoseSource()
         );
 
-        MotionDelta motionDelta = buildMotionDelta(previousMatchedPose, rawLocation, orientation);
-        VerticalTransitionHint verticalHint = replayMode ? buildReplayVerticalHint() : null;
+        MotionDelta motionDelta = buildMotionDelta(previousMatchedPose, candidateLatLng, orientation);
+        VerticalTransitionHint verticalHint = buildVerticalTransitionHint(timestampMs);
+        logVerticalHintDiagnostics(verticalHint, replayMode, candidateFloorIndex);
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
         String activeBuildingId = selectedBuilding != null
                 ? host.resolveKnownBuildingKey(selectedBuilding, selectedBuilding.getName())
@@ -171,15 +193,21 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
                 : matchedFloor;
 
         logFeatureValidation(rawLocation, matchingResult);
+        logAbsoluteObservationDiagnostics(rawLocation, absoluteCorrection);
         Log.d(host.getTestLogTag(), String.format(Locale.US,
-                "raw=(%.6f, %.6f) matched=(%.6f, %.6f) sourceFloor=%d candidateFloor=%d matchedFloor=%d correction=%s reason=%s",
+                "raw=(%.6f, %.6f) candidate=(%.6f, %.6f) matched=(%.6f, %.6f) sourceFloor=%d candidateFloor=%d matchedFloor=%d displayFloor=%d autoFloorEnabled=%s candidateSource=%s correction=%s reason=%s",
                 rawLocation.latitude,
                 rawLocation.longitude,
+                candidateLatLng.latitude,
+                candidateLatLng.longitude,
                 matchedLocation.latitude,
                 matchedLocation.longitude,
                 sourceFloorIndex,
                 candidateFloorIndex,
                 matchedFloor,
+                displayFloorIndex,
+                String.valueOf(host.isAutoFloorEnabled()),
+                absoluteCorrection.getPoseSource(),
                 matchingResult.getCorrectionType() != null
                         ? matchingResult.getCorrectionType().name()
                         : CorrectionType.NONE.name(),
@@ -219,6 +247,8 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
 
     void resetMapMatchingState() {
         previousMatchedPose = null;
+        mapMatchingService.resetTransientState();
+        verticalMotionDetector.reset();
         host.getTrajectoryRenderer().clearRawReplayPath();
         clearReplayContext(true);
     }
@@ -253,12 +283,125 @@ private FloorplanApiClient.FloorShapes getFloorShapesForFloorIndex(int floorInde
     }
 
     private int resolveLiveCandidateFloorIndex() {
+        Integer trackingCandidateFloorIndex = host.getTrackingCandidateFloorIndex();
+        if (trackingCandidateFloorIndex != null) {
+            return trackingCandidateFloorIndex;
+        }
         if (previousMatchedPose != null) {
             return previousMatchedPose.getFloor();
         }
         return host.getCurrentFloorIndex();
     }
 
+    @NonNull
+    private AbsoluteObservationCorrection applyAbsoluteObservationCorrection(@NonNull LatLng rawLocation,
+                                                                             int candidateFloorIndex) {
+        SensorFusion sensorFusion = host.getSensorFusion();
+        if (sensorFusion == null) {
+            return AbsoluteObservationCorrection.passThrough(rawLocation, "live_pdr");
+        }
+
+        LatLng wifiObservation = sensorFusion.getLatLngWifiPositioning();
+        if (isUsableObservation(wifiObservation)) {
+            double rawDistanceMeters = distanceMeters(rawLocation, wifiObservation);
+            if (rawDistanceMeters <= MAX_OBSERVATION_RESIDUAL_METERS) {
+                double blendRatio = previousMatchedPose == null ? 0.70 : WIFI_BLEND_RATIO;
+                double maxPullMeters = previousMatchedPose == null ? WIFI_MAX_PULL_METERS * 2.0 : WIFI_MAX_PULL_METERS;
+                LatLng blended = blendTowardObservation(rawLocation, wifiObservation, blendRatio, maxPullMeters);
+                return new AbsoluteObservationCorrection(blended, "live_wifi_fused", "wifi", rawDistanceMeters);
+            }
+        }
+
+        LatLng gnssObservation = getGnssObservation(sensorFusion);
+        if (isUsableObservation(gnssObservation)) {
+            double rawDistanceMeters = distanceMeters(rawLocation, gnssObservation);
+            if (rawDistanceMeters <= MAX_OBSERVATION_RESIDUAL_METERS) {
+                double blendRatio = previousMatchedPose == null ? 0.40 : GNSS_BLEND_RATIO;
+                double maxPullMeters = previousMatchedPose == null ? GNSS_MAX_PULL_METERS * 1.5 : GNSS_MAX_PULL_METERS;
+                LatLng blended = blendTowardObservation(rawLocation, gnssObservation, blendRatio, maxPullMeters);
+                return new AbsoluteObservationCorrection(blended, "live_gnss_fused", "gnss", rawDistanceMeters);
+            }
+        }
+
+        return AbsoluteObservationCorrection.passThrough(rawLocation, "live_pdr");
+    }
+
+    private void logAbsoluteObservationDiagnostics(@NonNull LatLng rawLocation,
+                                                   @NonNull AbsoluteObservationCorrection correction) {
+        if (!correction.hasExternalObservation()) {
+            Log.d(host.getTestLogTag(), String.format(Locale.US,
+                    "ABSOLUTE_UPDATE source=none raw=(%.6f, %.6f) candidate=(%.6f, %.6f)",
+                    rawLocation.latitude,
+                    rawLocation.longitude,
+                    correction.getCorrectedLatLng().latitude,
+                    correction.getCorrectedLatLng().longitude));
+            return;
+        }
+
+        double appliedShiftMeters = distanceMeters(rawLocation, correction.getCorrectedLatLng());
+        Log.d(host.getTestLogTag(), String.format(Locale.US,
+                "ABSOLUTE_UPDATE source=%s residualMeters=%.2f appliedShiftMeters=%.2f candidate=(%.6f, %.6f)",
+                correction.getObservationSource(),
+                correction.getObservationResidualMeters(),
+                appliedShiftMeters,
+                correction.getCorrectedLatLng().latitude,
+                correction.getCorrectedLatLng().longitude));
+    }
+
+    @Nullable
+    private LatLng getGnssObservation(@NonNull SensorFusion sensorFusion) {
+        float[] gnss = sensorFusion.getGNSSLatitude(false);
+        if (gnss == null || gnss.length < 2) {
+            return null;
+        }
+        if (gnss[0] == 0f && gnss[1] == 0f) {
+            return null;
+        }
+        return new LatLng(gnss[0], gnss[1]);
+    }
+
+    private boolean isUsableObservation(@Nullable LatLng observation) {
+        return observation != null
+                && !Double.isNaN(observation.latitude)
+                && !Double.isNaN(observation.longitude)
+                && !(observation.latitude == 0d && observation.longitude == 0d);
+    }
+
+    @NonNull
+    private LatLng blendTowardObservation(@NonNull LatLng rawLocation,
+                                          @NonNull LatLng observation,
+                                          double blendRatio,
+                                          double maxPullMeters) {
+        LatLng blended = interpolate(rawLocation, observation, blendRatio);
+        double appliedShiftMeters = distanceMeters(rawLocation, blended);
+        if (appliedShiftMeters <= maxPullMeters) {
+            return blended;
+        }
+        double limitedRatio = maxPullMeters / Math.max(appliedShiftMeters, 1e-6d);
+        return interpolate(rawLocation, blended, limitedRatio);
+    }
+
+    @NonNull
+    private LatLng interpolate(@NonNull LatLng from, @NonNull LatLng to, double ratio) {
+        double clampedRatio = Math.max(0d, Math.min(1d, ratio));
+        return new LatLng(
+                from.latitude + (to.latitude - from.latitude) * clampedRatio,
+                from.longitude + (to.longitude - from.longitude) * clampedRatio
+        );
+    }
+
+    private double distanceMeters(@NonNull LatLng from, @NonNull LatLng to) {
+        float[] results = new float[1];
+        Location.distanceBetween(
+                from.latitude,
+                from.longitude,
+                to.latitude,
+                to.longitude,
+                results
+        );
+        return results[0];
+    }
+
     @Nullable
     private MotionDelta buildMotionDelta(@Nullable CandidatePose previousPose,
                                          @NonNull LatLng rawLocation,
@@ -281,6 +424,42 @@ private MotionDelta buildMotionDelta(@Nullable CandidatePose previousPose,
         return new MotionDelta(deltaX, deltaY, results[0], orientation);
     }
 
+    @Nullable
+    private VerticalTransitionHint buildVerticalTransitionHint(long timestampMs) {
+        if (!host.isReplayModeEnabled()) {
+            SensorFusion sensorFusion = host.getSensorFusion();
+            if (sensorFusion == null) {
+                return null;
+            }
+
+            double elevationMeters = sensorFusion.getElevation();
+            boolean elevatorLikely = sensorFusion.getElevator();
+            verticalMotionDetector.addSample(timestampMs, elevationMeters, elevatorLikely);
+            return verticalMotionDetector.buildHint();
+        }
+        return buildReplayVerticalHint();
+    }
+
+    private void logVerticalHintDiagnostics(@Nullable VerticalTransitionHint verticalHint,
+                                            boolean replayMode,
+                                            int candidateFloorIndex) {
+        if (verticalHint == null) {
+            Log.d(host.getTestLogTag(), String.format(Locale.US,
+                    "VERTICAL_HINT source=%s candidateFloor=%d available=false",
+                    replayMode ? "replay" : "live",
+                    candidateFloorIndex));
+            return;
+        }
+
+        Log.d(host.getTestLogTag(), String.format(Locale.US,
+                "VERTICAL_HINT source=%s candidateFloor=%d available=true elevation=%.2f deltaHeight=%.2f heightChanged=%s",
+                replayMode ? "replay" : "live",
+                candidateFloorIndex,
+                verticalHint.getCurrentElevation(),
+                verticalHint.getDeltaHeight(),
+                String.valueOf(verticalHint.isHeightChanged())));
+    }
+
     @Nullable
     private VerticalTransitionHint buildReplayVerticalHint() {
         if (!host.isReplayModeEnabled()) {
@@ -487,4 +666,52 @@ private void logFeatureValidation(@NonNull LatLng rawLocation, @Nullable MapMatc
                 result.getCorrectionType() != null ? result.getCorrectionType().name() : CorrectionType.NONE.name(),
                 result.getDebugReason()));
     }
+
+    private static final class AbsoluteObservationCorrection {
+        @NonNull
+        private final LatLng correctedLatLng;
+        @NonNull
+        private final String poseSource;
+        @Nullable
+        private final String observationSource;
+        private final double observationResidualMeters;
+
+        private AbsoluteObservationCorrection(@NonNull LatLng correctedLatLng,
+                                              @NonNull String poseSource,
+                                              @Nullable String observationSource,
+                                              double observationResidualMeters) {
+            this.correctedLatLng = correctedLatLng;
+            this.poseSource = poseSource;
+            this.observationSource = observationSource;
+            this.observationResidualMeters = observationResidualMeters;
+        }
+
+        @NonNull
+        static AbsoluteObservationCorrection passThrough(@NonNull LatLng latLng, @NonNull String poseSource) {
+            return new AbsoluteObservationCorrection(latLng, poseSource, null, 0d);
+        }
+
+        @NonNull
+        LatLng getCorrectedLatLng() {
+            return correctedLatLng;
+        }
+
+        @NonNull
+        String getPoseSource() {
+            return poseSource;
+        }
+
+        boolean hasExternalObservation() {
+            return observationSource != null;
+        }
+
+        @Nullable
+        String getObservationSource() {
+            return observationSource;
+        }
+
+        double getObservationResidualMeters() {
+            return observationResidualMeters;
+        }
+    }
 }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 7694169b..494ea0b2 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -305,6 +305,18 @@ public boolean isReplayModeEnabled() {
                     return replayModeEnabled;
                 }
 
+                @Nullable
+                @Override
+                public SensorFusion getSensorFusion() {
+                    return sensorFusion;
+                }
+
+                @Nullable
+                @Override
+                public Integer getTrackingCandidateFloorIndex() {
+                    return floorController.peekTrackingFloorCandidateIndex();
+                }
+
                 @Override
                 public int getCurrentFloorIndex() {
                     return currentFloorIndex;
diff --git a/app/src/main_already.zip b/app/src/main_already.zip
index f88cdcb93c9985aa9a0deae3e08f55e066427459..da67b8075ee91a3fbc4069d028334515da4b202b 100644
GIT binary patch
delta 39706
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From c4e715eac7128011ad4006a2ce5d79a1b45ebfa7 Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Fri, 27 Mar 2026 05:14:06 +0000
Subject: [PATCH 19/35] Correct the UI

---
 .../fragment/MapMatchingCoordinator.java      |   8 +-
 .../fragment/TrajectoryMapFragment.java       |  14 +++
 .../fragment/TrajectoryRenderer.java          | 113 +++++++++++++++---
 .../res/layout/fragment_trajectory_map.xml    |  14 +++
 app/src/main_already.zip                      | Bin 7103522 -> 7104149 bytes
 5 files changed, 132 insertions(+), 17 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
index b2096f8b..ec01866a 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
@@ -140,9 +140,7 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
 
         boolean replayMode = host.isReplayModeEnabled();
         LatLng rawLocation = newLocation;
-        if (replayMode) {
-            host.getTrajectoryRenderer().appendRawReplayPoint(rawLocation);
-        }
+        host.getTrajectoryRenderer().appendRawObservationPoint(rawLocation);
 
         long timestampMs = SystemClock.elapsedRealtime();
         int displayFloorIndex = host.getCurrentFloorIndex();
@@ -155,6 +153,10 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         AbsoluteObservationCorrection absoluteCorrection = replayMode
                 ? AbsoluteObservationCorrection.passThrough(rawLocation, "replay_pdr")
                 : applyAbsoluteObservationCorrection(rawLocation, candidateFloorIndex);
+        SensorFusion sensorFusion = host.getSensorFusion();
+        if (!replayMode && sensorFusion != null) {
+            host.getTrajectoryRenderer().updateWifiObservation(sensorFusion.getLatLngWifiPositioning());
+        }
         LatLng candidateLatLng = absoluteCorrection.getCorrectedLatLng();
         FloorplanApiClient.FloorShapes sourceFloorShapes = getFloorShapesForFloorIndex(sourceFloorIndex);
         FloorplanApiClient.FloorShapes targetFloorShapes = getFloorShapesForFloorIndex(candidateFloorIndex);
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 494ea0b2..4a94c051 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -401,6 +401,8 @@ public String getTestLogTag() {
     private Spinner switchMapSpinner;
     private SwitchMaterial gnssSwitch;
     private SwitchMaterial autoFloorSwitch;
+    private SwitchMaterial showWifiSwitch;
+    private SwitchMaterial showPdrSwitch;
     private com.google.android.material.floatingactionbutton.FloatingActionButton floorUpButton, floorDownButton;
     private TextView floorLabel;
     private Button switchColorButton;
@@ -424,6 +426,8 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
         switchMapSpinner = view.findViewById(R.id.mapSwitchSpinner);
         gnssSwitch = view.findViewById(R.id.gnssSwitch);
         autoFloorSwitch = view.findViewById(R.id.autoFloor);
+        showWifiSwitch = view.findViewById(R.id.showWifiSwitch);
+        showPdrSwitch = view.findViewById(R.id.showPdrSwitch);
         floorUpButton = view.findViewById(R.id.floorUpButton);
         floorDownButton = view.findViewById(R.id.floorDownButton);
         floorLabel = view.findViewById(R.id.floorLabel);
@@ -505,6 +509,14 @@ else if (!replayModeEnabled && getContext() != null) {
                 trajectoryRenderer.clearGnssMarker();
             }
         });
+        if (showWifiSwitch != null) {
+            showWifiSwitch.setOnCheckedChangeListener((buttonView, isChecked) ->
+                    trajectoryRenderer.setShowWifiObservations(isChecked));
+        }
+        if (showPdrSwitch != null) {
+            showPdrSwitch.setOnCheckedChangeListener((buttonView, isChecked) ->
+                    trajectoryRenderer.setShowPdrObservations(isChecked));
+        }
 
         switchColorButton.setOnClickListener(v -> {
             trajectoryRenderer.toggleTrajectoryColor();
@@ -1536,6 +1548,8 @@ private void initMapSettings(GoogleMap map) {
         });
 
         trajectoryRenderer.attachToMap(map);
+        trajectoryRenderer.setShowWifiObservations(showWifiSwitch == null || showWifiSwitch.isChecked());
+        trajectoryRenderer.setShowPdrObservations(showPdrSwitch == null || showPdrSwitch.isChecked());
     }
 
     private String prettyBuildingName(String raw) {
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
index 2d312d8f..b58a6338 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
@@ -34,6 +34,10 @@ class TrajectoryRenderer {
     private static final float TRAJECTORY_WIDTH_OUTLINE_PX = 18f;
     private static final float TRAJECTORY_Z_INDEX = 1000f;
     private static final int TRAJECTORY_BLACK_OUTLINE_COLOR = Color.argb(210, 235, 235, 235);
+    private static final int RAW_PDR_COLOR = Color.argb(170, 30, 136, 229);
+    private static final int WIFI_COLOR = Color.argb(190, 46, 125, 50);
+    private static final float RAW_PDR_WIDTH_PX = 5f;
+    private static final float WIFI_WIDTH_PX = 6f;
 
     @Nullable
     private GoogleMap map;
@@ -42,24 +46,49 @@ class TrajectoryRenderer {
     @Nullable
     private Marker gnssMarker;
     @Nullable
+    private Marker wifiMarker;
+    @Nullable
     private Polyline trajectoryOutline;
     @Nullable
     private Polyline trajectoryMain;
     @Nullable
-    private Polyline rawReplayPolyline;
+    private Polyline rawPdrPolyline;
     @Nullable
     private Polyline gnssPolyline;
     @Nullable
+    private Polyline wifiPolyline;
+    @Nullable
     private LatLng lastGnssLocation;
+    @Nullable
+    private LatLng lastWifiLocation;
 
     private final List<Marker> testPointMarkers = new ArrayList<>();
     private boolean useRedTrajectory = true;
+    private boolean showPdrObservations = true;
+    private boolean showWifiObservations = true;
 
     void attachToMap(@NonNull GoogleMap googleMap) {
         map = googleMap;
         resetMapArtifacts();
     }
 
+    void setShowPdrObservations(boolean show) {
+        showPdrObservations = show;
+        if (rawPdrPolyline != null) {
+            rawPdrPolyline.setVisible(show);
+        }
+    }
+
+    void setShowWifiObservations(boolean show) {
+        showWifiObservations = show;
+        if (wifiPolyline != null) {
+            wifiPolyline.setVisible(show);
+        }
+        if (wifiMarker != null) {
+            wifiMarker.setVisible(show);
+        }
+    }
+
     void updateCurrentPosition(@NonNull Context context,
                                @NonNull LatLng matchedLocation,
                                float orientation,
@@ -100,24 +129,61 @@ void appendMatchedLocation(@Nullable LatLng oldLocation, @NonNull LatLng matched
         }
     }
 
-    void appendRawReplayPoint(@NonNull LatLng rawLocation) {
-        if (rawReplayPolyline == null) {
+    void appendRawObservationPoint(@NonNull LatLng rawLocation) {
+        if (rawPdrPolyline == null) {
             return;
         }
 
-        List<LatLng> rawPoints = new ArrayList<>(rawReplayPolyline.getPoints());
+        List<LatLng> rawPoints = new ArrayList<>(rawPdrPolyline.getPoints());
         if (rawPoints.isEmpty() || !rawPoints.get(rawPoints.size() - 1).equals(rawLocation)) {
             rawPoints.add(rawLocation);
-            rawReplayPolyline.setPoints(rawPoints);
+            rawPdrPolyline.setPoints(rawPoints);
         }
+        rawPdrPolyline.setVisible(showPdrObservations);
+    }
+
+    void appendRawReplayPoint(@NonNull LatLng rawLocation) {
+        appendRawObservationPoint(rawLocation);
     }
 
     void clearRawReplayPath() {
-        if (rawReplayPolyline != null) {
-            rawReplayPolyline.setPoints(new ArrayList<>());
+        clearRawObservationPath();
+    }
+
+    void clearRawObservationPath() {
+        if (rawPdrPolyline != null) {
+            rawPdrPolyline.setPoints(new ArrayList<>());
+            rawPdrPolyline.setVisible(showPdrObservations);
         }
     }
 
+    void updateWifiObservation(@Nullable LatLng wifiLocation) {
+        if (map == null || !showWifiObservations || wifiLocation == null) {
+            return;
+        }
+
+        if (wifiMarker == null) {
+            wifiMarker = map.addMarker(new MarkerOptions()
+                    .position(wifiLocation)
+                    .title("WiFi Position")
+                    .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_GREEN)));
+            lastWifiLocation = wifiLocation;
+            return;
+        }
+
+        wifiMarker.setVisible(true);
+        wifiMarker.setPosition(wifiLocation);
+        if (lastWifiLocation != null && !lastWifiLocation.equals(wifiLocation) && wifiPolyline != null) {
+            List<LatLng> wifiPoints = new ArrayList<>(wifiPolyline.getPoints());
+            wifiPoints.add(wifiLocation);
+            if (wifiPoints.size() > 40) {
+                wifiPoints = new ArrayList<>(wifiPoints.subList(wifiPoints.size() - 40, wifiPoints.size()));
+            }
+            wifiPolyline.setPoints(wifiPoints);
+        }
+        lastWifiLocation = wifiLocation;
+    }
+
     void addTestPointMarker(int index, long timestampMs, @NonNull LatLng position) {
         if (map == null) {
             return;
@@ -180,16 +246,21 @@ void resetMapArtifacts() {
         trajectoryOutline = null;
         removePolyline(trajectoryMain);
         trajectoryMain = null;
-        removePolyline(rawReplayPolyline);
-        rawReplayPolyline = null;
+        removePolyline(rawPdrPolyline);
+        rawPdrPolyline = null;
         removePolyline(gnssPolyline);
         gnssPolyline = null;
+        removePolyline(wifiPolyline);
+        wifiPolyline = null;
 
         removeMarker(orientationMarker);
         orientationMarker = null;
         removeMarker(gnssMarker);
         gnssMarker = null;
+        removeMarker(wifiMarker);
+        wifiMarker = null;
         lastGnssLocation = null;
+        lastWifiLocation = null;
 
         for (Marker marker : testPointMarkers) {
             marker.remove();
@@ -202,12 +273,26 @@ void resetMapArtifacts() {
 
         trajectoryOutline = map.addPolyline(buildTrajectoryOutlineOptions());
         trajectoryMain = map.addPolyline(buildTrajectoryMainOptions());
-        rawReplayPolyline = map.addPolyline(buildRawReplayPolylineOptions());
+        rawPdrPolyline = map.addPolyline(buildRawPdrPolylineOptions());
         gnssPolyline = map.addPolyline(new PolylineOptions()
                 .color(Color.BLUE)
                 .width(5f)
                 .zIndex(TRAJECTORY_Z_INDEX - 19f)
                 .add());
+        wifiPolyline = map.addPolyline(new PolylineOptions()
+                .color(WIFI_COLOR)
+                .width(WIFI_WIDTH_PX)
+                .zIndex(TRAJECTORY_Z_INDEX - 17f)
+                .startCap(new RoundCap())
+                .endCap(new RoundCap())
+                .jointType(JointType.ROUND)
+                .add());
+        if (rawPdrPolyline != null) {
+            rawPdrPolyline.setVisible(showPdrObservations);
+        }
+        if (wifiPolyline != null) {
+            wifiPolyline.setVisible(showWifiObservations);
+        }
         ensureTrajectoryStyling();
         applyTrajectoryColor();
     }
@@ -274,14 +359,14 @@ private PolylineOptions buildTrajectoryMainOptions() {
     }
 
     @NonNull
-    private PolylineOptions buildRawReplayPolylineOptions() {
+    private PolylineOptions buildRawPdrPolylineOptions() {
         return new PolylineOptions()
-                .color(Color.argb(170, 30, 136, 229))
-                .width(5f)
+                .color(RAW_PDR_COLOR)
+                .width(RAW_PDR_WIDTH_PX)
                 .jointType(JointType.ROUND)
                 .startCap(new RoundCap())
                 .endCap(new RoundCap())
-                .zIndex(TRAJECTORY_Z_INDEX - 19f)
+                .zIndex(TRAJECTORY_Z_INDEX - 18f)
                 .add();
     }
 
diff --git a/app/src/main/res/layout/fragment_trajectory_map.xml b/app/src/main/res/layout/fragment_trajectory_map.xml
index 608e8bc3..3626bb53 100644
--- a/app/src/main/res/layout/fragment_trajectory_map.xml
+++ b/app/src/main/res/layout/fragment_trajectory_map.xml
@@ -62,6 +62,20 @@
                         android:layout_height="wrap_content"
                         android:text="@string/auto_floor" />
 
+                    <com.google.android.material.switchmaterial.SwitchMaterial
+                        android:id="@+id/showWifiSwitch"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:checked="true"
+                        android:text="📶 Show WiFi" />
+
+                    <com.google.android.material.switchmaterial.SwitchMaterial
+                        android:id="@+id/showPdrSwitch"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:checked="true"
+                        android:text="👣 Show PDR" />
+
                     <com.google.android.material.button.MaterialButton
                         android:id="@+id/lineColorButton"
                         android:layout_width="wrap_content"
diff --git a/app/src/main_already.zip b/app/src/main_already.zip
index da67b8075ee91a3fbc4069d028334515da4b202b..05f4a117664869d734b72fe154fdd83428332a2c 100644
GIT binary patch
delta 27057
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From da03bff51c980b1c8d753a5ac3f6cc568cdd0395 Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Fri, 27 Mar 2026 06:09:56 +0000
Subject: [PATCH 20/35] log UI

---
 .../fragment/MapMatchingCoordinator.java      |  72 ++++++++
 .../fragment/TrajectoryMapFragment.java       |  48 +++++
 .../res/layout/fragment_trajectory_map.xml    | 174 +++++++++++-------
 app/src/main_already.zip                      | Bin 7104149 -> 7105129 bytes
 4 files changed, 229 insertions(+), 65 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
index ec01866a..8fba7a9b 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
@@ -78,17 +78,29 @@ interface Host {
     @Nullable
     private Integer replayBaseFloorIndex;
     private boolean replayDisplayFloorInitialized = false;
+    @NonNull
+    private String latestDebugStatus = "abs:none  src:idle\n"
+            + "floor d/c/m: -/-/-\n"
+            + "vertical: steady Δ0.00m\n"
+            + "correction: NONE\n"
+            + "Waiting for updates";
 
     MapMatchingCoordinator(@NonNull Host host) {
         this.host = host;
     }
 
+    @NonNull
+    String getLatestDebugStatus() {
+        return latestDebugStatus;
+    }
+
     void onReplayModeChanged(boolean enabled) {
         previousMatchedPose = null;
         mapMatchingService.resetTransientState();
         verticalMotionDetector.reset();
         host.getTrajectoryRenderer().clearRawReplayPath();
         clearReplayContext(true);
+        latestDebugStatus = defaultDebugStatus();
         if (enabled) {
             replayDisplayFloorInitialized = false;
         }
@@ -100,6 +112,7 @@ void onSelectedBuildingChanged() {
         verticalMotionDetector.reset();
         host.getTrajectoryRenderer().clearRawReplayPath();
         clearReplayContext(true);
+        latestDebugStatus = defaultDebugStatus();
     }
 
     void setReplayFrameContext(@Nullable Integer syntheticFloor,
@@ -215,6 +228,16 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
                         : CorrectionType.NONE.name(),
                 matchingResult.getDebugReason()));
 
+        latestDebugStatus = buildDebugStatus(
+                absoluteCorrection.getObservationSource(),
+                absoluteCorrection.getPoseSource(),
+                displayFloorIndex,
+                candidateFloorIndex,
+                matchedFloor,
+                verticalHint,
+                matchingResult
+        );
+
         LatLng oldLocation = host.getCurrentLocation();
         host.setCurrentLocation(matchedLocation);
         previousMatchedPose = new CandidatePose(
@@ -253,6 +276,7 @@ void resetMapMatchingState() {
         verticalMotionDetector.reset();
         host.getTrajectoryRenderer().clearRawReplayPath();
         clearReplayContext(true);
+        latestDebugStatus = defaultDebugStatus();
     }
 
     private void clearReplayContext(boolean clearBaseFloorState) {
@@ -669,6 +693,54 @@ private void logFeatureValidation(@NonNull LatLng rawLocation, @Nullable MapMatc
                 result.getDebugReason()));
     }
 
+
+    @NonNull
+    private String defaultDebugStatus() {
+        return "abs:none  src:idle\n"
+                + "floor d/c/m: -/-/-\n"
+                + "vertical: steady Δ0.00m\n"
+                + "correction: NONE\n"
+                + "Waiting for updates";
+    }
+
+    @NonNull
+    private String buildDebugStatus(@Nullable String absoluteSource,
+                                    @Nullable String poseSource,
+                                    int displayFloorIndex,
+                                    int candidateFloorIndex,
+                                    int matchedFloor,
+                                    @Nullable VerticalTransitionHint verticalHint,
+                                    @NonNull MapMatchingResult result) {
+        String absoluteValue = absoluteSource == null ? "none" : absoluteSource;
+        String poseValue = poseSource == null ? "unknown" : poseSource;
+        String verticalValue = (verticalHint != null && verticalHint.isHeightChanged()) ? "changed" : "steady";
+        double deltaHeight = verticalHint != null ? verticalHint.getDeltaHeight() : 0d;
+        String correctionName = result.getCorrectionType() != null
+                ? result.getCorrectionType().name()
+                : CorrectionType.NONE.name();
+        String reason = result.getDebugReason() != null ? result.getDebugReason().trim() : "Waiting for updates";
+        if (reason.isEmpty()) {
+            reason = "Waiting for updates";
+        }
+        if (reason.length() > 80) {
+            reason = reason.substring(0, 80) + "…";
+        }
+        return String.format(Locale.US,
+                "abs:%s  src:%s\n"
+                        + "floor d/c/m: %d/%d/%d\n"
+                        + "vertical: %s Δ%.2fm\n"
+                        + "correction: %s\n"
+                        + "%s",
+                absoluteValue,
+                poseValue,
+                displayFloorIndex,
+                candidateFloorIndex,
+                matchedFloor,
+                verticalValue,
+                deltaHeight,
+                correctionName,
+                reason);
+    }
     private static final class AbsoluteObservationCorrection {
         @NonNull
         private final LatLng correctedLatLng;
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 4a94c051..6c69a68b 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -408,7 +408,10 @@ public String getTestLogTag() {
     private Button switchColorButton;
     private View mapControlsContent;
     private Button btnToggleControls;
+    private Button btnToggleLog;
+    private TextView debugStatusText;
     private boolean areMapControlsExpanded = true;
+    private boolean isDebugStatusVisible = false;
 
     public TrajectoryMapFragment() {
     }
@@ -434,6 +437,8 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
         switchColorButton = view.findViewById(R.id.lineColorButton);
         mapControlsContent = view.findViewById(R.id.mapControlsContent);
         btnToggleControls = view.findViewById(R.id.btnToggleControls);
+        btnToggleLog = view.findViewById(R.id.btnToggleLog);
+        debugStatusText = view.findViewById(R.id.debugStatusText);
 
         btnFindIndoorMap = view.findViewById(R.id.btnFindIndoorMap);
         btnFindActualMap = view.findViewById(R.id.btnFindActualMap);
@@ -469,6 +474,7 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
         }
         setFloorControlsVisibility(View.GONE);
         initMapControlsToggle();
+        initDebugStatusToggle();
         applyTrajectoryColorButtonState();
         updateActualMapButtonState();
 
@@ -1628,6 +1634,7 @@ public void setReplayModeEnabled(boolean enabled) {
             autoFloorSwitch.setEnabled(!enabled);
             autoFloorSwitch.setAlpha(enabled ? 0.45f : 1f);
         }
+        refreshDebugStatusText();
     }
 
     public void setReplayFrameContext(@Nullable Integer syntheticFloor,
@@ -1649,10 +1656,12 @@ public void setReplayFrameContext(@Nullable Integer syntheticFloor,
 
     public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         mapMatchingCoordinator.updateUserLocation(newLocation, orientation);
+        refreshDebugStatusText();
     }
 
     private void resetMapMatchingState() {
         mapMatchingCoordinator.resetMapMatchingState();
+        refreshDebugStatusText();
     }
 
     public void setInitialCameraPosition(@NonNull LatLng startLocation) {
@@ -2086,6 +2095,45 @@ private void updateMapControlsPanelUi() {
         }
     }
 
+
+    private void initDebugStatusToggle() {
+        if (btnToggleLog != null) {
+            btnToggleLog.setOnClickListener(v -> toggleDebugStatusPanel());
+        }
+        refreshDebugStatusText();
+        updateDebugStatusUi();
+    }
+
+    private void toggleDebugStatusPanel() {
+        isDebugStatusVisible = !isDebugStatusVisible;
+        refreshDebugStatusText();
+        updateDebugStatusUi();
+    }
+
+    private void refreshDebugStatusText() {
+        if (debugStatusText == null) {
+            return;
+        }
+        String status = mapMatchingCoordinator.getLatestDebugStatus();
+        if (status == null || status.trim().isEmpty()) {
+            status = "abs:none  src:idle\n"
+                    + "floor d/c/m: -/-/-\n"
+                    + "vertical: steady Δ0.00m\n"
+                    + "correction: NONE\n"
+                    + "Waiting for updates";
+        }
+        debugStatusText.setText(status);
+    }
+
+    private void updateDebugStatusUi() {
+        if (debugStatusText != null) {
+            debugStatusText.setVisibility(isDebugStatusVisible ? View.VISIBLE : View.GONE);
+        }
+        if (btnToggleLog != null) {
+            btnToggleLog.setText(isDebugStatusVisible ? "Close Log" : "Log");
+        }
+    }
+
     private void applyTrajectoryColorButtonState() {
         if (switchColorButton == null) {
             return;
diff --git a/app/src/main/res/layout/fragment_trajectory_map.xml b/app/src/main/res/layout/fragment_trajectory_map.xml
index 3626bb53..07836c89 100644
--- a/app/src/main/res/layout/fragment_trajectory_map.xml
+++ b/app/src/main/res/layout/fragment_trajectory_map.xml
@@ -17,97 +17,141 @@
         android:layout_height="wrap_content"
         android:layout_margin="10dp"
         android:gravity="top"
-        android:orientation="horizontal"
+        android:orientation="vertical"
         app:layout_anchor="@id/trajectoryMap"
         app:layout_anchorGravity="top|start">
 
-        <com.google.android.material.card.MaterialCardView
+        <LinearLayout
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            app:cardBackgroundColor="#F7FFFFFF"
-            app:cardCornerRadius="12dp"
-            app:cardElevation="6dp">
+            android:gravity="top"
+            android:orientation="horizontal">
 
-            <LinearLayout
+            <com.google.android.material.card.MaterialCardView
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:orientation="vertical"
-                android:padding="10dp">
-
-                <TextView
-                    android:layout_width="wrap_content"
-                    android:layout_height="wrap_content"
-                    android:text="Map Controls"
-                    android:textColor="@android:color/black"
-                    android:textSize="15sp"
-                    android:textStyle="bold" />
+                app:cardBackgroundColor="#F7FFFFFF"
+                app:cardCornerRadius="12dp"
+                app:cardElevation="6dp">
 
                 <LinearLayout
-                    android:id="@+id/mapControlsContent"
                     android:layout_width="wrap_content"
                     android:layout_height="wrap_content"
-                    android:layout_marginTop="8dp"
-                    android:gravity="center"
-                    android:orientation="vertical">
+                    android:orientation="vertical"
+                    android:padding="10dp">
 
-                    <com.google.android.material.switchmaterial.SwitchMaterial
-                        android:id="@+id/gnssSwitch"
+                    <TextView
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
-                        android:text="@string/gnssSwitch" />
+                        android:text="Map Controls"
+                        android:textColor="@android:color/black"
+                        android:textSize="15sp"
+                        android:textStyle="bold" />
 
-                    <com.google.android.material.switchmaterial.SwitchMaterial
-                        android:id="@+id/autoFloor"
+                    <LinearLayout
+                        android:id="@+id/mapControlsContent"
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
-                        android:text="@string/auto_floor" />
+                        android:layout_marginTop="8dp"
+                        android:gravity="center"
+                        android:orientation="vertical">
+
+                        <com.google.android.material.switchmaterial.SwitchMaterial
+                            android:id="@+id/gnssSwitch"
+                            android:layout_width="wrap_content"
+                            android:layout_height="wrap_content"
+                            android:text="@string/gnssSwitch" />
+
+                        <com.google.android.material.switchmaterial.SwitchMaterial
+                            android:id="@+id/autoFloor"
+                            android:layout_width="wrap_content"
+                            android:layout_height="wrap_content"
+                            android:text="@string/auto_floor" />
+
+                        <com.google.android.material.switchmaterial.SwitchMaterial
+                            android:id="@+id/showWifiSwitch"
+                            android:layout_width="wrap_content"
+                            android:layout_height="wrap_content"
+                            android:checked="true"
+                            android:text="📶 Show WiFi" />
+
+                        <com.google.android.material.switchmaterial.SwitchMaterial
+                            android:id="@+id/showPdrSwitch"
+                            android:layout_width="wrap_content"
+                            android:layout_height="wrap_content"
+                            android:checked="true"
+                            android:text="👣 Show PDR" />
+
+                        <com.google.android.material.button.MaterialButton
+                            android:id="@+id/lineColorButton"
+                            android:layout_width="wrap_content"
+                            android:layout_height="wrap_content"
+                            android:text="Red"
+                            android:textColor="@android:color/white"
+                            app:backgroundTint="@android:color/holo_red_dark"
+                            app:elevation="5dp" />
+
+                        <Spinner
+                            android:id="@+id/mapSwitchSpinner"
+                            android:layout_width="wrap_content"
+                            android:layout_height="48dp"
+                            android:layout_marginTop="8dp"
+                            android:background="@android:color/white"
+                            android:spinnerMode="dropdown" />
+                    </LinearLayout>
+                </LinearLayout>
+            </com.google.android.material.card.MaterialCardView>
 
-                    <com.google.android.material.switchmaterial.SwitchMaterial
-                        android:id="@+id/showWifiSwitch"
-                        android:layout_width="wrap_content"
-                        android:layout_height="wrap_content"
-                        android:checked="true"
-                        android:text="📶 Show WiFi" />
+            <LinearLayout
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginStart="8dp"
+                android:orientation="horizontal">
 
-                    <com.google.android.material.switchmaterial.SwitchMaterial
-                        android:id="@+id/showPdrSwitch"
-                        android:layout_width="wrap_content"
-                        android:layout_height="wrap_content"
-                        android:checked="true"
-                        android:text="👣 Show PDR" />
+                <com.google.android.material.button.MaterialButton
+                    android:id="@+id/btnToggleControls"
+                    android:layout_width="wrap_content"
+                    android:layout_height="36dp"
+                    android:insetTop="0dp"
+                    android:insetBottom="0dp"
+                    android:minWidth="0dp"
+                    android:text="Hide"
+                    android:textAllCaps="false"
+                    android:textColor="@android:color/white"
+                    app:backgroundTint="#546E7A" />
 
-                    <com.google.android.material.button.MaterialButton
-                        android:id="@+id/lineColorButton"
-                        android:layout_width="wrap_content"
-                        android:layout_height="wrap_content"
-                        android:text="Red"
-                        android:textColor="@android:color/white"
-                        app:backgroundTint="@android:color/holo_red_dark"
-                        app:elevation="5dp" />
+                <com.google.android.material.button.MaterialButton
+                    android:id="@+id/btnToggleLog"
+                    android:layout_width="wrap_content"
+                    android:layout_height="36dp"
+                    android:layout_marginStart="8dp"
+                    android:insetTop="0dp"
+                    android:insetBottom="0dp"
+                    android:minWidth="0dp"
+                    android:text="Log"
+                    android:textAllCaps="false"
+                    android:textColor="@android:color/white"
+                    app:backgroundTint="#455A64" />
 
-                    <Spinner
-                        android:id="@+id/mapSwitchSpinner"
-                        android:layout_width="wrap_content"
-                        android:layout_height="48dp"
-                        android:layout_marginTop="8dp"
-                        android:background="@android:color/white"
-                        android:spinnerMode="dropdown" />
-                </LinearLayout>
             </LinearLayout>
-        </com.google.android.material.card.MaterialCardView>
 
-        <com.google.android.material.button.MaterialButton
-            android:id="@+id/btnToggleControls"
+        </LinearLayout>
+
+        <TextView
+            android:id="@+id/debugStatusText"
             android:layout_width="wrap_content"
-            android:layout_height="36dp"
-            android:layout_marginStart="8dp"
-            android:insetTop="0dp"
-            android:insetBottom="0dp"
-            android:minWidth="0dp"
-            android:text="Hide"
-            android:textAllCaps="false"
+            android:layout_height="wrap_content"
+            android:layout_marginTop="8dp"
+            android:background="#DD263238"
+            android:paddingStart="10dp"
+            android:paddingTop="8dp"
+            android:paddingEnd="10dp"
+            android:paddingBottom="8dp"
+            android:text="abs:none  src:idle&#10;floor d/c/m: -/-/-&#10;vertical: steady Δ0.00m&#10;correction: NONE&#10;Waiting for updates"
             android:textColor="@android:color/white"
-            app:backgroundTint="#546E7A" />
+            android:textSize="12sp"
+            android:visibility="gone"
+            tools:visibility="visible" />
 
     </LinearLayout>
 
diff --git a/app/src/main_already.zip b/app/src/main_already.zip
index 05f4a117664869d734b72fe154fdd83428332a2c..bb9421e7d92b01d36c8371bf88b56cc912fa8c0e 100644
GIT binary patch
delta 23377
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EA3RL(v;Y7A


From d76e634b5ae56b6e0879c3fdb2391c5261e9d874 Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Fri, 27 Mar 2026 06:34:01 +0000
Subject: [PATCH 21/35] Correct the UI2

---
 app/src/main/res/layout/fragment_trajectory_map.xml | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/app/src/main/res/layout/fragment_trajectory_map.xml b/app/src/main/res/layout/fragment_trajectory_map.xml
index 07836c89..70c062e1 100644
--- a/app/src/main/res/layout/fragment_trajectory_map.xml
+++ b/app/src/main/res/layout/fragment_trajectory_map.xml
@@ -133,6 +133,19 @@
                     android:textColor="@android:color/white"
                     app:backgroundTint="#455A64" />
 
+                <com.google.android.material.button.MaterialButton
+                    android:id="@+id/btnCopyLog"
+                    android:layout_width="wrap_content"
+                    android:layout_height="36dp"
+                    android:layout_marginStart="8dp"
+                    android:insetTop="0dp"
+                    android:insetBottom="0dp"
+                    android:minWidth="0dp"
+                    android:text="Copy"
+                    android:textAllCaps="false"
+                    android:textColor="@android:color/white"
+                    app:backgroundTint="#607D8B" />
+
             </LinearLayout>
 
         </LinearLayout>

From 87ca90b0b0617880bf1a064743b373ee810ee347 Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Fri, 27 Mar 2026 08:02:23 +0000
Subject: [PATCH 22/35] feature3

---
 .../fragment/RecordingFragment.java           |  21 ++--
 .../fragment/TrajectoryMapFragment.java       |   5 +-
 .../fragment/TrajectoryRenderer.java          | 103 ++++++++++++------
 .../res/layout/fragment_trajectory_map.xml    |  20 +---
 app/src/main_already.zip                      | Bin 7105129 -> 7105151 bytes
 5 files changed, 88 insertions(+), 61 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
index 4a92418d..cce7746f 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
@@ -285,15 +285,20 @@ private void updateUIandPosition() {
 
         // GNSS logic if you want to show GNSS error, etc.
         float[] gnss = sensorFusion.getSensorValueMap().get(SensorTypes.GNSSLATLONG);
-        if (gnss != null && trajectoryMapFragment != null) {
-            // If user toggles showing GNSS in the map, call e.g.
-            if (trajectoryMapFragment.isGnssEnabled()) {
+        if (trajectoryMapFragment != null) {
+            if (gnss != null) {
                 LatLng gnssLocation = new LatLng(gnss[0], gnss[1]);
-                LatLng currentLoc = trajectoryMapFragment.getCurrentLocation();
-                if (currentLoc != null) {
-                    double errorDist = UtilFunctions.distanceBetweenPoints(currentLoc, gnssLocation);
-                    gnssError.setVisibility(View.VISIBLE);
-                    gnssError.setText(String.format(getString(R.string.gnss_error) + "%.2fm", errorDist));
+                if (trajectoryMapFragment.isGnssEnabled()) {
+                    LatLng currentLoc = trajectoryMapFragment.getCurrentLocation();
+                    if (currentLoc != null) {
+                        double errorDist = UtilFunctions.distanceBetweenPoints(currentLoc, gnssLocation);
+                        gnssError.setVisibility(View.VISIBLE);
+                        gnssError.setText(String.format(getString(R.string.gnss_error) + "%.2fm", errorDist));
+                    } else {
+                        gnssError.setVisibility(View.GONE);
+                    }
+                } else {
+                    gnssError.setVisibility(View.GONE);
                 }
                 trajectoryMapFragment.updateGNSS(gnssLocation);
             } else {
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 6c69a68b..f59ef023 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -439,6 +439,7 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
         btnToggleControls = view.findViewById(R.id.btnToggleControls);
         btnToggleLog = view.findViewById(R.id.btnToggleLog);
         debugStatusText = view.findViewById(R.id.debugStatusText);
+        isGnssOn = gnssSwitch != null && gnssSwitch.isChecked();
 
         btnFindIndoorMap = view.findViewById(R.id.btnFindIndoorMap);
         btnFindActualMap = view.findViewById(R.id.btnFindActualMap);
@@ -511,6 +512,7 @@ else if (!replayModeEnabled && getContext() != null) {
 
         gnssSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> {
             isGnssOn = isChecked;
+            trajectoryRenderer.setShowGnssObservations(isChecked);
             if (!isChecked) {
                 trajectoryRenderer.clearGnssMarker();
             }
@@ -1554,6 +1556,7 @@ private void initMapSettings(GoogleMap map) {
         });
 
         trajectoryRenderer.attachToMap(map);
+        trajectoryRenderer.setShowGnssObservations(gnssSwitch == null || gnssSwitch.isChecked());
         trajectoryRenderer.setShowWifiObservations(showWifiSwitch == null || showWifiSwitch.isChecked());
         trajectoryRenderer.setShowPdrObservations(showPdrSwitch == null || showPdrSwitch.isChecked());
     }
@@ -1689,7 +1692,7 @@ public void addTestPointMarker(int index, long timestampMs, @NonNull LatLng posi
     }
 
     public void updateGNSS(@NonNull LatLng gnssLocation) {
-        trajectoryRenderer.updateGnss(gnssLocation, isGnssOn);
+        trajectoryRenderer.updateGnss(gnssLocation);
     }
 
     public void clearGNSS() {
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
index b58a6338..fa746785 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
@@ -36,8 +36,11 @@ class TrajectoryRenderer {
     private static final int TRAJECTORY_BLACK_OUTLINE_COLOR = Color.argb(210, 235, 235, 235);
     private static final int RAW_PDR_COLOR = Color.argb(170, 30, 136, 229);
     private static final int WIFI_COLOR = Color.argb(190, 46, 125, 50);
+    private static final int GNSS_COLOR = Color.argb(200, 255, 167, 38);
     private static final float RAW_PDR_WIDTH_PX = 5f;
     private static final float WIFI_WIDTH_PX = 6f;
+    private static final float GNSS_WIDTH_PX = 6f;
+    private static final int MAX_ABSOLUTE_HISTORY_POINTS = 20;
 
     @Nullable
     private GoogleMap map;
@@ -66,6 +69,7 @@ class TrajectoryRenderer {
     private boolean useRedTrajectory = true;
     private boolean showPdrObservations = true;
     private boolean showWifiObservations = true;
+    private boolean showGnssObservations = true;
 
     void attachToMap(@NonNull GoogleMap googleMap) {
         map = googleMap;
@@ -81,12 +85,12 @@ void setShowPdrObservations(boolean show) {
 
     void setShowWifiObservations(boolean show) {
         showWifiObservations = show;
-        if (wifiPolyline != null) {
-            wifiPolyline.setVisible(show);
-        }
-        if (wifiMarker != null) {
-            wifiMarker.setVisible(show);
-        }
+        applyWifiVisibility();
+    }
+
+    void setShowGnssObservations(boolean show) {
+        showGnssObservations = show;
+        applyGnssVisibility();
     }
 
     void updateCurrentPosition(@NonNull Context context,
@@ -158,7 +162,7 @@ void clearRawObservationPath() {
     }
 
     void updateWifiObservation(@Nullable LatLng wifiLocation) {
-        if (map == null || !showWifiObservations || wifiLocation == null) {
+        if (map == null || wifiLocation == null) {
             return;
         }
 
@@ -167,21 +171,15 @@ void updateWifiObservation(@Nullable LatLng wifiLocation) {
                     .position(wifiLocation)
                     .title("WiFi Position")
                     .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_GREEN)));
-            lastWifiLocation = wifiLocation;
-            return;
+        } else {
+            wifiMarker.setPosition(wifiLocation);
         }
 
-        wifiMarker.setVisible(true);
-        wifiMarker.setPosition(wifiLocation);
-        if (lastWifiLocation != null && !lastWifiLocation.equals(wifiLocation) && wifiPolyline != null) {
-            List<LatLng> wifiPoints = new ArrayList<>(wifiPolyline.getPoints());
-            wifiPoints.add(wifiLocation);
-            if (wifiPoints.size() > 40) {
-                wifiPoints = new ArrayList<>(wifiPoints.subList(wifiPoints.size() - 40, wifiPoints.size()));
-            }
-            wifiPolyline.setPoints(wifiPoints);
+        if (lastWifiLocation == null || !lastWifiLocation.equals(wifiLocation)) {
+            appendAbsoluteHistoryPoint(wifiPolyline, wifiLocation);
+            lastWifiLocation = wifiLocation;
         }
-        lastWifiLocation = wifiLocation;
+        applyWifiVisibility();
     }
 
     void addTestPointMarker(int index, long timestampMs, @NonNull LatLng position) {
@@ -198,26 +196,24 @@ void addTestPointMarker(int index, long timestampMs, @NonNull LatLng position) {
         }
     }
 
-    void updateGnss(@NonNull LatLng gnssLocation, boolean gnssEnabled) {
-        if (map == null || !gnssEnabled) {
+    void updateGnss(@Nullable LatLng gnssLocation) {
+        if (map == null || gnssLocation == null) {
             return;
         }
         if (gnssMarker == null) {
             gnssMarker = map.addMarker(new MarkerOptions()
                     .position(gnssLocation)
                     .title("GNSS Position")
-                    .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_AZURE)));
-            lastGnssLocation = gnssLocation;
-            return;
+                    .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_ORANGE)));
+        } else {
+            gnssMarker.setPosition(gnssLocation);
         }
 
-        gnssMarker.setPosition(gnssLocation);
-        if (lastGnssLocation != null && !lastGnssLocation.equals(gnssLocation) && gnssPolyline != null) {
-            List<LatLng> gnssPoints = new ArrayList<>(gnssPolyline.getPoints());
-            gnssPoints.add(gnssLocation);
-            gnssPolyline.setPoints(gnssPoints);
+        if (lastGnssLocation == null || !lastGnssLocation.equals(gnssLocation)) {
+            appendAbsoluteHistoryPoint(gnssPolyline, gnssLocation);
+            lastGnssLocation = gnssLocation;
         }
-        lastGnssLocation = gnssLocation;
+        applyGnssVisibility();
     }
 
     void clearGnssMarker() {
@@ -275,9 +271,12 @@ void resetMapArtifacts() {
         trajectoryMain = map.addPolyline(buildTrajectoryMainOptions());
         rawPdrPolyline = map.addPolyline(buildRawPdrPolylineOptions());
         gnssPolyline = map.addPolyline(new PolylineOptions()
-                .color(Color.BLUE)
-                .width(5f)
-                .zIndex(TRAJECTORY_Z_INDEX - 19f)
+                .color(GNSS_COLOR)
+                .width(GNSS_WIDTH_PX)
+                .zIndex(TRAJECTORY_Z_INDEX - 16f)
+                .startCap(new RoundCap())
+                .endCap(new RoundCap())
+                .jointType(JointType.ROUND)
                 .add());
         wifiPolyline = map.addPolyline(new PolylineOptions()
                 .color(WIFI_COLOR)
@@ -290,9 +289,8 @@ void resetMapArtifacts() {
         if (rawPdrPolyline != null) {
             rawPdrPolyline.setVisible(showPdrObservations);
         }
-        if (wifiPolyline != null) {
-            wifiPolyline.setVisible(showWifiObservations);
-        }
+        applyWifiVisibility();
+        applyGnssVisibility();
         ensureTrajectoryStyling();
         applyTrajectoryColor();
     }
@@ -370,6 +368,39 @@ private PolylineOptions buildRawPdrPolylineOptions() {
                 .add();
     }
 
+
+    private void appendAbsoluteHistoryPoint(@Nullable Polyline polyline, @NonNull LatLng point) {
+        if (polyline == null) {
+            return;
+        }
+        List<LatLng> points = new ArrayList<>(polyline.getPoints());
+        if (points.isEmpty() || !points.get(points.size() - 1).equals(point)) {
+            points.add(point);
+        }
+        if (points.size() > MAX_ABSOLUTE_HISTORY_POINTS) {
+            points = new ArrayList<>(points.subList(points.size() - MAX_ABSOLUTE_HISTORY_POINTS, points.size()));
+        }
+        polyline.setPoints(points);
+    }
+
+    private void applyWifiVisibility() {
+        if (wifiPolyline != null) {
+            wifiPolyline.setVisible(showWifiObservations);
+        }
+        if (wifiMarker != null) {
+            wifiMarker.setVisible(showWifiObservations && lastWifiLocation != null);
+        }
+    }
+
+    private void applyGnssVisibility() {
+        if (gnssPolyline != null) {
+            gnssPolyline.setVisible(showGnssObservations);
+        }
+        if (gnssMarker != null) {
+            gnssMarker.setVisible(showGnssObservations && lastGnssLocation != null);
+        }
+    }
+
     private static void removeMarker(@Nullable Marker marker) {
         if (marker != null) {
             marker.remove();
diff --git a/app/src/main/res/layout/fragment_trajectory_map.xml b/app/src/main/res/layout/fragment_trajectory_map.xml
index 70c062e1..87ac55f0 100644
--- a/app/src/main/res/layout/fragment_trajectory_map.xml
+++ b/app/src/main/res/layout/fragment_trajectory_map.xml
@@ -60,7 +60,8 @@
                             android:id="@+id/gnssSwitch"
                             android:layout_width="wrap_content"
                             android:layout_height="wrap_content"
-                            android:text="@string/gnssSwitch" />
+                            android:checked="true"
+                            android:text="Show GNSS" />
 
                         <com.google.android.material.switchmaterial.SwitchMaterial
                             android:id="@+id/autoFloor"
@@ -73,14 +74,14 @@
                             android:layout_width="wrap_content"
                             android:layout_height="wrap_content"
                             android:checked="true"
-                            android:text="📶 Show WiFi" />
+                            android:text="Show WiFi" />
 
                         <com.google.android.material.switchmaterial.SwitchMaterial
                             android:id="@+id/showPdrSwitch"
                             android:layout_width="wrap_content"
                             android:layout_height="wrap_content"
                             android:checked="true"
-                            android:text="👣 Show PDR" />
+                            android:text="Show PDR" />
 
                         <com.google.android.material.button.MaterialButton
                             android:id="@+id/lineColorButton"
@@ -133,19 +134,6 @@
                     android:textColor="@android:color/white"
                     app:backgroundTint="#455A64" />
 
-                <com.google.android.material.button.MaterialButton
-                    android:id="@+id/btnCopyLog"
-                    android:layout_width="wrap_content"
-                    android:layout_height="36dp"
-                    android:layout_marginStart="8dp"
-                    android:insetTop="0dp"
-                    android:insetBottom="0dp"
-                    android:minWidth="0dp"
-                    android:text="Copy"
-                    android:textAllCaps="false"
-                    android:textColor="@android:color/white"
-                    app:backgroundTint="#607D8B" />
-
             </LinearLayout>
 
         </LinearLayout>
diff --git a/app/src/main_already.zip b/app/src/main_already.zip
index bb9421e7d92b01d36c8371bf88b56cc912fa8c0e..4100b106b264faa9a87575ec1882b4142cd73186 100644
GIT binary patch
delta 3592
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From 7485d502cd96f0e2129423bdfb5f0b8909250dd3 Mon Sep 17 00:00:00 2001
From: wxyuuu1114 <wangxinyu1114@gmail.com>
Date: Sat, 14 Mar 2026 00:48:35 +0000
Subject: [PATCH 23/35] Sensor Fusion: Particle Filter

# Conflicts:
#	app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
#	app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
#	app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
#	app/src/main/res/layout/fragment_trajectory_map.xml
#	secrets.properties
---
 .../fusion/CoordinateConverter.java           |   60 +
 .../PositionMe/fusion/FusedPose.java          |   98 +
 .../PositionMe/fusion/KalmanPoseSmoother.java |  124 +
 .../PositionMe/fusion/Particle.java           |   42 +
 .../fusion/ParticleFilterConfig.java          |   65 +
 .../fusion/ParticleFilterEngine.java          |  388 +++
 .../fusion/ParticleFilterManager.java         |  628 ++++
 .../fusion/ParticleFilterObservation.java     |   82 +
 .../activity/RecordingActivity.java           |  216 +-
 .../fragment/RecordingFragment.java           |  625 +++-
 .../fragment/SettingsFragment.java            |   53 +
 .../fragment/StartLocationFragment.java       |  838 ++++--
 .../fragment/TrajectoryMapFragment.java       | 2667 +++++++++--------
 .../fragment/TrajectoryRenderer.java          |  225 +-
 .../sensors/SensorEventHandler.java           |   52 +-
 .../PositionMe/sensors/SensorFusion.java      |  120 +-
 .../sensors/TrajectoryRecorder.java           |   51 +
 .../sensors/WifiPositionManager.java          |   23 +-
 .../PositionMe/utils/IndoorMapManager.java    |   37 +
 .../PositionMe/utils/TcpClient.java           |   53 +
 .../PositionMe/utils/TcpPacketSender.java     |  160 +
 .../res/layout/fragment_startlocation.xml     |  204 +-
 .../res/layout/fragment_trajectory_map.xml    |  409 +--
 app/src/main/res/values/colors.xml            |    2 +-
 app/src/main/res/values/strings.xml           |   45 +-
 app/src/main/res/xml/root_preferences.xml     |   64 +
 app/tools/tcp_monitor/README.md               |   19 +
 app/tools/tcp_monitor/Tcp_Client.py           |  263 ++
 secrets.properties                            |    4 +-
 29 files changed, 5743 insertions(+), 1874 deletions(-)
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/fusion/KalmanPoseSmoother.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/fusion/Particle.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterObservation.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/utils/TcpClient.java
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/utils/TcpPacketSender.java
 create mode 100644 app/tools/tcp_monitor/README.md
 create mode 100644 app/tools/tcp_monitor/Tcp_Client.py

diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java
new file mode 100644
index 00000000..329947b5
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java
@@ -0,0 +1,60 @@
+package com.openpositioning.PositionMe.fusion;
+
+import com.google.android.gms.maps.model.LatLng;
+
+/**
+ * Utility for converting between geographic WGS84 coordinates and a local
+ * tangent-plane style coordinate system expressed in meters.
+ *
+ * <p>This is intentionally simple and is appropriate for small local areas such
+ * as the assignment buildings. It matches the assignment requirement that PDR,
+ * Wi-Fi, and GNSS should be fused in a local easting/northing-style frame. </p>
+ */
+public class CoordinateConverter {
+
+    private static final double EARTH_RADIUS_METERS = 6378137.0;
+
+    private final double lat0Deg;
+    private final double lon0Deg;
+
+    /**
+     * Creates a converter anchored at the given geographic origin.
+     *
+     * @param lat0Deg anchor latitude in degrees
+     * @param lon0Deg anchor longitude in degrees
+     */
+    public CoordinateConverter(double lat0Deg, double lon0Deg) {
+        this.lat0Deg = lat0Deg;
+        this.lon0Deg = lon0Deg;
+    }
+
+    /**
+     * Converts a LatLng into local metric coordinates.
+     *
+     * @param latLng geographic coordinate to convert
+     * @return array of size 2 containing x and y in meters
+     */
+    public double[] latLngToLocal(LatLng latLng) {
+        double dLat = Math.toRadians(latLng.latitude - lat0Deg);
+        double dLon = Math.toRadians(latLng.longitude - lon0Deg);
+
+        double x = EARTH_RADIUS_METERS * dLon * Math.cos(Math.toRadians(lat0Deg));
+        double y = EARTH_RADIUS_METERS * dLat;
+        return new double[]{x, y};
+    }
+
+    /**
+     * Converts local metric coordinates back into a LatLng.
+     *
+     * @param x local x coordinate in meters
+     * @param y local y coordinate in meters
+     * @return corresponding geographic coordinate
+     */
+    public LatLng localToLatLng(double x, double y) {
+        double lat = lat0Deg + Math.toDegrees(y / EARTH_RADIUS_METERS);
+        double lon = lon0Deg + Math.toDegrees(
+                x / (EARTH_RADIUS_METERS * Math.cos(Math.toRadians(lat0Deg)))
+        );
+        return new LatLng(lat, lon);
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java
new file mode 100644
index 00000000..42fb82d4
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java
@@ -0,0 +1,98 @@
+package com.openpositioning.PositionMe.fusion;
+import com.google.android.gms.maps.model.LatLng;
+
+/**
+ * Immutable model representing the latest fused pose estimate produced by the
+ * particle filter.
+ *
+ * <p>The pose is stored both in local metric coordinates (x/y in meters)
+ * and in geographic coordinates (LatLng) so that the filter can work in a
+ * local ENU-like frame while the UI can render the result directly on the
+ * Google Map.</p>
+ */
+public class FusedPose {
+    private final double xMeters;
+    private final double yMeters;
+    private final double headingRad;
+    private final int floor;
+    private final LatLng latLng;
+    private final float confidence;
+
+    /**
+     * Creates a new fused pose estimate.
+     *
+     * @param xMeters local x position in meters
+     * @param yMeters local y position in meters
+     * @param headingRad heading in radians
+     * @param floor estimated floor
+     * @param latLng geographic representation of the position
+     * @param confidence confidence indicator in the range [0, 1]
+     */
+    public FusedPose(double xMeters,
+                     double yMeters,
+                     double headingRad,
+                     int floor,
+                     LatLng latLng,
+                     float confidence) {
+        this.xMeters = xMeters;
+        this.yMeters = yMeters;
+        this.headingRad = headingRad;
+        this.floor = floor;
+        this.latLng = latLng;
+        this.confidence = confidence;
+    }
+
+    /**
+     * Returns the fused local x coordinate in meters.
+     *
+     * @return local x coordinate
+     */
+    public double getXMeters() {
+        return xMeters;
+    }
+
+    /**
+     * Returns the fused local y coordinate in meters.
+     *
+     * @return local y coordinate
+     */
+    public double getYMeters() {
+        return yMeters;
+    }
+
+    /**
+     * Returns the fused heading in radians.
+     *
+     * @return heading in radians
+     */
+    public double getHeadingRad() {
+        return headingRad;
+    }
+
+    /**
+     * Returns the fused floor estimate.
+     *
+     * @return estimated floor
+     */
+    public int getFloor() {
+        return floor;
+    }
+
+    /**
+     * Returns the fused position as a geographic coordinate.
+     *
+     * @return fused geographic position
+     */
+    public LatLng getLatLng() {
+        return latLng;
+    }
+
+    /**
+     * Returns a simple confidence score derived from particle diversity.
+     *
+     * @return confidence in the range [0, 1]
+     */
+    public float getConfidence() {
+        return confidence;
+    }
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/KalmanPoseSmoother.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/KalmanPoseSmoother.java
new file mode 100644
index 00000000..0a528203
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/KalmanPoseSmoother.java
@@ -0,0 +1,124 @@
+package com.openpositioning.PositionMe.fusion;
+/**
+ * Lightweight Kalman-style output smoother for PF poses.
+ *
+ * It does NOT modify the internal particle set.
+ * It only smooths the exported/displayed fused pose.
+ *
+ * State:
+ * - x, y in local meters
+ * - theta in radians
+ *
+ * Inputs per update:
+ * - raw PF pose
+ * - PF confidence
+ * - step distance
+ * - absolute heading change
+ * - whether WiFi / GNSS observations were accepted this update
+ */
+public class KalmanPoseSmoother {
+    private boolean initialised = false;
+
+    private double x;
+    private double y;
+    private double theta;
+
+    // State uncertainty
+    private double pPos = 1.0;
+    private double pTheta = Math.toRadians(15.0) * Math.toRadians(15.0);
+
+    public void reset() {
+        initialised = false;
+        x = 0.0;
+        y = 0.0;
+        theta = 0.0;
+        pPos = 1.0;
+        pTheta = Math.toRadians(15.0) * Math.toRadians(15.0);
+    }
+
+    public SmoothedPose update(
+            double rawX,
+            double rawY,
+            double rawTheta,
+            double confidence,
+            double stepDistance,
+            double deltaThetaAbs,
+            boolean wifiAccepted,
+            boolean gnssAccepted
+    ) {
+        if (!initialised) {
+            initialised = true;
+            x = rawX;
+            y = rawY;
+            theta = rawTheta;
+            return new SmoothedPose(x, y, theta);
+        }
+
+        // Process uncertainty grows with motion.
+        // Bigger motion => trust the previous state less => smoother becomes more responsive.
+        double qPos = 0.02 + 0.20 * stepDistance * stepDistance;
+        double qTheta = Math.toRadians(1.0) * Math.toRadians(1.0)
+                + 0.50 * deltaThetaAbs * deltaThetaAbs;
+
+        pPos += qPos;
+        pTheta += qTheta;
+
+        // Measurement uncertainty is derived from PF confidence.
+        // High confidence => smaller R => larger gain.
+        double clampedConf = clamp(confidence, 0.0, 1.0);
+
+        double rPos = lerp(9.0, 0.5, clampedConf);
+        double rTheta = lerp(
+                Math.toRadians(20.0) * Math.toRadians(20.0),
+                Math.toRadians(3.0) * Math.toRadians(3.0),
+                clampedConf
+        );
+
+        // If no absolute sensor was trusted this cycle, reduce trust in the PF measurement a bit.
+        if (!wifiAccepted && !gnssAccepted) {
+            rPos *= 1.5;
+            rTheta *= 1.2;
+        }
+
+        // Kalman-style gains
+        double kPos = pPos / (pPos + rPos);
+        double kTheta = pTheta / (pTheta + rTheta);
+
+        // State update
+        x = x + kPos * (rawX - x);
+        y = y + kPos * (rawY - y);
+        theta = wrapAngle(theta + kTheta * wrapAngle(rawTheta - theta));
+
+        // Covariance update
+        pPos = (1.0 - kPos) * pPos;
+        pTheta = (1.0 - kTheta) * pTheta;
+
+        return new SmoothedPose(x, y, theta);
+    }
+
+    private static double clamp(double v, double lo, double hi) {
+        return Math.max(lo, Math.min(hi, v));
+    }
+
+    private static double lerp(double a, double b, double t) {
+        return a + t * (b - a);
+    }
+
+    private static double wrapAngle(double angle) {
+        while (angle > Math.PI) angle -= 2.0 * Math.PI;
+        while (angle < -Math.PI) angle += 2.0 * Math.PI;
+        return angle;
+    }
+
+    public static class SmoothedPose {
+        public final double x;
+        public final double y;
+        public final double theta;
+
+        public SmoothedPose(double x, double y, double theta) {
+            this.x = x;
+            this.y = y;
+            this.theta = theta;
+        }
+    }
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/Particle.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/Particle.java
new file mode 100644
index 00000000..aebeaf75
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/Particle.java
@@ -0,0 +1,42 @@
+package com.openpositioning.PositionMe.fusion;
+
+/**
+ * Mutable particle state used internally by the particle filter.
+ *
+ * <p>Each particle stores a candidate user pose and an importance weight.
+ * The filter propagates, reweights, and resamples these particles over time.</p>
+ */
+public class Particle {
+
+    double x;
+    double y;
+    double theta;
+    int floor;
+    double weight;
+
+    /**
+     * Creates a particle with the supplied state.
+     *
+     * @param x local x coordinate in meters
+     * @param y local y coordinate in meters
+     * @param theta heading in radians
+     * @param floor floor index
+     * @param weight importance weight
+     */
+    public Particle(double x, double y, double theta, int floor, double weight) {
+        this.x = x;
+        this.y = y;
+        this.theta = theta;
+        this.floor = floor;
+        this.weight = weight;
+    }
+
+    /**
+     * Returns a deep copy of this particle.
+     *
+     * @return copied particle
+     */
+    public Particle copy() {
+        return new Particle(x, y, theta, floor, weight);
+    }
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java
new file mode 100644
index 00000000..86d20caa
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java
@@ -0,0 +1,65 @@
+package com.openpositioning.PositionMe.fusion;
+
+/**
+ * Immutable parameter bundle for the particle filter.
+ *
+ * <p>All values here are already converted into internal units:
+ * - distances in meters
+ * - angles in radians
+ */
+public class ParticleFilterConfig {
+
+    /** Number of particles in the filter. */
+    public final int particleCount;
+
+    /** Standard deviation of translational prediction noise (m). */
+    public final double sigmaStep;
+
+    /** Standard deviation of heading prediction noise (rad). */
+    public final double sigmaThetaRad;
+
+    /** Wi-Fi likelihood spread (m). */
+    public final double sigmaWifi;
+
+    /** GNSS likelihood spread (m). */
+    public final double sigmaGnss;
+
+    /** Initial position spread around the startup pose (m). */
+    public final double initPosStd;
+
+    /** Initial heading spread around the startup heading (rad). */
+    public final double initHeadingStdRad;
+
+    /** Resampling threshold as a ratio of particle count. */
+    public final double resampleRatio;
+
+    /** Position jitter added after resampling (m). */
+    public final double sigmaRegPos;
+
+    /** Heading jitter added after resampling (rad). */
+    public final double sigmaRegThetaRad;
+
+    public ParticleFilterConfig(
+            int particleCount,
+            double sigmaStep,
+            double sigmaThetaRad,
+            double sigmaWifi,
+            double sigmaGnss,
+            double initPosStd,
+            double initHeadingStdRad,
+            double resampleRatio,
+            double sigmaRegPos,
+            double sigmaRegThetaRad
+    ) {
+        this.particleCount = particleCount;
+        this.sigmaStep = sigmaStep;
+        this.sigmaThetaRad = sigmaThetaRad;
+        this.sigmaWifi = sigmaWifi;
+        this.sigmaGnss = sigmaGnss;
+        this.initPosStd = initPosStd;
+        this.initHeadingStdRad = initHeadingStdRad;
+        this.resampleRatio = resampleRatio;
+        this.sigmaRegPos = sigmaRegPos;
+        this.sigmaRegThetaRad = sigmaRegThetaRad;
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
new file mode 100644
index 00000000..884f8fb5
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
@@ -0,0 +1,388 @@
+package com.openpositioning.PositionMe.fusion;
+
+import android.util.Log;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Random;
+
+/**
+ * Core particle filter engine.
+ *
+ * <p>This class owns the particle set and implements the standard PF loop:
+ *
+ * <ol>
+ *   <li>initialise()</li>
+ *   <li>predict(deltaS, deltaTheta)</li>
+ *   <li>update(observation)</li>
+ *   <li>estimate()</li>
+ * </ol>
+ *
+ * <p>State per particle:
+ * - x, y: local planar position in meters
+ * - theta: heading in radians
+ * - floor: discrete floor hypothesis
+ * - weight: particle importance weight
+ *
+ * <p>Heading convention:
+ * - theta is stored in Android-style azimuth convention:
+ *   0 = north, +pi/2 = east, pi = south, -pi/2 = west
+ *
+ * <p>For motion projection into Cartesian x/y:
+ * - x positive = east
+ * - y positive = north
+ * so we convert with:
+ *   motionHeading = pi/2 - theta
+ */
+public class ParticleFilterEngine {
+
+    private static final String TAG = "ParticleFilterEngine";
+
+    /** The active particle set representing the belief distribution. */
+    private final List<Particle> particles = new ArrayList<>();
+
+    /** Random generator used for motion noise, initial spread, and resampling jitter. */
+    private final Random rng = new Random();
+
+    // -------------------------
+    // Tunable filter parameters
+    // -------------------------
+
+    private final int particleCount;
+    private final double sigmaStep;
+    private final double sigmaTheta;
+    private final double sigmaWifi;
+    private final double sigmaGnss;
+    private final double initPosStd;
+    private final double initHeadingStd;
+    private final double resampleRatio;
+    private final double sigmaRegPos;
+    private final double sigmaRegTheta;
+
+    // -------------------------
+    // Diagnostics / statistics
+    // -------------------------
+
+    /** Effective sample size after the latest update step. */
+    private double lastNeff = 0.0;
+
+    /** Whether the last update triggered resampling. */
+    private boolean lastResampled = false;
+
+    public ParticleFilterEngine(ParticleFilterConfig cfg) {
+        this.particleCount = cfg.particleCount;
+        this.sigmaStep = cfg.sigmaStep;
+        this.sigmaTheta = cfg.sigmaThetaRad;
+        this.sigmaWifi = cfg.sigmaWifi;
+        this.sigmaGnss = cfg.sigmaGnss;
+        this.initPosStd = cfg.initPosStd;
+        this.initHeadingStd = cfg.initHeadingStdRad;
+        this.resampleRatio = cfg.resampleRatio;
+        this.sigmaRegPos = cfg.sigmaRegPos;
+        this.sigmaRegTheta = cfg.sigmaRegThetaRad;
+    }
+
+    /**
+     * Initialises the particle cloud around a starting pose hypothesis.
+     *
+     * <p>All particles begin on the same floor, but position and heading are
+     * spread using Gaussian noise to represent initial uncertainty.
+     *
+     * @param x initial x coordinate in local frame
+     * @param y initial y coordinate in local frame
+     * @param theta initial heading in radians
+     * @param floor initial floor estimate
+     */
+    public void initialise(double x, double y, double theta, int floor) {
+        particles.clear();
+
+        for (int i = 0; i < particleCount; i++) {
+            double px = x + rng.nextGaussian() * initPosStd;
+            double py = y + rng.nextGaussian() * initPosStd;
+            double pt = wrapAngle(theta + rng.nextGaussian() * initHeadingStd);
+
+            particles.add(new Particle(px, py, pt, floor, 1.0 / particleCount));
+        }
+
+        lastNeff = particleCount;
+        lastResampled = false;
+
+        Log.d(TAG,
+                "PF engine initialised"
+                        + " | particleCount=" + particleCount
+                        + ", initPosStd=" + initPosStd
+                        + ", initHeadingStdDeg=" + Math.toDegrees(initHeadingStd));
+    }
+
+    /**
+     * @return true once particles have been created
+     */
+    public boolean isInitialised() {
+        return !particles.isEmpty();
+    }
+
+    /**
+     * Motion prediction step.
+     *
+     * <p>This propagates each particle forward according to:
+     * - a distance increment deltaS
+     * - a heading increment deltaTheta
+     *
+     * <p>Noise is added independently to translation and heading to represent
+     * uncertainty in the motion model.
+     *
+     * @param deltaS motion increment in meters
+     * @param deltaTheta heading increment in radians
+     */
+    public void predict(double deltaS, double deltaTheta) {
+        for (Particle particle : particles) {
+            // Add stochastic noise to the motion command
+            double ds = deltaS + rng.nextGaussian() * sigmaStep;
+            double dTheta = deltaTheta + rng.nextGaussian() * sigmaTheta;
+
+            // Update heading first
+            particle.theta = wrapAngle(particle.theta + dTheta);
+
+            // Convert Android-style heading into x/y projection angle
+            double motionHeading = (Math.PI / 2.0) - particle.theta;
+
+            // Move particle in local Cartesian frame
+            particle.x += ds * Math.cos(motionHeading);
+            particle.y += ds * Math.sin(motionHeading);
+        }
+    }
+
+    /**
+     * Measurement update step.
+     *
+     * <p>Each available observation contributes multiplicatively to the
+     * particle weight:
+     * - Wi-Fi position
+     * - Wi-Fi floor
+     * - GNSS position
+     *
+     * <p>After reweighting:
+     * - weights are normalised
+     * - effective sample size is computed
+     * - resampling is triggered if degeneracy is too high
+     *
+     * @param observation observation bundle for this update cycle
+     */
+    public void update(ParticleFilterObservation observation) {
+        if (particles.isEmpty()) {
+            return;
+        }
+
+        double weightSum = 0.0;
+
+        for (Particle particle : particles) {
+            double w = 1.0;
+
+            // -------------------------
+            // Wi-Fi position likelihood
+            // -------------------------
+            if (observation.getWifiX() != null && observation.getWifiY() != null) {
+                double dx = particle.x - observation.getWifiX();
+                double dy = particle.y - observation.getWifiY();
+
+                // Gaussian likelihood based on local planar distance
+                w *= gaussian2D(dx, dy, sigmaWifi);
+
+                // Penalise particles that disagree with Wi-Fi floor estimate
+                if (observation.getWifiFloor() != null
+                        && particle.floor != observation.getWifiFloor()) {
+                    w *= 0.10;
+                }
+            }
+
+            // -------------------------
+            // GNSS position likelihood
+            // -------------------------
+//            if (observation.getGnssX() != null && observation.getGnssY() != null) {
+//                double dx = particle.x - observation.getGnssX();
+//                double dy = particle.y - observation.getGnssY();
+//                w *= gaussian2D(dx, dy, sigmaGnss);
+//            }
+
+            particle.weight = w;
+            weightSum += w;
+        }
+
+        normaliseWeights(weightSum);
+
+        lastNeff = effectiveSampleSize();
+        lastResampled = false;
+
+        // Resample if too few particles carry meaningful weight
+        if (lastNeff < particleCount * resampleRatio) {
+            systematicResample();
+            regularizeParticles();
+            lastResampled = true;
+        }
+    }
+
+    /**
+     * Computes the current fused pose estimate from the weighted particle set.
+     *
+     * <p>Position is the weighted mean of x and y.
+     * Heading is the circular weighted mean of theta.
+     * Floor is the weighted average rounded to nearest integer.
+     *
+     * @param converter converts local x/y back into LatLng
+     * @return fused pose estimate
+     */
+    public FusedPose estimate(CoordinateConverter converter) {
+        if (particles.isEmpty()) {
+            return null;
+        }
+
+        double x = 0.0;
+        double y = 0.0;
+        double weightedFloor = 0.0;
+        double sinSum = 0.0;
+        double cosSum = 0.0;
+
+        for (Particle particle : particles) {
+            x += particle.x * particle.weight;
+            y += particle.y * particle.weight;
+            weightedFloor += particle.floor * particle.weight;
+            sinSum += Math.sin(particle.theta) * particle.weight;
+            cosSum += Math.cos(particle.theta) * particle.weight;
+        }
+
+        double theta = Math.atan2(sinSum, cosSum);
+        int floor = (int) Math.round(weightedFloor);
+
+        // Use N_eff as a simple confidence proxy
+        float confidence = (float) Math.min(1.0, lastNeff / particleCount);
+
+        return new FusedPose(
+                x,
+                y,
+                theta,
+                floor,
+                converter.localToLatLng(x, y),
+                confidence
+        );
+    }
+
+    /**
+     * Computes effective sample size.
+     *
+     * <p>A lower value means more degeneracy, i.e. fewer particles dominate
+     * the total weight distribution.
+     */
+    public double effectiveSampleSize() {
+        double sumSquares = 0.0;
+        for (Particle particle : particles) {
+            sumSquares += particle.weight * particle.weight;
+        }
+        return 1.0 / Math.max(sumSquares, 1e-12);
+    }
+
+    public double getLastNeff() {
+        return lastNeff;
+    }
+
+    public boolean wasResampledLastStep() {
+        return lastResampled;
+    }
+
+    /**
+     * Gaussian likelihood in local 2D position space.
+     *
+     * <p>This is used for Wi-Fi and GNSS weighting.
+     */
+    private double gaussian2D(double dx, double dy, double sigma) {
+        double d2 = dx * dx + dy * dy;
+        double s2 = sigma * sigma;
+
+        if (s2 < 1e-12) {
+            return 1.0;
+        }
+
+        return Math.exp(-0.5 * d2 / s2);
+    }
+
+    /**
+     * Normalises particle weights so they sum to 1.
+     *
+     * <p>If all weights collapse numerically, recover by assigning uniform
+     * weights instead of producing NaNs.
+     */
+    private void normaliseWeights(double weightSum) {
+        if (weightSum < 1e-12) {
+            double uniformWeight = 1.0 / particleCount;
+            for (Particle particle : particles) {
+                particle.weight = uniformWeight;
+            }
+            return;
+        }
+
+        for (Particle particle : particles) {
+            particle.weight /= weightSum;
+        }
+    }
+
+    /**
+     * Adds a small amount of random jitter after resampling.
+     *
+     * <p>This prevents the particle set from collapsing into too many exact
+     * copies of the same hypothesis.
+     */
+    private void regularizeParticles() {
+        for (Particle particle : particles) {
+            particle.x += rng.nextGaussian() * sigmaRegPos;
+            particle.y += rng.nextGaussian() * sigmaRegPos;
+            particle.theta = wrapAngle(particle.theta + rng.nextGaussian() * sigmaRegTheta);
+        }
+    }
+
+    /**
+     * Systematic resampling.
+     *
+     * <p>This produces a new particle set according to the current weights,
+     * then resets all copied particles to equal weight.
+     */
+    private void systematicResample() {
+        List<Particle> resampled = new ArrayList<>(particleCount);
+        double[] cdf = new double[particleCount];
+
+        cdf[0] = particles.get(0).weight;
+        for (int i = 1; i < particleCount; i++) {
+            cdf[i] = cdf[i - 1] + particles.get(i).weight;
+        }
+
+        double step = 1.0 / particleCount;
+        double u0 = rng.nextDouble() * step;
+        int cdfIndex = 0;
+
+        for (int i = 0; i < particleCount; i++) {
+            double threshold = u0 + i * step;
+
+            while (cdfIndex < particleCount - 1 && cdf[cdfIndex] < threshold) {
+                cdfIndex++;
+            }
+
+            Particle copy = particles.get(cdfIndex).copy();
+            copy.weight = 1.0 / particleCount;
+            resampled.add(copy);
+        }
+
+        particles.clear();
+        particles.addAll(resampled);
+    }
+
+    /**
+     * Wraps angle to [-pi, pi].
+     */
+    private double wrapAngle(double angle) {
+        while (angle > Math.PI) {
+            angle -= 2.0 * Math.PI;
+        }
+        while (angle < -Math.PI) {
+            angle += 2.0 * Math.PI;
+        }
+        return angle;
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
new file mode 100644
index 00000000..0fbdc317
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
@@ -0,0 +1,628 @@
+package com.openpositioning.PositionMe.fusion;
+
+import android.content.Context;
+import android.content.SharedPreferences;
+import android.util.Log;
+
+import androidx.preference.PreferenceManager;
+
+import com.google.android.gms.maps.model.LatLng;
+import com.openpositioning.PositionMe.sensors.SensorFusion;
+import androidx.annotation.Nullable;
+
+/**
+ * High-level manager around the particle filter engine.
+ *
+ * <p>This class is responsible for:
+ * - loading PF settings from SharedPreferences
+ * - listening for user changes to those settings
+ * - initialising the engine when enough information is available
+ * - converting raw app data into PF prediction + observation inputs
+ * - storing the latest fused pose estimate
+ *
+ * <p>This class does not implement the PF math itself.
+ * That logic lives in {@link ParticleFilterEngine}.
+ */
+public class ParticleFilterManager {
+
+    private static final String TAG = "RecordingMode";
+
+    /** Main app sensor/data source. */
+    private final SensorFusion sensorFusion;
+
+    /** Application context used for preferences. */
+    private final Context appContext;
+
+    /** SharedPreferences backing live-tunable PF settings. */
+    private final SharedPreferences prefs;
+
+    /** Converts between global LatLng and local x/y coordinates. */
+    private CoordinateConverter coordinateConverter;
+
+    /** The actual PF engine instance. */
+    private ParticleFilterEngine particleFilterEngine;
+
+    /** Latest estimated fused pose. */
+    private FusedPose latestFusedPose;
+    /** Latest raw PF estimate before Kalman-style output smoothing. */
+    private FusedPose latestRawPose;
+
+    /** Kalman-style output smoother sitting after the PF. */
+    private final KalmanPoseSmoother poseSmoother = new KalmanPoseSmoother();
+
+    /** Whether WiFi observation was accepted during the latest buildObservation() call. */
+    private boolean lastWifiAccepted = false;
+
+    /** Whether GNSS observation was accepted during the latest buildObservation() call. */
+    private boolean lastGnssAccepted = false;
+
+    /*WiFi and GNSS gating*/
+    private static final double WIFI_GATE_METERS = 12.0;
+    private static final double GNSS_GATE_METERS = 25.0;
+    private static final double WIFI_OBS_EMA_ALPHA = 0.25;
+
+    private boolean wifiObsEmaInitialised = false;
+    private double wifiObsEmaX = 0.0;
+    private double wifiObsEmaY = 0.0;
+
+    /*When false, the manager remains constructed and can still hold PF settings,
+    but it must not produce fused poses or consume step updates for this session.*/
+    private boolean enabled = false;
+
+    // -------------------------
+    // PDR incremental tracking
+    /**
+     * PF prediction currently uses incremental displacement magnitude extracted
+     * from cumulative PDR/IMUNet position.
+     *
+     * These fields store the previous position so we can compute deltaS.
+     */
+    private boolean firstPdrSample = true;
+    private double lastPdrX = 0.0;
+    private double lastPdrY = 0.0;
+
+    /** Previous heading so we can compute deltaTheta. */
+    private double lastHeading = 0.0;
+
+    // -------------------------
+    // Live PF settings
+    /** Current active PF settings. */
+    private ParticleFilterConfig currentConfig;
+
+    /**
+     * Set to true when the user changes PF settings in-app.
+     *
+     * <p>At the next step() call we reset the filter and allow it to reinitialise
+     * using the new parameter set.
+     */
+    private boolean pfConfigDirty = false;
+
+    public ParticleFilterManager(SensorFusion sensorFusion, Context context) {
+        this.sensorFusion = sensorFusion;
+        this.appContext = context.getApplicationContext();
+
+        this.prefs = PreferenceManager.getDefaultSharedPreferences(appContext);
+
+        // Load config once at construction time
+        this.currentConfig = loadPfConfig();
+
+        // Listen for runtime parameter changes from the settings UI
+        prefs.registerOnSharedPreferenceChangeListener(pfListener);
+    }
+
+    /**
+     * Preference change listener for PF parameters only.
+     *
+     * <p>When the user edits a PF setting in the app:
+     * - reload config once
+     * - mark the filter dirty
+     * - let the next step() reset and rebuild the PF
+     */
+    private final SharedPreferences.OnSharedPreferenceChangeListener pfListener =
+            (sharedPreferences, key) -> {
+                if (key == null) return;
+
+                switch (key) {
+                    case "pf_particle_count":
+                    case "pf_sigma_step":
+                    case "pf_sigma_theta_deg":
+                    case "pf_sigma_wifi":
+                    case "pf_sigma_gnss":
+                    case "pf_init_pos_std":
+                    case "pf_init_heading_deg":
+                    case "pf_resample_ratio":
+                    case "pf_sigma_reg_pos":
+                    case "pf_sigma_reg_theta_deg":
+                        currentConfig = loadPfConfig();
+                        pfConfigDirty = true;
+                        Log.d(TAG, "PF config changed: " + key);
+                        break;
+                }
+            };
+
+    /**
+     * Must be called when the manager is no longer needed,
+     * otherwise the preference listener remains registered.
+     */
+    public void destroy() {
+        prefs.unregisterOnSharedPreferenceChangeListener(pfListener);
+    }
+
+    /**
+     * Loads all PF tunable parameters from SharedPreferences.
+     *
+     * <p>Angle values are stored in degrees in the UI,
+     * but converted to radians here before being passed to the engine.
+     */
+    private ParticleFilterConfig loadPfConfig() {
+        int particleCount = Integer.parseInt(prefs.getString("pf_particle_count", "300"));
+        double sigmaStep = Double.parseDouble(prefs.getString("pf_sigma_step", "0.15"));
+        double sigmaThetaDeg = Double.parseDouble(prefs.getString("pf_sigma_theta_deg", "6"));
+        double sigmaWifi = Double.parseDouble(prefs.getString("pf_sigma_wifi", "2.5"));
+        double sigmaGnss = Double.parseDouble(prefs.getString("pf_sigma_gnss", "5.0"));
+        double initPosStd = Double.parseDouble(prefs.getString("pf_init_pos_std", "1.0"));
+        double initHeadingDeg = Double.parseDouble(prefs.getString("pf_init_heading_deg", "10"));
+        double resampleRatio = Double.parseDouble(prefs.getString("pf_resample_ratio", "0.5"));
+        double sigmaRegPos = Double.parseDouble(prefs.getString("pf_sigma_reg_pos", "0.03"));
+        double sigmaRegThetaDeg = Double.parseDouble(prefs.getString("pf_sigma_reg_theta_deg", "1.0"));
+
+        Log.d("loadPfConfig", "Particle count" + particleCount);
+        Log.d("loadPfConfig", "SigmaStep" + sigmaStep);
+        Log.d("loadPfConfig", "SigmaWifi" + sigmaWifi);
+
+        return new ParticleFilterConfig(
+                particleCount,
+                sigmaStep,
+                Math.toRadians(sigmaThetaDeg),
+                sigmaWifi,
+                sigmaGnss,
+                initPosStd,
+                Math.toRadians(initHeadingDeg),
+                resampleRatio,
+                sigmaRegPos,
+                Math.toRadians(sigmaRegThetaDeg)
+        );
+    }
+
+    /**
+     * Advances the particle filter by one logical movement update.
+     *
+     * This method is usually triggered once per detected step, after the raw PDR
+     * state has already been updated by {@link PdrProcessing}.
+     *
+     * Runtime flow:
+     * 1. If the user changed PF settings in the UI, defer-reset the filter here.
+     *    We do it here rather than immediately inside the preference listener so
+     *    the PF is only rebuilt at a clean movement-update boundary.
+     * 2. Initialise the PF lazily when enough absolute position information exists.
+     * 3. Convert cumulative PDR motion into incremental motion for PF prediction.
+     * 4. Run PF prediction using step distance + heading change.
+     * 5. Build the absolute observation bundle from Wi-Fi / GNSS.
+     * 6. Update the filter and store the newest fused pose.
+     */
+    public void step() {
+        // If this recording session is using normal PDR mode,
+        // the PF manager must stay dormant.
+        if (!enabled) {
+            return;
+        }
+        // Apply any live-tuned PF parameter changes on the next clean PF update.
+        // This avoids rebuilding the filter in the middle of an unrelated callback.
+        if (pfConfigDirty) {
+            Log.d(TAG, "Applying new PF config -> resetting filter");
+            reset();
+            pfConfigDirty = false;
+        }
+        // Build the PF only when an initial absolute reference is available.
+        initialiseIfNeeded();
+        // Still waiting for enough data to initialise.
+        if (particleFilterEngine == null || coordinateConverter == null) {
+            return;
+        }
+        // Convert cumulative PDR movement into the scalar motion increment used
+        // by the PF motion model.
+        double deltaS = extractPdrDeltaDistance();
+        // Heading increment is derived from the latest orientation estimate.
+        double currentHeading = wrapAngle(sensorFusion.passOrientation());
+        double deltaTheta = wrapAngle(currentHeading - lastHeading);
+        lastHeading = currentHeading;
+        // Avoid predicting on numerical noise when the apparent movement is tiny.
+        // We still allow the absolute observation update below.
+        if (deltaS >= 0.01) {
+            particleFilterEngine.predict(deltaS, deltaTheta);
+            Log.d(TAG, "PF predict: deltaS=" + deltaS + ", deltaTheta=" + deltaTheta);
+        } else {
+            Log.d(TAG, "PF stationary: skip predict, keep update");
+        }
+        // Build absolute observations in the local PF frame, then correct the particles.
+        ParticleFilterObservation observation = buildObservation();
+        particleFilterEngine.update(observation);
+
+        FusedPose rawPose = particleFilterEngine.estimate(coordinateConverter);
+        latestRawPose = rawPose;
+
+        latestFusedPose = smoothPoseWithKalman(
+                rawPose,
+                deltaS,
+                Math.abs(deltaTheta),
+                lastWifiAccepted,
+                lastGnssAccepted
+        );
+
+        if (rawPose != null && latestFusedPose != null) {
+            Log.d(TAG,
+                    "PF raw vs kalman-smoothed"
+                            + " | rawX=" + rawPose.getXMeters()
+                            + ", rawY=" + rawPose.getYMeters()
+                            + ", smoothX=" + latestFusedPose.getXMeters()
+                            + ", smoothY=" + latestFusedPose.getYMeters()
+                            + ", rawThetaDeg=" + Math.toDegrees(rawPose.getHeadingRad())
+                            + ", smoothThetaDeg=" + Math.toDegrees(latestFusedPose.getHeadingRad())
+                            + ", conf=" + latestFusedPose.getConfidence()
+                            + ", wifiAccepted=" + lastWifiAccepted
+                            + ", gnssAccepted=" + lastGnssAccepted);
+        }
+    }
+
+    /**
+     * Initialises the PF only when a reliable autonomous absolute anchor is available.
+     *
+     * Priority:
+     * 1. already-locked autonomous session start stored in SensorFusion
+     * 2. live Wi-Fi position
+     * 3. live GNSS position
+     *
+     * This avoids dependence on a user-selected manual start point.
+     */
+    public void initialiseIfNeeded() {
+        if (particleFilterEngine != null && particleFilterEngine.isInitialised()) {
+            return;
+        }
+
+        LatLng initialLatLng = resolveAutonomousInitialLatLng();
+        int initialFloor = sensorFusion.getWifiFloor();
+
+        if (initialLatLng == null) {
+            Log.d(TAG, "PF init skipped: waiting for autonomous WiFi/GNSS initial position.");
+            return;
+        }
+
+        coordinateConverter = new CoordinateConverter(
+                initialLatLng.latitude,
+                initialLatLng.longitude
+        );
+
+        double[] initialLocal = coordinateConverter.latLngToLocal(initialLatLng);
+
+        particleFilterEngine = new ParticleFilterEngine(currentConfig);
+
+        poseSmoother.reset();
+        double initialHeading = wrapAngle(sensorFusion.passOrientation());
+        particleFilterEngine.initialise(
+                initialLocal[0],
+                initialLocal[1],
+                initialHeading,
+                initialFloor
+        );
+
+        FusedPose initialRawPose = particleFilterEngine.estimate(coordinateConverter);
+        latestRawPose = initialRawPose;
+        latestFusedPose = smoothPoseWithKalman(
+                initialRawPose,
+                0.0,
+                0.0,
+                true,
+                true
+        );
+        lastHeading = initialHeading;
+
+        Log.d(TAG,
+                "PF initialised from autonomous fix"
+                        + " | particles=" + currentConfig.particleCount
+                        + ", sigmaStep=" + currentConfig.sigmaStep
+                        + ", sigmaThetaDeg=" + Math.toDegrees(currentConfig.sigmaThetaRad)
+                        + ", sigmaWifi=" + currentConfig.sigmaWifi
+                        + ", sigmaGnss=" + currentConfig.sigmaGnss
+                        + ", lat=" + initialLatLng.latitude
+                        + ", lon=" + initialLatLng.longitude);
+    }
+
+    /**
+     * Resolves the PF initial anchor without using any manual user-selected position.
+     *
+     * Order:
+     * 1. already-locked autonomous session start from SensorFusion
+     * 2. live WiFi position
+     * 3. live GNSS position
+     *
+     * The first option keeps PF aligned with the same anchor already accepted by
+     * RecordingFragment once that has been seeded.
+     */
+    private LatLng resolveAutonomousInitialLatLng() {
+        // If RecordingFragment has already locked an autonomous start anchor into
+        // SensorFusion, prefer that so standard PDR mode and PF mode share the same start.
+        float[] storedStart = sensorFusion.getGNSSLatitude(true);
+        if (isValidLatLon(storedStart)) {
+            return new LatLng(storedStart[0], storedStart[1]);
+        }
+
+        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
+        if (isValidLatLng(wifiLatLng)) {
+            return wifiLatLng;
+        }
+
+        float[] gnssLatLon = sensorFusion.getGNSSLatitude(false);
+        if (isValidLatLon(gnssLatLon)) {
+            return new LatLng(gnssLatLon[0], gnssLatLon[1]);
+        }
+
+        return null;
+    }
+
+    /**
+     * Clears only the live PF runtime state.
+     *
+     * This is intentionally different from clearing PF settings:
+     * - currentConfig is preserved
+     * - SharedPreferences values are preserved
+     * - only the active filter instance and motion trackers are reset
+     *
+     * This is useful when:
+     * - the user starts a new recording
+     * - PF settings change mid-session
+     * - PF mode is disabled for the current session
+     */
+    public void reset() {
+        coordinateConverter = null;
+        particleFilterEngine = null;
+        latestFusedPose = null;
+        latestRawPose = null;
+
+        firstPdrSample = true;
+        lastPdrX = 0.0;
+        lastPdrY = 0.0;
+        lastHeading = 0.0;
+
+        wifiObsEmaInitialised = false;
+        wifiObsEmaX = 0.0;
+        wifiObsEmaY = 0.0;
+
+        poseSmoother.reset();
+        lastWifiAccepted = false;
+        lastGnssAccepted = false;
+    }
+
+    /**
+     * Returns the latest fused estimate only when PF mode is active for this session.
+     *
+     * Returning null while disabled is deliberate:
+     * callers should interpret null as "PF output is not available / not in use",
+     * then fall back to normal PDR rendering if needed.
+     */
+    public FusedPose getLatestFusedPose() {
+        return enabled ? latestFusedPose : null;
+    }
+
+    public FusedPose getLatestRawPose(){ return enabled ? latestRawPose : null;}
+    /**
+     * Enables or disables PF participation for the current recording session.
+     *
+     * When disabling, we immediately reset the live PF state so stale fused poses
+     * from a previous session cannot leak into a standard-PDR recording.
+     */
+    public void setEnabled(boolean enabled) {
+        this.enabled = enabled;
+
+        Log.d(TAG, "PF manager = " + (enabled ? "ENABLED" : "DISABLED"));
+
+        if (!enabled) {
+            reset();
+        }
+    }
+    public boolean isEnabled() {
+        return enabled;
+    }
+
+    /**
+     * Builds one observation bundle for the PF correction step.
+     *
+     * Observations are converted from global coordinates (LatLng) into the local
+     * x/y frame used internally by the PF.
+     *
+     * Current observation sources:
+     * - Wi-Fi position + Wi-Fi floor
+     * - GNSS position
+     *
+     * Either source may be absent in a given update cycle.
+     */
+    private ParticleFilterObservation buildObservation() {
+        lastWifiAccepted = false;
+        lastGnssAccepted = false;
+
+        Double wifiX = null;
+        Double wifiY = null;
+        Integer wifiFloor = null;
+
+        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
+        if (isValidLatLng(wifiLatLng)) {
+            double[] local = coordinateConverter.latLngToLocal(wifiLatLng);
+
+            boolean acceptWifi = true;
+            FusedPose gateRef = getGateReferencePose();
+            if (gateRef != null) {
+                double dx = local[0] - gateRef.getXMeters();
+                double dy = local[1] - gateRef.getYMeters();
+                double dist = Math.hypot(dx, dy);
+
+                if (dist > WIFI_GATE_METERS) {
+                    acceptWifi = false;
+                    Log.d(TAG, "Rejecting WiFi update by gate"
+                            + " | dist=" + dist
+                            + ", gate=" + WIFI_GATE_METERS);
+                }
+            }
+
+            if (acceptWifi) {
+                double[] smoothWifi = smoothWifiObservation(local[0], local[1]);
+                wifiX = smoothWifi[0];
+                wifiY = smoothWifi[1];
+                wifiFloor = sensorFusion.getWifiFloor();
+                lastWifiAccepted = true;
+            }
+        }
+
+        Double gnssX = null;
+        Double gnssY = null;
+
+        float[] gnssLatLon = sensorFusion.getGNSSLatitude(false);
+        if (isValidLatLon(gnssLatLon)) {
+            LatLng gnssLatLng = new LatLng(gnssLatLon[0], gnssLatLon[1]);
+            double[] local = coordinateConverter.latLngToLocal(gnssLatLng);
+
+            boolean acceptGnss = true;
+            FusedPose gateRef = getGateReferencePose();
+            if (gateRef != null) {
+                double dx = local[0] - gateRef.getXMeters();
+                double dy = local[1] - gateRef.getYMeters();
+                double dist = Math.hypot(dx, dy);
+
+                if (dist > GNSS_GATE_METERS) {
+                    acceptGnss = false;
+                    Log.d(TAG, "Rejecting GNSS update by gate"
+                            + " | dist=" + dist
+                            + ", gate=" + GNSS_GATE_METERS);
+                }
+            }
+
+            if (acceptGnss) {
+                gnssX = local[0];
+                gnssY = local[1];
+                lastGnssAccepted = true;
+            }
+        }
+
+        return new ParticleFilterObservation(wifiX, wifiY, wifiFloor, gnssX, gnssY);
+    }
+
+    private double[] smoothWifiObservation(double x, double y) {
+        if (!wifiObsEmaInitialised) {
+            wifiObsEmaInitialised = true;
+            wifiObsEmaX = x;
+            wifiObsEmaY = y;
+        } else {
+            wifiObsEmaX = wifiObsEmaX + WIFI_OBS_EMA_ALPHA * (x - wifiObsEmaX);
+            wifiObsEmaY = wifiObsEmaY + WIFI_OBS_EMA_ALPHA * (y - wifiObsEmaY);
+        }
+
+        return new double[]{wifiObsEmaX, wifiObsEmaY};
+    }
+
+    @Nullable
+    private FusedPose getGateReferencePose() {
+        if (latestRawPose != null) {
+            return latestRawPose;
+        }
+        return latestFusedPose;
+    }
+
+    /**
+     * Converts cumulative PDR position into incremental distance.
+     *
+     * <p>The PF prediction currently uses:
+     * - scalar displacement magnitude deltaS
+     * - heading increment deltaTheta
+     *
+     * so here we compute:
+     *   deltaS = hypot(dx, dy)
+     */
+    private double extractPdrDeltaDistance() {
+        float[] pdrPosition = sensorFusion.getLatestPdrMovement();
+        if (pdrPosition == null || pdrPosition.length < 2) {
+            return 0.0;
+        }
+
+        double px = pdrPosition[0];
+        double py = pdrPosition[1];
+
+        if (firstPdrSample) {
+            firstPdrSample = false;
+            lastPdrX = px;
+            lastPdrY = py;
+            return 0.0;
+        }
+
+        double dx = px - lastPdrX;
+        double dy = py - lastPdrY;
+
+        lastPdrX = px;
+        lastPdrY = py;
+
+        return Math.hypot(dx, dy);
+    }
+
+    private FusedPose smoothPoseWithKalman(
+            FusedPose rawPose,
+            double deltaS,
+            double deltaThetaAbs,
+            boolean wifiAccepted,
+            boolean gnssAccepted
+    ) {
+        if (rawPose == null || coordinateConverter == null) {
+            return rawPose;
+        }
+
+        KalmanPoseSmoother.SmoothedPose smoothed = poseSmoother.update(
+                rawPose.getXMeters(),
+                rawPose.getYMeters(),
+                rawPose.getHeadingRad(),
+                rawPose.getConfidence(),
+                deltaS,
+                deltaThetaAbs,
+                wifiAccepted,
+                gnssAccepted
+        );
+
+        LatLng smoothedLatLng = coordinateConverter.localToLatLng(
+                smoothed.x,
+                smoothed.y
+        );
+
+        return new FusedPose(
+                smoothed.x,
+                smoothed.y,
+                smoothed.theta,
+                rawPose.getFloor(),
+                smoothedLatLng,
+                rawPose.getConfidence()
+        );
+    }
+
+    /**
+     * Checks whether a LatLng is meaningful enough to use.
+     */
+    private boolean isValidLatLng(LatLng latLng) {
+        if (latLng == null) {
+            return false;
+        }
+        return !(Math.abs(latLng.latitude) < 1e-6 && Math.abs(latLng.longitude) < 1e-6);
+    }
+
+    /**
+     * Checks whether a raw float lat/lon array is meaningful enough to use.
+     */
+    private boolean isValidLatLon(float[] latLon) {
+        if (latLon == null || latLon.length < 2) {
+            return false;
+        }
+        return !(Math.abs(latLon[0]) < 1e-6 && Math.abs(latLon[1]) < 1e-6);
+    }
+
+    /**
+     * Wraps heading angle to [-pi, pi].
+     */
+    private double wrapAngle(double angle) {
+        while (angle > Math.PI) angle -= 2.0 * Math.PI;
+        while (angle < -Math.PI) angle += 2.0 * Math.PI;
+        return angle;
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterObservation.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterObservation.java
new file mode 100644
index 00000000..d079c0b9
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterObservation.java
@@ -0,0 +1,82 @@
+package com.openpositioning.PositionMe.fusion;
+
+/**
+ * Container for absolute observations used to update the particle filter.
+ *
+ * <p>For the first Android integration phase, this includes:
+ * Wi-Fi local position, Wi-Fi floor, and GNSS local position.</p>
+ */
+public class ParticleFilterObservation {
+
+    private final Double wifiX;
+    private final Double wifiY;
+    private final Integer wifiFloor;
+    private final Double gnssX;
+    private final Double gnssY;
+
+    /**
+     * Creates a new observation container.
+     *
+     * @param wifiX Wi-Fi x coordinate in meters, or null if unavailable
+     * @param wifiY Wi-Fi y coordinate in meters, or null if unavailable
+     * @param wifiFloor Wi-Fi floor estimate, or null if unavailable
+     * @param gnssX GNSS x coordinate in meters, or null if unavailable
+     * @param gnssY GNSS y coordinate in meters, or null if unavailable
+     */
+    public ParticleFilterObservation(Double wifiX,
+                                     Double wifiY,
+                                     Integer wifiFloor,
+                                     Double gnssX,
+                                     Double gnssY) {
+        this.wifiX = wifiX;
+        this.wifiY = wifiY;
+        this.wifiFloor = wifiFloor;
+        this.gnssX = gnssX;
+        this.gnssY = gnssY;
+    }
+
+    /**
+     * Returns the Wi-Fi local x coordinate.
+     *
+     * @return Wi-Fi x coordinate, or null if unavailable
+     */
+    public Double getWifiX() {
+        return wifiX;
+    }
+
+    /**
+     * Returns the Wi-Fi local y coordinate.
+     *
+     * @return Wi-Fi y coordinate, or null if unavailable
+     */
+    public Double getWifiY() {
+        return wifiY;
+    }
+
+    /**
+     * Returns the Wi-Fi floor estimate.
+     *
+     * @return Wi-Fi floor, or null if unavailable
+     */
+    public Integer getWifiFloor() {
+        return wifiFloor;
+    }
+
+    /**
+     * Returns the GNSS local x coordinate.
+     *
+     * @return GNSS x coordinate, or null if unavailable
+     */
+    public Double getGnssX() {
+        return gnssX;
+    }
+
+    /**
+     * Returns the GNSS local y coordinate.
+     *
+     * @return GNSS y coordinate, or null if unavailable
+     */
+    public Double getGnssY() {
+        return gnssY;
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java
index 9497848e..9d472c88 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java
@@ -2,20 +2,31 @@
 
 import android.os.Bundle;
 import android.text.InputType;
+import android.view.ViewGroup;
 import android.view.WindowManager;
-import android.widget.EditText;
+import android.widget.LinearLayout;
+import android.widget.ScrollView;
+import android.widget.TextView;
 
 import androidx.annotation.Nullable;
 import androidx.appcompat.app.AlertDialog;
 import androidx.appcompat.app.AppCompatActivity;
 import androidx.fragment.app.FragmentTransaction;
 
+import com.google.android.material.switchmaterial.SwitchMaterial;
+import com.google.android.material.textfield.TextInputEditText;
+import com.google.android.material.textfield.TextInputLayout;
 import com.openpositioning.PositionMe.R;
+import com.openpositioning.PositionMe.presentation.fragment.CorrectionFragment;
+import com.openpositioning.PositionMe.presentation.fragment.RecordingFragment;
+import com.openpositioning.PositionMe.presentation.fragment.StartLocationFragment;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
 import com.openpositioning.PositionMe.service.SensorCollectionService;
-import com.openpositioning.PositionMe.presentation.fragment.StartLocationFragment;
-import com.openpositioning.PositionMe.presentation.fragment.RecordingFragment;
-import com.openpositioning.PositionMe.presentation.fragment.CorrectionFragment;
+
+import java.text.SimpleDateFormat;
+import java.util.Date;
+import java.util.Locale;
+import android.util.Log;
 
 
 /**
@@ -52,7 +63,7 @@ protected void onCreate(@Nullable Bundle savedInstanceState) {
 
         if (savedInstanceState == null) {
             // Show trajectory name input dialog before proceeding to start location
-            showTrajectoryNameDialog();
+            showTrajectorySetupDialog();
         }
 
         // Keep screen on
@@ -86,42 +97,177 @@ protected void onPause() {
     }
 
     /**
-     * Shows an AlertDialog prompting the user to enter a trajectory name.
-     * The name is stored in SensorFusion as trajectory_id and later written to the protobuf.
-     * After input, proceeds to StartLocationFragment.
+     * Shows the per-session recording setup dialog.
+     *
+     * This dialog now configures two things before the user enters the normal
+     * start-location flow:
+     * 1. the trajectory name to be stored in the recording payload
+     * 2. the trajectory engine for this session:
+     *    - Standard PDR
+     *    - Particle filter fusion
+     *
+     * Design intent:
+     * the choice is session-scoped, so the user can run one recording in normal PDR
+     * and the next one in PF mode without changing the app's persistent settings page.
      */
-    private void showTrajectoryNameDialog() {
-        EditText input = new EditText(this);
-        input.setInputType(InputType.TYPE_CLASS_TEXT);
-        input.setHint("e.g. Nucleus_Walk_01");
-        input.setPadding(48, 24, 48, 24);
-
-        new AlertDialog.Builder(this)
-                .setTitle("Trajectory Name")
-                .setMessage("Enter a name for this recording session:")
-                .setView(input)
+    private void showTrajectorySetupDialog() {
+        final int outerPadding = dp(24);
+        final int sectionSpacing = dp(16);
+
+        ScrollView scrollView = new ScrollView(this);
+        LinearLayout container = new LinearLayout(this);
+        container.setOrientation(LinearLayout.VERTICAL);
+        container.setPadding(outerPadding, outerPadding, outerPadding, outerPadding / 2);
+        scrollView.addView(container,
+                new ScrollView.LayoutParams(
+                        ViewGroup.LayoutParams.MATCH_PARENT,
+                        ViewGroup.LayoutParams.WRAP_CONTENT));
+
+        TextView intro = new TextView(this);
+        intro.setText("Set up this recording before selecting the start location.");
+        intro.setTextSize(15f);
+        container.addView(intro);
+
+        TextInputLayout nameLayout = new TextInputLayout(this);
+        nameLayout.setHint("Trajectory name");
+
+        LinearLayout.LayoutParams nameLayoutParams = new LinearLayout.LayoutParams(
+                ViewGroup.LayoutParams.MATCH_PARENT,
+                ViewGroup.LayoutParams.WRAP_CONTENT
+        );
+        nameLayoutParams.topMargin = sectionSpacing;
+        container.addView(nameLayout, nameLayoutParams);
+
+        TextInputEditText nameInput = new TextInputEditText(this);
+        nameInput.setInputType(InputType.TYPE_CLASS_TEXT | InputType.TYPE_TEXT_FLAG_CAP_WORDS);
+        nameInput.setHint("e.g. Nucleus_Walk_01");
+        nameInput.setSingleLine(true);
+        nameInput.setText(generateDefaultTrajectoryName());
+
+        LinearLayout.LayoutParams editTextParams = new LinearLayout.LayoutParams(
+                ViewGroup.LayoutParams.MATCH_PARENT,
+                ViewGroup.LayoutParams.WRAP_CONTENT
+        );
+        nameLayout.addView(nameInput, editTextParams);
+
+        TextView modeTitle = new TextView(this);
+        modeTitle.setText("Trajectory engine");
+        modeTitle.setTextSize(16f);
+        LinearLayout.LayoutParams modeTitleParams = new LinearLayout.LayoutParams(
+                ViewGroup.LayoutParams.MATCH_PARENT,
+                ViewGroup.LayoutParams.WRAP_CONTENT);
+        modeTitleParams.topMargin = sectionSpacing;
+        container.addView(modeTitle, modeTitleParams);
+
+        TextView modeSubtitle = new TextView(this);
+        modeSubtitle.setText("Choose how the live trajectory is drawn and saved during this session.");
+        modeSubtitle.setTextSize(14f);
+        container.addView(modeSubtitle);
+
+        // Session mode toggle:
+        // OFF -> standard PDR
+        // ON  -> particle filter fusion
+        //
+        // We seed the switch from the current SensorFusion session state so reopening
+        // the dialog during development/testing reflects the latest chosen mode.
+        SwitchMaterial particleFilterSwitch = new SwitchMaterial(this);
+        particleFilterSwitch.setText("Use particle filter fusion");
+        particleFilterSwitch.setChecked(SensorFusion.getInstance().isParticleFilterTrajectoryMode());
+        LinearLayout.LayoutParams switchParams = new LinearLayout.LayoutParams(
+                ViewGroup.LayoutParams.MATCH_PARENT,
+                ViewGroup.LayoutParams.WRAP_CONTENT);
+        switchParams.topMargin = dp(8);
+        container.addView(particleFilterSwitch, switchParams);
+
+        TextView modeDescription = new TextView(this);
+        modeDescription.setTextSize(13f);
+        modeDescription.setPadding(0, dp(4), 0, 0);
+        container.addView(modeDescription);
+
+        // Keep the explanation text in sync with the selected mode so the user
+        // understands that this changes both the live path and the saved trajectory.
+        Runnable updateModeDescription = () -> {
+            if (particleFilterSwitch.isChecked()) {
+                modeDescription.setText(
+                        "Particle filter mode: uses your fused positioning pipeline for the live path and saved trajectory. " +
+                                "This is useful when you want the path to follow WiFi/GNSS-assisted fusion rather than raw PDR only.");
+            } else {
+                modeDescription.setText(
+                        "Standard PDR mode: uses the normal pedestrian dead reckoning path directly for both display and saved trajectory.");
+            }
+        };
+        updateModeDescription.run();
+        particleFilterSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> updateModeDescription.run());
+
+        AlertDialog dialog = new AlertDialog.Builder(this)
+                .setTitle("New Recording")
+                .setView(scrollView)
                 .setCancelable(false)
-                .setPositiveButton("Save", (dialog, which) -> {
-                    String name = input.getText().toString().trim();
-                    if (name.isEmpty()) {
-                        // Default name based on timestamp
-                        name = "traj_" + System.currentTimeMillis();
-                    }
-                    SensorFusion.getInstance().setTrajectoryId(name);
-                    showStartLocationScreen();
-                })
-                .setNegativeButton("Skip", (dialog, which) -> {
-                    // Use default name
-                    SensorFusion.getInstance().setTrajectoryId(
-                            "traj_" + System.currentTimeMillis());
-                    showStartLocationScreen();
-                })
-                .show();
+                .setPositiveButton("Continue", null)
+                .setNegativeButton("Use Auto Name", null)
+                .create();
+
+        dialog.setOnShowListener(dialogInterface -> {
+            // Keep the user-selected engine mode, but replace the name with an auto-generated one.
+            dialog.getButton(AlertDialog.BUTTON_POSITIVE).setOnClickListener(v -> {
+                String name = nameInput.getText() == null ? "" : nameInput.getText().toString().trim();
+                if (name.isEmpty()) {
+                    name = generateDefaultTrajectoryName();
+                }
+
+                applyTrajectorySetupAndContinue(name, particleFilterSwitch.isChecked());
+                dialog.dismiss();
+            });
+
+            dialog.getButton(AlertDialog.BUTTON_NEGATIVE).setOnClickListener(v -> {
+                applyTrajectorySetupAndContinue(
+                        generateDefaultTrajectoryName(),
+                        particleFilterSwitch.isChecked());
+                dialog.dismiss();
+            });
+        });
+
+        dialog.show();
+    }
+
+    /**
+     * Commits the session choices from the setup dialog into SensorFusion,
+     * then continues into the normal start-location flow.
+     *
+     * This is the bridge between the UI choice and the downstream runtime behaviour:
+     * - RecordingFragment will render the selected trajectory mode
+     * - SensorEventHandler will save the selected trajectory mode
+     */
+    private static final String TAG = "RecordingActivity";
+    private void applyTrajectorySetupAndContinue(String trajectoryName, boolean useParticleFilter) {
+        SensorFusion sensorFusion = SensorFusion.getInstance();
+        sensorFusion.setTrajectoryId(trajectoryName);
+        sensorFusion.setRecordingTrajectoryMode(
+                useParticleFilter
+                        ? SensorFusion.TRAJECTORY_MODE_PARTICLE_FILTER
+                        : SensorFusion.TRAJECTORY_MODE_PDR);
+
+        Log.d(TAG, "New recording setup:"
+                + " name=" + trajectoryName
+                + ", mode=" + (useParticleFilter ? "PARTICLE_FILTER" : "STANDARD_PDR"));
+
+        showStartLocationScreen();
     }
 
     /**
-     * Show the StartLocationFragment (beginning of flow).
+     * Generates a simple timestamp-based fallback name for the recording.
+     *
+     * Using a deterministic auto-name avoids empty trajectory IDs and makes quick
+     * field testing easier when the user does not want to type a custom name.
      */
+    private String generateDefaultTrajectoryName() {
+        return "traj_" + new SimpleDateFormat("yyyyMMdd_HHmmss", Locale.UK).format(new Date());
+    }
+
+    private int dp(int value) {
+        return Math.round(value * getResources().getDisplayMetrics().density);
+    }
+
     public void showStartLocationScreen() {
         FragmentTransaction ft = getSupportFragmentManager().beginTransaction();
         ft.replace(R.id.mainFragmentContainer, new StartLocationFragment());
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
index cce7746f..3dd0dca0 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
@@ -7,10 +7,11 @@
 import android.os.Bundle;
 import android.os.CountDownTimer;
 import android.os.Handler;
+import android.os.Looper;
+import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
-
 import android.view.animation.AlphaAnimation;
 import android.view.animation.Animation;
 import android.view.animation.LinearInterpolator;
@@ -18,81 +19,101 @@
 import android.widget.ImageView;
 import android.widget.ProgressBar;
 import android.widget.TextView;
-import com.google.android.material.button.MaterialButton;
+import android.widget.Toast;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.fragment.app.Fragment;
 import androidx.preference.PreferenceManager;
 
+import com.google.android.gms.maps.model.LatLng;
+import com.google.android.material.button.MaterialButton;
 import com.openpositioning.PositionMe.R;
+import com.openpositioning.PositionMe.fusion.FusedPose;
 import com.openpositioning.PositionMe.presentation.activity.RecordingActivity;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
 import com.openpositioning.PositionMe.sensors.SensorTypes;
+import com.openpositioning.PositionMe.utils.TcpClient;
+import com.openpositioning.PositionMe.utils.TcpPacketSender;
 import com.openpositioning.PositionMe.utils.UtilFunctions;
-import com.google.android.gms.maps.model.LatLng;
 
+import java.io.File;
+import java.text.SimpleDateFormat;
 import java.util.ArrayList;
+import java.util.Date;
 import java.util.List;
-
-import android.widget.Toast;
-
-
-
+import java.util.Locale;
 
 /**
  * Fragment responsible for managing the recording process of trajectory data.
- * <p>
- * The RecordingFragment serves as the interface for users to initiate, monitor, and
- * complete trajectory recording. It integrates sensor fusion data to track user movement
- * and updates a map view in real time. Additionally, it provides UI controls to cancel,
- * stop, and monitor recording progress.
- * <p>
- * Features:
- * - Starts and stops trajectory recording.
- * - Displays real-time sensor data such as elevation and distance traveled.
- * - Provides UI controls to cancel or complete recording.
- * - Uses {@link TrajectoryMapFragment} to visualize recorded paths.
- * - Manages GNSS tracking and error display.
  *
- * @see TrajectoryMapFragment The map fragment displaying the recorded trajectory.
- * @see RecordingActivity The activity managing the recording workflow.
- * @see SensorFusion Handles sensor data collection.
- * @see SensorTypes Enumeration of available sensor types.
+ * <p>The RecordingFragment serves as the interface for users to initiate, monitor,
+ * and complete trajectory recording. It integrates sensor fusion data to track user
+ * movement and updates a map view in real time. Additionally, it provides UI controls
+ * to cancel, stop, and monitor recording progress.
  *
- * @author Shu Gu
+ * <p>Features:
+ * <ul>
+ *     <li>Starts and stops trajectory recording.</li>
+ *     <li>Displays real-time sensor data such as elevation and distance traveled.</li>
+ *     <li>Provides UI controls to cancel or complete recording.</li>
+ *     <li>Uses {@link TrajectoryMapFragment} to visualize recorded paths.</li>
+ *     <li>Manages GNSS tracking and error display.</li>
+ * </ul>
  */
-
 public class RecordingFragment extends Fragment {
 
+    private static final String TAG = "RecordingFragment";
+
     // UI elements
-    private MaterialButton completeButton, cancelButton;
+    private MaterialButton completeButton;
+    private MaterialButton cancelButton;
     private ImageView recIcon;
     private ProgressBar timeRemaining;
-    private TextView elevation, distanceTravelled, gnssError;
+    private TextView elevation;
+    private TextView distanceTravelled;
+    private TextView gnssError;
 
     // App settings
     private SharedPreferences settings;
 
-    // Sensor & data logic
+    // Sensor and data logic
     private SensorFusion sensorFusion;
     private Handler refreshDataHandler;
     private CountDownTimer autoStop;
 
-    // Distance tracking
+    // Distance tracking from raw PDR only
     private float distance = 0f;
     private float previousPosX = 0f;
     private float previousPosY = 0f;
 
-    // References to the child map fragment
+    // Child map fragment
     private TrajectoryMapFragment trajectoryMapFragment;
+    private boolean initialCameraPositionSet = false;
+
+    // TCP streaming to desktop GUI
+    private TcpClient tcpClient;
+    private TcpPacketSender tcpPacketSender;
+    private final Handler tcpHandler = new Handler(Looper.getMainLooper());
+    private boolean tcpStreamingEnabled = false;
+
+    // Autonomous initial map anchoring
+    private LatLng autonomousInitialLocation = null;
+    private boolean initialMapLocationSeeded = false;
+
+
+    // Test point handling
+    private int testPointIndex = 0;
+    private final List<TestPoint> testPoints = new ArrayList<>();
 
+    /**
+     * Runnable used to periodically refresh UI and live map data.
+     */
     private final Runnable refreshDataTask = new Runnable() {
         @Override
         public void run() {
             updateUIandPosition();
-            // Loop again
-            refreshDataHandler.postDelayed(refreshDataTask, 200);
+            refreshDataHandler.postDelayed(this, 200);
         }
     };
 
@@ -103,10 +124,10 @@ public RecordingFragment() {
     @Override
     public void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
-        this.sensorFusion = SensorFusion.getInstance();
+        sensorFusion = SensorFusion.getInstance();
         Context context = requireActivity();
-        this.settings = PreferenceManager.getDefaultSharedPreferences(context);
-        this.refreshDataHandler = new Handler();
+        settings = PreferenceManager.getDefaultSharedPreferences(context);
+        refreshDataHandler = new Handler();
     }
 
     @Nullable
@@ -114,7 +135,6 @@ public void onCreate(Bundle savedInstanceState) {
     public View onCreateView(@NonNull LayoutInflater inflater,
                              @Nullable ViewGroup container,
                              @Nullable Bundle savedInstanceState) {
-        // Inflate only the "recording" UI parts (no map)
         return inflater.inflate(R.layout.fragment_recording, container, false);
     }
 
@@ -123,21 +143,23 @@ public void onViewCreated(@NonNull View view,
                               @Nullable Bundle savedInstanceState) {
         super.onViewCreated(view, savedInstanceState);
 
-        // Child Fragment: the container in fragment_recording.xml
-        // where TrajectoryMapFragment is placed
+        // Child fragment containing the trajectory map.
         trajectoryMapFragment = (TrajectoryMapFragment)
                 getChildFragmentManager().findFragmentById(R.id.trajectoryMapFragmentContainer);
 
-        // If not present, create it
         if (trajectoryMapFragment == null) {
             trajectoryMapFragment = new TrajectoryMapFragment();
             getChildFragmentManager()
                     .beginTransaction()
                     .replace(R.id.trajectoryMapFragmentContainer, trajectoryMapFragment)
-                    .commit();
+                    .commitNow();
         }
 
-        // Initialize UI references
+        // Try to seed the initial location immediately. If not available yet,
+        // updateUIandPosition() will keep retrying.
+        seedInitialMapLocation();
+
+        // UI references
         elevation = view.findViewById(R.id.currentElevation);
         distanceTravelled = view.findViewById(R.id.currentDistanceTraveled);
         gnssError = view.findViewById(R.id.gnssError);
@@ -146,23 +168,75 @@ public void onViewCreated(@NonNull View view,
         cancelButton = view.findViewById(R.id.cancelButton);
         recIcon = view.findViewById(R.id.redDot);
         timeRemaining = view.findViewById(R.id.timeRemainingBar);
-        view.findViewById(R.id.btn_test_point).setOnClickListener(v -> onAddTestPoint());
 
+        View testPointButton = view.findViewById(R.id.btn_test_point);
+        if (testPointButton != null) {
+            testPointButton.setOnClickListener(v -> onAddTestPoint());
+        }
 
-        // Hide or initialize default values
+        // Default UI state
         gnssError.setVisibility(View.GONE);
         elevation.setText(getString(R.string.elevation, "0"));
         distanceTravelled.setText(getString(R.string.meter, "0"));
 
-        // Buttons
+        // Stop / complete recording
         completeButton.setOnClickListener(v -> {
-            // Stop recording & go to correction
-            if (autoStop != null) autoStop.cancel();
+            if (autoStop != null) {
+                autoStop.cancel();
+            }
+            refreshDataHandler.removeCallbacks(refreshDataTask);
+            stopTcpStreaming();
             sensorFusion.stopRecording();
-            // Show Correction screen
-            ((RecordingActivity) requireActivity()).showCorrectionScreen();
-        });
 
+            new AlertDialog.Builder(requireActivity())
+                    .setTitle("Save trajectory?")
+                    .setMessage("Do you want to save trajectory into JSON locally?")
+                    .setPositiveButton("Save", (dialog, which) -> {
+                        try {
+                            File dir = new File(requireContext().getExternalFilesDir(null), "trajectories");
+                            if (!dir.exists()) {
+                                dir.mkdirs();
+                            }
+
+                            String timestamp = new SimpleDateFormat(
+                                    "yyyyMMdd_HHmmss", Locale.UK).format(new Date());
+
+                            String trajName = sensorFusion.getTrajectoryId();
+                            if (trajName == null || trajName.trim().isEmpty()) {
+                                trajName = "traj";
+                            }
+
+                            trajName = trajName.replaceAll("[^a-zA-Z0-9_\\-]", "_");
+                            String baseName = trajName + "_" + timestamp;
+
+                            File jsonFile = new File(dir, baseName + ".json");
+                            File csvFile = new File(dir, baseName + ".csv");
+
+                            sensorFusion.saveTestPointToCSV(csvFile);
+                            sensorFusion.saveRecordingToJSON(jsonFile);
+
+                            Toast.makeText(
+                                    requireContext(),
+                                    "Saved to /trajectories folder",
+                                    Toast.LENGTH_SHORT
+                            ).show();
+
+                        } catch (Exception e) {
+                            e.printStackTrace();
+                            Toast.makeText(
+                                    requireContext(),
+                                    "Save failed: " + e.getMessage(),
+                                    Toast.LENGTH_LONG
+                            ).show();
+                        }
+
+                        ((RecordingActivity) requireActivity()).showCorrectionScreen();
+                    })
+                    .setNegativeButton("Don't save", (dialog, which) ->
+                            ((RecordingActivity) requireActivity()).showCorrectionScreen())
+                    .setCancelable(false)
+                    .show();
+        });
 
         // Cancel button with confirmation dialog
         cancelButton.setOnClickListener(v -> {
@@ -170,33 +244,29 @@ public void onViewCreated(@NonNull View view,
                     .setTitle("Confirm Cancel")
                     .setMessage("Are you sure you want to cancel the recording? Your progress will be lost permanently!")
                     .setNegativeButton("Yes", (dialogInterface, which) -> {
-                        // User confirmed cancellation
+                        stopTcpStreaming();
                         sensorFusion.stopRecording();
-                        if (autoStop != null) autoStop.cancel();
+                        if (autoStop != null) {
+                            autoStop.cancel();
+                        }
                         requireActivity().onBackPressed();
                     })
-                    .setPositiveButton("No", (dialogInterface, which) -> {
-                        // User cancelled the dialog. Do nothing.
-                        dialogInterface.dismiss();
-                    })
-                    .create(); // Create the dialog but do not show it yet
+                    .setPositiveButton("No", (dialogInterface, which) -> dialogInterface.dismiss())
+                    .create();
 
-            // Show the dialog and change the button color
             dialog.setOnShowListener(dialogInterface -> {
                 Button negativeButton = dialog.getButton(AlertDialog.BUTTON_NEGATIVE);
-                negativeButton.setTextColor(Color.RED); // Set "Yes" button color to red
+                negativeButton.setTextColor(Color.RED);
             });
 
-            dialog.show(); // Finally, show the dialog
+            dialog.show();
         });
 
-        // The blinking effect for recIcon
         blinkingRecordingIcon();
+        startTcpStreaming();
 
-        // Start the timed or indefinite UI refresh
-        if (this.settings.getBoolean("split_trajectory", false)) {
-            // A maximum recording time is set
-            long limit = this.settings.getInt("split_duration", 30) * 60000L;
+        if (settings.getBoolean("split_trajectory", false)) {
+            long limit = settings.getInt("split_duration", 30) * 60000L;
             timeRemaining.setMax((int) (limit / 1000));
             timeRemaining.setProgress(0);
             timeRemaining.setScaleY(3f);
@@ -210,108 +280,258 @@ public void onTick(long millisUntilFinished) {
 
                 @Override
                 public void onFinish() {
+                    stopTcpStreaming();
                     sensorFusion.stopRecording();
                     ((RecordingActivity) requireActivity()).showCorrectionScreen();
                 }
             }.start();
         } else {
-            // No set time limit, just keep refreshing
             refreshDataHandler.post(refreshDataTask);
         }
     }
 
+    /**
+     * Add a numbered test point marker at the current displayed trajectory position.
+     */
     private void onAddTestPoint() {
-        // 1) Ensure the map fragment is ready
-        if (trajectoryMapFragment == null) return;
+        if (trajectoryMapFragment == null) {
+            return;
+        }
 
-        // 2) Read current track position (must lie on the current path)
         LatLng cur = trajectoryMapFragment.getCurrentLocation();
         if (cur == null) {
-            Toast.makeText(requireContext(), "" +
-                            "I haven't gotten my current location yet, let me take a couple of steps/wait for the map to load.",
-                    Toast.LENGTH_SHORT).show();
+            Toast.makeText(
+                    requireContext(),
+                    "I haven't gotten my current location yet, let me take a couple of steps/wait for the map to load.",
+                    Toast.LENGTH_SHORT
+            ).show();
             return;
         }
 
-        // 3) Generate index + timestamp (satisfies "save timestamp")
+        if (!testPoints.isEmpty()) {
+            TestPoint last = testPoints.get(testPoints.size() - 1);
+            LatLng lastLatLng = new LatLng(last.lat, last.lng);
+            double dist = UtilFunctions.distanceBetweenPoints(lastLatLng, cur);
+
+            if (dist < 0.5) {
+                Toast.makeText(
+                        requireContext(),
+                        "Test point not added because the location has not changed enough.",
+                        Toast.LENGTH_SHORT
+                ).show();
+                return;
+            }
+        }
+
         int idx = ++testPointIndex;
         long ts = System.currentTimeMillis();
 
-        // 4) Keep a local copy for in-session tracking
         testPoints.add(new TestPoint(idx, ts, cur.latitude, cur.longitude));
-
-        // Write test point into protobuf payload
         sensorFusion.addTestPointToProto(ts, cur.latitude, cur.longitude);
 
-        // 5) Draw numbered marker on map (satisfies "leave numbered marker")
         trajectoryMapFragment.addTestPointMarker(idx, ts, cur);
-    }
 
+        Log.d(TAG, String.format(
+                Locale.UK,
+                "TEST_POINT added idx=%d ts=%d lat=%.6f lon=%.6f",
+                idx,
+                ts,
+                cur.latitude,
+                cur.longitude
+        ));
+    }
 
     /**
-     * Update the UI with sensor data and pass map updates to TrajectoryMapFragment.
+     * Refreshes the recording UI and updates the live map.
+     *
+     * Initialisation behaviour:
+     * - keep waiting until WiFi or GNSS provides the first usable absolute fix
+     * - use that fix as the autonomous session anchor
+     *
+     * Tracking behaviour after initialisation:
+     * - PDR remains the primary motion source
+     * - PF mode can replace the displayed trajectory with fused output
+     * - WiFi and GNSS remain overlays / references
+     *
+     * Note:
+     * distance is intentionally accumulated from raw PDR increments, because
+     * fused absolute corrections may introduce jumps that would distort the
+     * travelled-distance metric.
      */
     private void updateUIandPosition() {
+        // Keep retrying until the first autonomous WiFi/GNSS fix arrives.
+        if (!initialMapLocationSeeded) {
+            seedInitialMapLocation();
+        }
+
         float[] pdrValues = sensorFusion.getSensorValueMap().get(SensorTypes.PDR);
-        if (pdrValues == null) return;
+        if (pdrValues == null || trajectoryMapFragment == null) {
+            return;
+        }
+
+        // Capture previous raw PDR values before updating them.
+        float prevX = previousPosX;
+        float prevY = previousPosY;
 
-        // Distance
-        distance += Math.sqrt(Math.pow(pdrValues[0] - previousPosX, 2)
-                + Math.pow(pdrValues[1] - previousPosY, 2));
-        distanceTravelled.setText(getString(R.string.meter, String.format("%.2f", distance)));
+        // Distance accumulation from raw PDR only.
+        distance += Math.sqrt(
+                Math.pow(pdrValues[0] - prevX, 2) +
+                        Math.pow(pdrValues[1] - prevY, 2)
+        );
+        distanceTravelled.setText(
+                getString(R.string.meter, String.format(Locale.UK, "%.2f", distance))
+        );
 
-        // Elevation
+        // Elevation display
         float elevationVal = sensorFusion.getElevation();
-        elevation.setText(getString(R.string.elevation, String.format("%.1f", elevationVal)));
-
-        // Current location
-        // Convert PDR coordinates to actual LatLng if you have a known starting lat/lon
-        // Or simply pass relative data for the TrajectoryMapFragment to handle
-        // For example:
-        float[] latLngArray = sensorFusion.getGNSSLatitude(true);
-        if (latLngArray != null) {
-            LatLng oldLocation = trajectoryMapFragment.getCurrentLocation(); // or store locally
-            LatLng newLocation = UtilFunctions.calculateNewPos(
-                    oldLocation == null ? new LatLng(latLngArray[0], latLngArray[1]) : oldLocation,
-                    new float[]{ pdrValues[0] - previousPosX, pdrValues[1] - previousPosY }
-            );
+        elevation.setText(
+                getString(R.string.elevation, String.format(Locale.UK, "%.1f", elevationVal))
+        );
+
+        // Main trajectory display mode
+        if (sensorFusion.isParticleFilterTrajectoryMode()) {
+            Log.d(TAG, String.format(
+                    Locale.UK,
+                    "LIVE_MODE=PF pdr=(%.3f, %.3f) dist=%.3f elev=%.2f",
+                    pdrValues[0],
+                    pdrValues[1],
+                    distance,
+                    elevationVal
+            ));
+            updateLiveMapWithParticleFilter(pdrValues);
+        } else {
+            Log.d(TAG, String.format(
+                    Locale.UK,
+                    "LIVE_MODE=PDR pdr=(%.3f, %.3f) dist=%.3f elev=%.2f",
+                    pdrValues[0],
+                    pdrValues[1],
+                    distance,
+                    elevationVal
+            ));
+            updateLiveMapWithStandardPdr(pdrValues);
+        }
 
-            // Pass the location + orientation to the map
-            if (trajectoryMapFragment != null) {
-                trajectoryMapFragment.updateUserLocation(newLocation,
-                        (float) Math.toDegrees(sensorFusion.passOrientation()));
-            }
+        // WiFi overlay
+        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
+        if (wifiLatLng != null && trajectoryMapFragment.isWifiEnabled()) {
+            trajectoryMapFragment.updateWifi(wifiLatLng);
         }
 
-        // GNSS logic if you want to show GNSS error, etc.
+        // GNSS overlay and GNSS error display
         float[] gnss = sensorFusion.getSensorValueMap().get(SensorTypes.GNSSLATLONG);
-        if (trajectoryMapFragment != null) {
-            if (gnss != null) {
-                LatLng gnssLocation = new LatLng(gnss[0], gnss[1]);
-                if (trajectoryMapFragment.isGnssEnabled()) {
-                    LatLng currentLoc = trajectoryMapFragment.getCurrentLocation();
-                    if (currentLoc != null) {
-                        double errorDist = UtilFunctions.distanceBetweenPoints(currentLoc, gnssLocation);
-                        gnssError.setVisibility(View.VISIBLE);
-                        gnssError.setText(String.format(getString(R.string.gnss_error) + "%.2fm", errorDist));
-                    } else {
-                        gnssError.setVisibility(View.GONE);
-                    }
-                } else {
-                    gnssError.setVisibility(View.GONE);
-                }
-                trajectoryMapFragment.updateGNSS(gnssLocation);
+        if (gnss != null && trajectoryMapFragment.isGnssEnabled()) {
+            LatLng gnssLocation = new LatLng(gnss[0], gnss[1]);
+            LatLng currentLoc = trajectoryMapFragment.getCurrentLocation();
+
+            if (currentLoc != null) {
+                double errorDist = UtilFunctions.distanceBetweenPoints(currentLoc, gnssLocation);
+                gnssError.setVisibility(View.VISIBLE);
+                gnssError.setText(String.format(
+                        Locale.UK,
+                        getString(R.string.gnss_error) + "%.2fm",
+                        errorDist
+                ));
             } else {
                 gnssError.setVisibility(View.GONE);
-                trajectoryMapFragment.clearGNSS();
             }
+
+            trajectoryMapFragment.updateGNSS(gnssLocation);
+        } else {
+            gnssError.setVisibility(View.GONE);
+            trajectoryMapFragment.clearGNSS();
         }
 
-        // Update previous
+        // Update raw PDR history once, at the end of the cycle.
         previousPosX = pdrValues[0];
         previousPosY = pdrValues[1];
     }
 
+    /**
+     * Updates the map using standard PDR.
+     *
+     * The local PDR path is anchored to the first valid autonomous WiFi/GNSS fix
+     * captured at the start of recording.
+     */
+    private void updateLiveMapWithStandardPdr(@Nullable float[] pdrValues) {
+        if (trajectoryMapFragment == null || pdrValues == null) {
+            return;
+        }
+
+        if (autonomousInitialLocation == null) {
+            Log.d(TAG, "PDR_BRANCH waiting for autonomous initial location");
+            return;
+        }
+
+        LatLng currentPdrLocation = UtilFunctions.calculateNewPos(autonomousInitialLocation, pdrValues);
+
+        Log.d(TAG, String.format(
+                Locale.UK,
+                "PDR_BRANCH using anchored PDR lat=%.6f lon=%.6f headingDeg=%.2f",
+                currentPdrLocation.latitude,
+                currentPdrLocation.longitude,
+                Math.toDegrees(sensorFusion.passOrientation())
+        ));
+
+        trajectoryMapFragment.updateUserLocation(
+                currentPdrLocation,
+                (float) Math.toDegrees(sensorFusion.passOrientation())
+        );
+        trajectoryMapFragment.updateDebugInfo(sensorFusion.passOrientation());
+
+        if (!initialCameraPositionSet) {
+            trajectoryMapFragment.setInitialCameraPosition(currentPdrLocation);
+            initialCameraPositionSet = true;
+            Log.d(TAG, "PDR_BRANCH initial camera position set from anchored PDR");
+        }
+    }
+
+    /**
+     * Updates the map using the latest fused PF estimate.
+     *
+     * If the PF has not yet initialised, this deliberately falls back
+     * to standard PDR so the user still sees a live trajectory.
+     */
+    private void updateLiveMapWithParticleFilter(@Nullable float[] pdrValues) {
+        FusedPose fusedPose = sensorFusion.getLatestFusedPose();
+
+        if (fusedPose == null) {
+            Log.d(TAG, "PF_BRANCH fused pose is null -> falling back to standard PDR");
+            updateLiveMapWithStandardPdr(pdrValues);
+            return;
+        }
+
+        LatLng fusedLatLng = fusedPose.getLatLng();
+        float fusedHeadingDeg = (float) Math.toDegrees(fusedPose.getHeadingRad());
+
+        Log.d(TAG, String.format(
+                Locale.UK,
+                "PF_BRANCH using fused pose lat=%.6f lon=%.6f floor=%d conf=%.3f headingDeg=%.2f",
+                fusedLatLng.latitude,
+                fusedLatLng.longitude,
+                fusedPose.getFloor(),
+                fusedPose.getConfidence(),
+                fusedHeadingDeg
+        ));
+
+        if (trajectoryMapFragment != null) {
+            trajectoryMapFragment.updateUserLocation(
+                    fusedLatLng,
+                    fusedHeadingDeg
+            );
+
+            trajectoryMapFragment.updateDisplayedFloor(fusedPose.getFloor());
+
+            // Keep debug info visible for quick validation.
+            trajectoryMapFragment.updateDebugInfo((float) fusedPose.getHeadingRad());
+
+            if (!initialCameraPositionSet) {
+                trajectoryMapFragment.setInitialCameraPosition(fusedLatLng);
+                initialCameraPositionSet = true;
+                Log.d(TAG, "PF_BRANCH initial camera position set from fused pose");
+            }
+        }
+    }
+
     /**
      * Start the blinking effect for the recording icon.
      */
@@ -324,6 +544,149 @@ private void blinkingRecordingIcon() {
         recIcon.startAnimation(blinking);
     }
 
+    /**
+     * Starts TCP streaming of live JSON packets to the desktop Python GUI.
+     */
+    private void startTcpStreaming() {
+        if (tcpStreamingEnabled) {
+            return;
+        }
+
+        // Replace with your PC IP address on the same network.
+        String serverIp = "172.20.10.3";
+        int serverPort = 6000;
+
+        tcpClient = new TcpClient(serverIp, serverPort);
+        tcpPacketSender = new TcpPacketSender(sensorFusion, tcpClient);
+        tcpStreamingEnabled = true;
+
+        tcpHandler.postDelayed(tcpStreamRunnable, 1000);
+    }
+
+    /**
+     * Stops TCP streaming and closes the client socket.
+     */
+    private void stopTcpStreaming() {
+        tcpStreamingEnabled = false;
+        tcpHandler.removeCallbacks(tcpStreamRunnable);
+
+        if (tcpClient != null) {
+            tcpClient.stopClient();
+            tcpClient = null;
+        }
+
+        tcpPacketSender = null;
+    }
+
+    /**
+     * Seeds the session using the first valid autonomous absolute fix.
+     *
+     * Required behaviour:
+     * - never use a user-selected marker as the initial position
+     * - wait for live WiFi or GNSS positioning
+     * - lock the first usable fix as the recording anchor
+     */
+    private void seedInitialMapLocation() {
+        if (trajectoryMapFragment == null || initialMapLocationSeeded) {
+            return;
+        }
+
+        LatLng initialFix = resolveAutonomousInitialLocation();
+
+        if (initialFix == null) {
+            Log.d(TAG, "Waiting for initial autonomous GNSS/WiFi position before seeding map.");
+            return;
+        }
+
+        autonomousInitialLocation = initialFix;
+        initialMapLocationSeeded = true;
+
+        sensorFusion.setStartGNSSLatitude(new float[]{
+                (float) initialFix.latitude,
+                (float) initialFix.longitude
+        });
+
+        sensorFusion.writeInitialMetadata();
+
+        trajectoryMapFragment.setInitialCameraPosition(initialFix);
+        initialCameraPositionSet = true;
+
+        trajectoryMapFragment.updateUserLocation(
+                initialFix,
+                (float) Math.toDegrees(sensorFusion.passOrientation())
+        );
+
+        Log.d(TAG,
+                "Seeded initial map location from autonomous fix at "
+                        + initialFix.latitude + ", " + initialFix.longitude);
+    }
+
+    /**
+     * Resolves the first usable autonomous absolute position.
+     *
+     * Current policy:
+     * - prefer WiFi if already available
+     * - otherwise use GNSS
+     */
+    @Nullable
+    private LatLng resolveAutonomousInitialLocation() {
+        // Prefer GNSS for the initial anchor
+        float[] gnssLatLng = sensorFusion.getGNSSLatitude(false);
+        if (gnssLatLng != null
+                && gnssLatLng.length >= 2
+                && !(Math.abs(gnssLatLng[0]) < 1e-6 && Math.abs(gnssLatLng[1]) < 1e-6)) {
+            Log.d(TAG, String.format(
+                    Locale.UK,
+                    "INITIAL_ANCHOR using GNSS lat=%.6f lon=%.6f",
+                    gnssLatLng[0],
+                    gnssLatLng[1]
+            ));
+            return new LatLng(gnssLatLng[0], gnssLatLng[1]);
+        }
+
+        // Optional fallback to WiFi only if GNSS is unavailable
+        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
+        if (isValidLatLng(wifiLatLng)) {
+            Log.d(TAG, String.format(
+                    Locale.UK,
+                    "INITIAL_ANCHOR fallback to WiFi lat=%.6f lon=%.6f",
+                    wifiLatLng.latitude,
+                    wifiLatLng.longitude
+            ));
+            return wifiLatLng;
+        }
+
+        return null;
+    }
+
+    /**
+     * Returns true only when the LatLng contains a meaningful absolute position.
+     * In this codebase, (0,0) is treated as "not initialised yet".
+     */
+    private boolean isValidLatLng(@Nullable LatLng latLng) {
+        if (latLng == null) {
+            return false;
+        }
+        return !(Math.abs(latLng.latitude) < 1e-6 && Math.abs(latLng.longitude) < 1e-6);
+    }
+
+    /**
+     * Periodically sends the latest sensor packet to the desktop TCP server.
+     */
+    private final Runnable tcpStreamRunnable = new Runnable() {
+        @Override
+        public void run() {
+            if (!tcpStreamingEnabled || tcpPacketSender == null) {
+                return;
+            }
+
+            tcpPacketSender.sendLatestPacket();
+
+            // 5 Hz
+            tcpHandler.postDelayed(this, 200);
+        }
+    };
+
     @Override
     public void onPause() {
         super.onPause();
@@ -333,13 +696,21 @@ public void onPause() {
     @Override
     public void onResume() {
         super.onResume();
-        if(!this.settings.getBoolean("split_trajectory", false)) {
+        if (!settings.getBoolean("split_trajectory", false)) {
             refreshDataHandler.postDelayed(refreshDataTask, 500);
         }
     }
 
-    private int testPointIndex = 0;
+    @Override
+    public void onDestroyView() {
+        super.onDestroyView();
+        stopTcpStreaming();
+        refreshDataHandler.removeCallbacks(refreshDataTask);
+    }
 
+    /**
+     * Simple in-session test point record.
+     */
     private static class TestPoint {
         final int index;
         final long timestampMs;
@@ -353,8 +724,4 @@ private static class TestPoint {
             this.lng = lng;
         }
     }
-
-    private final List<TestPoint> testPoints = new ArrayList<>();
-
-
-}
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/SettingsFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/SettingsFragment.java
index c1f6501c..bd54b572 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/SettingsFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/SettingsFragment.java
@@ -26,6 +26,18 @@ public class SettingsFragment extends PreferenceFragmentCompat {
     private EditTextPreference accelFilter;
     private EditTextPreference wifiInterval;
 
+    //Parameters for particle filter tuning
+    private EditTextPreference pfParticleCount;
+    private EditTextPreference pfSigmaStep;
+    private EditTextPreference pfSigmaThetaDeg;
+    private EditTextPreference pfSigmaWifi;
+    private EditTextPreference pfSigmaGnss;
+    private EditTextPreference pfInitPosStd;
+    private EditTextPreference pfInitHeadingDeg;
+    private EditTextPreference pfResampleRatio;
+    private EditTextPreference pfSigmaRegPos;
+    private EditTextPreference pfSigmaRegThetaDeg;
+
     /**
      * {@inheritDoc}
      * Sets the relevant numeric type for the preferences that should not take string values.
@@ -53,5 +65,46 @@ public void onCreatePreferences(Bundle savedInstanceState, String rootKey) {
         wifiInterval.setOnBindEditTextListener(editText -> editText.setInputType(
                 InputType.TYPE_CLASS_NUMBER));
 
+        //Added sections for particle filter fine tuning
+        pfParticleCount = findPreference("pf_particle_count");
+        pfParticleCount.setOnBindEditTextListener(editText ->
+                editText.setInputType(InputType.TYPE_CLASS_NUMBER));
+
+        pfSigmaStep = findPreference("pf_sigma_step");
+        pfSigmaStep.setOnBindEditTextListener(editText ->
+                editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL));
+
+        pfSigmaThetaDeg = findPreference("pf_sigma_theta_deg");
+        pfSigmaThetaDeg.setOnBindEditTextListener(editText ->
+                editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL));
+
+        pfSigmaWifi = findPreference("pf_sigma_wifi");
+        pfSigmaWifi.setOnBindEditTextListener(editText ->
+                editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL));
+
+        pfSigmaGnss = findPreference("pf_sigma_gnss");
+        pfSigmaGnss.setOnBindEditTextListener(editText ->
+                editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL));
+
+        pfInitPosStd = findPreference("pf_init_pos_std");
+        pfInitPosStd.setOnBindEditTextListener(editText ->
+                editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL));
+
+        pfInitHeadingDeg = findPreference("pf_init_heading_deg");
+        pfInitHeadingDeg.setOnBindEditTextListener(editText ->
+                editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL));
+
+        pfResampleRatio = findPreference("pf_resample_ratio");
+        pfResampleRatio.setOnBindEditTextListener(editText ->
+                editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL));
+
+        pfSigmaRegPos = findPreference("pf_sigma_reg_pos");
+        pfSigmaRegPos.setOnBindEditTextListener(editText ->
+                editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL));
+
+        pfSigmaRegThetaDeg = findPreference("pf_sigma_reg_theta_deg");
+        pfSigmaRegThetaDeg.setOnBindEditTextListener(editText ->
+                editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL));
+
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
index 3c1bfe26..9250a0b6 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
@@ -1,8 +1,8 @@
 package com.openpositioning.PositionMe.presentation.fragment;
 
+import android.content.Context;
 import android.graphics.BitmapFactory;
 import android.graphics.Color;
-import android.content.Context;
 import android.os.Bundle;
 import android.os.Handler;
 import android.os.Looper;
@@ -12,6 +12,7 @@
 import android.view.ViewGroup;
 import android.widget.Button;
 import android.widget.TextView;
+import android.widget.Toast;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
@@ -47,16 +48,43 @@
 import java.util.List;
 import java.util.Map;
 
+/**
+ * Fragment used to choose a start location before recording or replay begins.
+ *
+ * <p>Main responsibilities:
+ * <ul>
+ *     <li>Display the map and the user's current GNSS position.</li>
+ *     <li>Fetch nearby building outlines from the floorplan API.</li>
+ *     <li>Allow the user to select a building by tapping its outline.</li>
+ *     <li>Display actual-map overlays for the selected building and floor.</li>
+ *     <li>Allow the user to move back to the current live GNSS position.</li>
+ * </ul>
+ *
+ * <p>Important behaviour:
+ * <ul>
+ *     <li>For recording mode, this fragment no longer writes the initial recording position
+ *     into {@link SensorFusion}. The real initial position is now determined autonomously
+ *     later in {@link RecordingFragment} from the first usable WiFi/GNSS fix.</li>
+ *     <li>For replay mode, the chosen position is still passed to the replay activity.</li>
+ * </ul>
+ */
 public class StartLocationFragment extends Fragment {
+
     private static final String TAG = "StartLocationFragment";
+
     private static final int FILL_COLOR_DEFAULT = Color.argb(60, 33, 150, 243);
     private static final int STROKE_COLOR_DEFAULT = Color.argb(200, 33, 150, 243);
     private static final int FILL_COLOR_SELECTED = Color.argb(100, 33, 150, 243);
     private static final int STROKE_COLOR_SELECTED = Color.argb(255, 25, 118, 210);
+
     private static final int MAX_REQUEST_RETRIES = 10;
-    private static final long RETRY_DELAY_MS = 2000;
+    private static final long RETRY_DELAY_MS = 2000L;
 
-    private enum HorizontalAnchor { LEFT, RIGHT, CENTER }
+    private enum HorizontalAnchor {
+        LEFT,
+        RIGHT,
+        CENTER
+    }
 
     private static final class ActualMapAlignmentConfig {
         final HorizontalAnchor horizontalAnchor;
@@ -96,7 +124,10 @@ private static final class DrawableContentInsets {
         final double rightFraction;
         final double bottomFraction;
 
-        DrawableContentInsets(double leftFraction, double topFraction, double rightFraction, double bottomFraction) {
+        DrawableContentInsets(double leftFraction,
+                              double topFraction,
+                              double rightFraction,
+                              double bottomFraction) {
             this.leftFraction = clamp01(leftFraction);
             this.topFraction = clamp01(topFraction);
             this.rightFraction = clamp01(rightFraction);
@@ -130,24 +161,29 @@ static OverlayCalibration identity() {
         }
     }
 
+    // UI
     private Button button;
     private Button backToCurrentLocationButton;
+    private Button btnFindIndoorMap;
+    private Button btnFindActualMap;
     private TextView instructionText;
-    private View buildingInfoCard;
-    private TextView buildingNameText;
     private FloatingActionButton floorUpButton;
     private FloatingActionButton floorDownButton;
     private TextView floorLabel;
 
+    // Core services
     private final SensorFusion sensorFusion = SensorFusion.getInstance();
     private final Handler retryHandler = new Handler(Looper.getMainLooper());
     private final FloorplanApiClient floorplanApiClient = new FloorplanApiClient();
 
+    // Map state
     private GoogleMap mMap;
-    private float[] startPosition = new float[2];
-    private float zoom = 19f;
     private Marker startMarker;
     private Marker currentLocationMarker;
+    private float[] startPosition = new float[2];
+    private float zoom = 19f;
+
+    // Building selection state
     private String selectedBuildingId;
     private int currentFloorIndex = 0;
     private boolean showActualMapOverlays = true;
@@ -155,6 +191,7 @@ static OverlayCalibration identity() {
     private boolean hasInitialCameraPositioned = false;
     private boolean followCurrentLocationWithStartMarker = true;
 
+    // Live GNSS update loop
     private final Handler liveLocationHandler = new Handler(Looper.getMainLooper());
     private final Runnable liveLocationRunnable = new Runnable() {
         @Override
@@ -164,6 +201,7 @@ public void run() {
         }
     };
 
+    // Building and overlay containers
     private final List<Polygon> buildingPolygons = new ArrayList<>();
     private final Map<String, FloorplanApiClient.BuildingInfo> floorplanBuildingMap = new HashMap<>();
     private final List<GroundOverlay> realMapOverlays = new ArrayList<>();
@@ -174,40 +212,53 @@ public void run() {
     private FloorplanApiClient.BuildingInfo selectedFloorplanBuilding;
     private int requestRetryCount = 0;
 
-    public StartLocationFragment() {}
+    public StartLocationFragment() {
+    }
 
     @Override
-    public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
+    public View onCreateView(@NonNull LayoutInflater inflater,
+                             ViewGroup container,
+                             Bundle savedInstanceState) {
         AppCompatActivity activity = (AppCompatActivity) getActivity();
         if (activity != null && activity.getSupportActionBar() != null) {
             activity.getSupportActionBar().hide();
         }
+
         View rootView = inflater.inflate(R.layout.fragment_startlocation, container, false);
 
+        // Default to the current GNSS position if available.
         startPosition = sensorFusion.getGNSSLatitude(false);
-        // 【修复1】不要再用 1f 这个高空视角了，直接默认给室内级别 19f
+
+        // Use an indoor-friendly default zoom level.
         zoom = 19f;
 
-        SupportMapFragment supportMapFragment = (SupportMapFragment) getChildFragmentManager().findFragmentById(R.id.startMap);
+        SupportMapFragment supportMapFragment =
+                (SupportMapFragment) getChildFragmentManager().findFragmentById(R.id.startMap);
         if (supportMapFragment != null) {
             supportMapFragment.getMapAsync(new OnMapReadyCallback() {
                 @Override
-                public void onMapReady(GoogleMap googleMap) {
+                public void onMapReady(@NonNull GoogleMap googleMap) {
                     mMap = googleMap;
                     setupMap();
                     requestBuildingDataWhenReady();
                 }
             });
         }
+
         return rootView;
     }
 
     @Override
     public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
         super.onViewCreated(view, savedInstanceState);
+
         button = view.findViewById(R.id.startLocationDone);
         instructionText = view.findViewById(R.id.correctionInfoView);
+        btnFindIndoorMap = view.findViewById(R.id.btnFindIndoorMap);
+        btnFindActualMap = view.findViewById(R.id.btnFindActualMap);
+
         ensureBackToCurrentLocationButton(view);
+
         floorUpButton = view.findViewById(R.id.floorUpButton);
         floorDownButton = view.findViewById(R.id.floorDownButton);
         floorLabel = view.findViewById(R.id.floorLabel);
@@ -221,14 +272,38 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
             floorDownButton.setOnClickListener(v -> moveFloor(false));
         }
 
+        if (btnFindIndoorMap != null) {
+            btnFindIndoorMap.setOnClickListener(v -> {
+                showActualMapOverlays = false;
+                resetMapOverlays();
+                requestBuildingData();
+                Toast.makeText(getContext(),
+                        "Vector preview mode selected. Tap a blue building.",
+                        Toast.LENGTH_SHORT).show();
+            });
+        }
+
+        if (btnFindActualMap != null) {
+            btnFindActualMap.setOnClickListener(v -> {
+                showActualMapOverlays = true;
+                resetMapOverlays();
+                requestBuildingData();
+                Toast.makeText(getContext(),
+                        "Actual map mode selected. Tap a blue building.",
+                        Toast.LENGTH_SHORT).show();
+            });
+        }
+
         button.setOnClickListener(v -> {
             float chosenLat = startPosition[0];
             float chosenLon = startPosition[1];
 
-// 【新增】保存用户在这个界面手动调整好的完美缩放比例
+            // Save the user's current map zoom and chosen position so the next screen
+            // can begin with a consistent camera view.
             if (mMap != null && getContext() != null) {
                 float userChosenZoom = mMap.getCameraPosition().zoom;
-                getContext().getSharedPreferences("MapCameraState", android.content.Context.MODE_PRIVATE)
+                getContext()
+                        .getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
                         .edit()
                         .putFloat("user_selected_zoom", userChosenZoom)
                         .putFloat("user_start_lat", chosenLat)
@@ -236,14 +311,22 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
                         .apply();
             }
 
+            // Keep selected building metadata for later use.
             if (selectedBuildingId != null) {
                 sensorFusion.setSelectedBuildingId(selectedBuildingId);
             }
+
             if (requireActivity() instanceof RecordingActivity) {
+                /*
+                 * Start recording immediately, but do not inject the user-selected
+                 * start position into SensorFusion.
+                 *
+                 * The true initial recording position is now determined later in
+                 * RecordingFragment from the first valid autonomous WiFi/GNSS fix.
+                 */
                 sensorFusion.startRecording();
-                sensorFusion.setStartGNSSLatitude(startPosition);
-                sensorFusion.writeInitialMetadata();
                 ((RecordingActivity) requireActivity()).showRecordingScreen();
+
             } else if (requireActivity() instanceof ReplayActivity) {
                 ((ReplayActivity) requireActivity()).onStartLocationChosen(chosenLat, chosenLon);
             }
@@ -262,6 +345,20 @@ public void onPause() {
         stopLiveLocationUpdates();
     }
 
+    @Override
+    public void onDestroyView() {
+        super.onDestroyView();
+        retryHandler.removeCallbacksAndMessages(null);
+        stopLiveLocationUpdates();
+        mMap = null;
+        startMarker = null;
+        currentLocationMarker = null;
+    }
+
+    /**
+     * Configures the map, creates the current-location and start markers,
+     * and installs map listeners.
+     */
     private void setupMap() {
         mMap.setMapType(GoogleMap.MAP_TYPE_HYBRID);
         mMap.getUiSettings().setCompassEnabled(true);
@@ -271,11 +368,13 @@ private void setupMap() {
         mMap.clear();
 
         LatLng position = new LatLng(startPosition[0], startPosition[1]);
+
         currentLocationMarker = mMap.addMarker(new MarkerOptions()
                 .position(position)
                 .title("Current Location")
                 .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_AZURE))
                 .zIndex(21f));
+
         startMarker = mMap.addMarker(new MarkerOptions()
                 .position(position)
                 .title("Selected Start")
@@ -283,26 +382,33 @@ private void setupMap() {
                 .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_RED))
                 .zIndex(22f));
 
-        // 【修复2】判断是否有真实定位。如果是 0.0，说明还在搜星，先不要急着锁定相机视角
+        // Only lock the initial camera position once a real GNSS fix exists.
         boolean gnssReady = !(startPosition[0] == 0f && startPosition[1] == 0f);
         if (!hasInitialCameraPositioned && gnssReady) {
             mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(position, zoom));
-            hasInitialCameraPositioned = true; // 只有真实定位聚焦后，才锁定
+            hasInitialCameraPositioned = true;
         }
 
-
         mMap.setOnMarkerDragListener(new GoogleMap.OnMarkerDragListener() {
-            @Override public void onMarkerDragStart(Marker marker) {}
-            @Override public void onMarkerDrag(Marker marker) {}
             @Override
-            public void onMarkerDragEnd(Marker marker) {
-                if (marker == null || startMarker == null || !marker.equals(startMarker)) {
+            public void onMarkerDragStart(@NonNull Marker marker) {
+            }
+
+            @Override
+            public void onMarkerDrag(@NonNull Marker marker) {
+            }
+
+            @Override
+            public void onMarkerDragEnd(@NonNull Marker marker) {
+                if (startMarker == null || !marker.equals(startMarker)) {
                     return;
                 }
+
                 isMarkerDraggedSelection = true;
                 followCurrentLocationWithStartMarker = false;
                 startPosition[0] = (float) marker.getPosition().latitude;
                 startPosition[1] = (float) marker.getPosition().longitude;
+
                 clearBuildingSelectionAndOverlays();
                 requestBuildingData();
             }
@@ -316,12 +422,17 @@ public void onMarkerDragEnd(Marker marker) {
         });
     }
 
+    /**
+     * Waits until GNSS is ready, then refreshes the current/start marker position
+     * and requests building data.
+     */
     private void requestBuildingDataWhenReady() {
         if (!isMarkerDraggedSelection) {
             float[] gnss = sensorFusion.getGNSSLatitude(false);
             startPosition[0] = gnss[0];
             startPosition[1] = gnss[1];
         }
+
         boolean gnssReady = !(startPosition[0] == 0f && startPosition[1] == 0f);
         if (!gnssReady) {
             if (requestRetryCount < MAX_REQUEST_RETRIES) {
@@ -332,173 +443,265 @@ private void requestBuildingDataWhenReady() {
         }
 
         LatLng current = new LatLng(startPosition[0], startPosition[1]);
-        if (currentLocationMarker != null) currentLocationMarker.setPosition(current);
-        if (startMarker != null && followCurrentLocationWithStartMarker && !isMarkerDraggedSelection) startMarker.setPosition(current);
-        // 【修复3】一旦拿到了真实定位，且还没聚焦过，立刻把镜头拉近到 19f
+
+        if (currentLocationMarker != null) {
+            currentLocationMarker.setPosition(current);
+        }
+        if (startMarker != null && followCurrentLocationWithStartMarker && !isMarkerDraggedSelection) {
+            startMarker.setPosition(current);
+        }
+
+        // Once a real location exists, move the camera to the indoor zoom level.
         if (mMap != null && gnssReady && !hasInitialCameraPositioned) {
-            mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(current, zoom)); // zoom 已经是 19f
+            mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(current, zoom));
             hasInitialCameraPositioned = true;
         }
+
         requestBuildingData();
     }
 
+    /**
+     * Requests nearby floorplan buildings and redraws the building outlines.
+     */
     private void requestBuildingData() {
         List<String> observedMacs = new ArrayList<>();
         List<com.openpositioning.PositionMe.sensors.Wifi> wifiList = sensorFusion.getWifiList();
         if (wifiList != null) {
             for (com.openpositioning.PositionMe.sensors.Wifi wifi : wifiList) {
                 String mac = wifi.getBssidString();
-                if (mac != null && !mac.isEmpty()) observedMacs.add(mac);
+                if (mac != null && !mac.isEmpty()) {
+                    observedMacs.add(mac);
+                }
             }
         }
 
-        floorplanApiClient.requestFloorplan(startPosition[0], startPosition[1], observedMacs,
+        floorplanApiClient.requestFloorplan(
+                startPosition[0],
+                startPosition[1],
+                observedMacs,
                 new FloorplanApiClient.FloorplanCallback() {
                     @Override
                     public void onSuccess(List<FloorplanApiClient.BuildingInfo> buildings) {
-                        if (!isAdded() || mMap == null) return;
+                        if (!isAdded() || mMap == null) {
+                            return;
+                        }
+
                         sensorFusion.setFloorplanBuildings(buildings);
                         floorplanBuildingMap.clear();
+
                         for (FloorplanApiClient.BuildingInfo building : buildings) {
                             floorplanBuildingMap.put(building.getName(), building);
                         }
+
                         drawBuildingOutlines(buildings);
                     }
 
                     @Override
                     public void onFailure(String error) {
-                        if (!isAdded()) return;
+                        if (!isAdded()) {
+                            return;
+                        }
                         Log.e(TAG, "Floorplan API failed: " + error);
                     }
-                });
+                }
+        );
     }
 
+    /**
+     * Draws nearby buildings as clickable blue polygons.
+     */
     private void drawBuildingOutlines(List<FloorplanApiClient.BuildingInfo> buildings) {
-        for (Polygon p : buildingPolygons) p.remove();
+        for (Polygon p : buildingPolygons) {
+            p.remove();
+        }
         buildingPolygons.clear();
 
         for (FloorplanApiClient.BuildingInfo building : buildings) {
             List<LatLng> outlinePoints = building.getOutlinePolygon();
-            if (outlinePoints == null || outlinePoints.size() < 3) continue;
+            if (outlinePoints == null || outlinePoints.size() < 3) {
+                continue;
+            }
+
             Polygon polygon = mMap.addPolygon(new PolygonOptions()
                     .addAll(outlinePoints)
                     .strokeColor(STROKE_COLOR_DEFAULT)
                     .strokeWidth(4f)
                     .fillColor(FILL_COLOR_DEFAULT)
                     .clickable(true));
+
             polygon.setTag(building.getName());
             buildingPolygons.add(polygon);
         }
 
-        // Keep the current camera fixed. We only refresh the outlines and do not auto-zoom.
+        // Keep the current camera fixed. Only the outlines are refreshed.
     }
 
+    /**
+     * Handles building selection, highlights the polygon, recenters the start marker,
+     * stores the chosen building, and redraws the selected building overlay.
+     */
     private void onBuildingSelected(String buildingName, Polygon polygon) {
         if (selectedPolygon != null) {
             selectedPolygon.setFillColor(FILL_COLOR_DEFAULT);
             selectedPolygon.setStrokeColor(STROKE_COLOR_DEFAULT);
         }
+
         selectedPolygon = polygon;
         polygon.setFillColor(FILL_COLOR_SELECTED);
         polygon.setStrokeColor(STROKE_COLOR_SELECTED);
+
         selectedBuildingId = buildingName;
         selectedFloorplanBuilding = floorplanBuildingMap.get(buildingName);
         currentFloorIndex = getDefaultFloorIndex(selectedFloorplanBuilding);
 
         LatLng center = computePolygonCenter(polygon);
-        if (startMarker != null) startMarker.setPosition(center);
+        if (startMarker != null) {
+            startMarker.setPosition(center);
+        }
+
         followCurrentLocationWithStartMarker = false;
         isMarkerDraggedSelection = true;
         startPosition[0] = (float) center.latitude;
         startPosition[1] = (float) center.longitude;
-        // Keep the current camera fixed when a building is selected.
 
         updateBuildingInfoDisplay(buildingName);
         redrawSelectedBuildingOverlay();
     }
 
+    /**
+     * Rebuilds the selected building overlay for the current floor and display mode.
+     */
     private void redrawSelectedBuildingOverlay() {
         resetMapOverlays();
+
         if (selectedFloorplanBuilding == null || selectedBuildingId == null) {
             setFloorControlsVisibility(View.GONE);
             return;
         }
-        updateRealMapOverlay(selectedBuildingId, currentFloorIndex, true);
+
+        if (showActualMapOverlays) {
+            updateRealMapOverlay(selectedBuildingId, currentFloorIndex, true);
+        } else {
+            showFloorPlanOverlay(selectedBuildingId);
+        }
+
         setFloorControlsVisibility(View.VISIBLE);
         updateFloorLabel();
     }
 
+    /**
+     * Moves one floor up or down when the user taps the floor navigation buttons.
+     */
     private void moveFloor(boolean moveUp) {
-        if (selectedFloorplanBuilding == null) return;
+        if (selectedFloorplanBuilding == null) {
+            return;
+        }
         int next = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, moveUp);
-        if (next == currentFloorIndex) return;
+        if (next == currentFloorIndex) {
+            return;
+        }
         currentFloorIndex = next;
         redrawSelectedBuildingOverlay();
     }
 
-
     private void setFloorControlsVisibility(int visibility) {
-        if (floorUpButton != null) floorUpButton.setVisibility(visibility);
-        if (floorDownButton != null) floorDownButton.setVisibility(visibility);
-        if (floorLabel != null) floorLabel.setVisibility(visibility);
+        if (floorUpButton != null) {
+            floorUpButton.setVisibility(visibility);
+        }
+        if (floorDownButton != null) {
+            floorDownButton.setVisibility(visibility);
+        }
+        if (floorLabel != null) {
+            floorLabel.setVisibility(visibility);
+        }
     }
 
     private void updateFloorLabel() {
-        if (floorLabel == null || selectedFloorplanBuilding == null) return;
-        floorLabel.setText(formatFloorLabelForUi(getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex)));
+        if (floorLabel == null || selectedFloorplanBuilding == null) {
+            return;
+        }
+        floorLabel.setText(formatFloorLabelForUi(
+                getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex)
+        ));
     }
 
+    /**
+     * Removes all currently displayed preview and actual-map overlays.
+     */
     private void resetMapOverlays() {
-        for (Polygon p : previewPolygons) p.remove();
-        for (Polyline p : previewPolylines) p.remove();
+        for (Polygon p : previewPolygons) {
+            p.remove();
+        }
+        for (Polyline p : previewPolylines) {
+            p.remove();
+        }
         previewPolygons.clear();
         previewPolylines.clear();
+
         if (whiteMaskPolygon != null) {
             whiteMaskPolygon.remove();
             whiteMaskPolygon = null;
         }
+
         for (GroundOverlay overlay : realMapOverlays) {
-            if (overlay != null) overlay.remove();
+            if (overlay != null) {
+                overlay.remove();
+            }
         }
         realMapOverlays.clear();
     }
 
-    private void clearBuildingPolygonsOnly() {
-        floorplanBuildingMap.clear();
-        for (Polygon p : buildingPolygons) p.remove();
-        buildingPolygons.clear();
-        selectedPolygon = null;
-    }
-
+    /**
+     * Clears the current building selection and all associated overlays.
+     */
     private void clearBuildingSelectionAndOverlays() {
         floorplanBuildingMap.clear();
         resetMapOverlays();
-        for (Polygon p : buildingPolygons) p.remove();
-        buildingPolygons.clear();
-        if (selectedPolygon != null) {
-            selectedPolygon.remove();
-            selectedPolygon = null;
+
+        for (Polygon p : buildingPolygons) {
+            p.remove();
         }
+        buildingPolygons.clear();
+
+        selectedPolygon = null;
         selectedBuildingId = null;
         selectedFloorplanBuilding = null;
-        if (buildingInfoCard != null) buildingInfoCard.setVisibility(View.GONE);
         setFloorControlsVisibility(View.GONE);
     }
 
     private void updateRealMapOverlay(String buildingName, int floorIndex, boolean show) {
-        if (!show || mMap == null || selectedFloorplanBuilding == null) return;
+        if (!show || mMap == null || selectedFloorplanBuilding == null) {
+            return;
+        }
 
         String selectedBuildingKey = resolveKnownBuildingKey(selectedFloorplanBuilding, buildingName);
-        String selectedFloorDisplayName = normalizeFloorLabel(getFloorDisplayName(selectedFloorplanBuilding, floorIndex));
-        addActualMapOverlayForBuilding(selectedFloorplanBuilding, selectedBuildingKey, selectedFloorDisplayName, floorIndex);
+        String selectedFloorDisplayName = normalizeFloorLabel(
+                getFloorDisplayName(selectedFloorplanBuilding, floorIndex)
+        );
+
+        addActualMapOverlayForBuilding(
+                selectedFloorplanBuilding,
+                selectedBuildingKey,
+                selectedFloorDisplayName,
+                floorIndex
+        );
 
         if (shouldShowLinkedLibraryAndNucleus(selectedBuildingKey)) {
-            String linkedBuildingKey = "library".equals(selectedBuildingKey) ? "nucleus_building" : "library";
+            String linkedBuildingKey = "library".equals(selectedBuildingKey)
+                    ? "nucleus_building"
+                    : "library";
+
             FloorplanApiClient.BuildingInfo linkedBuilding = findBuildingByKnownKey(linkedBuildingKey);
             int linkedFloorIndex = linkedBuilding != null
                     ? findMatchingFloorIndex(linkedBuilding, selectedFloorDisplayName, floorIndex)
                     : resolveFallbackFloorIndexForKey(linkedBuildingKey, selectedFloorDisplayName, floorIndex);
-            addActualMapOverlayForBuilding(linkedBuilding, linkedBuildingKey, selectedFloorDisplayName, linkedFloorIndex);
+
+            addActualMapOverlayForBuilding(
+                    linkedBuilding,
+                    linkedBuildingKey,
+                    selectedFloorDisplayName,
+                    linkedFloorIndex
+            );
         }
     }
 
@@ -506,29 +709,51 @@ private void addActualMapOverlayForBuilding(FloorplanApiClient.BuildingInfo buil
                                                 String buildingKey,
                                                 String requestedFloorDisplayName,
                                                 int requestedFloorIndex) {
-        if (mMap == null) return;
+        if (mMap == null) {
+            return;
+        }
+
         String normalizedBuildingKey = normalizeBuildingKey(buildingKey);
         String requestedCanonicalFloor = canonicalFloorLabel(requestedFloorDisplayName);
-        if ("library".equals(normalizedBuildingKey) && "LG".equals(requestedCanonicalFloor)) return;
+
+        if ("library".equals(normalizedBuildingKey) && "LG".equals(requestedCanonicalFloor)) {
+            return;
+        }
 
         int resolvedFloorIndex = building != null
                 ? findMatchingFloorIndex(building, requestedFloorDisplayName, requestedFloorIndex)
                 : resolveFallbackFloorIndexForKey(normalizedBuildingKey, requestedFloorDisplayName, requestedFloorIndex);
+
         String resolvedFloorDisplayName = building != null
                 ? normalizeFloorLabel(getFloorDisplayName(building, resolvedFloorIndex))
                 : normalizeFloorLabel(requestedFloorDisplayName);
+
         String drawableFloorDisplayName = "library".equals(normalizedBuildingKey)
                 ? requestedCanonicalFloor
                 : resolvedFloorDisplayName;
-        int drawableResId = resolveActualMapDrawable(normalizedBuildingKey, drawableFloorDisplayName, resolvedFloorIndex);
-        LatLngBounds bounds = computeActualMapBounds(building, normalizedBuildingKey, drawableResId, drawableFloorDisplayName);
+
+        int drawableResId = resolveActualMapDrawable(
+                normalizedBuildingKey,
+                drawableFloorDisplayName,
+                resolvedFloorIndex
+        );
+
+        LatLngBounds bounds = computeActualMapBounds(
+                building,
+                normalizedBuildingKey,
+                drawableResId,
+                drawableFloorDisplayName
+        );
+
         if (drawableResId != 0 && bounds != null) {
             GroundOverlay overlay = mMap.addGroundOverlay(new GroundOverlayOptions()
                     .image(BitmapDescriptorFactory.fromResource(drawableResId))
                     .positionFromBounds(bounds)
                     .transparency(0.18f)
                     .zIndex(15f));
-            if (overlay != null) realMapOverlays.add(overlay);
+            if (overlay != null) {
+                realMapOverlays.add(overlay);
+            }
         }
     }
 
@@ -537,48 +762,85 @@ private boolean shouldShowLinkedLibraryAndNucleus(String buildingKey) {
     }
 
     private FloorplanApiClient.BuildingInfo findBuildingByKnownKey(String knownKey) {
-        if (knownKey == null || knownKey.isEmpty()) return null;
+        if (knownKey == null || knownKey.isEmpty()) {
+            return null;
+        }
+
         if (selectedFloorplanBuilding != null) {
-            String selectedKey = resolveKnownBuildingKey(selectedFloorplanBuilding, selectedFloorplanBuilding.getName());
-            if (knownKey.equals(selectedKey)) return selectedFloorplanBuilding;
+            String selectedKey = resolveKnownBuildingKey(
+                    selectedFloorplanBuilding,
+                    selectedFloorplanBuilding.getName()
+            );
+            if (knownKey.equals(selectedKey)) {
+                return selectedFloorplanBuilding;
+            }
         }
+
         for (FloorplanApiClient.BuildingInfo building : floorplanBuildingMap.values()) {
             String candidateKey = resolveKnownBuildingKey(building, building != null ? building.getName() : null);
-            if (knownKey.equals(candidateKey)) return building;
+            if (knownKey.equals(candidateKey)) {
+                return building;
+            }
         }
+
         List<FloorplanApiClient.BuildingInfo> cachedBuildings = SensorFusion.getInstance().getFloorplanBuildings();
         if (cachedBuildings != null) {
             for (FloorplanApiClient.BuildingInfo building : cachedBuildings) {
                 String candidateKey = resolveKnownBuildingKey(building, building != null ? building.getName() : null);
-                if (knownKey.equals(candidateKey)) return building;
+                if (knownKey.equals(candidateKey)) {
+                    return building;
+                }
             }
         }
+
         return null;
     }
 
-    private int findMatchingFloorIndex(FloorplanApiClient.BuildingInfo building, String requestedFloorDisplayName, int fallbackFloorIndex) {
-        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) return 0;
+    private int findMatchingFloorIndex(FloorplanApiClient.BuildingInfo building,
+                                       String requestedFloorDisplayName,
+                                       int fallbackFloorIndex) {
+        if (building == null || building.getFloorShapesList() == null
+                || building.getFloorShapesList().isEmpty()) {
+            return 0;
+        }
+
         String normalizedRequestedFloor = normalizeFloorLabel(requestedFloorDisplayName);
         if (!normalizedRequestedFloor.isEmpty()) {
             for (int i = 0; i < building.getFloorShapesList().size(); i++) {
-                String candidateLabel = normalizeFloorLabel(building.getFloorShapesList().get(i).getDisplayName());
-                if (areEquivalentFloorLabels(normalizedRequestedFloor, candidateLabel)) return i;
+                String candidateLabel = normalizeFloorLabel(
+                        building.getFloorShapesList().get(i).getDisplayName()
+                );
+                if (areEquivalentFloorLabels(normalizedRequestedFloor, candidateLabel)) {
+                    return i;
+                }
             }
         }
-        return Math.max(0, Math.min(fallbackFloorIndex, building.getFloorShapesList().size() - 1));
+
+        return Math.max(0, Math.min(
+                fallbackFloorIndex,
+                building.getFloorShapesList().size() - 1
+        ));
     }
 
     private boolean areEquivalentFloorLabels(String requestedFloorLabel, String candidateFloorLabel) {
-        if (requestedFloorLabel == null || candidateFloorLabel == null) return false;
-        if (requestedFloorLabel.equals(candidateFloorLabel)) return true;
+        if (requestedFloorLabel == null || candidateFloorLabel == null) {
+            return false;
+        }
+        if (requestedFloorLabel.equals(candidateFloorLabel)) {
+            return true;
+        }
+
         String requested = canonicalFloorLabel(requestedFloorLabel);
         String candidate = canonicalFloorLabel(candidateFloorLabel);
         return !requested.isEmpty() && requested.equals(candidate);
     }
 
-    private int resolveFallbackFloorIndexForKey(String buildingKey, String requestedFloorDisplayName, int requestedFloorIndex) {
+    private int resolveFallbackFloorIndexForKey(String buildingKey,
+                                                String requestedFloorDisplayName,
+                                                int requestedFloorIndex) {
         String normalizedKey = normalizeBuildingKey(buildingKey);
         String canonicalFloor = canonicalFloorLabel(requestedFloorDisplayName);
+
         if ("nucleus_building".equals(normalizedKey)) {
             switch (canonicalFloor) {
                 case "LG": return 0;
@@ -589,6 +851,7 @@ private int resolveFallbackFloorIndexForKey(String buildingKey, String requested
                 default: return Math.max(0, Math.min(requestedFloorIndex, 4));
             }
         }
+
         if ("library".equals(normalizedKey)) {
             switch (canonicalFloor) {
                 case "G": return 0;
@@ -598,18 +861,21 @@ private int resolveFallbackFloorIndexForKey(String buildingKey, String requested
                 default: return Math.max(0, Math.min(requestedFloorIndex, 3));
             }
         }
+
         return Math.max(0, requestedFloorIndex);
     }
 
     private int resolveActualMapDrawable(String buildingName, String floorDisplayName, int floorIndex) {
         buildingName = normalizeBuildingKey(buildingName);
         String canonicalFloor = canonicalFloorLabel(floorDisplayName);
+
         if ("nucleus_building".equals(buildingName)) {
             if ("LG".equals(canonicalFloor)) return R.drawable.nucleuslg;
             if ("G".equals(canonicalFloor)) return R.drawable.nucleusg;
             if ("1".equals(canonicalFloor)) return R.drawable.nucleus1;
             if ("2".equals(canonicalFloor)) return R.drawable.nucleus2;
             if ("3".equals(canonicalFloor)) return R.drawable.nucleus3;
+
             switch (floorIndex) {
                 case 0: return R.drawable.nucleuslg;
                 case 1: return R.drawable.nucleusg;
@@ -619,12 +885,14 @@ private int resolveActualMapDrawable(String buildingName, String floorDisplayNam
                 default: return R.drawable.nucleusg;
             }
         }
+
         if ("library".equals(buildingName)) {
             if ("LG".equals(canonicalFloor)) return 0;
             if ("G".equals(canonicalFloor)) return R.drawable.libraryg;
             if ("1".equals(canonicalFloor)) return R.drawable.library1;
             if ("2".equals(canonicalFloor)) return R.drawable.library2;
             if ("3".equals(canonicalFloor)) return R.drawable.library3;
+
             switch (floorIndex) {
                 case 0: return 0;
                 case 1: return R.drawable.libraryg;
@@ -634,13 +902,18 @@ private int resolveActualMapDrawable(String buildingName, String floorDisplayNam
                 default: return R.drawable.libraryg;
             }
         }
+
         return 0;
     }
 
-    private LatLngBounds computeActualMapBounds(FloorplanApiClient.BuildingInfo building, String buildingName, int drawableResId, String floorDisplayName) {
+    private LatLngBounds computeActualMapBounds(FloorplanApiClient.BuildingInfo building,
+                                                String buildingName,
+                                                int drawableResId,
+                                                String floorDisplayName) {
         buildingName = normalizeBuildingKey(buildingName);
         ActualMapAlignmentConfig config = getActualMapAlignmentConfig(buildingName);
-        LatLngBounds bounds = null;
+
+        LatLngBounds bounds;
         if ("library".equals(buildingName)) {
             bounds = computeFixedActualMapBounds(buildingName, drawableResId);
         } else if (building != null) {
@@ -648,8 +921,13 @@ private LatLngBounds computeActualMapBounds(FloorplanApiClient.BuildingInfo buil
         } else {
             bounds = computeFixedActualMapBounds(buildingName, drawableResId);
         }
-        if (bounds == null) bounds = getFallbackBuildingBounds(buildingName);
-        if (bounds != null) bounds = applyDefaultCalibration(bounds, buildingName, floorDisplayName);
+
+        if (bounds == null) {
+            bounds = getFallbackBuildingBounds(buildingName);
+        }
+        if (bounds != null) {
+            bounds = applyDefaultCalibration(bounds, buildingName, floorDisplayName);
+        }
         return bounds;
     }
 
@@ -657,7 +935,14 @@ private LatLngBounds computeFixedActualMapBounds(String buildingName, int drawab
         buildingName = normalizeBuildingKey(buildingName);
         if ("library".equals(buildingName)) {
             double widthScale = getLibraryFixedWidthScale(drawableResId);
-            return buildRightAnchoredRectBounds(BuildingPolygon.LIBRARY_SW, BuildingPolygon.LIBRARY_NE, widthScale, 1.0, 0.008, 0.0);
+            return buildRightAnchoredRectBounds(
+                    BuildingPolygon.LIBRARY_SW,
+                    BuildingPolygon.LIBRARY_NE,
+                    widthScale,
+                    1.0,
+                    0.008,
+                    0.0
+            );
         }
         return null;
     }
@@ -666,54 +951,85 @@ private double getLibraryFixedWidthScale(int drawableResId) {
         return 1.000;
     }
 
-    private LatLngBounds buildRightAnchoredRectBounds(LatLng southWest, LatLng northEast,
-                                                      double widthScale, double heightScale,
-                                                      double eastShiftRatio, double northShiftRatio) {
-        if (southWest == null || northEast == null) return null;
+    private LatLngBounds buildRightAnchoredRectBounds(LatLng southWest,
+                                                      LatLng northEast,
+                                                      double widthScale,
+                                                      double heightScale,
+                                                      double eastShiftRatio,
+                                                      double northShiftRatio) {
+        if (southWest == null || northEast == null) {
+            return null;
+        }
+
         double rectWidth = northEast.longitude - southWest.longitude;
         double rectHeight = northEast.latitude - southWest.latitude;
-        if (rectWidth <= 0d || rectHeight <= 0d) return null;
+        if (rectWidth <= 0d || rectHeight <= 0d) {
+            return null;
+        }
+
         double overlayWidth = rectWidth * widthScale;
         double overlayHeight = rectHeight * heightScale;
         double east = northEast.longitude + rectWidth * eastShiftRatio;
         double west = east - overlayWidth;
         double north = northEast.latitude + rectHeight * northShiftRatio;
         double south = north - overlayHeight;
+
         return new LatLngBounds(new LatLng(south, west), new LatLng(north, east));
     }
 
-    private LatLngBounds computeThreeEdgeAlignedBounds(FloorplanApiClient.BuildingInfo building, int drawableResId, ActualMapAlignmentConfig config) {
-        if (building == null || config == null) return null;
+    private LatLngBounds computeThreeEdgeAlignedBounds(FloorplanApiClient.BuildingInfo building,
+                                                       int drawableResId,
+                                                       ActualMapAlignmentConfig config) {
+        if (building == null || config == null) {
+            return null;
+        }
+
         List<LatLng> outline = building.getOutlinePolygon();
-        if (outline == null || outline.size() < 3) return null;
+        if (outline == null || outline.size() < 3) {
+            return null;
+        }
 
         double minLat = Double.POSITIVE_INFINITY;
         double maxLat = Double.NEGATIVE_INFINITY;
         double minLng = Double.POSITIVE_INFINITY;
         double maxLng = Double.NEGATIVE_INFINITY;
+
         for (LatLng point : outline) {
-            if (point == null) continue;
+            if (point == null) {
+                continue;
+            }
             minLat = Math.min(minLat, point.latitude);
             maxLat = Math.max(maxLat, point.latitude);
             minLng = Math.min(minLng, point.longitude);
             maxLng = Math.max(maxLng, point.longitude);
         }
-        if (!Double.isFinite(minLat) || !Double.isFinite(maxLat) || !Double.isFinite(minLng) || !Double.isFinite(maxLng)
-                || maxLat <= minLat || maxLng <= minLng) return null;
+
+        if (!Double.isFinite(minLat) || !Double.isFinite(maxLat)
+                || !Double.isFinite(minLng) || !Double.isFinite(maxLng)
+                || maxLat <= minLat || maxLng <= minLng) {
+            return null;
+        }
 
         double latSpan = maxLat - minLat;
         double lngSpan = maxLng - minLng;
         double visibleNorth = maxLat - latSpan * config.northInsetRatio;
         double visibleSouth = minLat + latSpan * config.southInsetRatio;
-        if (visibleSouth >= visibleNorth) return null;
+
+        if (visibleSouth >= visibleNorth) {
+            return null;
+        }
 
         double fullAspectRatio = getDrawableAspectRatio(drawableResId);
-        if (fullAspectRatio <= 0d) return null;
+        if (fullAspectRatio <= 0d) {
+            return null;
+        }
 
         DrawableContentInsets contentInsets = getDrawableContentInsets(drawableResId, config);
         double visibleContentHeightFraction = contentInsets.contentHeightFraction();
         double visibleContentWidthFraction = contentInsets.contentWidthFraction();
-        if (visibleContentHeightFraction <= 0d || visibleContentWidthFraction <= 0d) return null;
+        if (visibleContentHeightFraction <= 0d || visibleContentWidthFraction <= 0d) {
+            return null;
+        }
 
         double visibleHeightDeg = visibleNorth - visibleSouth;
         double totalHeightDeg = visibleHeightDeg / visibleContentHeightFraction;
@@ -740,7 +1056,8 @@ private LatLngBounds computeThreeEdgeAlignedBounds(FloorplanApiClient.BuildingIn
                 break;
             case CENTER:
             default:
-                double centerLng = ((minLng + maxLng) / 2.0) + (lngSpan * (config.leftVisibleInsetRatio - config.rightVisibleInsetRatio) * 0.5);
+                double centerLng = ((minLng + maxLng) / 2.0)
+                        + (lngSpan * (config.leftVisibleInsetRatio - config.rightVisibleInsetRatio) * 0.5);
                 visibleWest = centerLng - visibleContentWidthLng / 2.0;
                 visibleEast = centerLng + visibleContentWidthLng / 2.0;
                 break;
@@ -748,15 +1065,25 @@ private LatLngBounds computeThreeEdgeAlignedBounds(FloorplanApiClient.BuildingIn
 
         double overlayWest = visibleWest - totalWidthLng * contentInsets.leftFraction;
         double overlayEast = overlayWest + totalWidthLng;
-        return new LatLngBounds(new LatLng(overlaySouth, overlayWest), new LatLng(overlayNorth, overlayEast));
+
+        return new LatLngBounds(
+                new LatLng(overlaySouth, overlayWest),
+                new LatLng(overlayNorth, overlayEast)
+        );
     }
 
-    private DrawableContentInsets getDrawableContentInsets(int drawableResId, ActualMapAlignmentConfig config) {
+    private DrawableContentInsets getDrawableContentInsets(int drawableResId,
+                                                           ActualMapAlignmentConfig config) {
         BitmapFactory.Options bounds = new BitmapFactory.Options();
         bounds.inJustDecodeBounds = true;
         BitmapFactory.decodeResource(getResources(), drawableResId, bounds);
-        return new DrawableContentInsets(config.leftVisibleInsetRatio, config.topVisibleInsetRatio,
-                config.rightVisibleInsetRatio, config.bottomVisibleInsetRatio);
+
+        return new DrawableContentInsets(
+                config.leftVisibleInsetRatio,
+                config.topVisibleInsetRatio,
+                config.rightVisibleInsetRatio,
+                config.bottomVisibleInsetRatio
+        );
     }
 
     private double getDrawableAspectRatio(int drawableResId) {
@@ -774,69 +1101,104 @@ private double getDrawableAspectRatio(int drawableResId) {
 
     private LatLngBounds getFallbackBuildingBounds(String buildingName) {
         buildingName = normalizeBuildingKey(buildingName);
-        if ("nucleus_building".equals(buildingName)) return new LatLngBounds(BuildingPolygon.NUCLEUS_SW, BuildingPolygon.NUCLEUS_NE);
-        if ("library".equals(buildingName)) return new LatLngBounds(BuildingPolygon.LIBRARY_SW, BuildingPolygon.LIBRARY_NE);
-        if ("murchison_house".equals(buildingName)) return new LatLngBounds(BuildingPolygon.MURCHISON_SW, BuildingPolygon.MURCHISON_NE);
+
+        if ("nucleus_building".equals(buildingName)) {
+            return new LatLngBounds(BuildingPolygon.NUCLEUS_SW, BuildingPolygon.NUCLEUS_NE);
+        }
+        if ("library".equals(buildingName)) {
+            return new LatLngBounds(BuildingPolygon.LIBRARY_SW, BuildingPolygon.LIBRARY_NE);
+        }
+        if ("murchison_house".equals(buildingName)) {
+            return new LatLngBounds(BuildingPolygon.MURCHISON_SW, BuildingPolygon.MURCHISON_NE);
+        }
         return null;
     }
 
     private ActualMapAlignmentConfig getActualMapAlignmentConfig(String buildingName) {
         buildingName = normalizeBuildingKey(buildingName);
+
         if ("nucleus_building".equals(buildingName)) {
-            return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 0.99, 0.0, 0.0, 0.0, 0.0);
+            return new ActualMapAlignmentConfig(
+                    HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 0.99,
+                    0.0, 0.0, 0.0, 0.0
+            );
         }
         if ("library".equals(buildingName)) {
-            return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 0.985, 0.0, 0.0, 0.0, 0.0);
+            return new ActualMapAlignmentConfig(
+                    HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 0.985,
+                    0.0, 0.0, 0.0, 0.0
+            );
         }
         if ("murchison_house".equals(buildingName)) {
-            return new ActualMapAlignmentConfig(HorizontalAnchor.CENTER, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0);
+            return new ActualMapAlignmentConfig(
+                    HorizontalAnchor.CENTER, 0.0, 0.0, 0.0, 1.0,
+                    0.0, 0.0, 0.0, 0.0
+            );
         }
-        return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0);
+        return new ActualMapAlignmentConfig(
+                HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 1.0,
+                0.0, 0.0, 0.0, 0.0
+        );
     }
 
-    private LatLngBounds applyDefaultCalibration(LatLngBounds baseBounds, String buildingKey, String floorDisplayName) {
-        if (baseBounds == null) return null;
+    private LatLngBounds applyDefaultCalibration(LatLngBounds baseBounds,
+                                                 String buildingKey,
+                                                 String floorDisplayName) {
+        if (baseBounds == null) {
+            return null;
+        }
+
         OverlayCalibration calibration = getHardcodedCalibrationDefault(buildingKey, floorDisplayName);
+
         double baseNorth = baseBounds.northeast.latitude;
         double baseSouth = baseBounds.southwest.latitude;
         double baseEast = baseBounds.northeast.longitude;
         double baseWest = baseBounds.southwest.longitude;
+
         double latSpan = baseNorth - baseSouth;
         double lngSpan = baseEast - baseWest;
-        if (latSpan <= 0d || lngSpan <= 0d) return baseBounds;
+        if (latSpan <= 0d || lngSpan <= 0d) {
+            return baseBounds;
+        }
+
         double centerLat = ((baseNorth + baseSouth) / 2d) + latSpan * calibration.shiftLatRatio;
         double centerLng = ((baseEast + baseWest) / 2d) + lngSpan * calibration.shiftLngRatio;
         double adjustedLatSpan = latSpan * calibration.heightScale;
         double adjustedLngSpan = lngSpan * calibration.widthScale;
+
         double north = centerLat + adjustedLatSpan / 2d;
         double south = centerLat - adjustedLatSpan / 2d;
         double east = centerLng + adjustedLngSpan / 2d;
         double west = centerLng - adjustedLngSpan / 2d;
+
         return new LatLngBounds(new LatLng(south, west), new LatLng(north, east));
     }
 
     private OverlayCalibration getHardcodedCalibrationDefault(String buildingKey, String floorDisplayName) {
         String normalizedBuilding = normalizeBuildingKey(buildingKey);
         String normalizedFloor = canonicalFloorLabel(floorDisplayName);
+
         if ("nucleus_building".equals(normalizedBuilding)) {
             switch (normalizedFloor) {
                 case "LG": return new OverlayCalibration(0.012f, -0.022f, 0.967f, 0.986f);
-                case "G": return new OverlayCalibration(0.029f, -0.052f, 0.958f, 0.942f);
-                case "1": return new OverlayCalibration(0.004f, 0.000f, 1.000f, 0.981f);
-                case "2": return new OverlayCalibration(0.005f, -0.005f, 1.000f, 1.000f);
-                case "3": return new OverlayCalibration(0.005f, 0.005f, 1.015f, 0.990f);
-                default: return OverlayCalibration.identity();
+                case "G":  return new OverlayCalibration(0.029f, -0.052f, 0.958f, 0.942f);
+                case "1":  return new OverlayCalibration(0.004f, 0.000f, 1.000f, 0.981f);
+                case "2":  return new OverlayCalibration(0.005f, -0.005f, 1.000f, 1.000f);
+                case "3":  return new OverlayCalibration(0.005f, 0.005f, 1.015f, 0.990f);
+                default:   return OverlayCalibration.identity();
             }
         }
+
         if ("library".equals(normalizedBuilding)) {
             switch (normalizedFloor) {
                 case "G": return new OverlayCalibration(-0.072f, 0.018f, 0.965f, 1.098f);
                 case "1": return new OverlayCalibration(-0.053f, 0.019f, 0.945f, 1.050f);
                 case "2": return new OverlayCalibration(-0.075f, 0.025f, 0.950f, 1.070f);
                 case "3": return new OverlayCalibration(-0.070f, 0.025f, 0.960f, 1.065f);
-                default: return OverlayCalibration.identity();
+                default:  return OverlayCalibration.identity();
             }
         }
+
         return OverlayCalibration.identity();
     }
 
@@ -845,7 +1207,9 @@ private static double clamp01(double value) {
     }
 
     private String normalizeFloorLabel(String floorDisplayName) {
-        if (floorDisplayName == null) return "";
+        if (floorDisplayName == null) {
+            return "";
+        }
         return floorDisplayName.trim().toUpperCase().replace(" ", "");
     }
 
@@ -885,49 +1249,74 @@ private String canonicalFloorLabel(String floorLabel) {
     }
 
     private String normalizeBuildingKey(String buildingName) {
-        if (buildingName == null) return "";
+        if (buildingName == null) {
+            return "";
+        }
         String key = buildingName.trim().toLowerCase();
-        if (key.contains("nucleus") || key.contains("nuclear")) return "nucleus_building";
-        if (key.contains("library") || key.contains("kenneth") || key.contains("murray")) return "library";
-        if (key.contains("murchison")) return "murchison_house";
+        if (key.contains("nucleus") || key.contains("nuclear")) {
+            return "nucleus_building";
+        }
+        if (key.contains("library") || key.contains("kenneth") || key.contains("murray")) {
+            return "library";
+        }
+        if (key.contains("murchison")) {
+            return "murchison_house";
+        }
         return key;
     }
 
     private String resolveKnownBuildingKey(FloorplanApiClient.BuildingInfo building, String buildingName) {
         String normalized = normalizeBuildingKey(buildingName);
-        if ("nucleus_building".equals(normalized) || "library".equals(normalized) || "murchison_house".equals(normalized)) {
+        if ("nucleus_building".equals(normalized)
+                || "library".equals(normalized)
+                || "murchison_house".equals(normalized)) {
             return normalized;
         }
+
         LatLng center = building != null ? building.getCenter() : null;
         if (center != null) {
             if (BuildingPolygon.inLibrary(center)) return "library";
             if (BuildingPolygon.inNucleus(center)) return "nucleus_building";
             if (BuildingPolygon.inMurchison(center)) return "murchison_house";
         }
+
         return normalized;
     }
 
     private int getDefaultFloorIndex(FloorplanApiClient.BuildingInfo building) {
-        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) return 0;
+        if (building == null || building.getFloorShapesList() == null
+                || building.getFloorShapesList().isEmpty()) {
+            return 0;
+        }
+
         for (int i = 0; i < building.getFloorShapesList().size(); i++) {
             String displayName = building.getFloorShapesList().get(i).getDisplayName();
-            if ("G".equals(canonicalFloorLabel(displayName))) return i;
+            if ("G".equals(canonicalFloorLabel(displayName))) {
+                return i;
+            }
         }
+
         List<Integer> orderedFloorIndices = getOrderedFloorIndices(building);
         return orderedFloorIndices.isEmpty() ? 0 : orderedFloorIndices.get(0);
     }
 
     private String getFloorDisplayName(FloorplanApiClient.BuildingInfo building, int floorIndex) {
-        if (building == null || building.getFloorShapesList() == null || floorIndex < 0 || floorIndex >= building.getFloorShapesList().size()) {
+        if (building == null || building.getFloorShapesList() == null
+                || floorIndex < 0 || floorIndex >= building.getFloorShapesList().size()) {
             return "";
         }
         String displayName = building.getFloorShapesList().get(floorIndex).getDisplayName();
         return displayName == null ? "" : displayName.trim().toUpperCase();
     }
 
-    private int getAdjacentFloorIndex(FloorplanApiClient.BuildingInfo building, int currentIndex, boolean moveUp) {
+    private int getAdjacentFloorIndex(FloorplanApiClient.BuildingInfo building,
+                                      int currentIndex,
+                                      boolean moveUp) {
         List<Integer> orderedFloorIndices = getOrderedFloorIndices(building);
-        if (orderedFloorIndices.isEmpty()) return currentIndex;
+        if (orderedFloorIndices.isEmpty()) {
+            return currentIndex;
+        }
+
         int currentOrderedPosition = orderedFloorIndices.indexOf(currentIndex);
         if (currentOrderedPosition < 0) {
             currentOrderedPosition = 0;
@@ -938,28 +1327,51 @@ private int getAdjacentFloorIndex(FloorplanApiClient.BuildingInfo building, int
                 }
             }
         }
-        int nextOrderedPosition = moveUp ? currentOrderedPosition + 1 : currentOrderedPosition - 1;
-        if (nextOrderedPosition < 0 || nextOrderedPosition >= orderedFloorIndices.size()) return currentIndex;
+
+        int nextOrderedPosition = moveUp
+                ? currentOrderedPosition + 1
+                : currentOrderedPosition - 1;
+
+        if (nextOrderedPosition < 0 || nextOrderedPosition >= orderedFloorIndices.size()) {
+            return currentIndex;
+        }
+
         return orderedFloorIndices.get(nextOrderedPosition);
     }
 
     private List<Integer> getOrderedFloorIndices(FloorplanApiClient.BuildingInfo building) {
         List<Integer> ordered = new ArrayList<>();
-        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) return ordered;
+        if (building == null || building.getFloorShapesList() == null
+                || building.getFloorShapesList().isEmpty()) {
+            return ordered;
+        }
+
         List<Integer> fallback = new ArrayList<>();
-        for (int i = 0; i < building.getFloorShapesList().size(); i++) fallback.add(i);
+        for (int i = 0; i < building.getFloorShapesList().size(); i++) {
+            fallback.add(i);
+        }
+
         String[] desiredOrder = new String[]{"LG", "G", "1", "2", "3"};
         for (String desiredFloor : desiredOrder) {
             for (int i = 0; i < building.getFloorShapesList().size(); i++) {
-                if (ordered.contains(i)) continue;
-                String candidateFloor = canonicalFloorLabel(building.getFloorShapesList().get(i).getDisplayName());
+                if (ordered.contains(i)) {
+                    continue;
+                }
+                String candidateFloor = canonicalFloorLabel(
+                        building.getFloorShapesList().get(i).getDisplayName()
+                );
                 if (desiredFloor.equals(candidateFloor)) {
                     ordered.add(i);
                     break;
                 }
             }
         }
-        for (Integer index : fallback) if (!ordered.contains(index)) ordered.add(index);
+
+        for (Integer index : fallback) {
+            if (!ordered.contains(index)) {
+                ordered.add(index);
+            }
+        }
         return ordered;
     }
 
@@ -967,41 +1379,67 @@ private String formatFloorLabelForUi(String rawFloorLabel) {
         String canonicalFloor = canonicalFloorLabel(rawFloorLabel);
         switch (canonicalFloor) {
             case "LG": return "LG";
-            case "G": return "G";
-            case "1": return "1";
-            case "2": return "2";
-            case "3": return "3";
-            default: return rawFloorLabel == null ? "" : rawFloorLabel;
+            case "G":  return "G";
+            case "1":  return "1";
+            case "2":  return "2";
+            case "3":  return "3";
+            default:   return rawFloorLabel == null ? "" : rawFloorLabel;
         }
     }
 
+    /**
+     * Draws the vector-style indoor preview for the selected building and floor.
+     */
     private void showFloorPlanOverlay(String buildingName) {
-        for (Polygon p : previewPolygons) p.remove();
-        for (Polyline p : previewPolylines) p.remove();
+        for (Polygon p : previewPolygons) {
+            p.remove();
+        }
+        for (Polyline p : previewPolylines) {
+            p.remove();
+        }
         previewPolygons.clear();
         previewPolylines.clear();
+
         if (whiteMaskPolygon != null) {
             whiteMaskPolygon.remove();
             whiteMaskPolygon = null;
         }
+
         PolygonOptions whiteMask = new PolygonOptions()
-                .add(new LatLng(85, -180), new LatLng(85, 180), new LatLng(-85, 180), new LatLng(-85, -180))
+                .add(
+                        new LatLng(85, -180),
+                        new LatLng(85, 180),
+                        new LatLng(-85, 180),
+                        new LatLng(-85, -180)
+                )
                 .fillColor(0xD9FFFFFF)
                 .strokeWidth(0)
                 .zIndex(5);
+
         whiteMaskPolygon = mMap.addPolygon(whiteMask);
 
         FloorplanApiClient.BuildingInfo building = floorplanBuildingMap.get(buildingName);
-        if (building == null) return;
+        if (building == null) {
+            return;
+        }
+
         List<FloorplanApiClient.FloorShapes> floors = building.getFloorShapesList();
-        if (floors == null || floors.isEmpty()) return;
-        FloorplanApiClient.FloorShapes floor = floors.get(Math.max(0, Math.min(currentFloorIndex, floors.size() - 1)));
+        if (floors == null || floors.isEmpty()) {
+            return;
+        }
+
+        FloorplanApiClient.FloorShapes floor =
+                floors.get(Math.max(0, Math.min(currentFloorIndex, floors.size() - 1)));
+
         for (FloorplanApiClient.MapShapeFeature feature : floor.getFeatures()) {
             String geoType = feature.getGeometryType();
             String indoorType = feature.getIndoorType();
+
             if ("MultiPolygon".equals(geoType) || "Polygon".equals(geoType)) {
                 for (List<LatLng> ring : feature.getParts()) {
-                    if (ring.size() < 3) continue;
+                    if (ring.size() < 3) {
+                        continue;
+                    }
                     Polygon p = mMap.addPolygon(new PolygonOptions()
                             .addAll(ring)
                             .strokeColor(getPreviewStrokeColor(indoorType))
@@ -1012,7 +1450,9 @@ private void showFloorPlanOverlay(String buildingName) {
                 }
             } else if ("MultiLineString".equals(geoType) || "LineString".equals(geoType)) {
                 for (List<LatLng> line : feature.getParts()) {
-                    if (line.size() < 2) continue;
+                    if (line.size() < 2) {
+                        continue;
+                    }
                     Polyline pl = mMap.addPolyline(new PolylineOptions()
                             .addAll(line)
                             .color(getPreviewStrokeColor(indoorType))
@@ -1025,56 +1465,83 @@ private void showFloorPlanOverlay(String buildingName) {
     }
 
     private int getPreviewStrokeColor(String indoorType) {
-        if ("wall".equals(indoorType)) return Color.argb(255, 34, 34, 34);
-        if ("room".equals(indoorType)) return Color.argb(255, 60, 60, 60);
+        if ("wall".equals(indoorType)) {
+            return Color.argb(255, 34, 34, 34);
+        }
+        if ("room".equals(indoorType)) {
+            return Color.argb(255, 60, 60, 60);
+        }
         return Color.argb(255, 50, 50, 50);
     }
 
+    /**
+     * Returns the fill colour for a preview indoor feature.
+     */
     private int getPreviewFillColor(String indoorType) {
-        if ("room".equals(indoorType)) return Color.argb(40, 33, 150, 243);
+        if ("room".equals(indoorType)) {
+            return Color.argb(40, 33, 150, 243);
+        }
         return Color.TRANSPARENT;
     }
 
+    /**
+     * Updates any building selection UI. The current simplified version hides
+     * the optional building info card if it exists in the layout.
+     */
     private void updateBuildingInfoDisplay(String buildingName) {
-        if (buildingInfoCard != null) buildingInfoCard.setVisibility(View.GONE);
+        // No extra info card is currently shown in this cleaned version.
     }
 
+    /**
+     * Formats an API building name into a user-friendly display name.
+     */
     private String formatBuildingName(String apiName) {
-        if (apiName == null || apiName.isEmpty()) return "";
+        if (apiName == null || apiName.isEmpty()) {
+            return "";
+        }
+
         String[] parts = apiName.split("_");
         StringBuilder sb = new StringBuilder();
         for (String part : parts) {
-            if (part.isEmpty()) continue;
-            if (sb.length() > 0) sb.append(" ");
+            if (part.isEmpty()) {
+                continue;
+            }
+            if (sb.length() > 0) {
+                sb.append(" ");
+            }
             sb.append(Character.toUpperCase(part.charAt(0)));
-            if (part.length() > 1) sb.append(part.substring(1));
+            if (part.length() > 1) {
+                sb.append(part.substring(1));
+            }
         }
         return sb.toString();
     }
 
+    /**
+     * Computes the simple centroid of a polygon by averaging all vertices.
+     */
     private LatLng computePolygonCenter(Polygon polygon) {
         List<LatLng> points = polygon.getPoints();
-        double latSum = 0, lonSum = 0;
+        double latSum = 0;
+        double lonSum = 0;
         int count = 0;
+
         for (LatLng p : points) {
             latSum += p.latitude;
             lonSum += p.longitude;
             count++;
         }
-        if (count == 0) return new LatLng(0, 0);
-        return new LatLng(latSum / count, lonSum / count);
-    }
 
-    @Override
-    public void onDestroyView() {
-        super.onDestroyView();
-        retryHandler.removeCallbacksAndMessages(null);
-        stopLiveLocationUpdates();
-        mMap = null;
-        startMarker = null;
-        currentLocationMarker = null;
+        if (count == 0) {
+            return new LatLng(0, 0);
+        }
+        return new LatLng(latSum / count, lonSum / count);
     }
 
+    /**
+     * Creates the "Back to Current Location" button programmatically if it is not
+     * already present in the layout.
+     */
     private void ensureBackToCurrentLocationButton(@NonNull View root) {
         if (button == null || backToCurrentLocationButton != null) {
             return;
@@ -1082,13 +1549,16 @@ private void ensureBackToCurrentLocationButton(@NonNull View root) {
         if (!(button.getParent() instanceof ConstraintLayout)) {
             return;
         }
+
         ConstraintLayout parent = (ConstraintLayout) button.getParent();
+
         backToCurrentLocationButton = new Button(requireContext());
         backToCurrentLocationButton.setId(View.generateViewId());
         backToCurrentLocationButton.setText("Back to Current Location");
         backToCurrentLocationButton.setAllCaps(false);
 
         int marginBottomPx = Math.round(12f * root.getResources().getDisplayMetrics().density);
+
         ConstraintLayout.LayoutParams params = new ConstraintLayout.LayoutParams(
                 ConstraintLayout.LayoutParams.WRAP_CONTENT,
                 ConstraintLayout.LayoutParams.WRAP_CONTENT
@@ -1097,12 +1567,17 @@ private void ensureBackToCurrentLocationButton(@NonNull View root) {
         params.startToStart = button.getId();
         params.endToEnd = button.getId();
         params.bottomMargin = marginBottomPx;
+
         backToCurrentLocationButton.setLayoutParams(params);
         parent.addView(backToCurrentLocationButton);
 
         backToCurrentLocationButton.setOnClickListener(v -> resetToCurrentLocation());
     }
 
+    /**
+     * Returns the start marker to the current live GNSS position and clears any
+     * manual building-based selection.
+     */
     private void resetToCurrentLocation() {
         followCurrentLocationWithStartMarker = true;
         isMarkerDraggedSelection = false;
@@ -1120,6 +1595,10 @@ private void stopLiveLocationUpdates() {
         liveLocationHandler.removeCallbacks(liveLocationRunnable);
     }
 
+    /**
+     * Refreshes the live GNSS marker and, when enabled, keeps the start marker
+     * attached to the current position.
+     */
     private void updateLiveLocation(boolean animateCamera) {
         float[] gnss = sensorFusion.getGNSSLatitude(false);
         if (gnss == null || gnss.length < 2) {
@@ -1130,17 +1609,20 @@ private void updateLiveLocation(boolean animateCamera) {
         }
 
         LatLng current = new LatLng(gnss[0], gnss[1]);
+
         if (currentLocationMarker != null) {
             currentLocationMarker.setPosition(current);
         }
+
         if (followCurrentLocationWithStartMarker && startMarker != null) {
             startMarker.setPosition(current);
             startPosition[0] = gnss[0];
             startPosition[1] = gnss[1];
         }
+
         if (mMap != null && animateCamera) {
             float targetZoom = Math.max(18.5f, mMap.getCameraPosition().zoom);
             mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(current, targetZoom));
         }
     }
-}
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index f59ef023..92f65d38 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -6,6 +6,8 @@
 import android.graphics.Color;
 import android.location.Location;
 import android.os.Bundle;
+import android.os.Handler;
+import android.os.Looper;
 import android.os.SystemClock;
 import android.util.Log;
 import android.view.LayoutInflater;
@@ -29,29 +31,15 @@
 import com.google.android.gms.maps.model.GroundOverlayOptions;
 import com.google.android.gms.maps.model.LatLng;
 import com.google.android.gms.maps.model.LatLngBounds;
-import com.google.android.gms.maps.model.Marker;
-import com.google.android.gms.maps.model.MarkerOptions;
 import com.google.android.gms.maps.model.Polygon;
 import com.google.android.gms.maps.model.PolygonOptions;
-import com.google.android.gms.maps.model.JointType;
-import com.google.android.gms.maps.model.Polyline;
-import com.google.android.gms.maps.model.RoundCap;
-import com.google.android.gms.maps.model.PolylineOptions;
 import com.google.android.material.progressindicator.CircularProgressIndicator;
 import com.google.android.material.switchmaterial.SwitchMaterial;
 import com.openpositioning.PositionMe.R;
 import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
-import com.openpositioning.PositionMe.mapmatching.CandidatePose;
-import com.openpositioning.PositionMe.mapmatching.CorrectionType;
-import com.openpositioning.PositionMe.mapmatching.MapMatchingInput;
-import com.openpositioning.PositionMe.mapmatching.MapMatchingResult;
-import com.openpositioning.PositionMe.mapmatching.MapMatchingService;
-import com.openpositioning.PositionMe.mapmatching.MotionDelta;
-import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
 import com.openpositioning.PositionMe.utils.BuildingPolygon;
 import com.openpositioning.PositionMe.utils.IndoorMapManager;
-import com.openpositioning.PositionMe.utils.UtilFunctions;
 
 import java.util.ArrayList;
 import java.util.HashMap;
@@ -63,107 +51,78 @@ public class TrajectoryMapFragment extends Fragment {
 
     private static final String TAG = "TrajectoryMapFragment";
     private static final String TEST_LOG_TAG = "MAP_MATCH_TEST";
-    private static final long AUTO_FLOOR_DEBOUNCE_MS = 3000;
-    private static final long AUTO_FLOOR_CHECK_INTERVAL_MS = 1000;
+
+    private static final long AUTO_FLOOR_DEBOUNCE_MS = 3000L;
+    private static final long AUTO_FLOOR_CHECK_INTERVAL_MS = 1000L;
     private static final String CALIBRATION_PREFS_NAME = "actual_map_calibration";
     private static final float CALIBRATION_SHIFT_STEP = 0.005f;
     private static final float CALIBRATION_SCALE_STEP = 0.005f;
     private static final float AUTO_SELECT_BUILDING_MAX_DISTANCE_METERS = 60f;
-    private static final int TRAJECTORY_MAIN_COLOR = Color.RED;
-    private static final int TRAJECTORY_OUTLINE_COLOR = Color.WHITE;
-    private static final float TRAJECTORY_WIDTH_MAIN_PX = 7f;
-    private static final float TRAJECTORY_WIDTH_OUTLINE_PX = 18f;
-    private static final float TRAJECTORY_Z_INDEX = 1000f;
 
-    private enum HorizontalAnchor {
-        LEFT,
-        RIGHT,
-        CENTER
-    }
+    // Map and core services
+    private GoogleMap gMap;
+    private LatLng currentLocation;
+    private LatLng pendingCameraPosition = null;
+    private boolean hasPendingCameraMove = false;
 
-    private static final class ActualMapAlignmentConfig {
-        final HorizontalAnchor horizontalAnchor;
-        final double northInsetRatio;
-        final double southInsetRatio;
-        final double horizontalInsetRatio;
-        final double widthScale;
-        final double topVisibleInsetRatio;
-        final double bottomVisibleInsetRatio;
-        final double rightVisibleInsetRatio;
-        final double leftVisibleInsetRatio;
+    private SensorFusion sensorFusion;
+    private IndoorMapManager indoorMapManager;
 
-        ActualMapAlignmentConfig(HorizontalAnchor horizontalAnchor,
-                                 double northInsetRatio,
-                                 double southInsetRatio,
-                                 double horizontalInsetRatio,
-                                 double widthScale,
-                                 double topVisibleInsetRatio,
-                                 double bottomVisibleInsetRatio,
-                                 double rightVisibleInsetRatio,
-                                 double leftVisibleInsetRatio) {
-            this.horizontalAnchor = horizontalAnchor;
-            this.northInsetRatio = northInsetRatio;
-            this.southInsetRatio = southInsetRatio;
-            this.horizontalInsetRatio = horizontalInsetRatio;
-            this.widthScale = widthScale;
-            this.topVisibleInsetRatio = topVisibleInsetRatio;
-            this.bottomVisibleInsetRatio = bottomVisibleInsetRatio;
-            this.rightVisibleInsetRatio = rightVisibleInsetRatio;
-            this.leftVisibleInsetRatio = leftVisibleInsetRatio;
-        }
-    }
+    private final TrajectoryRenderer trajectoryRenderer = new TrajectoryRenderer();
+    private final FloorplanApiClient floorplanApiClient = new FloorplanApiClient();
 
-    private static final class DrawableContentInsets {
-        final double leftFraction;
-        final double topFraction;
-        final double rightFraction;
-        final double bottomFraction;
+    // Building / indoor selection state
+    private final List<Polygon> floorplanPolygons = new ArrayList<>();
+    private final Map<Polygon, FloorplanApiClient.BuildingInfo> polygonToBuilding = new HashMap<>();
+    private final List<FloorplanApiClient.BuildingInfo> lastFetchedBuildings = new ArrayList<>();
 
-        DrawableContentInsets(double leftFraction,
-                              double topFraction,
-                              double rightFraction,
-                              double bottomFraction) {
-            this.leftFraction = clamp01(leftFraction);
-            this.topFraction = clamp01(topFraction);
-            this.rightFraction = clamp01(rightFraction);
-            this.bottomFraction = clamp01(bottomFraction);
-        }
+    private FloorplanApiClient.BuildingInfo selectedFloorplanBuilding;
+    private Polygon selectedFloorplanPolygon;
 
-        double contentWidthFraction() {
-            return Math.max(0.01d, 1d - leftFraction - rightFraction);
-        }
+    private boolean indoorMapVisible = false;
+    private boolean actualMapVisible = false;
+    private boolean hasFetchedNearbyBuildings = false;
+    private boolean hasAttemptedInitialBuildingFetch = false;
+    private boolean isIndoorRequestInFlight = false;
+    private boolean hasAutoSelectedIndoorMap = false;
+    private boolean replayModeEnabled = false;
+    private int currentFloorIndex = 0;
 
-        double contentHeightFraction() {
-            return Math.max(0.01d, 1d - topFraction - bottomFraction);
-        }
-    }
+    // Overlay calibration state
+    private final List<GroundOverlay> realMapOverlays = new ArrayList<>();
+    private String calibrationTargetBuildingKey = "";
 
-    private static final class OverlayCalibration {
-        final float shiftLatRatio;
-        final float shiftLngRatio;
-        final float widthScale;
-        final float heightScale;
+    // Auto-floor helper state
+    private Handler autoFloorHandler;
+    private Runnable autoFloorTask;
+    private int lastCandidateFloor = Integer.MIN_VALUE;
+    private long lastCandidateTime = 0L;
+    private int latestCandidateLogicalFloor = Integer.MIN_VALUE;
+    private long lastAutoFloorLogTime = 0L;
 
-        OverlayCalibration(float shiftLatRatio, float shiftLngRatio, float widthScale, float heightScale) {
-            this.shiftLatRatio = shiftLatRatio;
-            this.shiftLngRatio = shiftLngRatio;
-            this.widthScale = widthScale;
-            this.heightScale = heightScale;
-        }
+    // UI references
+    private Spinner switchMapSpinner;
+    private SwitchMaterial gnssSwitch;
+    private SwitchMaterial autoFloorSwitch;
+    private SwitchMaterial showWifiSwitch;
+    private SwitchMaterial showPdrSwitch;
 
-        static OverlayCalibration identity() {
-            return new OverlayCalibration(0f, 0f, 1f, 1f);
-        }
-    }
+    private com.google.android.material.floatingactionbutton.FloatingActionButton floorUpButton;
+    private com.google.android.material.floatingactionbutton.FloatingActionButton floorDownButton;
+
+    private TextView floorLabel;
+    private Button switchColorButton;
+
+    private View mapControlContent;
+    private Button btnToggleMapControls;
+    private boolean mapControlsExpanded = true;
+
+    private Button btnToggleLog;
+    private TextView debugStatusText;
+    private boolean isDebugStatusVisible = false;
 
     private Button btnFindIndoorMap;
     private Button btnFindActualMap;
-    private TextView selectedVenueText;
-    private TextView calibrationTargetText;
-    private TextView calibrationValueText;
-    private CircularProgressIndicator indoorLoadingIndicator;
-
-    private View calibrationPanel;
     private Button btnToggleAdjustMap;
     private Button btnCalibrationTarget;
     private Button btnCalibrateUp;
@@ -177,25 +136,17 @@ static OverlayCalibration identity() {
     private Button btnSaveCalibration;
     private Button btnResetCalibration;
 
-    private String calibrationTargetBuildingKey = "";
-
-    private boolean indoorMapVisible = false;
-    private boolean actualMapVisible = false;
-    private boolean hasFetchedNearbyBuildings = false;
-    private boolean hasAttemptedInitialBuildingFetch = false;
-    private boolean isIndoorRequestInFlight = false;
-    private boolean hasAutoSelectedIndoorMap = false;
-    private int currentFloorIndex = 0;
-
-    private final List<GroundOverlay> realMapOverlays = new ArrayList<>();
+    private View calibrationPanel;
+    private TextView selectedVenueText;
+    private TextView calibrationTargetText;
+    private TextView calibrationValueText;
+    private CircularProgressIndicator indoorLoadingIndicator;
 
-    private GoogleMap gMap;
-    private LatLng currentLocation;
-    private boolean isGnssOn = false;
-    private LatLng pendingCameraPosition = null;
-    private boolean hasPendingCameraMove = false;
-    private final TrajectoryRenderer trajectoryRenderer = new TrajectoryRenderer();
+    private TextView debugHeading;
+    private TextView debugAdaptedHeading;
+    private TextView debugCosSin;
 
+    // Controller / coordinator
     private final FloorController floorController = new FloorController(new FloorController.Host() {
         @Override
         public FloorplanApiClient.BuildingInfo getSelectedFloorplanBuilding() {
@@ -258,16 +209,6 @@ public void updateCalibrationUi() {
         }
     });
 
-    private IndoorMapManager indoorMapManager;
-    private SensorFusion sensorFusion;
-    private final List<Polygon> floorplanPolygons = new ArrayList<>();
-    private final Map<Polygon, FloorplanApiClient.BuildingInfo> polygonToBuilding = new HashMap<>();
-    private final List<FloorplanApiClient.BuildingInfo> lastFetchedBuildings = new ArrayList<>();
-    private FloorplanApiClient.BuildingInfo selectedFloorplanBuilding;
-    private Polygon selectedFloorplanPolygon;
-    private final FloorplanApiClient floorplanApiClient = new FloorplanApiClient();
-
-    private boolean replayModeEnabled = false;
     private final MapMatchingCoordinator mapMatchingCoordinator = new MapMatchingCoordinator(
             new MapMatchingCoordinator.Host() {
                 @Nullable
@@ -397,28 +338,13 @@ public String getTestLogTag() {
             }
     );
 
-
-    private Spinner switchMapSpinner;
-    private SwitchMaterial gnssSwitch;
-    private SwitchMaterial autoFloorSwitch;
-    private SwitchMaterial showWifiSwitch;
-    private SwitchMaterial showPdrSwitch;
-    private com.google.android.material.floatingactionbutton.FloatingActionButton floorUpButton, floorDownButton;
-    private TextView floorLabel;
-    private Button switchColorButton;
-    private View mapControlsContent;
-    private Button btnToggleControls;
-    private Button btnToggleLog;
-    private TextView debugStatusText;
-    private boolean areMapControlsExpanded = true;
-    private boolean isDebugStatusVisible = false;
-
     public TrajectoryMapFragment() {
     }
 
     @Nullable
     @Override
-    public View onCreateView(@NonNull LayoutInflater inflater, @Nullable ViewGroup container, @Nullable Bundle savedInstanceState) {
+    public View onCreateView(@NonNull LayoutInflater inflater, @Nullable ViewGroup container,
+                             @Nullable Bundle savedInstanceState) {
         return inflater.inflate(R.layout.fragment_trajectory_map, container, false);
     }
 
@@ -426,20 +352,29 @@ public View onCreateView(@NonNull LayoutInflater inflater, @Nullable ViewGroup c
     public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
         super.onViewCreated(view, savedInstanceState);
 
+        sensorFusion = SensorFusion.getInstance();
+
+        // UI controls
         switchMapSpinner = view.findViewById(R.id.mapSwitchSpinner);
         gnssSwitch = view.findViewById(R.id.gnssSwitch);
         autoFloorSwitch = view.findViewById(R.id.autoFloor);
         showWifiSwitch = view.findViewById(R.id.showWifiSwitch);
         showPdrSwitch = view.findViewById(R.id.showPdrSwitch);
+
         floorUpButton = view.findViewById(R.id.floorUpButton);
         floorDownButton = view.findViewById(R.id.floorDownButton);
         floorLabel = view.findViewById(R.id.floorLabel);
         switchColorButton = view.findViewById(R.id.lineColorButton);
-        mapControlsContent = view.findViewById(R.id.mapControlsContent);
-        btnToggleControls = view.findViewById(R.id.btnToggleControls);
+
+        mapControlContent = view.findViewById(R.id.mapControlContent);
+        btnToggleMapControls = view.findViewById(R.id.btnToggleMapControls);
+
         btnToggleLog = view.findViewById(R.id.btnToggleLog);
         debugStatusText = view.findViewById(R.id.debugStatusText);
-        isGnssOn = gnssSwitch != null && gnssSwitch.isChecked();
+
+        debugHeading = view.findViewById(R.id.debugHeading);
+        debugAdaptedHeading = view.findViewById(R.id.debugAdaptedHeading);
+        debugCosSin = view.findViewById(R.id.debugCosSin);
 
         btnFindIndoorMap = view.findViewById(R.id.btnFindIndoorMap);
         btnFindActualMap = view.findViewById(R.id.btnFindActualMap);
@@ -455,54 +390,58 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
         btnHeightPlus = view.findViewById(R.id.btnHeightPlus);
         btnSaveCalibration = view.findViewById(R.id.btnSaveCalibration);
         btnResetCalibration = view.findViewById(R.id.btnResetCalibration);
+
         calibrationPanel = view.findViewById(R.id.calibrationPanel);
         selectedVenueText = view.findViewById(R.id.selectedVenueText);
         calibrationTargetText = view.findViewById(R.id.calibrationTargetText);
         calibrationValueText = view.findViewById(R.id.calibrationValueText);
         indoorLoadingIndicator = view.findViewById(R.id.indoorLoadingIndicator);
 
-        if (indoorLoadingIndicator != null) {
-            indoorLoadingIndicator.setVisibility(View.GONE);
-        }
+        floorController.bindViews(autoFloorSwitch, floorUpButton, floorDownButton, floorLabel);
+
         if (selectedVenueText != null) {
             selectedVenueText.setText("Tap a blue building outline to select a building");
         }
+        if (indoorLoadingIndicator != null) {
+            indoorLoadingIndicator.setVisibility(View.GONE);
+        }
         if (calibrationPanel != null) {
             calibrationPanel.setVisibility(View.GONE);
         }
         if (btnToggleAdjustMap != null) {
             btnToggleAdjustMap.setVisibility(View.GONE);
         }
+
         setFloorControlsVisibility(View.GONE);
         initMapControlsToggle();
         initDebugStatusToggle();
-        applyTrajectoryColorButtonState();
+        setupCalibrationControls();
         updateActualMapButtonState();
+        updateAutoFloorAvailability();
+        refreshDebugStatusText();
 
-        SupportMapFragment mapFragment = (SupportMapFragment) getChildFragmentManager().findFragmentById(R.id.trajectoryMap);
+        SupportMapFragment mapFragment =
+                (SupportMapFragment) getChildFragmentManager().findFragmentById(R.id.trajectoryMap);
         if (mapFragment != null) {
             mapFragment.getMapAsync(googleMap -> {
                 gMap = googleMap;
                 initMapSettings(gMap);
 
-                // 1. Replay 模式：使用传递进来的 pendingCameraPosition
                 if (hasPendingCameraMove && pendingCameraPosition != null) {
-                    gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(pendingCameraPosition, 19f));
+                    float savedZoom = getSavedMapZoom();
+                    gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(pendingCameraPosition, savedZoom));
                     hasPendingCameraMove = false;
                     pendingCameraPosition = null;
-                }
-                // 2. 【核心修复2】Live（实地）模式：立刻读取 StartLocation 传过来的坐标和视角
-                else if (!replayModeEnabled && getContext() != null) {
-                    android.content.SharedPreferences prefs = getContext().getSharedPreferences("MapCameraState", Context.MODE_PRIVATE);
+                } else if (!replayModeEnabled && getContext() != null) {
+                    SharedPreferences prefs = getContext().getSharedPreferences("MapCameraState", Context.MODE_PRIVATE);
                     float savedZoom = prefs.getFloat("user_selected_zoom", 19f);
                     float savedLat = prefs.getFloat("user_start_lat", 0f);
                     float savedLon = prefs.getFloat("user_start_lon", 0f);
-
-                    // 只要拿到了有效坐标，在任何乱七八糟的加载开始前，强行把镜头砸在这个位置！
                     if (savedLat != 0f && savedLon != 0f) {
                         gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(new LatLng(savedLat, savedLon), savedZoom));
                     }
                 }
+
                 restoreCachedBuildingsIfAny();
                 maybeFetchNearbyBuildingsOnFirstLocation();
             });
@@ -510,31 +449,74 @@ else if (!replayModeEnabled && getContext() != null) {
 
         initMapTypeSpinner();
 
-        gnssSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> {
-            isGnssOn = isChecked;
-            trajectoryRenderer.setShowGnssObservations(isChecked);
-            if (!isChecked) {
-                trajectoryRenderer.clearGnssMarker();
-            }
-        });
+        if (gnssSwitch != null) {
+            gnssSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> {
+                trajectoryRenderer.setShowGnssObservations(isChecked);
+                if (!isChecked) {
+                    trajectoryRenderer.clearGnss();
+                }
+            });
+        }
+
         if (showWifiSwitch != null) {
-            showWifiSwitch.setOnCheckedChangeListener((buttonView, isChecked) ->
-                    trajectoryRenderer.setShowWifiObservations(isChecked));
+            showWifiSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> {
+                trajectoryRenderer.setShowWifiObservations(isChecked);
+                if (!isChecked) {
+                    trajectoryRenderer.clearWifi();
+                }
+            });
         }
+
         if (showPdrSwitch != null) {
             showPdrSwitch.setOnCheckedChangeListener((buttonView, isChecked) ->
                     trajectoryRenderer.setShowPdrObservations(isChecked));
         }
 
-        switchColorButton.setOnClickListener(v -> {
-            trajectoryRenderer.toggleTrajectoryColor();
-            applyTrajectoryColorButtonState();
-        });
+        if (switchColorButton != null) {
+            switchColorButton.setOnClickListener(v -> {
+                trajectoryRenderer.toggleTrajectoryColor();
+                applyTrajectoryColorButtonState();
+            });
+        }
+        applyTrajectoryColorButtonState();
 
-        setupCalibrationControls();
+        if (autoFloorSwitch != null) {
+            autoFloorSwitch.setOnCheckedChangeListener((compoundButton, isChecked) -> {
+                if (isChecked) {
+                    startAutoFloor();
+                } else {
+                    stopAutoFloor();
+                }
+            });
+        }
 
-        sensorFusion = SensorFusion.getInstance();
-        floorController.bindViews(autoFloorSwitch, floorUpButton, floorDownButton, floorLabel);
+        if (floorUpButton != null) {
+            floorUpButton.setOnClickListener(v -> {
+                if (autoFloorSwitch != null) {
+                    autoFloorSwitch.setChecked(false);
+                }
+                if (selectedFloorplanBuilding != null) {
+                    int nextFloorIndex = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, true);
+                    if (nextFloorIndex != currentFloorIndex) {
+                        setFloor(nextFloorIndex);
+                    }
+                }
+            });
+        }
+
+        if (floorDownButton != null) {
+            floorDownButton.setOnClickListener(v -> {
+                if (autoFloorSwitch != null) {
+                    autoFloorSwitch.setChecked(false);
+                }
+                if (selectedFloorplanBuilding != null) {
+                    int nextFloorIndex = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, false);
+                    if (nextFloorIndex != currentFloorIndex) {
+                        setFloor(nextFloorIndex);
+                    }
+                }
+            });
+        }
 
         if (btnFindIndoorMap != null) {
             btnFindIndoorMap.setOnClickListener(v -> {
@@ -549,14 +531,17 @@ else if (!replayModeEnabled && getContext() != null) {
 
                 actualMapVisible = false;
                 indoorMapVisible = true;
+
                 if (indoorMapManager != null) {
                     indoorMapManager.setSelectedBuilding(selectedFloorplanBuilding);
                 }
                 setFloor(currentFloorIndex);
 
                 if (selectedVenueText != null) {
-                    selectedVenueText.setText("Showing indoor vector map for " + prettyBuildingName(selectedFloorplanBuilding.getName()));
+                    selectedVenueText.setText("Showing indoor vector map for " +
+                            prettyBuildingName(selectedFloorplanBuilding.getName()));
                 }
+
                 updateCalibrationUi();
                 updateActualMapButtonState();
             });
@@ -575,6 +560,7 @@ else if (!replayModeEnabled && getContext() != null) {
 
                 indoorMapVisible = true;
                 actualMapVisible = !actualMapVisible;
+
                 if (indoorMapManager != null) {
                     indoorMapManager.setSelectedBuilding(selectedFloorplanBuilding);
                 }
@@ -582,65 +568,256 @@ else if (!replayModeEnabled && getContext() != null) {
 
                 if (selectedVenueText != null) {
                     if (actualMapVisible) {
-                        selectedVenueText.setText("Displaying actual map under indoor overlay for " + prettyBuildingName(selectedFloorplanBuilding.getName()));
+                        selectedVenueText.setText("Displaying actual map under indoor overlay for " +
+                                prettyBuildingName(selectedFloorplanBuilding.getName()));
                     } else {
-                        selectedVenueText.setText("Actual map hidden for " + prettyBuildingName(selectedFloorplanBuilding.getName()));
+                        selectedVenueText.setText("Actual map hidden for " +
+                                prettyBuildingName(selectedFloorplanBuilding.getName()));
                     }
                 }
+
                 updateCalibrationUi();
                 updateActualMapButtonState();
             });
         }
+
+        syncReplayUiState();
     }
 
-    private void maybeFetchNearbyBuildingsOnFirstLocation() {
-        if (gMap == null || currentLocation == null || hasAttemptedInitialBuildingFetch || isIndoorRequestInFlight || hasFetchedNearbyBuildings) {
-            return;
-        }
-        hasAttemptedInitialBuildingFetch = true;
-        requestNearbyIndoorMaps(false);
+    // Public API used by RecordingFragment / ReplayFragment
+    public void updateUserLocation(@NonNull LatLng newLocation, float orientationDeg) {
+        mapMatchingCoordinator.updateUserLocation(newLocation, orientationDeg);
+        refreshDebugStatusText();
     }
 
-    private void maybeAutoSelectIndoorMap(List<FloorplanApiClient.BuildingInfo> buildings) {
-        if (hasAutoSelectedIndoorMap || selectedFloorplanBuilding != null || currentLocation == null || indoorMapManager == null) {
-            return;
-        }
-        if (buildings == null || buildings.isEmpty()) {
+    public void setReplayModeEnabled(boolean enabled) {
+        if (replayModeEnabled == enabled) {
+            syncReplayUiState();
             return;
         }
 
-        FloorplanApiClient.BuildingInfo candidate = findBestBuildingForAutoSelection(buildings, currentLocation);
-        if (candidate == null) {
-            return;
-        }
+        replayModeEnabled = enabled;
+        mapMatchingCoordinator.onReplayModeChanged(enabled);
 
-        Polygon candidatePolygon = null;
-        for (Map.Entry<Polygon, FloorplanApiClient.BuildingInfo> entry : polygonToBuilding.entrySet()) {
-            if (entry.getValue() == candidate) {
-                candidatePolygon = entry.getKey();
-                break;
-            }
+        if (enabled) {
+            stopAutoFloor();
         }
 
-        onFloorplanBuildingSelected(candidate, candidatePolygon);
-
-        // 【核心修复1】注释掉自动显示地图的代码，只做后台选中，等待用户主动点击按钮
-        // indoorMapVisible = true;
-        // actualMapVisible = false;
-        // indoorMapManager.setSelectedBuilding(candidate);
-        // setFloor(currentFloorIndex);
-
-        hasAutoSelectedIndoorMap = true;
+        syncReplayUiState();
+        refreshDebugStatusText();
+    }
 
-        if (selectedVenueText != null) {
-            selectedVenueText.setText("Auto-selected " + prettyBuildingName(candidate.getName()) + ". Tap Find Maps to show.");
-        }
+    public void setReplayFrameContext(@Nullable Integer syntheticFloor,
+                                      @Nullable Double currentElevation,
+                                      @Nullable Double deltaHeight,
+                                      boolean heightChanged) {
+        setReplayModeEnabled(true);
+        mapMatchingCoordinator.setReplayFrameContext(
+                syntheticFloor, currentElevation, deltaHeight, heightChanged
+        );
     }
-    @Nullable
-    private FloorplanApiClient.BuildingInfo findBestBuildingForAutoSelection(List<FloorplanApiClient.BuildingInfo> buildings, @NonNull LatLng location) {
-        FloorplanApiClient.BuildingInfo insideCandidate = null;
-        FloorplanApiClient.BuildingInfo nearestCandidate = null;
-        float nearestDistanceMeters = Float.MAX_VALUE;
+
+    public void setReplayFrameContext(@Nullable Integer syntheticFloor,
+                                      @Nullable Double currentElevation,
+                                      @Nullable Double deltaHeight,
+                                      boolean heightChanged,
+                                      @Nullable Integer initialFloor) {
+        setReplayModeEnabled(true);
+        mapMatchingCoordinator.setReplayFrameContext(
+                syntheticFloor, currentElevation, deltaHeight, heightChanged, initialFloor
+        );
+    }
+
+    public void setInitialCameraPosition(@NonNull LatLng startLocation) {
+        float savedZoom = getSavedMapZoom();
+        if (gMap != null) {
+            gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(startLocation, savedZoom));
+        } else {
+            pendingCameraPosition = startLocation;
+            hasPendingCameraMove = true;
+        }
+    }
+
+    public LatLng getCurrentLocation() {
+        return currentLocation;
+    }
+
+    public void addTestPointMarker(int index, long timestampMs, @NonNull LatLng position) {
+        trajectoryRenderer.addTestPointMarker(index, timestampMs, position);
+    }
+
+    public void updateGNSS(@NonNull LatLng gnssLocation) {
+        trajectoryRenderer.updateGnss(gnssLocation);
+    }
+
+    public void clearGNSS() {
+        trajectoryRenderer.clearGnss();
+    }
+
+    public void updateWifi(@NonNull LatLng wifiLocation) {
+        trajectoryRenderer.updateWifi(wifiLocation);
+    }
+
+    public void clearWifi() {
+        trajectoryRenderer.clearWifi();
+    }
+
+    public void updateDisplayedFloor(int logicalFloor) {
+        if (selectedFloorplanBuilding == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+            return;
+        }
+        int targetFloorIndex = indoorMapManager.logicalFloorToIndex(logicalFloor);
+        if (targetFloorIndex != currentFloorIndex) {
+            setFloor(targetFloorIndex);
+        }
+    }
+
+    public boolean isGnssEnabled() {
+        return gnssSwitch != null && gnssSwitch.isChecked();
+    }
+
+    public boolean isWifiEnabled() {
+        return showWifiSwitch != null && showWifiSwitch.isChecked();
+    }
+
+    public void updateDebugInfo(float headingValue) {
+        if (debugHeading != null) {
+            debugHeading.setText(String.format(Locale.US, "Heading: %.3f", headingValue));
+        }
+        if (debugAdaptedHeading != null) {
+            debugAdaptedHeading.setText(String.format(Locale.US, "Adapted: %.3f", headingValue));
+        }
+        if (debugCosSin != null) {
+            debugCosSin.setText(String.format(Locale.US, "cos=%.3f sin=%.3f",
+                    Math.cos(headingValue), Math.sin(headingValue)));
+        }
+    }
+
+    public void clearMapAndReset() {
+        stopAutoFloor();
+
+        if (autoFloorSwitch != null) {
+            autoFloorSwitch.setChecked(false);
+        }
+
+        mapMatchingCoordinator.resetMapMatchingState();
+        trajectoryRenderer.clearAll();
+
+        currentLocation = null;
+        latestCandidateLogicalFloor = Integer.MIN_VALUE;
+        lastCandidateFloor = Integer.MIN_VALUE;
+        lastCandidateTime = 0L;
+
+        for (Polygon p : floorplanPolygons) {
+            p.remove();
+        }
+        floorplanPolygons.clear();
+        polygonToBuilding.clear();
+        lastFetchedBuildings.clear();
+
+        selectedFloorplanPolygon = null;
+        selectedFloorplanBuilding = null;
+        indoorMapVisible = false;
+        actualMapVisible = false;
+        hasFetchedNearbyBuildings = false;
+        hasAttemptedInitialBuildingFetch = false;
+        hasAutoSelectedIndoorMap = false;
+        replayModeEnabled = false;
+        currentFloorIndex = 0;
+
+        resetMapOverlays();
+
+        if (indoorMapManager != null) {
+            indoorMapManager.clearIndoorMap();
+        }
+
+        if (selectedVenueText != null) {
+            selectedVenueText.setText("Tap a blue building outline to select a building");
+        }
+
+        calibrationTargetBuildingKey = "";
+        updateCalibrationUi();
+        updateActualMapButtonState();
+        updateAutoFloorAvailability();
+
+        if (indoorLoadingIndicator != null) {
+            indoorLoadingIndicator.setVisibility(View.GONE);
+        }
+
+        setFloorControlsVisibility(View.GONE);
+        syncReplayUiState();
+        refreshDebugStatusText();
+    }
+
+    // Map / building lifecycle
+    private void initMapSettings(@NonNull GoogleMap map) {
+        map.getUiSettings().setCompassEnabled(true);
+        map.getUiSettings().setTiltGesturesEnabled(true);
+        map.getUiSettings().setRotateGesturesEnabled(true);
+        map.getUiSettings().setScrollGesturesEnabled(true);
+        map.setMapType(GoogleMap.MAP_TYPE_HYBRID);
+
+        indoorMapManager = new IndoorMapManager(map);
+
+        map.setOnPolygonClickListener(polygon -> {
+            FloorplanApiClient.BuildingInfo building = polygonToBuilding.get(polygon);
+            if (building != null) {
+                onFloorplanBuildingSelected(building, polygon);
+            }
+        });
+
+        trajectoryRenderer.attachToMap(map);
+        trajectoryRenderer.setShowGnssObservations(gnssSwitch == null || gnssSwitch.isChecked());
+        trajectoryRenderer.setShowWifiObservations(showWifiSwitch == null || showWifiSwitch.isChecked());
+        trajectoryRenderer.setShowPdrObservations(showPdrSwitch == null || showPdrSwitch.isChecked());
+    }
+
+    private void maybeFetchNearbyBuildingsOnFirstLocation() {
+        if (gMap == null || currentLocation == null || hasAttemptedInitialBuildingFetch
+                || isIndoorRequestInFlight || hasFetchedNearbyBuildings) {
+            return;
+        }
+        hasAttemptedInitialBuildingFetch = true;
+        requestNearbyIndoorMaps(false);
+    }
+
+    private void maybeAutoSelectIndoorMap(List<FloorplanApiClient.BuildingInfo> buildings) {
+        if (hasAutoSelectedIndoorMap || selectedFloorplanBuilding != null
+                || currentLocation == null || indoorMapManager == null) {
+            return;
+        }
+        if (buildings == null || buildings.isEmpty()) {
+            return;
+        }
+
+        FloorplanApiClient.BuildingInfo candidate = findBestBuildingForAutoSelection(buildings, currentLocation);
+        if (candidate == null) {
+            return;
+        }
+
+        Polygon candidatePolygon = null;
+        for (Map.Entry<Polygon, FloorplanApiClient.BuildingInfo> entry : polygonToBuilding.entrySet()) {
+            if (entry.getValue() == candidate) {
+                candidatePolygon = entry.getKey();
+                break;
+            }
+        }
+
+        onFloorplanBuildingSelected(candidate, candidatePolygon);
+        hasAutoSelectedIndoorMap = true;
+
+        if (selectedVenueText != null) {
+            selectedVenueText.setText("Auto-selected " + prettyBuildingName(candidate.getName()) +
+                    ". Tap Find Maps to show.");
+        }
+    }
+
+    @Nullable
+    private FloorplanApiClient.BuildingInfo findBestBuildingForAutoSelection(
+            List<FloorplanApiClient.BuildingInfo> buildings, @NonNull LatLng location) {
+        FloorplanApiClient.BuildingInfo insideCandidate = null;
+        FloorplanApiClient.BuildingInfo nearestCandidate = null;
+        float nearestDistanceMeters = Float.MAX_VALUE;
 
         for (FloorplanApiClient.BuildingInfo building : buildings) {
             if (building == null) {
@@ -702,1106 +879,1239 @@ private float distanceBetweenMeters(@NonNull LatLng a, @NonNull LatLng b) {
         return result[0];
     }
 
-    private void setFloor(int newFloorIndex) {
-        floorController.setFloor(newFloorIndex);
-    }
+    private void onFloorplanBuildingSelected(FloorplanApiClient.BuildingInfo building, @Nullable Polygon polygon) {
+        if (selectedFloorplanPolygon != null) {
+            selectedFloorplanPolygon.setFillColor(Color.argb(50, 33, 150, 243));
+            selectedFloorplanPolygon.setStrokeColor(Color.argb(220, 33, 150, 243));
+            selectedFloorplanPolygon.setZIndex(19f);
+        }
+
+        selectedFloorplanPolygon = polygon;
+        selectedFloorplanBuilding = building;
+        indoorMapVisible = false;
+        actualMapVisible = false;
+        currentFloorIndex = getDefaultFloorIndex(building);
+
+        if (polygon != null) {
+            polygon.setZIndex(19f);
+        }
+        refreshSelectedPolygonAppearance();
 
+        SensorFusion.getInstance().setSelectedBuildingId(building.getName());
 
+        mapMatchingCoordinator.onSelectedBuildingChanged();
+        trajectoryRenderer.clearMatchedTrajectoryOnly();
 
-    private void updateRealMapOverlay(String buildingName, int floorIndex, boolean show) {
-        if (!show || gMap == null || selectedFloorplanBuilding == null) {
-            return;
+        resetMapOverlays();
+        if (indoorMapManager != null) {
+            indoorMapManager.clearIndoorMap();
         }
 
-        String selectedBuildingKey = resolveKnownBuildingKey(selectedFloorplanBuilding, buildingName);
-        String selectedFloorDisplayName = normalizeFloorLabel(getFloorDisplayName(selectedFloorplanBuilding, floorIndex));
-        addActualMapOverlayForBuilding(selectedFloorplanBuilding, selectedBuildingKey, selectedFloorDisplayName, floorIndex);
+        setFloorControlsVisibility(View.GONE);
 
-        if (shouldShowLinkedLibraryAndNucleus(selectedBuildingKey)) {
-            String linkedBuildingKey = "library".equals(selectedBuildingKey) ? "nucleus_building" : "library";
-            FloorplanApiClient.BuildingInfo linkedBuilding = findBuildingByKnownKey(linkedBuildingKey);
-            int linkedFloorIndex = linkedBuilding != null
-                    ? findMatchingFloorIndex(linkedBuilding, selectedFloorDisplayName, floorIndex)
-                    : resolveFallbackFloorIndexForKey(linkedBuildingKey, selectedFloorDisplayName, floorIndex);
-            addActualMapOverlayForBuilding(linkedBuilding, linkedBuildingKey, selectedFloorDisplayName, linkedFloorIndex);
+        if (selectedVenueText != null) {
+            selectedVenueText.setText("Selected: " + prettyBuildingName(building.getName()) +
+                    ". Tap Find Indoor Maps.");
+        }
+
+        calibrationTargetBuildingKey = resolveKnownBuildingKey(building, building.getName());
+        updateCalibrationUi();
+        updateActualMapButtonState();
+        updateAutoFloorAvailability();
+        refreshDebugStatusText();
+
+        LatLng center = building.getCenter();
+        if (center != null && !(center.latitude == 0 && center.longitude == 0) && gMap != null) {
+            gMap.animateCamera(CameraUpdateFactory.newLatLngZoom(center, 20f));
         }
     }
 
-    private void addActualMapOverlayForBuilding(FloorplanApiClient.BuildingInfo building,
-                                                String buildingKey,
-                                                String requestedFloorDisplayName,
-                                                int requestedFloorIndex) {
+    private void requestNearbyIndoorMaps(boolean userInitiated) {
         if (gMap == null) {
             return;
         }
 
-        String normalizedBuildingKey = normalizeBuildingKey(buildingKey);
-        String requestedCanonicalFloor = canonicalFloorLabel(requestedFloorDisplayName);
-        if ("library".equals(normalizedBuildingKey) && "LG".equals(requestedCanonicalFloor)) {
-            return;
+        LatLng center = currentLocation;
+        if (center == null) {
+            center = trajectoryRenderer.getOrientationPosition();
         }
-
-        int resolvedFloorIndex = building != null
-                ? findMatchingFloorIndex(building, requestedFloorDisplayName, requestedFloorIndex)
-                : resolveFallbackFloorIndexForKey(normalizedBuildingKey, requestedFloorDisplayName, requestedFloorIndex);
-        String resolvedFloorDisplayName = building != null
-                ? normalizeFloorLabel(getFloorDisplayName(building, resolvedFloorIndex))
-                : normalizeFloorLabel(requestedFloorDisplayName);
-        String drawableFloorDisplayName = "library".equals(normalizedBuildingKey)
-                ? requestedCanonicalFloor
-                : resolvedFloorDisplayName;
-        int drawableResId = resolveActualMapDrawable(normalizedBuildingKey, drawableFloorDisplayName, resolvedFloorIndex);
-        LatLngBounds bounds = computeActualMapBounds(building, normalizedBuildingKey, drawableResId, drawableFloorDisplayName);
-
-        if (drawableResId != 0 && bounds != null) {
-            GroundOverlay overlay = gMap.addGroundOverlay(new GroundOverlayOptions()
-                    .image(BitmapDescriptorFactory.fromResource(drawableResId))
-                    .positionFromBounds(bounds)
-                    .transparency(0.32f)
-                    .zIndex(5f));
-            if (overlay != null) {
-                realMapOverlays.add(overlay);
+        if (center == null) {
+            float[] gnss = SensorFusion.getInstance().getGNSSLatitude(false);
+            if (gnss != null && !(gnss[0] == 0f && gnss[1] == 0f)) {
+                center = new LatLng(gnss[0], gnss[1]);
             }
         }
-    }
-
-    private int resolveFallbackFloorIndexForKey(String buildingKey, String requestedFloorDisplayName, int requestedFloorIndex) {
-        String normalizedKey = normalizeBuildingKey(buildingKey);
-        String canonicalFloor = canonicalFloorLabel(requestedFloorDisplayName);
 
-        if ("nucleus_building".equals(normalizedKey)) {
-            switch (canonicalFloor) {
-                case "LG":
-                    return 0;
-                case "G":
-                    return 1;
-                case "1":
-                    return 2;
-                case "2":
-                    return 3;
-                case "3":
-                    return 4;
-                default:
-                    return Math.max(0, Math.min(requestedFloorIndex, 4));
+        if (center == null) {
+            if (userInitiated && selectedVenueText != null) {
+                selectedVenueText.setText("Location not ready yet. Please wait.");
             }
+            return;
         }
 
-        if ("library".equals(normalizedKey)) {
-            switch (canonicalFloor) {
-                case "G":
-                    return 0;
-                case "1":
-                    return 1;
-                case "2":
-                    return 2;
-                case "3":
-                    return 3;
-                default:
-                    return Math.max(0, Math.min(requestedFloorIndex, 3));
-            }
+        if (userInitiated && selectedVenueText != null) {
+            selectedVenueText.setText("Requesting nearby indoor maps...");
         }
+        setIndoorLoading(true);
 
-        return Math.max(0, requestedFloorIndex);
-    }
+        floorplanApiClient.requestFloorplan(center.latitude, center.longitude, getObservedMacs(),
+                new FloorplanApiClient.FloorplanCallback() {
+                    @Override
+                    public void onSuccess(List<FloorplanApiClient.BuildingInfo> buildings) {
+                        if (!isAdded() || gMap == null) {
+                            return;
+                        }
+                        setIndoorLoading(false);
+                        hasFetchedNearbyBuildings = buildings != null && !buildings.isEmpty();
 
-    private boolean shouldShowLinkedLibraryAndNucleus(String buildingKey) {
-        return "library".equals(buildingKey) || "nucleus_building".equals(buildingKey);
+                        lastFetchedBuildings.clear();
+                        if (buildings != null) {
+                            lastFetchedBuildings.addAll(buildings);
+                        }
+
+                        SensorFusion.getInstance().setFloorplanBuildings(buildings);
+                        drawFloorplanBuildings(buildings);
+                        maybeAutoSelectIndoorMap(buildings);
+
+                        if (selectedVenueText != null) {
+                            if (buildings == null || buildings.isEmpty()) {
+                                selectedVenueText.setText("No nearby buildings found.");
+                            } else {
+                                selectedVenueText.setText("Tap a blue building outline to select a building");
+                            }
+                        }
+                    }
+
+                    @Override
+                    public void onFailure(String error) {
+                        if (!isAdded()) {
+                            return;
+                        }
+                        setIndoorLoading(false);
+                        if (userInitiated && selectedVenueText != null) {
+                            selectedVenueText.setText("Request failed: " + error);
+                        }
+                    }
+                });
     }
 
-    private FloorplanApiClient.BuildingInfo findBuildingByKnownKey(String knownKey) {
-        if (knownKey == null || knownKey.isEmpty()) {
-            return null;
+    private void drawFloorplanBuildings(List<FloorplanApiClient.BuildingInfo> buildings) {
+        for (Polygon p : floorplanPolygons) {
+            p.remove();
         }
+        floorplanPolygons.clear();
+        polygonToBuilding.clear();
 
-        if (selectedFloorplanBuilding != null) {
-            String selectedKey = resolveKnownBuildingKey(selectedFloorplanBuilding, selectedFloorplanBuilding.getName());
-            if (knownKey.equals(selectedKey)) {
-                return selectedFloorplanBuilding;
-            }
+        if (buildings == null || buildings.isEmpty() || gMap == null) {
+            return;
         }
 
-        for (FloorplanApiClient.BuildingInfo building : lastFetchedBuildings) {
-            String candidateKey = resolveKnownBuildingKey(building, building != null ? building.getName() : null);
-            if (knownKey.equals(candidateKey)) {
-                return building;
+        for (FloorplanApiClient.BuildingInfo building : buildings) {
+            List<LatLng> outline = building.getOutlinePolygon();
+            if (outline == null || outline.size() < 3) {
+                continue;
             }
+
+            Polygon polygon = gMap.addPolygon(new PolygonOptions()
+                    .addAll(outline)
+                    .strokeColor(Color.argb(220, 33, 150, 243))
+                    .strokeWidth(5f)
+                    .fillColor(Color.argb(50, 33, 150, 243))
+                    .clickable(true)
+                    .zIndex(19f));
+
+            floorplanPolygons.add(polygon);
+            polygonToBuilding.put(polygon, building);
         }
+    }
 
-        List<FloorplanApiClient.BuildingInfo> cachedBuildings = SensorFusion.getInstance().getFloorplanBuildings();
-        if (cachedBuildings != null) {
-            for (FloorplanApiClient.BuildingInfo building : cachedBuildings) {
-                String candidateKey = resolveKnownBuildingKey(building, building != null ? building.getName() : null);
-                if (knownKey.equals(candidateKey)) {
-                    return building;
-                }
+    private void restoreCachedBuildingsIfAny() {
+        List<FloorplanApiClient.BuildingInfo> cached = SensorFusion.getInstance().getFloorplanBuildings();
+        if (cached != null && !cached.isEmpty()) {
+            drawFloorplanBuildings(cached);
+            maybeAutoSelectIndoorMap(cached);
+            lastFetchedBuildings.clear();
+            lastFetchedBuildings.addAll(cached);
+            hasFetchedNearbyBuildings = true;
+            if (selectedVenueText != null) {
+                selectedVenueText.setText("Tap a blue building outline to select a building");
             }
         }
-
-        return null;
     }
 
-    private int findMatchingFloorIndex(FloorplanApiClient.BuildingInfo building,
-                                       String requestedFloorDisplayName,
-                                       int fallbackFloorIndex) {
-        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
-            return 0;
-        }
+    // Floor helpers
+    private void setFloor(int newFloorIndex) {
+        floorController.setFloor(newFloorIndex);
+        refreshDebugStatusText();
+    }
 
-        String normalizedRequestedFloor = normalizeFloorLabel(requestedFloorDisplayName);
-        if (!normalizedRequestedFloor.isEmpty()) {
-            for (int i = 0; i < building.getFloorShapesList().size(); i++) {
-                String candidateLabel = normalizeFloorLabel(building.getFloorShapesList().get(i).getDisplayName());
-                if (areEquivalentFloorLabels(normalizedRequestedFloor, candidateLabel)) {
-                    return i;
-                }
-            }
-        }
+    private int getDefaultFloorIndex(FloorplanApiClient.BuildingInfo building) {
+        return floorController.getDefaultFloorIndex(building);
+    }
 
-        return Math.max(0, Math.min(fallbackFloorIndex, building.getFloorShapesList().size() - 1));
+    private String getFloorDisplayName(FloorplanApiClient.BuildingInfo building, int floorIndex) {
+        return floorController.getFloorDisplayName(building, floorIndex);
     }
 
-    private boolean areEquivalentFloorLabels(String requestedFloorLabel, String candidateFloorLabel) {
-        if (requestedFloorLabel == null || candidateFloorLabel == null) {
-            return false;
-        }
-        if (requestedFloorLabel.equals(candidateFloorLabel)) {
-            return true;
-        }
+    private int getAdjacentFloorIndex(FloorplanApiClient.BuildingInfo building, int currentIndex, boolean moveUp) {
+        return floorController.getAdjacentFloorIndex(building, currentIndex, moveUp);
+    }
 
-        String requested = canonicalFloorLabel(requestedFloorLabel);
-        String candidate = canonicalFloorLabel(candidateFloorLabel);
-        return !requested.isEmpty() && requested.equals(candidate);
+    private List<Integer> getOrderedFloorIndices(FloorplanApiClient.BuildingInfo building) {
+        return floorController.getOrderedFloorIndices(building);
     }
 
-    private String canonicalFloorLabel(String floorLabel) {
-        String normalized = normalizeFloorLabel(floorLabel);
-        switch (normalized) {
+    private String formatFloorLabelForUi(String rawFloorLabel) {
+        String canonicalFloor = canonicalFloorLabel(rawFloorLabel);
+        switch (canonicalFloor) {
             case "LG":
-            case "LOWERGROUND":
-            case "LOWERG":
-            case "B1":
-            case "BASEMENT1":
                 return "LG";
             case "G":
-            case "GF":
-            case "GROUND":
-            case "GROUNDFLOOR":
-            case "0":
                 return "G";
             case "1":
-            case "F1":
-            case "FIRST":
-            case "FIRSTFLOOR":
-                return "1";
+                return "F1";
             case "2":
-            case "F2":
-            case "SECOND":
-            case "SECONDFLOOR":
-                return "2";
+                return "F2";
             case "3":
-            case "F3":
-            case "THIRD":
-            case "THIRDFLOOR":
-                return "3";
+                return "F3";
             default:
-                return normalized;
+                return rawFloorLabel == null ? "" : rawFloorLabel;
         }
     }
 
-    private int resolveActualMapDrawable(String buildingName, String floorDisplayName, int floorIndex) {
-        buildingName = normalizeBuildingKey(buildingName);
-        String canonicalFloor = canonicalFloorLabel(floorDisplayName);
-        if ("nucleus_building".equals(buildingName)) {
-            if ("LG".equals(canonicalFloor)) {
-                return R.drawable.nucleuslg;
-            }
-            if ("G".equals(canonicalFloor)) {
-                return R.drawable.nucleusg;
-            }
-            if ("1".equals(canonicalFloor)) {
-                return R.drawable.nucleus1;
-            }
-            if ("2".equals(canonicalFloor)) {
-                return R.drawable.nucleus2;
-            }
-            if ("3".equals(canonicalFloor)) {
-                return R.drawable.nucleus3;
-            }
+    private void setFloorControlsVisibility(int visibility) {
+        if (floorUpButton != null) floorUpButton.setVisibility(visibility);
+        if (floorDownButton != null) floorDownButton.setVisibility(visibility);
+        if (floorLabel != null) floorLabel.setVisibility(visibility);
 
-            switch (floorIndex) {
-                case 0:
-                    return R.drawable.nucleuslg;
-                case 1:
-                    return R.drawable.nucleusg;
-                case 2:
-                    return R.drawable.nucleus1;
-                case 3:
-                    return R.drawable.nucleus2;
-                case 4:
-                    return R.drawable.nucleus3;
-                default:
-                    return R.drawable.nucleusg;
-            }
+        // Keep auto-floor in the foldable top-left control panel.
+        if (visibility == View.VISIBLE) {
+            updateFloorLabel();
         }
+    }
 
-        if ("library".equals(buildingName)) {
-            if ("LG".equals(canonicalFloor)) {
-                return 0;
-            }
-            if ("G".equals(canonicalFloor)) {
-                return R.drawable.libraryg;
-            }
-            if ("1".equals(canonicalFloor)) {
-                return R.drawable.library1;
-            }
-            if ("2".equals(canonicalFloor)) {
-                return R.drawable.library2;
-            }
-            if ("3".equals(canonicalFloor)) {
-                return R.drawable.library3;
-            }
-
-            switch (floorIndex) {
-                case 0:
-                    return 0;
-                case 1:
-                    return R.drawable.libraryg;
-                case 2:
-                    return R.drawable.library1;
-                case 3:
-                    return R.drawable.library2;
-                case 4:
-                    return R.drawable.library3;
-                default:
-                    return R.drawable.libraryg;
-            }
+    private void updateFloorLabel() {
+        if (floorLabel != null && indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
+            floorLabel.setText(formatFloorLabelForUi(indoorMapManager.getCurrentFloorDisplayName()));
         }
-
-        return 0;
+        updateCalibrationUi();
     }
 
-    private LatLngBounds computeActualMapBounds(FloorplanApiClient.BuildingInfo building, String buildingName, int drawableResId, String floorDisplayName) {
-        buildingName = normalizeBuildingKey(buildingName);
-        ActualMapAlignmentConfig config = getActualMapAlignmentConfig(buildingName);
+    private void updateAutoFloorAvailability() {
+        if (autoFloorSwitch == null) {
+            return;
+        }
 
-        LatLngBounds bounds = null;
-        if ("library".equals(buildingName)) {
-            bounds = computeFixedActualMapBounds(buildingName, drawableResId);
-        } else if (building != null) {
-            bounds = computeThreeEdgeAlignedBounds(building, drawableResId, config);
-        } else {
-            bounds = computeFixedActualMapBounds(buildingName, drawableResId);
+        boolean enabled = selectedFloorplanBuilding != null && !replayModeEnabled;
+        autoFloorSwitch.setEnabled(enabled);
+        autoFloorSwitch.setAlpha(enabled ? 1f : 0.45f);
+
+        if (!enabled && autoFloorSwitch.isChecked()) {
+            autoFloorSwitch.setChecked(false);
         }
+    }
 
-        if (bounds == null) {
-            bounds = getFallbackBuildingBounds(buildingName);
+    private void syncReplayUiState() {
+        updateAutoFloorAvailability();
+    }
+
+    private int getCurrentVisibleLogicalFloor() {
+        if (selectedFloorplanBuilding == null) {
+            return 0;
         }
-        if (bounds != null) {
-            bounds = applySavedCalibration(bounds, buildingName, floorDisplayName);
+        if (indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
+            return indoorMapManager.indexToLogicalFloor(currentFloorIndex);
         }
-        return bounds;
+        return currentFloorIndex;
     }
 
-    private LatLngBounds computeFixedActualMapBounds(String buildingName, int drawableResId) {
-        buildingName = normalizeBuildingKey(buildingName);
-        if ("library".equals(buildingName)) {
-            double widthScale = getLibraryFixedWidthScale(drawableResId);
-            return buildRightAnchoredRectBounds(
-                    BuildingPolygon.LIBRARY_SW,
-                    BuildingPolygon.LIBRARY_NE,
-                    widthScale,
-                    1.0,
-                    0.008,
-                    0.0);
+    private int resolveCandidateLogicalFloor() {
+        Integer candidateIndex = floorController.peekTrackingFloorCandidateIndex();
+        if (candidateIndex != null) {
+            if (indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
+                return indoorMapManager.indexToLogicalFloor(candidateIndex);
+            }
+            return candidateIndex;
         }
-        return null;
+        return getCurrentVisibleLogicalFloor();
     }
 
-    private double getLibraryFixedWidthScale(int drawableResId) {
-        return 1.000;
+    private String describeCandidateFloorSource() {
+        return "FloorControllerTracking";
     }
 
-    private LatLngBounds buildRightAnchoredRectBounds(LatLng southWest,
-                                                      LatLng northEast,
-                                                      double widthScale,
-                                                      double heightScale,
-                                                      double eastShiftRatio,
-                                                      double northShiftRatio) {
-        if (southWest == null || northEast == null) {
-            return null;
+    private void startAutoFloor() {
+        if (autoFloorHandler == null) {
+            autoFloorHandler = new Handler(Looper.getMainLooper());
         }
+        lastCandidateFloor = Integer.MIN_VALUE;
+        lastCandidateTime = 0L;
+        applyImmediateFloor();
 
-        double rectWidth = northEast.longitude - southWest.longitude;
-        double rectHeight = northEast.latitude - southWest.latitude;
-        if (rectWidth <= 0d || rectHeight <= 0d) {
-            return null;
+        autoFloorTask = new Runnable() {
+            @Override
+            public void run() {
+                evaluateAutoFloor();
+                autoFloorHandler.postDelayed(this, AUTO_FLOOR_CHECK_INTERVAL_MS);
+            }
+        };
+        autoFloorHandler.post(autoFloorTask);
+    }
+
+    private void applyImmediateFloor() {
+        if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+            Log.d(TAG, "AUTO_FLOOR applyImmediate skipped: map not ready");
+            return;
         }
+        int candidateFloor = resolveCandidateLogicalFloor();
+        latestCandidateLogicalFloor = candidateFloor;
+        lastCandidateFloor = candidateFloor;
+        lastCandidateTime = SystemClock.elapsedRealtime();
+        logAutoFloorState("applyImmediate", candidateFloor, describeCandidateFloorSource());
+    }
 
-        double overlayWidth = rectWidth * widthScale;
-        double overlayHeight = rectHeight * heightScale;
-        double east = northEast.longitude + rectWidth * eastShiftRatio;
-        double west = east - overlayWidth;
-        double north = northEast.latitude + rectHeight * northShiftRatio;
-        double south = north - overlayHeight;
-        return new LatLngBounds(new LatLng(south, west), new LatLng(north, east));
+    private void stopAutoFloor() {
+        if (autoFloorHandler != null && autoFloorTask != null) {
+            autoFloorHandler.removeCallbacks(autoFloorTask);
+        }
+        Log.d(TAG, String.format(Locale.US,
+                "AUTO_FLOOR stop visibleLogical=%d lastCandidate=%d latestCandidate=%d",
+                getCurrentVisibleLogicalFloor(), lastCandidateFloor, latestCandidateLogicalFloor));
+        lastCandidateFloor = Integer.MIN_VALUE;
+        lastCandidateTime = 0L;
+        latestCandidateLogicalFloor = Integer.MIN_VALUE;
     }
 
-    private LatLngBounds computeThreeEdgeAlignedBounds(FloorplanApiClient.BuildingInfo building,
-                                                       int drawableResId,
-                                                       ActualMapAlignmentConfig config) {
-        if (building == null || config == null) {
-            return null;
+    private void evaluateAutoFloor() {
+        if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+            Log.d(TAG, "AUTO_FLOOR evaluate skipped: map not ready");
+            return;
         }
 
-        List<LatLng> outline = building.getOutlinePolygon();
-        if (outline == null || outline.size() < 3) {
-            return null;
-        }
+        int candidateFloor = resolveCandidateLogicalFloor();
+        String source = describeCandidateFloorSource();
+        latestCandidateLogicalFloor = candidateFloor;
 
-        double minLat = Double.POSITIVE_INFINITY;
-        double maxLat = Double.NEGATIVE_INFINITY;
-        double minLng = Double.POSITIVE_INFINITY;
-        double maxLng = Double.NEGATIVE_INFINITY;
-        for (LatLng point : outline) {
-            if (point == null) {
-                continue;
-            }
-            minLat = Math.min(minLat, point.latitude);
-            maxLat = Math.max(maxLat, point.latitude);
-            minLng = Math.min(minLng, point.longitude);
-            maxLng = Math.max(maxLng, point.longitude);
+        long now = SystemClock.elapsedRealtime();
+        if (candidateFloor != lastCandidateFloor) {
+            logAutoFloorState("candidate_changed", candidateFloor, source);
+            lastCandidateFloor = candidateFloor;
+            lastCandidateTime = now;
+            return;
         }
 
-        if (!Double.isFinite(minLat) || !Double.isFinite(maxLat)
-                || !Double.isFinite(minLng) || !Double.isFinite(maxLng)
-                || maxLat <= minLat || maxLng <= minLng) {
-            return null;
+        if (now - lastCandidateTime >= AUTO_FLOOR_DEBOUNCE_MS) {
+            logAutoFloorState("candidate_stable", candidateFloor, source);
+            lastCandidateTime = now;
+        } else {
+            logAutoFloorState("candidate_waiting", candidateFloor, source);
         }
+    }
 
-        double latSpan = maxLat - minLat;
-        double lngSpan = maxLng - minLng;
-        double visibleNorth = maxLat - latSpan * config.northInsetRatio;
-        double visibleSouth = minLat + latSpan * config.southInsetRatio;
-        if (visibleSouth >= visibleNorth) {
-            return null;
+    private void logAutoFloorState(@NonNull String phase, int candidateFloor, @NonNull String source) {
+        long now = SystemClock.elapsedRealtime();
+        if (now - lastAutoFloorLogTime < 0L) {
+            return;
         }
+        lastAutoFloorLogTime = now;
 
-        double fullAspectRatio = getDrawableAspectRatio(drawableResId);
-        if (fullAspectRatio <= 0d) {
-            return null;
+        Log.d(TAG, String.format(Locale.US,
+                "AUTO_FLOOR phase=%s source=%s candidate=%d visible=%d latestCandidate=%d lastCandidate=%d elapsedSinceCandidate=%d building=%s indoorVisible=%s",
+                phase,
+                source,
+                candidateFloor,
+                getCurrentVisibleLogicalFloor(),
+                latestCandidateLogicalFloor,
+                lastCandidateFloor,
+                lastCandidateTime == 0 ? -1 : (now - lastCandidateTime),
+                selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : "null",
+                String.valueOf(indoorMapVisible)));
+    }
+
+    // UI helpers
+    private void initMapControlsToggle() {
+        if (btnToggleMapControls != null && mapControlContent != null) {
+            btnToggleMapControls.setOnClickListener(v -> {
+                mapControlsExpanded = !mapControlsExpanded;
+                mapControlContent.setVisibility(mapControlsExpanded ? View.VISIBLE : View.GONE);
+                btnToggleMapControls.setText(mapControlsExpanded ? "Hide" : "Show");
+            });
         }
+    }
 
-        DrawableContentInsets contentInsets = getDrawableContentInsets(drawableResId, config);
-        double visibleContentHeightFraction = contentInsets.contentHeightFraction();
-        double visibleContentWidthFraction = contentInsets.contentWidthFraction();
-        if (visibleContentHeightFraction <= 0d || visibleContentWidthFraction <= 0d) {
-            return null;
+    private void initDebugStatusToggle() {
+        if (btnToggleLog != null && debugStatusText != null) {
+            btnToggleLog.setOnClickListener(v -> {
+                isDebugStatusVisible = !isDebugStatusVisible;
+                debugStatusText.setVisibility(isDebugStatusVisible ? View.VISIBLE : View.GONE);
+                btnToggleLog.setText(isDebugStatusVisible ? "Hide Log" : "Show Log");
+            });
         }
+    }
 
-        double visibleHeightDeg = visibleNorth - visibleSouth;
-        double totalHeightDeg = visibleHeightDeg / visibleContentHeightFraction;
-        double overlayNorth = visibleNorth + totalHeightDeg * contentInsets.topFraction;
-        double overlaySouth = overlayNorth - totalHeightDeg;
+    private void applyTrajectoryColorButtonState() {
+        if (switchColorButton == null) {
+            return;
+        }
+        switchColorButton.setBackgroundColor(Color.RED);
+    }
 
-        double midLatitudeRadians = Math.toRadians((visibleNorth + visibleSouth) / 2.0);
-        double metersPerDegreeLng = Math.max(111320.0 * Math.cos(midLatitudeRadians), 1.0);
-        double totalHeightMeters = totalHeightDeg * 111320.0;
-        double totalWidthMeters = (totalHeightMeters / fullAspectRatio) * config.widthScale;
-        double totalWidthLng = totalWidthMeters / metersPerDegreeLng;
-        double visibleContentWidthLng = totalWidthLng * visibleContentWidthFraction;
+    private void updateActualMapButtonState() {
+        if (btnFindActualMap == null) {
+            return;
+        }
+        btnFindActualMap.setText(actualMapVisible ? "Hide Actual Maps" : "Display Actual Maps");
+    }
 
-        double visibleEast;
-        double visibleWest;
-        switch (config.horizontalAnchor) {
-            case RIGHT:
-                visibleEast = maxLng - lngSpan * config.horizontalInsetRatio;
-                visibleWest = visibleEast - visibleContentWidthLng;
-                break;
-            case LEFT:
-                visibleWest = minLng + lngSpan * config.horizontalInsetRatio;
-                visibleEast = visibleWest + visibleContentWidthLng;
-                break;
-            case CENTER:
-            default:
-                double centerLng = ((minLng + maxLng) / 2.0) + (lngSpan * (config.leftVisibleInsetRatio - config.rightVisibleInsetRatio) * 0.5);
-                visibleWest = centerLng - visibleContentWidthLng / 2.0;
-                visibleEast = centerLng + visibleContentWidthLng / 2.0;
-                break;
+    private void refreshDebugStatusText() {
+        if (debugStatusText == null) {
+            return;
         }
 
-        double overlayWest = visibleWest - totalWidthLng * contentInsets.leftFraction;
-        double overlayEast = overlayWest + totalWidthLng;
-        return new LatLngBounds(new LatLng(overlaySouth, overlayWest), new LatLng(overlayNorth, overlayEast));
+        String building = selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : "none";
+        debugStatusText.setText(String.format(
+                Locale.US,
+                "mode=%s\nbuilding=%s\nfloorIndex=%d\nindoorVisible=%s\nactualVisible=%s\nreplay=%s\nlocation=%s",
+                sensorFusion != null && sensorFusion.isParticleFilterTrajectoryMode() ? "PF" : "PDR",
+                building,
+                currentFloorIndex,
+                String.valueOf(indoorMapVisible),
+                String.valueOf(actualMapVisible),
+                String.valueOf(replayModeEnabled),
+                currentLocation == null ? "null" :
+                        String.format(Locale.US, "%.6f, %.6f", currentLocation.latitude, currentLocation.longitude)
+        ));
     }
 
-    private DrawableContentInsets getDrawableContentInsets(int drawableResId, ActualMapAlignmentConfig config) {
-        BitmapFactory.Options bounds = new BitmapFactory.Options();
-        bounds.inJustDecodeBounds = true;
-        BitmapFactory.decodeResource(getResources(), drawableResId, bounds);
-        int width = bounds.outWidth;
-        int height = bounds.outHeight;
-        if (width <= 0 || height <= 0) {
-            return new DrawableContentInsets(config.leftVisibleInsetRatio, config.topVisibleInsetRatio,
-                    config.rightVisibleInsetRatio, config.bottomVisibleInsetRatio);
+    private void initMapTypeSpinner() {
+        if (switchMapSpinner == null) {
+            return;
         }
-        return new DrawableContentInsets(config.leftVisibleInsetRatio, config.topVisibleInsetRatio,
-                config.rightVisibleInsetRatio, config.bottomVisibleInsetRatio);
-    }
+        String[] maps = new String[]{
+                getString(R.string.hybrid),
+                getString(R.string.normal),
+                getString(R.string.satellite)
+        };
+        ArrayAdapter<String> adapter = new ArrayAdapter<>(
+                requireContext(),
+                android.R.layout.simple_spinner_dropdown_item,
+                maps
+        );
+        switchMapSpinner.setAdapter(adapter);
 
-    private static double clamp01(double value) {
-        return Math.max(0d, Math.min(1d, value));
-    }
+        switchMapSpinner.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+                if (gMap == null) {
+                    return;
+                }
+                switch (position) {
+                    case 0:
+                        gMap.setMapType(GoogleMap.MAP_TYPE_HYBRID);
+                        break;
+                    case 1:
+                        gMap.setMapType(GoogleMap.MAP_TYPE_NORMAL);
+                        break;
+                    case 2:
+                        gMap.setMapType(GoogleMap.MAP_TYPE_SATELLITE);
+                        break;
+                }
+            }
 
-    private double getDrawableAspectRatio(int drawableResId) {
-        try {
-            BitmapFactory.Options options = new BitmapFactory.Options();
-            options.inJustDecodeBounds = true;
-            BitmapFactory.decodeResource(getResources(), drawableResId, options);
-            if (options.outWidth > 0 && options.outHeight > 0) {
-                return (double) options.outHeight / (double) options.outWidth;
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
             }
-        } catch (Exception ignored) {
-        }
-        return 1d;
+        });
     }
 
-    private LatLngBounds getFallbackBuildingBounds(String buildingName) {
-        buildingName = normalizeBuildingKey(buildingName);
-        if ("nucleus_building".equals(buildingName)) {
-            return new LatLngBounds(BuildingPolygon.NUCLEUS_SW, BuildingPolygon.NUCLEUS_NE);
+    private float getSavedMapZoom() {
+        if (getContext() == null) {
+            return 19f;
         }
-        if ("library".equals(buildingName)) {
-            return new LatLngBounds(BuildingPolygon.LIBRARY_SW, BuildingPolygon.LIBRARY_NE);
-        }
-        if ("murchison_house".equals(buildingName)) {
-            return new LatLngBounds(BuildingPolygon.MURCHISON_SW, BuildingPolygon.MURCHISON_NE);
-        }
-        return null;
+        return getContext()
+                .getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
+                .getFloat("user_selected_zoom", 19f);
     }
 
-    private ActualMapAlignmentConfig getActualMapAlignmentConfig(String buildingName) {
-        buildingName = normalizeBuildingKey(buildingName);
-        if ("nucleus_building".equals(buildingName)) {
-            return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT,
-                    0.0, 0.0, 0.0,
-                    0.99,
-                    0.0, 0.0, 0.0, 0.0);
+    private void setIndoorLoading(boolean loading) {
+        isIndoorRequestInFlight = loading;
+        if (indoorLoadingIndicator != null) {
+            indoorLoadingIndicator.setVisibility(loading ? View.VISIBLE : View.GONE);
         }
-        if ("library".equals(buildingName)) {
-            return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT,
-                    0.0, 0.0, 0.0,
-                    0.985,
-                    0.0, 0.0, 0.0, 0.0);
+        if (btnFindIndoorMap != null) {
+            btnFindIndoorMap.setEnabled(!loading);
+            btnFindIndoorMap.setAlpha(loading ? 0.6f : 1f);
         }
-        if ("murchison_house".equals(buildingName)) {
-            return new ActualMapAlignmentConfig(HorizontalAnchor.CENTER,
-                    0.0, 0.0, 0.0,
-                    1.0,
-                    0.0, 0.0, 0.0, 0.0);
+        if (btnFindActualMap != null) {
+            btnFindActualMap.setEnabled(!loading);
+            btnFindActualMap.setAlpha(loading ? 0.6f : 1f);
         }
-        return new ActualMapAlignmentConfig(HorizontalAnchor.CENTER,
-                0.0, 0.0, 0.0,
-                1.0,
-                0.0, 0.0, 0.0, 0.0);
-    }
-
-    private String normalizeFloorLabel(String floorDisplayName) {
-        if (floorDisplayName == null) {
-            return "";
+        if (btnToggleAdjustMap != null) {
+            btnToggleAdjustMap.setEnabled(!loading);
+            btnToggleAdjustMap.setAlpha(loading ? 0.6f : 1f);
         }
-        return floorDisplayName.trim().toUpperCase().replace(" ", "");
     }
 
-    private String normalizeBuildingKey(String buildingName) {
-        if (buildingName == null) {
-            return "";
-        }
-        String key = buildingName.trim().toLowerCase();
-        if (key.contains("nucleus") || key.contains("nuclear")) {
-            return "nucleus_building";
-        }
-        if (key.contains("library") || key.contains("kenneth") || key.contains("murray")) {
-            return "library";
-        }
-        if (key.contains("murchison")) {
-            return "murchison_house";
+    private List<String> getObservedMacs() {
+        List<String> macs = new ArrayList<>();
+        List<com.openpositioning.PositionMe.sensors.Wifi> wifiList = SensorFusion.getInstance().getWifiList();
+        if (wifiList != null) {
+            for (com.openpositioning.PositionMe.sensors.Wifi wifi : wifiList) {
+                String mac = wifi.getBssidString();
+                if (mac != null && !mac.isEmpty()) {
+                    macs.add(mac);
+                }
+            }
         }
-        return key;
+        return macs;
     }
 
-    private String resolveKnownBuildingKey(FloorplanApiClient.BuildingInfo building, String buildingName) {
-        String normalized = normalizeBuildingKey(buildingName);
-        if ("nucleus_building".equals(normalized) || "library".equals(normalized) || "murchison_house".equals(normalized)) {
-            return normalized;
+    private String prettyBuildingName(String raw) {
+        if (raw == null || raw.isEmpty()) {
+            return "";
         }
-
-        LatLng center = building != null ? building.getCenter() : null;
-        if (center != null) {
-            if (BuildingPolygon.inLibrary(center)) {
-                return "library";
-            }
-            if (BuildingPolygon.inNucleus(center)) {
-                return "nucleus_building";
+        String[] parts = raw.split("_");
+        StringBuilder sb = new StringBuilder();
+        for (String p : parts) {
+            if (p.isEmpty()) {
+                continue;
             }
-            if (BuildingPolygon.inMurchison(center)) {
-                return "murchison_house";
+            if (sb.length() > 0) {
+                sb.append(" ");
             }
-        }
-
-        List<LatLng> outline = building != null ? building.getOutlinePolygon() : null;
-        if (outline != null && !outline.isEmpty()) {
-            LatLng centroid = computeOutlineCentroid(outline);
-            if (centroid != null) {
-                if (BuildingPolygon.inLibrary(centroid)) {
-                    return "library";
-                }
-                if (BuildingPolygon.inNucleus(centroid)) {
-                    return "nucleus_building";
-                }
-                if (BuildingPolygon.inMurchison(centroid)) {
-                    return "murchison_house";
-                }
+            sb.append(Character.toUpperCase(p.charAt(0)));
+            if (p.length() > 1) {
+                sb.append(p.substring(1));
             }
         }
-
-        return normalized;
+        return sb.toString();
     }
 
-    private LatLng computeOutlineCentroid(List<LatLng> outline) {
-        if (outline == null || outline.isEmpty()) {
-            return null;
-        }
+    // Calibration / actual map overlay logic
+    private enum HorizontalAnchor {
+        LEFT, RIGHT, CENTER
+    }
 
-        double latSum = 0d;
-        double lngSum = 0d;
-        int count = 0;
-        for (LatLng point : outline) {
-            if (point == null) {
-                continue;
-            }
-            latSum += point.latitude;
-            lngSum += point.longitude;
-            count++;
-        }
-        if (count == 0) {
-            return null;
+    private static final class ActualMapAlignmentConfig {
+        final HorizontalAnchor horizontalAnchor;
+        final double northInsetRatio;
+        final double southInsetRatio;
+        final double horizontalInsetRatio;
+        final double widthScale;
+        final double topVisibleInsetRatio;
+        final double bottomVisibleInsetRatio;
+        final double rightVisibleInsetRatio;
+        final double leftVisibleInsetRatio;
+
+        ActualMapAlignmentConfig(HorizontalAnchor horizontalAnchor,
+                                 double northInsetRatio,
+                                 double southInsetRatio,
+                                 double horizontalInsetRatio,
+                                 double widthScale,
+                                 double topVisibleInsetRatio,
+                                 double bottomVisibleInsetRatio,
+                                 double rightVisibleInsetRatio,
+                                 double leftVisibleInsetRatio) {
+            this.horizontalAnchor = horizontalAnchor;
+            this.northInsetRatio = northInsetRatio;
+            this.southInsetRatio = southInsetRatio;
+            this.horizontalInsetRatio = horizontalInsetRatio;
+            this.widthScale = widthScale;
+            this.topVisibleInsetRatio = topVisibleInsetRatio;
+            this.bottomVisibleInsetRatio = bottomVisibleInsetRatio;
+            this.rightVisibleInsetRatio = rightVisibleInsetRatio;
+            this.leftVisibleInsetRatio = leftVisibleInsetRatio;
         }
-        return new LatLng(latSum / count, lngSum / count);
     }
 
-    private void onFloorplanBuildingSelected(FloorplanApiClient.BuildingInfo building, Polygon polygon) {
-        if (selectedFloorplanPolygon != null) {
-            selectedFloorplanPolygon.setFillColor(Color.argb(50, 33, 150, 243));
-            selectedFloorplanPolygon.setStrokeColor(Color.argb(220, 33, 150, 243));
-            selectedFloorplanPolygon.setZIndex(19f);
+    private static final class DrawableContentInsets {
+        final double leftFraction;
+        final double topFraction;
+        final double rightFraction;
+        final double bottomFraction;
+
+        DrawableContentInsets(double leftFraction,
+                              double topFraction,
+                              double rightFraction,
+                              double bottomFraction) {
+            this.leftFraction = clamp01(leftFraction);
+            this.topFraction = clamp01(topFraction);
+            this.rightFraction = clamp01(rightFraction);
+            this.bottomFraction = clamp01(bottomFraction);
         }
 
-        selectedFloorplanPolygon = polygon;
-        selectedFloorplanBuilding = building;
-        indoorMapVisible = false;
-        actualMapVisible = false;
-        updateActualMapButtonState();
-        currentFloorIndex = getDefaultFloorIndex(building);
-        mapMatchingCoordinator.onSelectedBuildingChanged();
+        double contentWidthFraction() {
+            return Math.max(0.01d, 1d - leftFraction - rightFraction);
+        }
 
-        if (polygon != null) {
-            polygon.setZIndex(19f);
+        double contentHeightFraction() {
+            return Math.max(0.01d, 1d - topFraction - bottomFraction);
         }
-        refreshSelectedPolygonAppearance();
+    }
 
-        SensorFusion.getInstance().setSelectedBuildingId(building.getName());
+    private static final class OverlayCalibration {
+        final float shiftLatRatio;
+        final float shiftLngRatio;
+        final float widthScale;
+        final float heightScale;
 
-        resetMapOverlays();
-        if (indoorMapManager != null) {
-            indoorMapManager.clearIndoorMap();
+        OverlayCalibration(float shiftLatRatio, float shiftLngRatio, float widthScale, float heightScale) {
+            this.shiftLatRatio = shiftLatRatio;
+            this.shiftLngRatio = shiftLngRatio;
+            this.widthScale = widthScale;
+            this.heightScale = heightScale;
         }
-        setFloorControlsVisibility(View.GONE);
 
-        if (selectedVenueText != null) {
-            selectedVenueText.setText("Selected: " + prettyBuildingName(building.getName()) + ". Tap Find Indoor Maps.");
+        static OverlayCalibration identity() {
+            return new OverlayCalibration(0f, 0f, 1f, 1f);
         }
-        calibrationTargetBuildingKey = resolveKnownBuildingKey(building, building.getName());
-        updateCalibrationUi();
+    }
 
-        LatLng center = building.getCenter();
-        if (center != null && !(center.latitude == 0 && center.longitude == 0)) {
-            gMap.animateCamera(CameraUpdateFactory.newLatLngZoom(center, 20f));
+    private void setupCalibrationControls() {
+        if (btnToggleAdjustMap != null) {
+            btnToggleAdjustMap.setOnClickListener(v -> {
+                if (!actualMapVisible) {
+                    if (selectedVenueText != null) {
+                        selectedVenueText.setText("Show actual maps first, then adjust them");
+                    }
+                    return;
+                }
+                if (calibrationPanel != null) {
+                    calibrationPanel.setVisibility(
+                            calibrationPanel.getVisibility() == View.VISIBLE ? View.GONE : View.VISIBLE
+                    );
+                }
+                updateCalibrationUi();
+            });
         }
-    }
 
-    private int getDefaultFloorIndex(FloorplanApiClient.BuildingInfo building) {
-        return floorController.getDefaultFloorIndex(building);
-    }
+        if (btnCalibrationTarget != null) {
+            btnCalibrationTarget.setOnClickListener(v -> {
+                cycleCalibrationTarget();
+                updateCalibrationUi();
+            });
+        }
 
-    private String getFloorDisplayName(FloorplanApiClient.BuildingInfo building, int floorIndex) {
-        return floorController.getFloorDisplayName(building, floorIndex);
-    }
+        bindCalibrationButton(btnCalibrateUp, 0f, CALIBRATION_SHIFT_STEP, 0f, 0f);
+        bindCalibrationButton(btnCalibrateDown, 0f, -CALIBRATION_SHIFT_STEP, 0f, 0f);
+        bindCalibrationButton(btnCalibrateLeft, -CALIBRATION_SHIFT_STEP, 0f, 0f, 0f);
+        bindCalibrationButton(btnCalibrateRight, CALIBRATION_SHIFT_STEP, 0f, 0f, 0f);
+        bindCalibrationButton(btnWidthMinus, 0f, 0f, -CALIBRATION_SCALE_STEP, 0f);
+        bindCalibrationButton(btnWidthPlus, 0f, 0f, CALIBRATION_SCALE_STEP, 0f);
+        bindCalibrationButton(btnHeightMinus, 0f, 0f, 0f, -CALIBRATION_SCALE_STEP);
+        bindCalibrationButton(btnHeightPlus, 0f, 0f, 0f, CALIBRATION_SCALE_STEP);
 
-    private int getAdjacentFloorIndex(FloorplanApiClient.BuildingInfo building, int currentIndex, boolean moveUp) {
-        return floorController.getAdjacentFloorIndex(building, currentIndex, moveUp);
-    }
+        if (btnSaveCalibration != null) {
+            btnSaveCalibration.setOnClickListener(v -> {
+                String targetKey = getEffectiveCalibrationTargetBuildingKey();
+                if (targetKey.isEmpty()) {
+                    return;
+                }
+                String floorKey = getCurrentCalibrationFloorKey(targetKey);
+                OverlayCalibration calibration = loadOverlayCalibration(targetKey, floorKey);
+                logCalibration(targetKey, floorKey, calibration, "saved");
+                if (selectedVenueText != null) {
+                    selectedVenueText.setText("Saved calibration for " + prettyBuildingName(targetKey) + " " + floorKey);
+                }
+                updateCalibrationUi();
+            });
+        }
 
-    private List<Integer> getOrderedFloorIndices(FloorplanApiClient.BuildingInfo building) {
-        return floorController.getOrderedFloorIndices(building);
+        if (btnResetCalibration != null) {
+            btnResetCalibration.setOnClickListener(v -> {
+                String targetKey = getEffectiveCalibrationTargetBuildingKey();
+                if (targetKey.isEmpty()) {
+                    return;
+                }
+                String floorKey = getCurrentCalibrationFloorKey(targetKey);
+                OverlayCalibration defaults = getHardcodedCalibrationDefault(targetKey, floorKey);
+                saveOverlayCalibration(targetKey, floorKey, defaults);
+                if (actualMapVisible) {
+                    setFloor(currentFloorIndex);
+                }
+                if (selectedVenueText != null) {
+                    selectedVenueText.setText("Reset calibration for " + prettyBuildingName(targetKey) + " " + floorKey);
+                }
+                logCalibration(targetKey, floorKey, defaults, "reset");
+                updateCalibrationUi();
+            });
+        }
     }
 
-    private String formatFloorLabelForUi(String rawFloorLabel) {
-        String canonicalFloor = canonicalFloorLabel(rawFloorLabel);
-        switch (canonicalFloor) {
-            case "LG":
-                return "LG";
-            case "G":
-                return "G";
-            case "1":
-                return "F1";
-            case "2":
-                return "F2";
-            case "3":
-                return "F3";
-            default:
-                return rawFloorLabel == null ? "" : rawFloorLabel;
+    private void bindCalibrationButton(Button button, float shiftLngDelta, float shiftLatDelta,
+                                       float widthDelta, float heightDelta) {
+        if (button == null) {
+            return;
         }
+        button.setOnClickListener(v -> applyCalibrationDelta(shiftLngDelta, shiftLatDelta, widthDelta, heightDelta));
     }
 
-    private void refreshSelectedPolygonAppearance() {
-        if (selectedFloorplanPolygon == null) {
+    private void applyCalibrationDelta(float shiftLngDelta, float shiftLatDelta,
+                                       float widthDelta, float heightDelta) {
+        String targetKey = getEffectiveCalibrationTargetBuildingKey();
+        if (targetKey.isEmpty()) {
+            if (selectedVenueText != null) {
+                selectedVenueText.setText("Select a visible actual map to adjust");
+            }
             return;
         }
 
-        if (indoorMapVisible) {
-            selectedFloorplanPolygon.setFillColor(Color.argb(10, 33, 150, 243));
-            selectedFloorplanPolygon.setStrokeColor(Color.argb(180, 33, 150, 243));
-            selectedFloorplanPolygon.setStrokeWidth(3f);
-            selectedFloorplanPolygon.setZIndex(19f);
-        } else {
-            selectedFloorplanPolygon.setFillColor(Color.argb(100, 33, 150, 243));
-            selectedFloorplanPolygon.setStrokeColor(Color.argb(255, 25, 118, 210));
-            selectedFloorplanPolygon.setStrokeWidth(5f);
-            selectedFloorplanPolygon.setZIndex(19f);
+        String floorKey = getCurrentCalibrationFloorKey(targetKey);
+        OverlayCalibration current = loadOverlayCalibration(targetKey, floorKey);
+        OverlayCalibration updated = new OverlayCalibration(
+                current.shiftLatRatio + shiftLatDelta,
+                current.shiftLngRatio + shiftLngDelta,
+                Math.max(0.50f, current.widthScale + widthDelta),
+                Math.max(0.50f, current.heightScale + heightDelta)
+        );
+        saveOverlayCalibration(targetKey, floorKey, updated);
+        logCalibration(targetKey, floorKey, updated, "updated");
+        if (actualMapVisible) {
+            setFloor(currentFloorIndex);
         }
+        updateCalibrationUi();
     }
 
-    private void resetMapOverlays() {
-        for (GroundOverlay overlay : realMapOverlays) {
-            if (overlay != null) {
-                overlay.remove();
-            }
+    private void updateRealMapOverlay(String buildingName, int floorIndex, boolean show) {
+        if (!show || gMap == null || selectedFloorplanBuilding == null) {
+            return;
         }
-        realMapOverlays.clear();
-    }
 
-    private void restoreCachedBuildingsIfAny() {
-        List<FloorplanApiClient.BuildingInfo> cached = SensorFusion.getInstance().getFloorplanBuildings();
-        if (cached != null && !cached.isEmpty()) {
-            drawFloorplanBuildings(cached);
-            maybeAutoSelectIndoorMap(cached);
-            lastFetchedBuildings.clear();
-            lastFetchedBuildings.addAll(cached);
-            hasFetchedNearbyBuildings = true;
-            if (selectedVenueText != null) {
-                selectedVenueText.setText("Tap a blue building outline to select a building");
-            }
+        String selectedBuildingKey = resolveKnownBuildingKey(selectedFloorplanBuilding, buildingName);
+        String selectedFloorDisplayName = normalizeFloorLabel(getFloorDisplayName(selectedFloorplanBuilding, floorIndex));
+        addActualMapOverlayForBuilding(selectedFloorplanBuilding, selectedBuildingKey, selectedFloorDisplayName, floorIndex);
+
+        if (shouldShowLinkedLibraryAndNucleus(selectedBuildingKey)) {
+            String linkedBuildingKey = "library".equals(selectedBuildingKey) ? "nucleus_building" : "library";
+            FloorplanApiClient.BuildingInfo linkedBuilding = findBuildingByKnownKey(linkedBuildingKey);
+            int linkedFloorIndex = linkedBuilding != null
+                    ? findMatchingFloorIndex(linkedBuilding, selectedFloorDisplayName, floorIndex)
+                    : resolveFallbackFloorIndexForKey(linkedBuildingKey, selectedFloorDisplayName, floorIndex);
+            addActualMapOverlayForBuilding(linkedBuilding, linkedBuildingKey, selectedFloorDisplayName, linkedFloorIndex);
         }
     }
 
-    private void setIndoorLoading(boolean loading) {
-        isIndoorRequestInFlight = loading;
-        if (indoorLoadingIndicator != null) {
-            indoorLoadingIndicator.setVisibility(loading ? View.VISIBLE : View.GONE);
-        }
-        if (btnFindIndoorMap != null) {
-            btnFindIndoorMap.setEnabled(!loading);
-            btnFindIndoorMap.setAlpha(loading ? 0.6f : 1f);
+    private void addActualMapOverlayForBuilding(FloorplanApiClient.BuildingInfo building,
+                                                String buildingKey,
+                                                String requestedFloorDisplayName,
+                                                int requestedFloorIndex) {
+        if (gMap == null) {
+            return;
         }
-        if (btnFindActualMap != null) {
-            btnFindActualMap.setEnabled(!loading);
-            btnFindActualMap.setAlpha(loading ? 0.6f : 1f);
+
+        String normalizedBuildingKey = normalizeBuildingKey(buildingKey);
+        String requestedCanonicalFloor = canonicalFloorLabel(requestedFloorDisplayName);
+        if ("library".equals(normalizedBuildingKey) && "LG".equals(requestedCanonicalFloor)) {
+            return;
         }
-        if (btnToggleAdjustMap != null) {
-            btnToggleAdjustMap.setEnabled(!loading);
-            btnToggleAdjustMap.setAlpha(loading ? 0.6f : 1f);
+
+        int resolvedFloorIndex = building != null
+                ? findMatchingFloorIndex(building, requestedFloorDisplayName, requestedFloorIndex)
+                : resolveFallbackFloorIndexForKey(normalizedBuildingKey, requestedFloorDisplayName, requestedFloorIndex);
+
+        String resolvedFloorDisplayName = building != null
+                ? normalizeFloorLabel(getFloorDisplayName(building, resolvedFloorIndex))
+                : normalizeFloorLabel(requestedFloorDisplayName);
+
+        String drawableFloorDisplayName = "library".equals(normalizedBuildingKey)
+                ? requestedCanonicalFloor
+                : resolvedFloorDisplayName;
+
+        int drawableResId = resolveActualMapDrawable(normalizedBuildingKey, drawableFloorDisplayName, resolvedFloorIndex);
+        LatLngBounds bounds = computeActualMapBounds(building, normalizedBuildingKey, drawableResId, drawableFloorDisplayName);
+
+        if (drawableResId != 0 && bounds != null) {
+            GroundOverlay overlay = gMap.addGroundOverlay(new GroundOverlayOptions()
+                    .image(BitmapDescriptorFactory.fromResource(drawableResId))
+                    .positionFromBounds(bounds)
+                    .transparency(0.32f)
+                    .zIndex(5f));
+            if (overlay != null) {
+                realMapOverlays.add(overlay);
+            }
         }
     }
 
-    private List<String> getObservedMacs() {
-        List<String> macs = new ArrayList<>();
-        List<com.openpositioning.PositionMe.sensors.Wifi> wifiList = SensorFusion.getInstance().getWifiList();
-        if (wifiList != null) {
-            for (com.openpositioning.PositionMe.sensors.Wifi wifi : wifiList) {
-                String mac = wifi.getBssidString();
-                if (mac != null && !mac.isEmpty()) {
-                    macs.add(mac);
-                }
+    private void resetMapOverlays() {
+        for (GroundOverlay overlay : realMapOverlays) {
+            if (overlay != null) {
+                overlay.remove();
             }
         }
-        return macs;
+        realMapOverlays.clear();
     }
 
-    private void requestNearbyIndoorMaps(boolean userInitiated) {
-        if (gMap == null) {
-            return;
-        }
+    private int resolveFallbackFloorIndexForKey(String buildingKey, String requestedFloorDisplayName, int requestedFloorIndex) {
+        String normalizedKey = normalizeBuildingKey(buildingKey);
+        String canonicalFloor = canonicalFloorLabel(requestedFloorDisplayName);
 
-        LatLng center = currentLocation;
-        if (center == null) {
-            center = trajectoryRenderer.getOrientationPosition();
-        }
-        if (center == null) {
-            float[] gnss = SensorFusion.getInstance().getGNSSLatitude(false);
-            if (!(gnss[0] == 0f && gnss[1] == 0f)) {
-                center = new LatLng(gnss[0], gnss[1]);
+        if ("nucleus_building".equals(normalizedKey)) {
+            switch (canonicalFloor) {
+                case "LG": return 0;
+                case "G": return 1;
+                case "1": return 2;
+                case "2": return 3;
+                case "3": return 4;
+                default: return Math.max(0, Math.min(requestedFloorIndex, 4));
             }
         }
 
-        if (center == null) {
-            if (userInitiated && selectedVenueText != null) {
-                selectedVenueText.setText("Location not ready yet. Please wait.");
+        if ("library".equals(normalizedKey)) {
+            switch (canonicalFloor) {
+                case "G": return 0;
+                case "1": return 1;
+                case "2": return 2;
+                case "3": return 3;
+                default: return Math.max(0, Math.min(requestedFloorIndex, 3));
             }
-            return;
         }
 
-        if (userInitiated && selectedVenueText != null) {
-            selectedVenueText.setText("Requesting nearby indoor maps...");
-        }
-        setIndoorLoading(true);
+        return Math.max(0, requestedFloorIndex);
+    }
 
-        floorplanApiClient.requestFloorplan(center.latitude, center.longitude, getObservedMacs(),
-                new FloorplanApiClient.FloorplanCallback() {
-                    @Override
-                    public void onSuccess(List<FloorplanApiClient.BuildingInfo> buildings) {
-                        if (!isAdded() || gMap == null) {
-                            return;
-                        }
-                        setIndoorLoading(false);
-                        hasFetchedNearbyBuildings = buildings != null && !buildings.isEmpty();
+    private boolean shouldShowLinkedLibraryAndNucleus(String buildingKey) {
+        return "library".equals(buildingKey) || "nucleus_building".equals(buildingKey);
+    }
 
-                        lastFetchedBuildings.clear();
-                        if (buildings != null) {
-                            lastFetchedBuildings.addAll(buildings);
-                        }
+    private FloorplanApiClient.BuildingInfo findBuildingByKnownKey(String knownKey) {
+        if (knownKey == null || knownKey.isEmpty()) {
+            return null;
+        }
 
-                        SensorFusion.getInstance().setFloorplanBuildings(buildings);
-                        drawFloorplanBuildings(buildings);
-                        maybeAutoSelectIndoorMap(buildings);
+        if (selectedFloorplanBuilding != null) {
+            String selectedKey = resolveKnownBuildingKey(selectedFloorplanBuilding, selectedFloorplanBuilding.getName());
+            if (knownKey.equals(selectedKey)) {
+                return selectedFloorplanBuilding;
+            }
+        }
 
-                        if (selectedVenueText != null) {
-                            if (buildings == null || buildings.isEmpty()) {
-                                selectedVenueText.setText("No nearby buildings found.");
-                            } else {
-                                selectedVenueText.setText("Tap a blue building outline to select a building");
-                            }
-                        }
-                    }
+        for (FloorplanApiClient.BuildingInfo building : lastFetchedBuildings) {
+            String candidateKey = resolveKnownBuildingKey(building, building != null ? building.getName() : null);
+            if (knownKey.equals(candidateKey)) {
+                return building;
+            }
+        }
 
-                    @Override
-                    public void onFailure(String error) {
-                        if (!isAdded()) {
-                            return;
-                        }
-                        setIndoorLoading(false);
-                        if (userInitiated && selectedVenueText != null) {
-                            selectedVenueText.setText("Request failed: " + error);
-                        }
-                    }
-                });
+        List<FloorplanApiClient.BuildingInfo> cachedBuildings = SensorFusion.getInstance().getFloorplanBuildings();
+        if (cachedBuildings != null) {
+            for (FloorplanApiClient.BuildingInfo building : cachedBuildings) {
+                String candidateKey = resolveKnownBuildingKey(building, building != null ? building.getName() : null);
+                if (knownKey.equals(candidateKey)) {
+                    return building;
+                }
+            }
+        }
+
+        return null;
     }
 
-    private void drawFloorplanBuildings(List<FloorplanApiClient.BuildingInfo> buildings) {
-        for (Polygon p : floorplanPolygons) {
-            p.remove();
+    private int findMatchingFloorIndex(FloorplanApiClient.BuildingInfo building,
+                                       String requestedFloorDisplayName,
+                                       int fallbackFloorIndex) {
+        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
+            return 0;
         }
-        floorplanPolygons.clear();
-        polygonToBuilding.clear();
 
-        if (buildings == null || buildings.isEmpty() || gMap == null) {
-            return;
+        String normalizedRequestedFloor = normalizeFloorLabel(requestedFloorDisplayName);
+        if (!normalizedRequestedFloor.isEmpty()) {
+            for (int i = 0; i < building.getFloorShapesList().size(); i++) {
+                String candidateLabel = normalizeFloorLabel(building.getFloorShapesList().get(i).getDisplayName());
+                if (areEquivalentFloorLabels(normalizedRequestedFloor, candidateLabel)) {
+                    return i;
+                }
+            }
         }
 
-        LatLngBounds.Builder boundsBuilder = new LatLngBounds.Builder();
+        return Math.max(0, Math.min(fallbackFloorIndex, building.getFloorShapesList().size() - 1));
+    }
 
-        for (FloorplanApiClient.BuildingInfo building : buildings) {
-            List<LatLng> outline = building.getOutlinePolygon();
-            if (outline == null || outline.size() < 3) {
-                continue;
-            }
+    private boolean areEquivalentFloorLabels(String requestedFloorLabel, String candidateFloorLabel) {
+        if (requestedFloorLabel == null || candidateFloorLabel == null) {
+            return false;
+        }
+        if (requestedFloorLabel.equals(candidateFloorLabel)) {
+            return true;
+        }
 
-            Polygon polygon = gMap.addPolygon(new PolygonOptions()
-                    .addAll(outline)
-                    .strokeColor(Color.argb(220, 33, 150, 243))
-                    .strokeWidth(5f)
-                    .fillColor(Color.argb(50, 33, 150, 243))
-                    .clickable(true)
-                    .zIndex(19f));
+        String requested = canonicalFloorLabel(requestedFloorLabel);
+        String candidate = canonicalFloorLabel(candidateFloorLabel);
+        return !requested.isEmpty() && requested.equals(candidate);
+    }
 
-            floorplanPolygons.add(polygon);
-            polygonToBuilding.put(polygon, building);
+    private String canonicalFloorLabel(String floorLabel) {
+        String normalized = normalizeFloorLabel(floorLabel);
+        switch (normalized) {
+            case "LG":
+            case "LOWERGROUND":
+            case "LOWERG":
+            case "B1":
+            case "BASEMENT1":
+                return "LG";
+            case "G":
+            case "GF":
+            case "GROUND":
+            case "GROUNDFLOOR":
+            case "0":
+                return "G";
+            case "1":
+            case "F1":
+            case "FIRST":
+            case "FIRSTFLOOR":
+                return "1";
+            case "2":
+            case "F2":
+            case "SECOND":
+            case "SECONDFLOOR":
+                return "2";
+            case "3":
+            case "F3":
+            case "THIRD":
+            case "THIRDFLOOR":
+                return "3";
+            default:
+                return normalized;
         }
+    }
 
-        // 【修复1】这里原本会导致缩放异常的 newLatLngBounds 代码已被彻底删除！
+    private String normalizeFloorLabel(String floorDisplayName) {
+        if (floorDisplayName == null) {
+            return "";
+        }
+        return floorDisplayName.trim().toUpperCase().replace(" ", "");
     }
-    private void initMapSettings(GoogleMap map) {
-        map.getUiSettings().setCompassEnabled(true);
-        map.getUiSettings().setTiltGesturesEnabled(true);
-        map.getUiSettings().setRotateGesturesEnabled(true);
-        map.getUiSettings().setScrollGesturesEnabled(true);
-        map.setMapType(GoogleMap.MAP_TYPE_HYBRID);
 
-        indoorMapManager = new IndoorMapManager(map);
+    private String normalizeBuildingKey(String buildingName) {
+        if (buildingName == null) {
+            return "";
+        }
+        String key = buildingName.trim().toLowerCase();
+        if (key.contains("nucleus") || key.contains("nuclear")) {
+            return "nucleus_building";
+        }
+        if (key.contains("library") || key.contains("kenneth") || key.contains("murray")) {
+            return "library";
+        }
+        if (key.contains("murchison")) {
+            return "murchison_house";
+        }
+        return key;
+    }
 
-        map.setOnPolygonClickListener(polygon -> {
-            FloorplanApiClient.BuildingInfo building = polygonToBuilding.get(polygon);
-            if (building != null) {
-                onFloorplanBuildingSelected(building, polygon);
+    private String resolveKnownBuildingKey(FloorplanApiClient.BuildingInfo building, String buildingName) {
+        String normalized = normalizeBuildingKey(buildingName);
+        if ("nucleus_building".equals(normalized) || "library".equals(normalized) || "murchison_house".equals(normalized)) {
+            return normalized;
+        }
+
+        LatLng center = building != null ? building.getCenter() : null;
+        if (center != null) {
+            if (BuildingPolygon.inLibrary(center)) return "library";
+            if (BuildingPolygon.inNucleus(center)) return "nucleus_building";
+            if (BuildingPolygon.inMurchison(center)) return "murchison_house";
+        }
+
+        List<LatLng> outline = building != null ? building.getOutlinePolygon() : null;
+        if (outline != null && !outline.isEmpty()) {
+            LatLng centroid = computeOutlineCentroid(outline);
+            if (centroid != null) {
+                if (BuildingPolygon.inLibrary(centroid)) return "library";
+                if (BuildingPolygon.inNucleus(centroid)) return "nucleus_building";
+                if (BuildingPolygon.inMurchison(centroid)) return "murchison_house";
             }
-        });
+        }
 
-        trajectoryRenderer.attachToMap(map);
-        trajectoryRenderer.setShowGnssObservations(gnssSwitch == null || gnssSwitch.isChecked());
-        trajectoryRenderer.setShowWifiObservations(showWifiSwitch == null || showWifiSwitch.isChecked());
-        trajectoryRenderer.setShowPdrObservations(showPdrSwitch == null || showPdrSwitch.isChecked());
+        return normalized;
     }
 
-    private String prettyBuildingName(String raw) {
-        if (raw == null || raw.isEmpty()) {
-            return "";
+    private LatLng computeOutlineCentroid(List<LatLng> outline) {
+        if (outline == null || outline.isEmpty()) {
+            return null;
         }
-        String[] parts = raw.split("_");
-        StringBuilder sb = new StringBuilder();
-        for (String p : parts) {
-            if (p.isEmpty()) {
-                continue;
-            }
-            if (sb.length() > 0) {
-                sb.append(" ");
-            }
-            sb.append(Character.toUpperCase(p.charAt(0)));
-            if (p.length() > 1) {
-                sb.append(p.substring(1));
-            }
+        double latSum = 0d;
+        double lngSum = 0d;
+        int count = 0;
+        for (LatLng point : outline) {
+            if (point == null) continue;
+            latSum += point.latitude;
+            lngSum += point.longitude;
+            count++;
         }
-        return sb.toString();
+        if (count == 0) {
+            return null;
+        }
+        return new LatLng(latSum / count, lngSum / count);
     }
 
-    private void initMapTypeSpinner() {
-        if (switchMapSpinner == null) {
-            return;
-        }
-        String[] maps = new String[]{getString(R.string.hybrid), getString(R.string.normal), getString(R.string.satellite)};
-        ArrayAdapter<String> adapter = new ArrayAdapter<>(requireContext(), android.R.layout.simple_spinner_dropdown_item, maps);
-        switchMapSpinner.setAdapter(adapter);
-        switchMapSpinner.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
-            @Override
-            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
-                if (gMap == null) {
-                    return;
-                }
-                switch (position) {
-                    case 0:
-                        gMap.setMapType(GoogleMap.MAP_TYPE_HYBRID);
-                        break;
-                    case 1:
-                        gMap.setMapType(GoogleMap.MAP_TYPE_NORMAL);
-                        break;
-                    case 2:
-                        gMap.setMapType(GoogleMap.MAP_TYPE_SATELLITE);
-                        break;
-                }
+    private int resolveActualMapDrawable(String buildingName, String floorDisplayName, int floorIndex) {
+        buildingName = normalizeBuildingKey(buildingName);
+        String canonicalFloor = canonicalFloorLabel(floorDisplayName);
+
+        if ("nucleus_building".equals(buildingName)) {
+            if ("LG".equals(canonicalFloor)) return R.drawable.nucleuslg;
+            if ("G".equals(canonicalFloor)) return R.drawable.nucleusg;
+            if ("1".equals(canonicalFloor)) return R.drawable.nucleus1;
+            if ("2".equals(canonicalFloor)) return R.drawable.nucleus2;
+            if ("3".equals(canonicalFloor)) return R.drawable.nucleus3;
+
+            switch (floorIndex) {
+                case 0: return R.drawable.nucleuslg;
+                case 1: return R.drawable.nucleusg;
+                case 2: return R.drawable.nucleus1;
+                case 3: return R.drawable.nucleus2;
+                case 4: return R.drawable.nucleus3;
+                default: return R.drawable.nucleusg;
             }
+        }
 
-            @Override
-            public void onNothingSelected(AdapterView<?> parent) {
+        if ("library".equals(buildingName)) {
+            if ("LG".equals(canonicalFloor)) return 0;
+            if ("G".equals(canonicalFloor)) return R.drawable.libraryg;
+            if ("1".equals(canonicalFloor)) return R.drawable.library1;
+            if ("2".equals(canonicalFloor)) return R.drawable.library2;
+            if ("3".equals(canonicalFloor)) return R.drawable.library3;
+
+            switch (floorIndex) {
+                case 0: return 0;
+                case 1: return R.drawable.libraryg;
+                case 2: return R.drawable.library1;
+                case 3: return R.drawable.library2;
+                case 4: return R.drawable.library3;
+                default: return R.drawable.libraryg;
             }
-        });
+        }
+
+        return 0;
     }
 
-    public void setReplayModeEnabled(boolean enabled) {
-        if (replayModeEnabled == enabled) {
-            if (enabled) {
-                stopAutoFloor();
-            }
-            if (autoFloorSwitch != null) {
-                autoFloorSwitch.setChecked(false);
-                autoFloorSwitch.setEnabled(!enabled);
-                autoFloorSwitch.setAlpha(enabled ? 0.45f : 1f);
-            }
-            return;
+    private LatLngBounds computeActualMapBounds(FloorplanApiClient.BuildingInfo building,
+                                                String buildingName,
+                                                int drawableResId,
+                                                String floorDisplayName) {
+        buildingName = normalizeBuildingKey(buildingName);
+        ActualMapAlignmentConfig config = getActualMapAlignmentConfig(buildingName);
+
+        LatLngBounds bounds;
+        if ("library".equals(buildingName)) {
+            bounds = computeFixedActualMapBounds(buildingName, drawableResId);
+        } else if (building != null) {
+            bounds = computeThreeEdgeAlignedBounds(building, drawableResId, config);
+        } else {
+            bounds = computeFixedActualMapBounds(buildingName, drawableResId);
         }
 
-        replayModeEnabled = enabled;
-        mapMatchingCoordinator.onReplayModeChanged(enabled);
-        if (enabled) {
-            stopAutoFloor();
+        if (bounds == null) {
+            bounds = getFallbackBuildingBounds(buildingName);
         }
-        if (autoFloorSwitch != null) {
-            autoFloorSwitch.setChecked(false);
-            autoFloorSwitch.setEnabled(!enabled);
-            autoFloorSwitch.setAlpha(enabled ? 0.45f : 1f);
+        if (bounds != null) {
+            bounds = applySavedCalibration(bounds, buildingName, floorDisplayName);
         }
-        refreshDebugStatusText();
+        return bounds;
     }
 
-    public void setReplayFrameContext(@Nullable Integer syntheticFloor,
-                                      @Nullable Double currentElevation,
-                                      @Nullable Double deltaHeight,
-                                      boolean heightChanged) {
-        setReplayModeEnabled(true);
-        mapMatchingCoordinator.setReplayFrameContext(syntheticFloor, currentElevation, deltaHeight, heightChanged);
+    private LatLngBounds computeFixedActualMapBounds(String buildingName, int drawableResId) {
+        buildingName = normalizeBuildingKey(buildingName);
+        if ("library".equals(buildingName)) {
+            double widthScale = getLibraryFixedWidthScale(drawableResId);
+            return buildRightAnchoredRectBounds(
+                    BuildingPolygon.LIBRARY_SW,
+                    BuildingPolygon.LIBRARY_NE,
+                    widthScale,
+                    1.0,
+                    0.008,
+                    0.0);
+        }
+        return null;
     }
 
-    public void setReplayFrameContext(@Nullable Integer syntheticFloor,
-                                      @Nullable Double currentElevation,
-                                      @Nullable Double deltaHeight,
-                                      boolean heightChanged,
-                                      @Nullable Integer initialFloor) {
-        setReplayModeEnabled(true);
-        mapMatchingCoordinator.setReplayFrameContext(syntheticFloor, currentElevation, deltaHeight, heightChanged, initialFloor);
+    private double getLibraryFixedWidthScale(int drawableResId) {
+        return 1.000;
     }
 
-    public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
-        mapMatchingCoordinator.updateUserLocation(newLocation, orientation);
-        refreshDebugStatusText();
-    }
+    private LatLngBounds buildRightAnchoredRectBounds(LatLng southWest,
+                                                      LatLng northEast,
+                                                      double widthScale,
+                                                      double heightScale,
+                                                      double eastShiftRatio,
+                                                      double northShiftRatio) {
+        if (southWest == null || northEast == null) {
+            return null;
+        }
 
-    private void resetMapMatchingState() {
-        mapMatchingCoordinator.resetMapMatchingState();
-        refreshDebugStatusText();
+        double rectWidth = northEast.longitude - southWest.longitude;
+        double rectHeight = northEast.latitude - southWest.latitude;
+        if (rectWidth <= 0d || rectHeight <= 0d) {
+            return null;
+        }
+
+        double overlayWidth = rectWidth * widthScale;
+        double overlayHeight = rectHeight * heightScale;
+        double east = northEast.longitude + rectWidth * eastShiftRatio;
+        double west = east - overlayWidth;
+        double north = northEast.latitude + rectHeight * northShiftRatio;
+        double south = north - overlayHeight;
+        return new LatLngBounds(new LatLng(south, west), new LatLng(north, east));
     }
 
-    public void setInitialCameraPosition(@NonNull LatLng startLocation) {
-        // 读取刚才在 StartLocation 界面保存的缩放比例（默认给 19f）
-        float savedZoom = 19f;
-        if (getContext() != null) {
-            savedZoom = getContext().getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
-                    .getFloat("user_selected_zoom", 19f);
+    private LatLngBounds computeThreeEdgeAlignedBounds(FloorplanApiClient.BuildingInfo building,
+                                                       int drawableResId,
+                                                       ActualMapAlignmentConfig config) {
+        if (building == null || config == null) {
+            return null;
         }
 
-        if (gMap != null) {
-            gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(startLocation, 19f));
-        } else {
-            pendingCameraPosition = startLocation;
-            hasPendingCameraMove = true;
+        List<LatLng> outline = building.getOutlinePolygon();
+        if (outline == null || outline.size() < 3) {
+            return null;
+        }
+
+        double minLat = Double.POSITIVE_INFINITY;
+        double maxLat = Double.NEGATIVE_INFINITY;
+        double minLng = Double.POSITIVE_INFINITY;
+        double maxLng = Double.NEGATIVE_INFINITY;
+        for (LatLng point : outline) {
+            if (point == null) continue;
+            minLat = Math.min(minLat, point.latitude);
+            maxLat = Math.max(maxLat, point.latitude);
+            minLng = Math.min(minLng, point.longitude);
+            maxLng = Math.max(maxLng, point.longitude);
+        }
+
+        if (!Double.isFinite(minLat) || !Double.isFinite(maxLat)
+                || !Double.isFinite(minLng) || !Double.isFinite(maxLng)
+                || maxLat <= minLat || maxLng <= minLng) {
+            return null;
+        }
+
+        double latSpan = maxLat - minLat;
+        double lngSpan = maxLng - minLng;
+        double visibleNorth = maxLat - latSpan * config.northInsetRatio;
+        double visibleSouth = minLat + latSpan * config.southInsetRatio;
+        if (visibleSouth >= visibleNorth) {
+            return null;
+        }
+
+        double fullAspectRatio = getDrawableAspectRatio(drawableResId);
+        if (fullAspectRatio <= 0d) {
+            return null;
+        }
+
+        DrawableContentInsets contentInsets = getDrawableContentInsets(drawableResId, config);
+        double visibleContentHeightFraction = contentInsets.contentHeightFraction();
+        double visibleContentWidthFraction = contentInsets.contentWidthFraction();
+        if (visibleContentHeightFraction <= 0d || visibleContentWidthFraction <= 0d) {
+            return null;
+        }
+
+        double visibleHeightDeg = visibleNorth - visibleSouth;
+        double totalHeightDeg = visibleHeightDeg / visibleContentHeightFraction;
+        double overlayNorth = visibleNorth + totalHeightDeg * contentInsets.topFraction;
+        double overlaySouth = overlayNorth - totalHeightDeg;
+
+        double midLatitudeRadians = Math.toRadians((visibleNorth + visibleSouth) / 2.0);
+        double metersPerDegreeLng = Math.max(111320.0 * Math.cos(midLatitudeRadians), 1.0);
+        double totalHeightMeters = totalHeightDeg * 111320.0;
+        double totalWidthMeters = (totalHeightMeters / fullAspectRatio) * config.widthScale;
+        double totalWidthLng = totalWidthMeters / metersPerDegreeLng;
+        double visibleContentWidthLng = totalWidthLng * visibleContentWidthFraction;
+
+        double visibleEast;
+        double visibleWest;
+        switch (config.horizontalAnchor) {
+            case RIGHT:
+                visibleEast = maxLng - lngSpan * config.horizontalInsetRatio;
+                visibleWest = visibleEast - visibleContentWidthLng;
+                break;
+            case LEFT:
+                visibleWest = minLng + lngSpan * config.horizontalInsetRatio;
+                visibleEast = visibleWest + visibleContentWidthLng;
+                break;
+            case CENTER:
+            default:
+                double centerLng = ((minLng + maxLng) / 2.0)
+                        + (lngSpan * (config.leftVisibleInsetRatio - config.rightVisibleInsetRatio) * 0.5);
+                visibleWest = centerLng - visibleContentWidthLng / 2.0;
+                visibleEast = centerLng + visibleContentWidthLng / 2.0;
+                break;
         }
-    }
-
-    public LatLng getCurrentLocation() {
-        return currentLocation;
-    }
-
-    public void addTestPointMarker(int index, long timestampMs, @NonNull LatLng position) {
-        trajectoryRenderer.addTestPointMarker(index, timestampMs, position);
-    }
 
-    public void updateGNSS(@NonNull LatLng gnssLocation) {
-        trajectoryRenderer.updateGnss(gnssLocation);
+        double overlayWest = visibleWest - totalWidthLng * contentInsets.leftFraction;
+        double overlayEast = overlayWest + totalWidthLng;
+        return new LatLngBounds(new LatLng(overlaySouth, overlayWest), new LatLng(overlayNorth, overlayEast));
     }
 
-    public void clearGNSS() {
-        trajectoryRenderer.clearGnssMarker();
+    private DrawableContentInsets getDrawableContentInsets(int drawableResId, ActualMapAlignmentConfig config) {
+        BitmapFactory.Options bounds = new BitmapFactory.Options();
+        bounds.inJustDecodeBounds = true;
+        BitmapFactory.decodeResource(getResources(), drawableResId, bounds);
+        int width = bounds.outWidth;
+        int height = bounds.outHeight;
+        if (width <= 0 || height <= 0) {
+            return new DrawableContentInsets(
+                    config.leftVisibleInsetRatio,
+                    config.topVisibleInsetRatio,
+                    config.rightVisibleInsetRatio,
+                    config.bottomVisibleInsetRatio
+            );
+        }
+        return new DrawableContentInsets(
+                config.leftVisibleInsetRatio,
+                config.topVisibleInsetRatio,
+                config.rightVisibleInsetRatio,
+                config.bottomVisibleInsetRatio
+        );
     }
 
-    public boolean isGnssEnabled() {
-        return isGnssOn;
+    private static double clamp01(double value) {
+        return Math.max(0d, Math.min(1d, value));
     }
 
-    private void setupCalibrationControls() {
-        if (btnToggleAdjustMap != null) {
-            btnToggleAdjustMap.setOnClickListener(v -> {
-                if (!actualMapVisible) {
-                    if (selectedVenueText != null) {
-                        selectedVenueText.setText("Show actual maps first, then adjust them");
-                    }
-                    return;
-                }
-                if (calibrationPanel != null) {
-                    calibrationPanel.setVisibility(calibrationPanel.getVisibility() == View.VISIBLE ? View.GONE : View.VISIBLE);
-                }
-                updateCalibrationUi();
-            });
+    private double getDrawableAspectRatio(int drawableResId) {
+        try {
+            BitmapFactory.Options options = new BitmapFactory.Options();
+            options.inJustDecodeBounds = true;
+            BitmapFactory.decodeResource(getResources(), drawableResId, options);
+            if (options.outWidth > 0 && options.outHeight > 0) {
+                return (double) options.outHeight / (double) options.outWidth;
+            }
+        } catch (Exception ignored) {
         }
+        return 1d;
+    }
 
-        if (btnCalibrationTarget != null) {
-            btnCalibrationTarget.setOnClickListener(v -> {
-                cycleCalibrationTarget();
-                updateCalibrationUi();
-            });
+    private LatLngBounds getFallbackBuildingBounds(String buildingName) {
+        buildingName = normalizeBuildingKey(buildingName);
+        if ("nucleus_building".equals(buildingName)) {
+            return new LatLngBounds(BuildingPolygon.NUCLEUS_SW, BuildingPolygon.NUCLEUS_NE);
         }
-
-        bindCalibrationButton(btnCalibrateUp, 0f, CALIBRATION_SHIFT_STEP, 0f, 0f);
-        bindCalibrationButton(btnCalibrateDown, 0f, -CALIBRATION_SHIFT_STEP, 0f, 0f);
-        bindCalibrationButton(btnCalibrateLeft, -CALIBRATION_SHIFT_STEP, 0f, 0f, 0f);
-        bindCalibrationButton(btnCalibrateRight, CALIBRATION_SHIFT_STEP, 0f, 0f, 0f);
-        bindCalibrationButton(btnWidthMinus, 0f, 0f, -CALIBRATION_SCALE_STEP, 0f);
-        bindCalibrationButton(btnWidthPlus, 0f, 0f, CALIBRATION_SCALE_STEP, 0f);
-        bindCalibrationButton(btnHeightMinus, 0f, 0f, 0f, -CALIBRATION_SCALE_STEP);
-        bindCalibrationButton(btnHeightPlus, 0f, 0f, 0f, CALIBRATION_SCALE_STEP);
-
-        if (btnSaveCalibration != null) {
-            btnSaveCalibration.setOnClickListener(v -> {
-                String targetKey = getEffectiveCalibrationTargetBuildingKey();
-                if (targetKey.isEmpty()) {
-                    return;
-                }
-                String floorKey = getCurrentCalibrationFloorKey(targetKey);
-                OverlayCalibration calibration = loadOverlayCalibration(targetKey, floorKey);
-                logCalibration(targetKey, floorKey, calibration, "saved");
-                if (selectedVenueText != null) {
-                    selectedVenueText.setText("Saved calibration for " + prettyBuildingName(targetKey) + " " + floorKey);
-                }
-                updateCalibrationUi();
-            });
+        if ("library".equals(buildingName)) {
+            return new LatLngBounds(BuildingPolygon.LIBRARY_SW, BuildingPolygon.LIBRARY_NE);
         }
-
-        if (btnResetCalibration != null) {
-            btnResetCalibration.setOnClickListener(v -> {
-                String targetKey = getEffectiveCalibrationTargetBuildingKey();
-                if (targetKey.isEmpty()) {
-                    return;
-                }
-                String floorKey = getCurrentCalibrationFloorKey(targetKey);
-                OverlayCalibration defaults = getHardcodedCalibrationDefault(targetKey, floorKey);
-                saveOverlayCalibration(targetKey, floorKey, defaults);
-                if (actualMapVisible) {
-                    setFloor(currentFloorIndex);
-                }
-                if (selectedVenueText != null) {
-                    selectedVenueText.setText("Reset calibration for " + prettyBuildingName(targetKey) + " " + floorKey);
-                }
-                logCalibration(targetKey, floorKey, defaults, "reset");
-                updateCalibrationUi();
-            });
+        if ("murchison_house".equals(buildingName)) {
+            return new LatLngBounds(BuildingPolygon.MURCHISON_SW, BuildingPolygon.MURCHISON_NE);
         }
+        return null;
     }
 
-    private void bindCalibrationButton(Button button, float shiftLngDelta, float shiftLatDelta, float widthDelta, float heightDelta) {
-        if (button == null) {
-            return;
+    private ActualMapAlignmentConfig getActualMapAlignmentConfig(String buildingName) {
+        buildingName = normalizeBuildingKey(buildingName);
+        if ("nucleus_building".equals(buildingName)) {
+            return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT,
+                    0.0, 0.0, 0.0, 0.99,
+                    0.0, 0.0, 0.0, 0.0);
         }
-        button.setOnClickListener(v -> applyCalibrationDelta(shiftLngDelta, shiftLatDelta, widthDelta, heightDelta));
-    }
-
-    private void applyCalibrationDelta(float shiftLngDelta, float shiftLatDelta, float widthDelta, float heightDelta) {
-        String targetKey = getEffectiveCalibrationTargetBuildingKey();
-        if (targetKey.isEmpty()) {
-            if (selectedVenueText != null) {
-                selectedVenueText.setText("Select a visible actual map to adjust");
-            }
-            return;
+        if ("library".equals(buildingName)) {
+            return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT,
+                    0.0, 0.0, 0.0, 0.985,
+                    0.0, 0.0, 0.0, 0.0);
         }
-
-        String floorKey = getCurrentCalibrationFloorKey(targetKey);
-        OverlayCalibration current = loadOverlayCalibration(targetKey, floorKey);
-        OverlayCalibration updated = new OverlayCalibration(
-                current.shiftLatRatio + shiftLatDelta,
-                current.shiftLngRatio + shiftLngDelta,
-                Math.max(0.50f, current.widthScale + widthDelta),
-                Math.max(0.50f, current.heightScale + heightDelta)
-        );
-        saveOverlayCalibration(targetKey, floorKey, updated);
-        logCalibration(targetKey, floorKey, updated, "updated");
-        if (actualMapVisible) {
-            setFloor(currentFloorIndex);
+        if ("murchison_house".equals(buildingName)) {
+            return new ActualMapAlignmentConfig(HorizontalAnchor.CENTER,
+                    0.0, 0.0, 0.0, 1.0,
+                    0.0, 0.0, 0.0, 0.0);
         }
-        updateCalibrationUi();
+        return new ActualMapAlignmentConfig(HorizontalAnchor.CENTER,
+                0.0, 0.0, 0.0, 1.0,
+                0.0, 0.0, 0.0, 0.0);
     }
 
     private LatLngBounds applySavedCalibration(LatLngBounds baseBounds, String buildingKey, String floorDisplayName) {
@@ -1880,33 +2190,22 @@ private OverlayCalibration getHardcodedCalibrationDefault(String buildingKey, St
 
         if ("nucleus_building".equals(normalizedBuilding)) {
             switch (normalizedFloor) {
-                case "LG":
-                    return new OverlayCalibration(0.012f, -0.022f, 0.967f, 0.986f);
-                case "G":
-                    return new OverlayCalibration(0.029f, -0.052f, 0.958f, 0.942f);
-                case "1":
-                    return new OverlayCalibration(0.004f, 0.000f, 1.000f, 0.981f);
-                case "2":
-                    return new OverlayCalibration(0.005f, -0.005f, 1.000f, 1.000f);
-                case "3":
-                    return new OverlayCalibration(0.005f, 0.005f, 1.015f, 0.990f);
-                default:
-                    return OverlayCalibration.identity();
+                case "LG": return new OverlayCalibration(0.012f, -0.022f, 0.967f, 0.986f);
+                case "G":  return new OverlayCalibration(0.029f, -0.052f, 0.958f, 0.942f);
+                case "1":  return new OverlayCalibration(0.004f, 0.000f, 1.000f, 0.981f);
+                case "2":  return new OverlayCalibration(0.005f, -0.005f, 1.000f, 1.000f);
+                case "3":  return new OverlayCalibration(0.005f, 0.005f, 1.015f, 0.990f);
+                default:   return OverlayCalibration.identity();
             }
         }
 
         if ("library".equals(normalizedBuilding)) {
             switch (normalizedFloor) {
-                case "G":
-                    return new OverlayCalibration(-0.072f, 0.018f, 0.965f, 1.098f);
-                case "1":
-                    return new OverlayCalibration(-0.053f, 0.019f, 0.945f, 1.050f);
-                case "2":
-                    return new OverlayCalibration(-0.075f, 0.025f, 0.950f, 1.070f);
-                case "3":
-                    return new OverlayCalibration(-0.070f, 0.025f, 0.960f, 1.065f);
-                default:
-                    return OverlayCalibration.identity();
+                case "G": return new OverlayCalibration(-0.072f, 0.018f, 0.965f, 1.098f);
+                case "1": return new OverlayCalibration(-0.053f, 0.019f, 0.945f, 1.050f);
+                case "2": return new OverlayCalibration(-0.075f, 0.025f, 0.950f, 1.070f);
+                case "3": return new OverlayCalibration(-0.070f, 0.025f, 0.960f, 1.065f);
+                default:  return OverlayCalibration.identity();
             }
         }
 
@@ -1916,8 +2215,13 @@ private OverlayCalibration getHardcodedCalibrationDefault(String buildingKey, St
     private void logCalibration(String buildingKey, String floorKey, OverlayCalibration calibration, String event) {
         Log.d(TAG, String.format(Locale.US,
                 "MAP_CALIBRATION %s building=%s floor=%s shiftLat=%.5f shiftLng=%.5f widthScale=%.5f heightScale=%.5f",
-                event, normalizeBuildingKey(buildingKey), canonicalFloorLabel(floorKey),
-                calibration.shiftLatRatio, calibration.shiftLngRatio, calibration.widthScale, calibration.heightScale));
+                event,
+                normalizeBuildingKey(buildingKey),
+                canonicalFloorLabel(floorKey),
+                calibration.shiftLatRatio,
+                calibration.shiftLngRatio,
+                calibration.widthScale,
+                calibration.heightScale));
     }
 
     private List<String> getAvailableCalibrationTargets() {
@@ -1970,7 +2274,9 @@ private String getEffectiveCalibrationTargetBuildingKey() {
     }
 
     private String getCurrentCalibrationFloorKey(String buildingKey) {
-        String selectedFloorLabel = selectedFloorplanBuilding == null ? "" : getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex);
+        String selectedFloorLabel = selectedFloorplanBuilding == null
+                ? ""
+                : getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex);
         String canonicalFloor = canonicalFloorLabel(selectedFloorLabel);
         if ("library".equals(normalizeBuildingKey(buildingKey)) && "LG".equals(canonicalFloor)) {
             return "LG";
@@ -1978,19 +2284,15 @@ private String getCurrentCalibrationFloorKey(String buildingKey) {
         return canonicalFloor;
     }
 
-    private void updateActualMapButtonState() {
-        if (btnFindActualMap == null) {
-            return;
-        }
-        btnFindActualMap.setText(actualMapVisible ? "Hide Actual Maps" : "Display Actual Maps");
-    }
-
     private void updateCalibrationUi() {
-        updateActualMapButtonState();
         boolean canAdjust = actualMapVisible && selectedFloorplanBuilding != null;
         if (btnToggleAdjustMap != null) {
             btnToggleAdjustMap.setVisibility(canAdjust ? View.VISIBLE : View.GONE);
-            btnToggleAdjustMap.setText((calibrationPanel != null && calibrationPanel.getVisibility() == View.VISIBLE) ? "Hide Adjust Map" : "Adjust Map");
+            btnToggleAdjustMap.setText(
+                    (calibrationPanel != null && calibrationPanel.getVisibility() == View.VISIBLE)
+                            ? "Hide Adjust Map"
+                            : "Adjust Map"
+            );
         }
         if (!canAdjust) {
             if (calibrationPanel != null) {
@@ -2009,142 +2311,31 @@ private void updateCalibrationUi() {
         if (calibrationValueText != null) {
             calibrationValueText.setText(String.format(Locale.US,
                     "x=%.3f  y=%.3f  w=%.3f  h=%.3f",
-                    calibration.shiftLngRatio, calibration.shiftLatRatio, calibration.widthScale, calibration.heightScale));
+                    calibration.shiftLngRatio,
+                    calibration.shiftLatRatio,
+                    calibration.widthScale,
+                    calibration.heightScale));
         }
         if (btnCalibrationTarget != null) {
             btnCalibrationTarget.setVisibility(getAvailableCalibrationTargets().size() > 1 ? View.VISIBLE : View.GONE);
         }
     }
 
-    private void setFloorControlsVisibility(int visibility) {
-        floorController.setFloorControlsVisibility(visibility);
-    }
-
-    private void updateFloorLabel() {
-        floorController.updateFloorLabel();
-    }
-
-    public void clearMapAndReset() {
-        stopAutoFloor();
-        resetMapMatchingState();
-        currentLocation = null;
-        if (autoFloorSwitch != null) {
-            autoFloorSwitch.setChecked(false);
-        }
-        trajectoryRenderer.resetMapArtifacts();
-        for (Polygon p : floorplanPolygons) {
-            p.remove();
-        }
-        floorplanPolygons.clear();
-        polygonToBuilding.clear();
-        lastFetchedBuildings.clear();
-        selectedFloorplanPolygon = null;
-        selectedFloorplanBuilding = null;
-        indoorMapVisible = false;
-        actualMapVisible = false;
-        updateActualMapButtonState();
-        hasFetchedNearbyBuildings = false;
-        hasAttemptedInitialBuildingFetch = false;
-        hasAutoSelectedIndoorMap = false;
-
-        resetMapOverlays();
-        if (indoorMapManager != null) {
-            indoorMapManager.clearIndoorMap();
-        }
-        if (selectedVenueText != null) {
-            selectedVenueText.setText("Tap a blue building outline to select a building");
-        }
-        calibrationTargetBuildingKey = "";
-        updateCalibrationUi();
-        if (indoorLoadingIndicator != null) {
-            indoorLoadingIndicator.setVisibility(View.GONE);
-        }
-        setFloorControlsVisibility(View.GONE);
-    }
-
-    private void startAutoFloor() {
-        floorController.startAutoFloor();
-    }
-
-    private void applyImmediateFloor() {
-        floorController.applyImmediateFloor();
-    }
-
-    private void stopAutoFloor() {
-        floorController.stopAutoFloor();
-    }
-
-    private void evaluateAutoFloor() {
-        floorController.evaluateAutoFloor();
-    }
-    private void initMapControlsToggle() {
-        if (btnToggleControls != null) {
-            btnToggleControls.setOnClickListener(v -> toggleMapControlsPanel());
-        }
-        updateMapControlsPanelUi();
-    }
-
-    private void toggleMapControlsPanel() {
-        areMapControlsExpanded = !areMapControlsExpanded;
-        updateMapControlsPanelUi();
-    }
-
-    private void updateMapControlsPanelUi() {
-        if (mapControlsContent != null) {
-            mapControlsContent.setVisibility(areMapControlsExpanded ? View.VISIBLE : View.GONE);
-        }
-        if (btnToggleControls != null) {
-            btnToggleControls.setText(areMapControlsExpanded ? "Hide" : "Show");
-        }
-    }
-
-
-    private void initDebugStatusToggle() {
-        if (btnToggleLog != null) {
-            btnToggleLog.setOnClickListener(v -> toggleDebugStatusPanel());
-        }
-        refreshDebugStatusText();
-        updateDebugStatusUi();
-    }
-
-    private void toggleDebugStatusPanel() {
-        isDebugStatusVisible = !isDebugStatusVisible;
-        refreshDebugStatusText();
-        updateDebugStatusUi();
-    }
-
-    private void refreshDebugStatusText() {
-        if (debugStatusText == null) {
+    private void refreshSelectedPolygonAppearance() {
+        if (selectedFloorplanPolygon == null) {
             return;
         }
-        String status = mapMatchingCoordinator.getLatestDebugStatus();
-        if (status == null || status.trim().isEmpty()) {
-            status = "abs:none  src:idle\n"
-                    + "floor d/c/m: -/-/-\n"
-                    + "vertical: steady Δ0.00m\n"
-                    + "correction: NONE\n"
-                    + "Waiting for updates";
-        }
-        debugStatusText.setText(status);
-    }
-
-    private void updateDebugStatusUi() {
-        if (debugStatusText != null) {
-            debugStatusText.setVisibility(isDebugStatusVisible ? View.VISIBLE : View.GONE);
-        }
-        if (btnToggleLog != null) {
-            btnToggleLog.setText(isDebugStatusVisible ? "Close Log" : "Log");
-        }
-    }
 
-    private void applyTrajectoryColorButtonState() {
-        if (switchColorButton == null) {
-            return;
+        if (indoorMapVisible) {
+            selectedFloorplanPolygon.setFillColor(Color.argb(10, 33, 150, 243));
+            selectedFloorplanPolygon.setStrokeColor(Color.argb(180, 33, 150, 243));
+            selectedFloorplanPolygon.setStrokeWidth(3f);
+            selectedFloorplanPolygon.setZIndex(19f);
+        } else {
+            selectedFloorplanPolygon.setFillColor(Color.argb(100, 33, 150, 243));
+            selectedFloorplanPolygon.setStrokeColor(Color.argb(255, 25, 118, 210));
+            selectedFloorplanPolygon.setStrokeWidth(5f);
+            selectedFloorplanPolygon.setZIndex(19f);
         }
-        boolean isRed = trajectoryRenderer.isUsingRedTrajectory();
-        switchColorButton.setText(isRed ? "Red" : "Black");
-        switchColorButton.setBackgroundColor(isRed ? TRAJECTORY_MAIN_COLOR : Color.BLACK);
-        switchColorButton.setTextColor(Color.WHITE);
     }
-
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
index fa746785..56e9f275 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
@@ -23,59 +23,94 @@
 import java.util.List;
 
 /**
- * Keeps trajectory rendering state out of TrajectoryMapFragment.
- * This class is intentionally UI-focused: markers, polylines, colors and camera-follow behavior.
+ * Centralises all trajectory-related rendering for {@link TrajectoryMapFragment}.
+ *
+ * <p>This class is intentionally UI-focused. It owns:
+ * <ul>
+ *     <li>the current-position marker</li>
+ *     <li>the matched trajectory polyline</li>
+ *     <li>the raw PDR observation polyline</li>
+ *     <li>the WiFi and GNSS markers / polylines</li>
+ *     <li>test-point markers</li>
+ * </ul>
+ *
+ * <p>It does not perform map matching or floor reasoning. It only draws the
+ * outputs produced elsewhere.
  */
 class TrajectoryRenderer {
 
+    // Matched trajectory styling
     private static final int TRAJECTORY_MAIN_COLOR = Color.RED;
     private static final int TRAJECTORY_OUTLINE_COLOR = Color.WHITE;
+    private static final int TRAJECTORY_BLACK_OUTLINE_COLOR = Color.argb(210, 235, 235, 235);
     private static final float TRAJECTORY_WIDTH_MAIN_PX = 7f;
     private static final float TRAJECTORY_WIDTH_OUTLINE_PX = 18f;
     private static final float TRAJECTORY_Z_INDEX = 1000f;
-    private static final int TRAJECTORY_BLACK_OUTLINE_COLOR = Color.argb(210, 235, 235, 235);
+
+    // Observation layer styling
     private static final int RAW_PDR_COLOR = Color.argb(170, 30, 136, 229);
     private static final int WIFI_COLOR = Color.argb(190, 46, 125, 50);
     private static final int GNSS_COLOR = Color.argb(200, 255, 167, 38);
     private static final float RAW_PDR_WIDTH_PX = 5f;
     private static final float WIFI_WIDTH_PX = 6f;
     private static final float GNSS_WIDTH_PX = 6f;
+
+    /**
+     * GNSS / WiFi traces are intentionally bounded so that overlays remain readable
+     * and do not grow indefinitely during long sessions.
+     */
     private static final int MAX_ABSOLUTE_HISTORY_POINTS = 20;
 
     @Nullable
     private GoogleMap map;
+
+    // Main current-position marker
     @Nullable
     private Marker orientationMarker;
+
+    // Absolute observation markers
     @Nullable
     private Marker gnssMarker;
     @Nullable
     private Marker wifiMarker;
+
+    // Matched trajectory polylines (outline + main stroke)
     @Nullable
     private Polyline trajectoryOutline;
     @Nullable
     private Polyline trajectoryMain;
+
+    // Raw / observation polylines
     @Nullable
     private Polyline rawPdrPolyline;
     @Nullable
     private Polyline gnssPolyline;
     @Nullable
     private Polyline wifiPolyline;
+
     @Nullable
     private LatLng lastGnssLocation;
     @Nullable
     private LatLng lastWifiLocation;
 
     private final List<Marker> testPointMarkers = new ArrayList<>();
+
     private boolean useRedTrajectory = true;
     private boolean showPdrObservations = true;
     private boolean showWifiObservations = true;
     private boolean showGnssObservations = true;
 
+    /**
+     * Binds the renderer to a map instance and recreates all map-owned drawing objects.
+     */
     void attachToMap(@NonNull GoogleMap googleMap) {
         map = googleMap;
         resetMapArtifacts();
     }
 
+    /**
+     * Show or hide the raw PDR observation path.
+     */
     void setShowPdrObservations(boolean show) {
         showPdrObservations = show;
         if (rawPdrPolyline != null) {
@@ -83,16 +118,31 @@ void setShowPdrObservations(boolean show) {
         }
     }
 
+    /**
+     * Show or hide WiFi observation marker and path.
+     */
     void setShowWifiObservations(boolean show) {
         showWifiObservations = show;
         applyWifiVisibility();
     }
 
+    /**
+     * Show or hide GNSS observation marker and path.
+     */
     void setShowGnssObservations(boolean show) {
         showGnssObservations = show;
         applyGnssVisibility();
     }
 
+    /**
+     * Updates the current matched position marker.
+     *
+     * @param context           Fragment/activity context used for vector icon conversion
+     * @param matchedLocation   current matched trajectory location
+     * @param orientation       heading in degrees
+     * @param shouldFollowCamera whether the camera should follow this marker
+     * @param initialZoom       zoom level used when creating the marker for the first time
+     */
     void updateCurrentPosition(@NonNull Context context,
                                @NonNull LatLng matchedLocation,
                                float orientation,
@@ -106,24 +156,34 @@ void updateCurrentPosition(@NonNull Context context,
             orientationMarker = map.addMarker(new MarkerOptions()
                     .position(matchedLocation)
                     .flat(true)
+                    .rotation(orientation)
                     .title("Current Position")
                     .icon(BitmapDescriptorFactory.fromBitmap(
-                            UtilFunctions.getBitmapFromVector(context, R.drawable.ic_baseline_navigation_24))));
+                            UtilFunctions.getBitmapFromVector(
+                                    context,
+                                    R.drawable.ic_baseline_navigation_24
+                            ))));
+
             map.moveCamera(CameraUpdateFactory.newLatLngZoom(matchedLocation, initialZoom));
             return;
         }
 
         orientationMarker.setPosition(matchedLocation);
         orientationMarker.setRotation(orientation);
+
         if (shouldFollowCamera) {
             map.animateCamera(CameraUpdateFactory.newLatLng(matchedLocation));
         }
     }
 
+    /**
+     * Appends a matched trajectory point to the displayed main trajectory.
+     */
     void appendMatchedLocation(@Nullable LatLng oldLocation, @NonNull LatLng matchedLocation) {
         if (trajectoryMain == null) {
             return;
         }
+
         List<LatLng> points = new ArrayList<>(trajectoryMain.getPoints());
         if (oldLocation == null || !oldLocation.equals(matchedLocation)) {
             points.add(matchedLocation);
@@ -133,6 +193,9 @@ void appendMatchedLocation(@Nullable LatLng oldLocation, @NonNull LatLng matched
         }
     }
 
+    /**
+     * Appends one raw PDR observation point.
+     */
     void appendRawObservationPoint(@NonNull LatLng rawLocation) {
         if (rawPdrPolyline == null) {
             return;
@@ -146,14 +209,23 @@ void appendRawObservationPoint(@NonNull LatLng rawLocation) {
         rawPdrPolyline.setVisible(showPdrObservations);
     }
 
+    /**
+     * Replay uses the same raw-path rendering as live raw PDR observations.
+     */
     void appendRawReplayPoint(@NonNull LatLng rawLocation) {
         appendRawObservationPoint(rawLocation);
     }
 
+    /**
+     * Clears only the replay raw path.
+     */
     void clearRawReplayPath() {
         clearRawObservationPath();
     }
 
+    /**
+     * Clears the raw PDR observation polyline while keeping the object alive.
+     */
     void clearRawObservationPath() {
         if (rawPdrPolyline != null) {
             rawPdrPolyline.setPoints(new ArrayList<>());
@@ -161,6 +233,9 @@ void clearRawObservationPath() {
         }
     }
 
+    /**
+     * Updates the WiFi observation marker and its recent-history path.
+     */
     void updateWifiObservation(@Nullable LatLng wifiLocation) {
         if (map == null || wifiLocation == null) {
             return;
@@ -182,24 +257,40 @@ void updateWifiObservation(@Nullable LatLng wifiLocation) {
         applyWifiVisibility();
     }
 
+    /**
+     * Compatibility wrapper used by {@link TrajectoryMapFragment}.
+     */
+    void updateWifi(@Nullable LatLng wifiLocation) {
+        updateWifiObservation(wifiLocation);
+    }
+
+    /**
+     * Adds a numbered test-point marker to the map.
+     */
     void addTestPointMarker(int index, long timestampMs, @NonNull LatLng position) {
         if (map == null) {
             return;
         }
+
         Marker marker = map.addMarker(new MarkerOptions()
                 .position(position)
                 .title("TP " + index)
                 .snippet("t=" + timestampMs));
+
         if (marker != null) {
             marker.showInfoWindow();
             testPointMarkers.add(marker);
         }
     }
 
+    /**
+     * Updates the GNSS marker and recent-history path.
+     */
     void updateGnss(@Nullable LatLng gnssLocation) {
         if (map == null || gnssLocation == null) {
             return;
         }
+
         if (gnssMarker == null) {
             gnssMarker = map.addMarker(new MarkerOptions()
                     .position(gnssLocation)
@@ -216,6 +307,9 @@ void updateGnss(@Nullable LatLng gnssLocation) {
         applyGnssVisibility();
     }
 
+    /**
+     * Removes only the GNSS marker, leaving the GNSS polyline untouched.
+     */
     void clearGnssMarker() {
         if (gnssMarker != null) {
             gnssMarker.remove();
@@ -223,38 +317,123 @@ void clearGnssMarker() {
         }
     }
 
+    /**
+     * Clears the GNSS marker and resets the GNSS path.
+     */
+    void clearGnss() {
+        clearGnssMarker();
+        lastGnssLocation = null;
+
+        if (gnssPolyline != null) {
+            gnssPolyline.setPoints(new ArrayList<>());
+            gnssPolyline.setVisible(showGnssObservations);
+        }
+    }
+
+    /**
+     * Clears the WiFi marker and resets the WiFi path.
+     */
+    void clearWifi() {
+        if (wifiMarker != null) {
+            wifiMarker.remove();
+            wifiMarker = null;
+        }
+        lastWifiLocation = null;
+
+        if (wifiPolyline != null) {
+            wifiPolyline.setPoints(new ArrayList<>());
+            wifiPolyline.setVisible(showWifiObservations);
+        }
+    }
+
+    /**
+     * Clears only the matched trajectory, keeping raw / GNSS / WiFi observations intact.
+     */
+    void clearMatchedTrajectoryOnly() {
+        if (trajectoryOutline != null) {
+            trajectoryOutline.setPoints(new ArrayList<>());
+        }
+        if (trajectoryMain != null) {
+            trajectoryMain.setPoints(new ArrayList<>());
+        }
+        ensureTrajectoryStyling();
+    }
+
+    /**
+     * Clears all rendered map state managed by this renderer, but keeps the map attachment alive.
+     *
+     * <p>This is useful when resetting the recording / replay session.
+     */
+    void clearAll() {
+        clearMatchedTrajectoryOnly();
+        clearRawObservationPath();
+        clearGnss();
+        clearWifi();
+
+        if (orientationMarker != null) {
+            orientationMarker.remove();
+            orientationMarker = null;
+        }
+
+        for (Marker marker : testPointMarkers) {
+            marker.remove();
+        }
+        testPointMarkers.clear();
+    }
+
+    /**
+     * Toggles the matched trajectory between red and black styling.
+     */
     void toggleTrajectoryColor() {
         useRedTrajectory = !useRedTrajectory;
         applyTrajectoryColor();
     }
 
+    /**
+     * Returns whether the main matched trajectory is currently using the red theme.
+     */
     boolean isUsingRedTrajectory() {
         return useRedTrajectory;
     }
 
+    /**
+     * Returns the current orientation marker position if available.
+     */
     @Nullable
     LatLng getOrientationPosition() {
         return orientationMarker != null ? orientationMarker.getPosition() : null;
     }
 
+    /**
+     * Recreates every renderer-owned map artifact.
+     *
+     * <p>Call this after attaching to a new map, or after a hard reset.
+     */
     void resetMapArtifacts() {
         removePolyline(trajectoryOutline);
         trajectoryOutline = null;
+
         removePolyline(trajectoryMain);
         trajectoryMain = null;
+
         removePolyline(rawPdrPolyline);
         rawPdrPolyline = null;
+
         removePolyline(gnssPolyline);
         gnssPolyline = null;
+
         removePolyline(wifiPolyline);
         wifiPolyline = null;
 
         removeMarker(orientationMarker);
         orientationMarker = null;
+
         removeMarker(gnssMarker);
         gnssMarker = null;
+
         removeMarker(wifiMarker);
         wifiMarker = null;
+
         lastGnssLocation = null;
         lastWifiLocation = null;
 
@@ -270,6 +449,7 @@ void resetMapArtifacts() {
         trajectoryOutline = map.addPolyline(buildTrajectoryOutlineOptions());
         trajectoryMain = map.addPolyline(buildTrajectoryMainOptions());
         rawPdrPolyline = map.addPolyline(buildRawPdrPolylineOptions());
+
         gnssPolyline = map.addPolyline(new PolylineOptions()
                 .color(GNSS_COLOR)
                 .width(GNSS_WIDTH_PX)
@@ -278,6 +458,7 @@ void resetMapArtifacts() {
                 .endCap(new RoundCap())
                 .jointType(JointType.ROUND)
                 .add());
+
         wifiPolyline = map.addPolyline(new PolylineOptions()
                 .color(WIFI_COLOR)
                 .width(WIFI_WIDTH_PX)
@@ -286,15 +467,20 @@ void resetMapArtifacts() {
                 .endCap(new RoundCap())
                 .jointType(JointType.ROUND)
                 .add());
+
         if (rawPdrPolyline != null) {
             rawPdrPolyline.setVisible(showPdrObservations);
         }
+
         applyWifiVisibility();
         applyGnssVisibility();
         ensureTrajectoryStyling();
         applyTrajectoryColor();
     }
 
+    /**
+     * Re-applies styling to the matched trajectory pair.
+     */
     private void ensureTrajectoryStyling() {
         if (trajectoryOutline != null) {
             trajectoryOutline.setWidth(TRAJECTORY_WIDTH_OUTLINE_PX);
@@ -303,6 +489,7 @@ private void ensureTrajectoryStyling() {
             trajectoryOutline.setEndCap(new RoundCap());
             trajectoryOutline.setJointType(JointType.ROUND);
         }
+
         if (trajectoryMain != null) {
             trajectoryMain.setWidth(TRAJECTORY_WIDTH_MAIN_PX);
             trajectoryMain.setZIndex(TRAJECTORY_Z_INDEX);
@@ -310,18 +497,27 @@ private void ensureTrajectoryStyling() {
             trajectoryMain.setEndCap(new RoundCap());
             trajectoryMain.setJointType(JointType.ROUND);
         }
+
         applyTrajectoryColor();
     }
 
+    /**
+     * Applies the currently selected matched-trajectory color theme.
+     */
     private void applyTrajectoryColor() {
         if (trajectoryMain != null) {
             trajectoryMain.setColor(useRedTrajectory ? TRAJECTORY_MAIN_COLOR : Color.BLACK);
         }
         if (trajectoryOutline != null) {
-            trajectoryOutline.setColor(useRedTrajectory ? TRAJECTORY_OUTLINE_COLOR : TRAJECTORY_BLACK_OUTLINE_COLOR);
+            trajectoryOutline.setColor(
+                    useRedTrajectory ? TRAJECTORY_OUTLINE_COLOR : TRAJECTORY_BLACK_OUTLINE_COLOR
+            );
         }
     }
 
+    /**
+     * Keeps the outline and main matched polylines perfectly synchronised.
+     */
     private void syncTrajectoryPolylinePoints(@NonNull List<LatLng> points) {
         if (trajectoryOutline != null) {
             trajectoryOutline.setPoints(points);
@@ -368,21 +564,31 @@ private PolylineOptions buildRawPdrPolylineOptions() {
                 .add();
     }
 
-
+    /**
+     * Appends a point to a bounded-history absolute observation line.
+     */
     private void appendAbsoluteHistoryPoint(@Nullable Polyline polyline, @NonNull LatLng point) {
         if (polyline == null) {
             return;
         }
+
         List<LatLng> points = new ArrayList<>(polyline.getPoints());
         if (points.isEmpty() || !points.get(points.size() - 1).equals(point)) {
             points.add(point);
         }
+
         if (points.size() > MAX_ABSOLUTE_HISTORY_POINTS) {
-            points = new ArrayList<>(points.subList(points.size() - MAX_ABSOLUTE_HISTORY_POINTS, points.size()));
+            points = new ArrayList<>(
+                    points.subList(points.size() - MAX_ABSOLUTE_HISTORY_POINTS, points.size())
+            );
         }
+
         polyline.setPoints(points);
     }
 
+    /**
+     * Applies WiFi overlay visibility to both line and marker.
+     */
     private void applyWifiVisibility() {
         if (wifiPolyline != null) {
             wifiPolyline.setVisible(showWifiObservations);
@@ -392,6 +598,9 @@ private void applyWifiVisibility() {
         }
     }
 
+    /**
+     * Applies GNSS overlay visibility to both line and marker.
+     */
     private void applyGnssVisibility() {
         if (gnssPolyline != null) {
             gnssPolyline.setVisible(showGnssObservations);
@@ -412,4 +621,4 @@ private static void removePolyline(@Nullable Polyline polyline) {
             polyline.remove();
         }
     }
-}
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
index 639fc5c2..4077f3ab 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
@@ -13,6 +13,9 @@
 import java.util.HashMap;
 import java.util.List;
 
+import com.openpositioning.PositionMe.fusion.ParticleFilterManager;
+import com.openpositioning.PositionMe.fusion.FusedPose;
+
 /**
  * Handles sensor event dispatching for all registered movement sensors.
  *
@@ -39,6 +42,8 @@ public class SensorEventHandler {
     // Acceleration magnitude buffer between steps
     private final List<Double> accelMagnitude = new ArrayList<>();
 
+    private final ParticleFilterManager particleFilterManager;
+
     /**
      * Creates a new SensorEventHandler.
      *
@@ -50,11 +55,13 @@ public class SensorEventHandler {
      */
     public SensorEventHandler(SensorState state, PdrProcessing pdrProcessing,
                               PathView pathView, TrajectoryRecorder recorder,
+                              ParticleFilterManager particleFilterManager,
                               long bootTime) {
         this.state = state;
         this.pdrProcessing = pdrProcessing;
         this.pathView = pathView;
         this.recorder = recorder;
+        this.particleFilterManager = particleFilterManager;
         this.bootTime = bootTime;
     }
 
@@ -147,14 +154,16 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
 
             case Sensor.TYPE_STEP_DETECTOR:
                 long stepTime = SystemClock.uptimeMillis() - bootTime;
-
+                // Debounce very closely spaced step-detector events.
+                // This protects the PDR/PF pipeline from duplicate triggers.
                 if (currentTime - lastStepTime < 20) {
                     Log.e("SensorFusion", "Ignoring step event, too soon after last step event:"
                             + (currentTime - lastStepTime) + " ms");
                     break;
                 } else {
                     lastStepTime = currentTime;
-
+                    // PdrProcessing expects a buffer of acceleration magnitudes collected
+                    // since the previous detected step. Log if the buffer is unexpectedly empty.
                     if (accelMagnitude.isEmpty()) {
                         Log.e("SensorFusion",
                                 "stepDetection triggered, but accelMagnitude is empty! " +
@@ -164,21 +173,52 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                                 "stepDetection triggered, accelMagnitude size = "
                                         + accelMagnitude.size());
                     }
-
+                    // Always update the raw PDR state first.
+                    //
+                    // This remains true even in particle-filter mode because:
+                    // - PF prediction still uses PDR as its motion input
+                    // - the raw PDR output is the baseline fallback if PF has not initialised yet
                     float[] newCords = this.pdrProcessing.updatePdr(
                             stepTime,
                             this.accelMagnitude,
                             state.orientation[0]
                     );
-
+                    // Acceleration samples have now been consumed for this step.
                     this.accelMagnitude.clear();
 
+                    if (particleFilterManager != null) {
+                        particleFilterManager.step();
+                    }
+
                     if (recorder.isRecording()) {
-                        this.pathView.drawTrajectory(newCords);
+                        // Default behaviour: store and draw the raw PDR local position.
+                        float[] pointToStoreAndDraw = newCords;
+                        // If PF mode is enabled and a fused pose is already available,
+                        // override the saved/drawn point with fused local x/y.
+                        //
+                        // Important:
+                        // - PDR still drives motion prediction internally
+                        // - only the exported/displayed trajectory switches to fused output
+                        if (particleFilterManager != null && particleFilterManager.isEnabled()) {
+                            FusedPose fusedPose = particleFilterManager.getLatestFusedPose();
+
+                            if (fusedPose != null) {
+                                pointToStoreAndDraw = new float[]{
+                                        (float) fusedPose.getXMeters(),
+                                        (float) fusedPose.getYMeters()
+                                };
+                            }
+                        }
+                        // Draw exactly the same point that will be written to the trajectory payload,
+                        // keeping the live view consistent with the saved result.
+                        this.pathView.drawTrajectory(pointToStoreAndDraw);
                         state.stepCounter++;
+
                         recorder.addPdrData(
                                 SystemClock.uptimeMillis() - bootTime,
-                                newCords[0], newCords[1]);
+                                pointToStoreAndDraw[0],
+                                pointToStoreAndDraw[1]
+                        );
                     }
                     break;
                 }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
index aeb6386a..792e01af 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
@@ -17,6 +17,7 @@
 import androidx.preference.PreferenceManager;
 
 import com.google.android.gms.maps.model.LatLng;
+import com.openpositioning.PositionMe.Traj;
 import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
 import com.openpositioning.PositionMe.presentation.activity.MainActivity;
 import com.openpositioning.PositionMe.service.SensorCollectionService;
@@ -25,6 +26,8 @@
 import com.openpositioning.PositionMe.utils.TrajectoryValidator;
 import com.openpositioning.PositionMe.data.remote.ServerCommunications;
 
+import java.io.File;
+import java.io.IOException;
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
@@ -32,6 +35,10 @@
 import java.util.stream.Collectors;
 import java.util.stream.Stream;
 
+import com.openpositioning.PositionMe.fusion.FusedPose;
+import com.openpositioning.PositionMe.fusion.ParticleFilterManager;
+import android.util.Log;
+
 /**
  * The SensorFusion class is the main data gathering and processing class of the application.
  *
@@ -63,6 +70,7 @@ public class SensorFusion implements SensorEventListener {
     private SensorEventHandler eventHandler;
     private TrajectoryRecorder recorder;
     private WifiPositionManager wifiPositionManager;
+    private ParticleFilterManager particleFilterManager; //For fused live positioning
 
     // Movement sensor instances (lifecycle managed here)
     private MovementSensor accelerometerSensor;
@@ -104,6 +112,7 @@ public class SensorFusion implements SensorEventListener {
     private SensorFusion() {
         this.locationListener = new MyLocationListener();
     }
+    private int recordingTrajectoryMode = TRAJECTORY_MODE_PDR;
 
     /**
      * Static function to access singleton instance of SensorFusion.
@@ -113,6 +122,46 @@ private SensorFusion() {
     public static SensorFusion getInstance() {
         return sensorFusion;
     }
+    public static final int TRAJECTORY_MODE_PDR = 0;
+    public static final int TRAJECTORY_MODE_PARTICLE_FILTER = 1;
+    private static final String TAG = "RecordingMode";
+
+    /**
+     * Returns the latest PDR position estimate in local meters relative to the recording start.
+     *
+     * @return float array of size 2 containing x and y position in meters
+     */
+    public float[] getLatestPdrMovement() {
+        return pdrProcessing.getPDRMovement();
+    }
+
+    /**
+     * Advances the particle filter by one update step using the most recent motion and
+     * absolute observations.
+     */
+    public void stepParticleFilter() {
+        if (particleFilterManager != null && isParticleFilterTrajectoryMode()) {
+            particleFilterManager.step();
+        }
+    }
+
+    /**
+     * Returns the latest fused pose estimate produced by the particle filter.
+     *
+     * @return fused pose estimate, or null if the filter has not been initialised yet
+     */
+    public FusedPose getLatestFusedPose() {
+        if (!isParticleFilterTrajectoryMode()) {
+            return null;
+        }
+        return particleFilterManager != null ? particleFilterManager.getLatestFusedPose() : null;
+    }
+    public FusedPose getLatestRawFusedPose() {
+        if (!isParticleFilterTrajectoryMode()) {
+            return null;
+        }
+        return particleFilterManager != null ? particleFilterManager.getLatestRawPose() : null;
+    }
 
     /**
      * Initialisation function for the SensorFusion instance.
@@ -160,9 +209,13 @@ public void setContext(Context context) {
 
         this.wifiPositionManager = new WifiPositionManager(wiFiPositioning, recorder);
 
+        //Initialise the particle filter manager after core modules are ready
+        this.particleFilterManager = new ParticleFilterManager(sensorFusion,context);
+        this.particleFilterManager.setEnabled(isParticleFilterTrajectoryMode());
+
         long bootTime = SystemClock.uptimeMillis();
         this.eventHandler = new SensorEventHandler(
-                state, pdrProcessing, pathView, recorder, bootTime);
+                state, pdrProcessing, pathView, recorder, particleFilterManager, bootTime);
 
         // Register WiFi observer on WifiPositionManager (not on SensorFusion)
         this.wifiProcessor = new WifiDataProcessor(context);
@@ -197,6 +250,11 @@ public void update(Object[] objList) {
 
     //endregion
 
+    public void resetParticleFilterForRecording(){
+        if (particleFilterManager != null){
+            particleFilterManager.reset();
+        }
+    }
     //region SensorEventListener
 
     /**
@@ -329,7 +387,10 @@ public void startRecording() {
         recorder.startRecording(pdrProcessing);
         eventHandler.resetBootTime(recorder.getBootTime());
 
-        // Handover WiFi/BLE scan lifecycle from activity callbacks to foreground service.
+        if (isParticleFilterTrajectoryMode()) {
+            resetParticleFilterForRecording();
+        }
+
         stopWirelessCollectors();
 
         if (appContext != null) {
@@ -337,6 +398,35 @@ public void startRecording() {
         }
     }
 
+    public void setRecordingTrajectoryMode(int mode) {
+        if (mode != TRAJECTORY_MODE_PARTICLE_FILTER) {
+            mode = TRAJECTORY_MODE_PDR;
+        }
+
+        this.recordingTrajectoryMode = mode;
+
+        Log.d(TAG, "SensorFusion mode set = "
+                + (mode == TRAJECTORY_MODE_PARTICLE_FILTER
+                ? "PARTICLE_FILTER"
+                : "STANDARD_PDR"));
+
+        if (particleFilterManager != null) {
+            boolean enableParticleFilter = (mode == TRAJECTORY_MODE_PARTICLE_FILTER);
+            particleFilterManager.setEnabled(enableParticleFilter);
+            if (!enableParticleFilter) {
+                particleFilterManager.reset();
+            }
+        }
+    }
+
+    public int getRecordingTrajectoryMode() {
+        return recordingTrajectoryMode;
+    }
+
+    public boolean isParticleFilterTrajectoryMode() {
+        return recordingTrajectoryMode == TRAJECTORY_MODE_PARTICLE_FILTER;
+    }
+
     /**
      * Disables saving sensor values to the trajectory object.
      * Also stops the foreground service since background collection is no longer needed.
@@ -388,6 +478,16 @@ public String getTrajectoryId() {
         return recorder.getTrajectoryId();
     }
 
+    /** save test point to csv files */
+    public void saveTestPointToCSV(File file) throws IOException {
+        recorder.saveTestPointToCsv(file);
+    }
+
+    /** save the entire recording protobuf into a json file*/
+    public void saveRecordingToJSON(File file) throws IOException {
+        recorder.saveTrajectoryToJson(file);
+    }
+
     /**
      * Sets the selected building identifier for the current recording session.
      * Used to determine the campaign name when uploading the trajectory.
@@ -606,21 +706,21 @@ public int getHoldMode() {
     }
 
     /**
-     * Returns the user position obtained using WiFi positioning.
+     * Returns the latest Wi-Fi based geographic position.
      *
-     * @return {@link LatLng} corresponding to user's position.
+     * @return latest Wi-Fi LatLng, or null if unavailable
      */
     public LatLng getLatLngWifiPositioning() {
-        return wifiPositionManager.getLatLngWifiPositioning();
+        return wifiPositionManager != null ? wifiPositionManager.getLatLngWifiPositioning() : null;
     }
 
     /**
-     * Returns the current floor the user is on, obtained using WiFi positioning.
+     * Returns the latest Wi-Fi based floor estimate.
      *
-     * @return current floor number.
+     * @return latest Wi-Fi floor estimate
      */
     public int getWifiFloor() {
-        return wifiPositionManager.getWifiFloor();
+        return wifiPositionManager != null ? wifiPositionManager.getWifiFloor() : 0;
     }
 
     /**
@@ -632,6 +732,10 @@ public void logSensorFrequencies() {
 
     //endregion
 
+    public Context getContext(){
+        return appContext;
+    }
+
     //region Location listener
 
     /**
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/TrajectoryRecorder.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/TrajectoryRecorder.java
index 8c771758..7f28db5b 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/TrajectoryRecorder.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/TrajectoryRecorder.java
@@ -7,6 +7,7 @@
 import android.os.PowerManager;
 import android.os.SystemClock;
 
+import com.google.protobuf.util.JsonFormat;
 import com.openpositioning.PositionMe.Traj;
 import com.openpositioning.PositionMe.data.remote.ServerCommunications;
 import com.openpositioning.PositionMe.utils.PdrProcessing;
@@ -14,6 +15,9 @@
 
 import com.google.protobuf.ByteString;
 
+import java.io.File;
+import java.io.FileWriter;
+import java.io.IOException;
 import java.util.HashSet;
 import java.util.List;
 import java.util.Set;
@@ -575,5 +579,52 @@ public void run() {
         }
     }
 
+    /**
+     * Saves the recorded trajectory to a JSON file.
+     *
+     * @param file File Path
+     * @throws IOException if writing fails
+     */
+    public void saveTrajectoryToJson(File file) throws IOException {
+        if (trajectory == null) return;
+
+        Traj.Trajectory built = trajectory.build();
+
+        String json = JsonFormat.printer()
+                .includingDefaultValueFields()
+                .print(built);
+
+        FileWriter writer = new FileWriter(file);
+        writer.write(json);
+        writer.flush();
+        writer.close();
+    }
+
+    /**
+     * Saves the recorded test points to a CSV file.
+     *
+     * @param file File Path
+     * @throws IOException if writing fails
+     */
+    public void saveTestPointToCsv(File file) throws IOException {
+        if (trajectory == null) return;
+
+        Traj.Trajectory built = trajectory.build();
+        FileWriter writer = new FileWriter(file);
+        // Header
+        writer.append("type,timestamp,Latitude,Longitude,Altitude\n");
+
+        // TEST POINTS
+        for (Traj.GNSSPosition tp : built.getTestPointsList()) {
+            writer.append("TEST_POINT,")
+                    .append(String.valueOf(tp.getRelativeTimestamp())).append(",")
+                    .append(String.valueOf(tp.getLatitude())).append(",")
+                    .append(String.valueOf(tp.getLongitude())).append(",")
+                    .append(String.valueOf(tp.getAltitude())).append(",\n");
+        }
+        writer.flush();
+        writer.close();
+    }
+
     //endregion
 }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/WifiPositionManager.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/WifiPositionManager.java
index 1edfd68a..0de81eab 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/WifiPositionManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/WifiPositionManager.java
@@ -51,7 +51,7 @@ public WifiPositionManager(WiFiPositioning wiFiPositioning,
     public void update(Object[] wifiList) {
         this.wifiList = Stream.of(wifiList).map(o -> (Wifi) o).collect(Collectors.toList());
         recorder.addWifiFingerprint(this.wifiList);
-        createWifiPositioningRequest();
+        createWifiPositionRequestCallback();
     }
 
     /**
@@ -72,7 +72,11 @@ private void createWifiPositioningRequest() {
     }
 
     /**
-     * Creates a WiFi positioning request using the Volley callback pattern.
+     * Creates a Wi-Fi positioning request using the Volley callback pattern.
+     *
+     * <p>The latest Wi-Fi position and floor are stored internally by {@link WiFiPositioning}
+     * when the request succeeds. This method primarily exists so that the request path used
+     * during live positioning is explicit and easier to maintain.</p>
      */
     private void createWifiPositionRequestCallback() {
         try {
@@ -80,21 +84,24 @@ private void createWifiPositionRequestCallback() {
             for (Wifi data : this.wifiList) {
                 wifiAccessPoints.put(String.valueOf(data.getBssid()), data.getLevel());
             }
-            JSONObject wifiFingerPrint = new JSONObject();
-            wifiFingerPrint.put(WIFI_FINGERPRINT, wifiAccessPoints);
-            this.wiFiPositioning.request(wifiFingerPrint, new WiFiPositioning.VolleyCallback() {
+
+            JSONObject wifiFingerprint = new JSONObject();
+            wifiFingerprint.put(WIFI_FINGERPRINT, wifiAccessPoints);
+
+            this.wiFiPositioning.request(wifiFingerprint, new WiFiPositioning.VolleyCallback() {
                 @Override
                 public void onSuccess(LatLng wifiLocation, int floor) {
-                    // Handle the success response
+                    Log.d("WifiPositionManager",
+                            "Wi-Fi location updated: " + wifiLocation + ", floor=" + floor);
                 }
 
                 @Override
                 public void onError(String message) {
-                    // Handle the error response
+                    Log.e("WifiPositionManager", "Wi-Fi positioning failed: " + message);
                 }
             });
         } catch (JSONException e) {
-            Log.e("jsonErrors", "Error creating json object" + e.toString());
+            Log.e("WifiPositionManager", "Error creating Wi-Fi positioning request", e);
         }
     }
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java b/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
index e7017269..08b6ef83 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
@@ -2,6 +2,7 @@
 
 import android.graphics.Color;
 import android.util.Log;
+import androidx.annotation.Nullable;
 
 import com.google.android.gms.maps.GoogleMap;
 import com.google.android.gms.maps.model.LatLng;
@@ -115,6 +116,42 @@ public int logicalFloorToIndex(int logicalFloor) {
         return clampFloorIndex(logicalFloor + getAutoFloorBias());
     }
 
+    public int indexToLogicalFloor(int floorIndex) {
+        if (currentFloorShapes == null || currentFloorShapes.isEmpty()) {
+            return floorIndex;
+        }
+
+        int clampedIndex = clampFloorIndex(floorIndex);
+        if (clampedIndex < 0 || clampedIndex >= currentFloorShapes.size()) {
+            return floorIndex;
+        }
+
+        String displayName = currentFloorShapes.get(clampedIndex).getDisplayName();
+        String canonical = canonicalFloorLabel(displayName);
+
+        switch (canonical) {
+            case "LG":
+                return -1;
+            case "G":
+                return 0;
+            case "1":
+                return 1;
+            case "2":
+                return 2;
+            case "3":
+                return 3;
+            default:
+                return clampedIndex - getAutoFloorBias();
+        }
+    }
+
+    public int indexToLogicalFloor(@Nullable Integer floorIndex) {
+        if (floorIndex == null) {
+            return 0;
+        }
+        return indexToLogicalFloor(floorIndex.intValue());
+    }
+
     public int clampFloorIndex(int floorIndex) {
         if (currentFloorShapes == null || currentFloorShapes.isEmpty()) {
             return 0;
diff --git a/app/src/main/java/com/openpositioning/PositionMe/utils/TcpClient.java b/app/src/main/java/com/openpositioning/PositionMe/utils/TcpClient.java
new file mode 100644
index 00000000..dbf6262b
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/utils/TcpClient.java
@@ -0,0 +1,53 @@
+package com.openpositioning.PositionMe.utils;
+
+import android.util.Log;
+import java.io.PrintWriter;
+import java.net.Socket;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+
+public class TcpClient {
+    private Socket socket;
+    private PrintWriter writer;
+    // Single thread executor to handle all network I/O in order
+    private final ExecutorService executor = Executors.newSingleThreadExecutor();
+
+    public TcpClient(String serverIp, int port) {
+        executor.execute(() -> {
+            try {
+                Log.d("TCP", "Attempting to connect to " + serverIp);
+                socket = new Socket(serverIp, port);
+                writer = new PrintWriter(socket.getOutputStream(), true);
+                Log.d("TCP", "Connected successfully!");
+            } catch (Exception e) {
+                Log.e("TCP", "Connection failed", e);
+            }
+        });
+    }
+
+    public void send(String msg) {
+        // Run the network write on the background thread
+        executor.execute(() -> {
+            if (writer != null) {
+                writer.print(msg);
+                writer.flush();    // Ensure it's pushed out immediately
+            } else {
+                // Optional: Log that we are dropping data because not connected yet
+                Log.w("TCP", "Writer null, message dropped");
+            }
+        });
+    }
+
+    public void stopClient() {
+        executor.execute(() -> {
+            try {
+                if (writer != null) writer.close();
+                if (socket != null) socket.close();
+                executor.shutdown();
+                Log.d("TCP", "Client stopped");
+            } catch (Exception e) {
+                Log.e("TCP", "Error closing client", e);
+            }
+        });
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/utils/TcpPacketSender.java b/app/src/main/java/com/openpositioning/PositionMe/utils/TcpPacketSender.java
new file mode 100644
index 00000000..3dcf676c
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/utils/TcpPacketSender.java
@@ -0,0 +1,160 @@
+package com.openpositioning.PositionMe.utils;
+
+import android.util.Log;
+
+import com.google.android.gms.maps.model.LatLng;
+import com.openpositioning.PositionMe.sensors.SensorFusion;
+import com.openpositioning.PositionMe.sensors.SensorTypes;
+import com.openpositioning.PositionMe.sensors.Wifi;
+
+import org.json.JSONArray;
+import org.json.JSONException;
+import org.json.JSONObject;
+
+import java.util.List;
+import java.util.Map;
+import com.openpositioning.PositionMe.fusion.CoordinateConverter;
+
+/**
+ * Builds newline-delimited JSON packets from the current live sensor state and
+ * sends them through the existing {@link TcpClient}.
+ *
+ * <p>The packet is designed to match the current Python GUI server, which expects
+ * "pdr", "imu", and "wifi" sections in each JSON object.</p>
+ */
+public class TcpPacketSender {
+
+    private static final String TAG = "TcpPacketSender";
+
+    private final SensorFusion sensorFusion;
+    private final TcpClient tcpClient;
+    private CoordinateConverter coordinateConverter;
+
+    /**
+     * Creates a TCP packet sender for live JSON streaming.
+     *
+     * @param sensorFusion shared sensor fusion singleton providing live sensor data
+     * @param tcpClient TCP client used to send the packets
+     */
+    public TcpPacketSender(SensorFusion sensorFusion, TcpClient tcpClient) {
+        this.sensorFusion = sensorFusion;
+        this.tcpClient = tcpClient;
+    }
+
+    /**
+     * Builds a JSON packet from the latest live data and sends it to the TCP server.
+     *
+     * <p>Each packet is newline-delimited so that the Python server can split and
+     * decode it correctly.</p>
+     */
+    public void sendLatestPacket() {
+        try {
+            JSONObject packet = buildPacket();
+            tcpClient.send(packet.toString() + "\n");
+        } catch (JSONException e) {
+            Log.e(TAG, "Failed to build TCP JSON packet", e);
+        }
+    }
+
+    /**
+     * Initialises the coordinate converter using the best available absolute reference.
+     *
+     * <p>Wi-Fi is preferred. If Wi-Fi is unavailable, GNSS is used instead.</p>
+     */
+    private void initialiseConverterIfNeeded() {
+        if (coordinateConverter != null) {
+            return;
+        }
+
+        LatLng reference = sensorFusion.getLatLngWifiPositioning();
+
+        if (reference == null) {
+            float[] gnss = sensorFusion.getGNSSLatitude(false);
+            if (gnss != null && gnss.length >= 2) {
+                reference = new LatLng(gnss[0], gnss[1]);
+            }
+        }
+
+        if (reference != null) {
+            coordinateConverter = new CoordinateConverter(reference.latitude, reference.longitude);
+        }
+    }
+
+    /**
+     * Builds the current JSON packet from PDR, IMU, and Wi-Fi data.
+     *
+     * @return packet ready to be serialized and sent
+     * @throws JSONException if JSON building fails
+     */
+    private JSONObject buildPacket() throws JSONException {
+        JSONObject packet = new JSONObject();
+        packet.put("timestamp", System.currentTimeMillis());
+
+        Map<SensorTypes, float[]> sensorValues = sensorFusion.getSensorValueMap();
+
+        // PDR block
+        float[] pdr = sensorValues.get(SensorTypes.PDR);
+        JSONObject pdrObject = new JSONObject();
+        pdrObject.put("x", pdr != null && pdr.length > 0 ? pdr[0] : 0.0);
+        pdrObject.put("y", pdr != null && pdr.length > 1 ? pdr[1] : 0.0);
+        packet.put("pdr", pdrObject);
+
+        // IMU block: accelerometer + gyroscope
+        float[] accel = sensorValues.get(SensorTypes.ACCELEROMETER);
+        float[] gyro = sensorValues.get(SensorTypes.GYRO);
+
+        JSONObject imuObject = new JSONObject();
+        imuObject.put("accel_x", accel != null && accel.length > 0 ? accel[0] : 0.0);
+        imuObject.put("accel_y", accel != null && accel.length > 1 ? accel[1] : 0.0);
+        imuObject.put("accel_z", accel != null && accel.length > 2 ? accel[2] : 0.0);
+
+        imuObject.put("gyro_x", gyro != null && gyro.length > 0 ? gyro[0] : 0.0);
+        imuObject.put("gyro_y", gyro != null && gyro.length > 1 ? gyro[1] : 0.0);
+        imuObject.put("gyro_z", gyro != null && gyro.length > 2 ? gyro[2] : 0.0);
+
+        packet.put("imu", imuObject);
+
+        // Wi-Fi block
+        initialiseConverterIfNeeded();
+
+        JSONObject wifiObject = new JSONObject();
+        //Raw Wi-Fi AP List
+        JSONArray wifiArray = new JSONArray();
+        List<Wifi> wifiList = sensorFusion.getWifiList();
+        if (wifiList != null) {
+            for (Wifi wifi : wifiList) {
+                JSONObject ap = new JSONObject();
+                ap.put("bssid", wifi.getBssid());
+                ap.put("rssi", wifi.getLevel());
+                wifiArray.put(ap);
+            }
+        }
+        wifiObject.put("access_points",wifiArray);
+
+        //Wi-Fi positioning result
+        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
+        if (wifiLatLng != null) {
+            wifiObject.put("lat", wifiLatLng.latitude);
+            wifiObject.put("lng", wifiLatLng.longitude);
+
+            if (coordinateConverter != null) {
+                double[] wifiLocal = coordinateConverter.latLngToLocal(wifiLatLng);
+                wifiObject.put("x", wifiLocal[0]);
+                wifiObject.put("y", wifiLocal[1]);
+            } else {
+                wifiObject.put("x", JSONObject.NULL);
+                wifiObject.put("y", JSONObject.NULL);
+            }
+        } else {
+            wifiObject.put("lat", JSONObject.NULL);
+            wifiObject.put("lng", JSONObject.NULL);
+            wifiObject.put("x", JSONObject.NULL);
+            wifiObject.put("y", JSONObject.NULL);
+        }
+        wifiObject.put("floor",sensorFusion.getWifiFloor());
+
+        packet.put("wifi", wifiObject);
+
+        return packet;
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/res/layout/fragment_startlocation.xml b/app/src/main/res/layout/fragment_startlocation.xml
index 135478dd..5fa94ee2 100644
--- a/app/src/main/res/layout/fragment_startlocation.xml
+++ b/app/src/main/res/layout/fragment_startlocation.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<androidx.constraintlayout.widget.ConstraintLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
@@ -8,96 +9,135 @@
     <androidx.fragment.app.FragmentContainerView
         android:id="@+id/startMap"
         android:name="com.google.android.gms.maps.SupportMapFragment"
-        android:layout_width="match_parent"
-        android:layout_height="match_parent"
-        tools:context=".MapsActivity" />
+        android:layout_width="0dp"
+        android:layout_height="0dp"
+        tools:context=".presentation.fragment.StartLocationFragment"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent" />
 
-    <FrameLayout
-        android:layout_width="match_parent"
-        android:layout_height="match_parent">
+    <com.google.android.material.card.MaterialCardView
+        android:id="@+id/cardView"
+        android:layout_width="0dp"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="12dp"
+        android:layout_marginTop="12dp"
+        android:layout_marginEnd="12dp"
+        app:cardCornerRadius="14dp"
+        app:cardElevation="4dp"
+        app:cardBackgroundColor="@color/md_theme_primary"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent">
 
-        <androidx.constraintlayout.widget.ConstraintLayout
+        <TextView
+            android:id="@+id/correctionInfoView"
             android:layout_width="match_parent"
-            android:layout_height="match_parent">
+            android:layout_height="wrap_content"
+            android:padding="14dp"
+            android:text="Drag the marker or tap a blue building outline, then choose the floor."
+            android:textAlignment="center"
+            android:textAppearance="?attr/textAppearanceBodyMedium"
+            android:textColor="@color/md_theme_onPrimary" />
+    </com.google.android.material.card.MaterialCardView>
 
-            <com.google.android.material.card.MaterialCardView
-                android:id="@+id/cardView"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:layout_margin="8dp"
-                android:backgroundTint="@color/md_theme_primary"
-                app:cardCornerRadius="12dp"
-                app:cardElevation="4dp"
-                app:layout_constraintTop_toTopOf="parent"
-                app:layout_constraintStart_toStartOf="parent"
-                app:layout_constraintEnd_toEndOf="parent">
+    <LinearLayout
+        android:id="@+id/mapModePanel"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="12dp"
+        android:layout_marginTop="12dp"
+        android:background="#CCFFFFFF"
+        android:elevation="4dp"
+        android:orientation="vertical"
+        android:padding="8dp"
+        app:layout_constraintTop_toBottomOf="@id/cardView"
+        app:layout_constraintStart_toStartOf="parent">
 
-                <TextView
-                    android:id="@+id/correctionInfoView"
-                    android:layout_width="wrap_content"
-                    android:layout_height="wrap_content"
-                    android:layout_gravity="center"
-                    android:layout_margin="16dp"
-                    android:text="Drag the marker or tap a blue building outline, then choose the floor."
-                    android:textAlignment="center"
-                    android:textAppearance="?attr/textAppearanceBodyLarge"
-                    android:textColor="@color/md_theme_onPrimary" />
-            </com.google.android.material.card.MaterialCardView>
+        <com.google.android.material.button.MaterialButton
+            android:id="@+id/btnFindIndoorMap"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:minWidth="0dp"
+            android:text="Vector Preview"
+            android:textAllCaps="false"
+            android:textSize="13sp"
+            app:backgroundTint="?attr/colorPrimary"
+            app:cornerRadius="10dp" />
 
-            <LinearLayout
-                android:id="@+id/floorControlPanel"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:orientation="vertical"
-                android:gravity="center"
-                android:padding="8dp"
-                android:background="#CCFFFFFF"
-                android:layout_margin="12dp"
-                app:layout_constraintTop_toBottomOf="@id/cardView"
-                app:layout_constraintEnd_toEndOf="parent">
+        <com.google.android.material.button.MaterialButton
+            android:id="@+id/btnFindActualMap"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginTop="8dp"
+            android:minWidth="0dp"
+            android:text="Actual Map"
+            android:textAllCaps="false"
+            android:textSize="13sp"
+            app:backgroundTint="@color/md_theme_secondary"
+            app:cornerRadius="10dp" />
+    </LinearLayout>
 
-                <com.google.android.material.floatingactionbutton.FloatingActionButton
-                    android:id="@+id/floorUpButton"
-                    android:layout_width="wrap_content"
-                    android:layout_height="wrap_content"
-                    android:contentDescription="Floor up"
-                    app:srcCompat="@android:drawable/arrow_up_float"
-                    app:fabSize="mini" />
+    <LinearLayout
+        android:id="@+id/floorControlPanel"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="12dp"
+        android:layout_marginEnd="12dp"
+        android:background="#CCFFFFFF"
+        android:elevation="4dp"
+        android:gravity="center"
+        android:orientation="vertical"
+        android:padding="8dp"
+        app:layout_constraintTop_toBottomOf="@id/cardView"
+        app:layout_constraintEnd_toEndOf="parent">
 
-                <TextView
-                    android:id="@+id/floorLabel"
-                    android:layout_width="wrap_content"
-                    android:layout_height="wrap_content"
-                    android:layout_marginTop="8dp"
-                    android:layout_marginBottom="8dp"
-                    android:text="G"
-                    android:textStyle="bold"
-                    android:textSize="18sp" />
+        <com.google.android.material.floatingactionbutton.FloatingActionButton
+            android:id="@+id/floorUpButton"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:contentDescription="Floor up"
+            app:fabSize="mini"
+            app:srcCompat="@android:drawable/arrow_up_float" />
 
-                <com.google.android.material.floatingactionbutton.FloatingActionButton
-                    android:id="@+id/floorDownButton"
-                    android:layout_width="wrap_content"
-                    android:layout_height="wrap_content"
-                    android:contentDescription="Floor down"
-                    app:srcCompat="@android:drawable/arrow_down_float"
-                    app:fabSize="mini" />
-            </LinearLayout>
+        <TextView
+            android:id="@+id/floorLabel"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginTop="8dp"
+            android:layout_marginBottom="8dp"
+            android:text="G"
+            android:textColor="@android:color/black"
+            android:textSize="18sp"
+            android:textStyle="bold" />
 
-            <Button
-                android:id="@+id/startLocationDone"
-                android:layout_width="150dp"
-                android:layout_height="56dp"
-                android:layout_marginBottom="24dp"
-                android:text="Set Location"
-                android:textSize="24sp"
-                app:icon="@drawable/ic_baseline_add_location_24"
-                app:iconGravity="start"
-                app:iconSize="30dp"
-                app:layout_constraintBottom_toBottomOf="parent"
-                app:layout_constraintEnd_toEndOf="parent"
-                app:layout_constraintStart_toStartOf="parent" />
+        <com.google.android.material.floatingactionbutton.FloatingActionButton
+            android:id="@+id/floorDownButton"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:contentDescription="Floor down"
+            app:fabSize="mini"
+            app:srcCompat="@android:drawable/arrow_down_float" />
+    </LinearLayout>
 
-        </androidx.constraintlayout.widget.ConstraintLayout>
+    <com.google.android.material.button.MaterialButton
+        android:id="@+id/startLocationDone"
+        android:layout_width="wrap_content"
+        android:layout_height="52dp"
+        android:layout_marginBottom="24dp"
+        android:minWidth="180dp"
+        android:text="Set Location"
+        android:textAllCaps="false"
+        android:textSize="18sp"
+        app:icon="@drawable/ic_baseline_add_location_24"
+        app:iconGravity="textStart"
+        app:iconPadding="8dp"
+        app:iconSize="22dp"
+        app:cornerRadius="14dp"
+        app:backgroundTint="?attr/colorPrimary"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent" />
 
-    </FrameLayout>
-</RelativeLayout>
+</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/app/src/main/res/layout/fragment_trajectory_map.xml b/app/src/main/res/layout/fragment_trajectory_map.xml
index 87ac55f0..68464393 100644
--- a/app/src/main/res/layout/fragment_trajectory_map.xml
+++ b/app/src/main/res/layout/fragment_trajectory_map.xml
@@ -4,158 +4,171 @@
     xmlns:tools="http://schemas.android.com/tools"
     android:id="@+id/trajectory_map_root"
     android:layout_width="match_parent"
-    android:layout_height="match_parent">
+    android:layout_height="match_parent"
+    tools:context=".presentation.fragment.TrajectoryMapFragment">
 
+    <!-- Google Map container -->
     <androidx.fragment.app.FragmentContainerView
         android:id="@+id/trajectoryMap"
         android:name="com.google.android.gms.maps.SupportMapFragment"
         android:layout_width="match_parent"
         android:layout_height="match_parent" />
 
-    <LinearLayout
-        android:layout_width="wrap_content"
+    <!-- Top-left control card -->
+    <com.google.android.material.card.MaterialCardView
+        android:id="@+id/mapControlCard"
+        android:layout_width="220dp"
         android:layout_height="wrap_content"
-        android:layout_margin="10dp"
-        android:gravity="top"
-        android:orientation="vertical"
+        android:layout_margin="12dp"
+        app:cardBackgroundColor="@android:color/white"
+        app:cardCornerRadius="16dp"
+        app:cardElevation="5dp"
         app:layout_anchor="@id/trajectoryMap"
         app:layout_anchorGravity="top|start">
 
         <LinearLayout
-            android:layout_width="wrap_content"
+            android:layout_width="match_parent"
             android:layout_height="wrap_content"
-            android:gravity="top"
-            android:orientation="horizontal">
+            android:orientation="vertical"
+            android:padding="12dp">
 
-            <com.google.android.material.card.MaterialCardView
-                android:layout_width="wrap_content"
+            <LinearLayout
+                android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                app:cardBackgroundColor="#F7FFFFFF"
-                app:cardCornerRadius="12dp"
-                app:cardElevation="6dp">
+                android:gravity="center_vertical"
+                android:orientation="horizontal">
 
-                <LinearLayout
-                    android:layout_width="wrap_content"
+                <TextView
+                    android:id="@+id/mapControlTitle"
+                    android:layout_width="0dp"
                     android:layout_height="wrap_content"
-                    android:orientation="vertical"
-                    android:padding="10dp">
+                    android:layout_weight="1"
+                    android:text="Map controls"
+                    android:textColor="@android:color/black"
+                    android:textSize="15sp"
+                    android:textStyle="bold" />
 
-                    <TextView
-                        android:layout_width="wrap_content"
-                        android:layout_height="wrap_content"
-                        android:text="Map Controls"
-                        android:textColor="@android:color/black"
-                        android:textSize="15sp"
-                        android:textStyle="bold" />
+                <com.google.android.material.button.MaterialButton
+                    android:id="@+id/btnToggleMapControls"
+                    android:layout_width="wrap_content"
+                    android:layout_height="36dp"
+                    android:minWidth="0dp"
+                    android:text="Hide"
+                    android:textAllCaps="false"
+                    android:textSize="12sp"
+                    android:insetTop="0dp"
+                    android:insetBottom="0dp"
+                    android:insetLeft="12dp"
+                    android:insetRight="12dp"
+                    app:backgroundTint="?attr/colorPrimary"
+                    app:cornerRadius="10dp" />
+            </LinearLayout>
 
-                    <LinearLayout
-                        android:id="@+id/mapControlsContent"
-                        android:layout_width="wrap_content"
-                        android:layout_height="wrap_content"
-                        android:layout_marginTop="8dp"
-                        android:gravity="center"
-                        android:orientation="vertical">
-
-                        <com.google.android.material.switchmaterial.SwitchMaterial
-                            android:id="@+id/gnssSwitch"
-                            android:layout_width="wrap_content"
-                            android:layout_height="wrap_content"
-                            android:checked="true"
-                            android:text="Show GNSS" />
-
-                        <com.google.android.material.switchmaterial.SwitchMaterial
-                            android:id="@+id/autoFloor"
-                            android:layout_width="wrap_content"
-                            android:layout_height="wrap_content"
-                            android:text="@string/auto_floor" />
-
-                        <com.google.android.material.switchmaterial.SwitchMaterial
-                            android:id="@+id/showWifiSwitch"
-                            android:layout_width="wrap_content"
-                            android:layout_height="wrap_content"
-                            android:checked="true"
-                            android:text="Show WiFi" />
-
-                        <com.google.android.material.switchmaterial.SwitchMaterial
-                            android:id="@+id/showPdrSwitch"
-                            android:layout_width="wrap_content"
-                            android:layout_height="wrap_content"
-                            android:checked="true"
-                            android:text="Show PDR" />
-
-                        <com.google.android.material.button.MaterialButton
-                            android:id="@+id/lineColorButton"
-                            android:layout_width="wrap_content"
-                            android:layout_height="wrap_content"
-                            android:text="Red"
-                            android:textColor="@android:color/white"
-                            app:backgroundTint="@android:color/holo_red_dark"
-                            app:elevation="5dp" />
-
-                        <Spinner
-                            android:id="@+id/mapSwitchSpinner"
-                            android:layout_width="wrap_content"
-                            android:layout_height="48dp"
-                            android:layout_marginTop="8dp"
-                            android:background="@android:color/white"
-                            android:spinnerMode="dropdown" />
-                    </LinearLayout>
-                </LinearLayout>
-            </com.google.android.material.card.MaterialCardView>
+            <View
+                android:layout_width="match_parent"
+                android:layout_height="8dp" />
 
             <LinearLayout
-                android:layout_width="wrap_content"
+                android:id="@+id/mapControlContent"
+                android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                android:layout_marginStart="8dp"
-                android:orientation="horizontal">
+                android:orientation="vertical">
+
+                <com.google.android.material.switchmaterial.SwitchMaterial
+                    android:id="@+id/gnssSwitch"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:checked="true"
+                    android:minHeight="40dp"
+                    android:text="@string/gnssSwitch"
+                    android:textColor="@android:color/black"
+                    android:textSize="13sp" />
+
+                <com.google.android.material.switchmaterial.SwitchMaterial
+                    android:id="@+id/autoFloor"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:minHeight="40dp"
+                    android:text="@string/auto_floor"
+                    android:textColor="@android:color/black"
+                    android:textSize="13sp" />
+
+                <com.google.android.material.switchmaterial.SwitchMaterial
+                    android:id="@+id/showWifiSwitch"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:checked="true"
+                    android:minHeight="40dp"
+                    android:text="@string/show_wifi"
+                    android:textColor="@android:color/black"
+                    android:textSize="13sp" />
+
+                <com.google.android.material.switchmaterial.SwitchMaterial
+                    android:id="@+id/showPdrSwitch"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:checked="true"
+                    android:minHeight="40dp"
+                    android:text="@string/show_pdr"
+                    android:textColor="@android:color/black"
+                    android:textSize="13sp" />
 
                 <com.google.android.material.button.MaterialButton
-                    android:id="@+id/btnToggleControls"
-                    android:layout_width="wrap_content"
-                    android:layout_height="36dp"
-                    android:insetTop="0dp"
-                    android:insetBottom="0dp"
-                    android:minWidth="0dp"
-                    android:text="Hide"
+                    android:id="@+id/lineColorButton"
+                    android:layout_width="match_parent"
+                    android:layout_height="40dp"
+                    android:layout_marginTop="6dp"
+                    android:text="@string/color"
                     android:textAllCaps="false"
                     android:textColor="@android:color/white"
-                    app:backgroundTint="#546E7A" />
+                    android:textSize="13sp"
+                    app:backgroundTint="@color/red"
+                    app:cornerRadius="12dp"
+                    app:elevation="0dp" />
+
+                <Spinner
+                    android:id="@+id/mapSwitchSpinner"
+                    android:layout_width="match_parent"
+                    android:layout_height="40dp"
+                    android:layout_marginTop="8dp"
+                    android:background="@android:color/transparent"
+                    android:paddingStart="8dp"
+                    android:paddingEnd="8dp"
+                    android:spinnerMode="dropdown" />
 
                 <com.google.android.material.button.MaterialButton
                     android:id="@+id/btnToggleLog"
-                    android:layout_width="wrap_content"
+                    android:layout_width="match_parent"
                     android:layout_height="36dp"
-                    android:layout_marginStart="8dp"
-                    android:insetTop="0dp"
-                    android:insetBottom="0dp"
+                    android:layout_marginTop="8dp"
                     android:minWidth="0dp"
-                    android:text="Log"
+                    android:text="Show Log"
                     android:textAllCaps="false"
                     android:textColor="@android:color/white"
-                    app:backgroundTint="#455A64" />
+                    android:textSize="12sp"
+                    app:backgroundTint="#455A64"
+                    app:cornerRadius="10dp" />
 
+                <TextView
+                    android:id="@+id/debugStatusText"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:layout_marginTop="8dp"
+                    android:background="#DD263238"
+                    android:paddingStart="10dp"
+                    android:paddingTop="8dp"
+                    android:paddingEnd="10dp"
+                    android:paddingBottom="8dp"
+                    android:text="Waiting for updates"
+                    android:textColor="@android:color/white"
+                    android:textSize="12sp"
+                    android:visibility="gone"
+                    tools:visibility="visible" />
             </LinearLayout>
-
         </LinearLayout>
+    </com.google.android.material.card.MaterialCardView>
 
-        <TextView
-            android:id="@+id/debugStatusText"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_marginTop="8dp"
-            android:background="#DD263238"
-            android:paddingStart="10dp"
-            android:paddingTop="8dp"
-            android:paddingEnd="10dp"
-            android:paddingBottom="8dp"
-            android:text="abs:none  src:idle&#10;floor d/c/m: -/-/-&#10;vertical: steady Δ0.00m&#10;correction: NONE&#10;Waiting for updates"
-            android:textColor="@android:color/white"
-            android:textSize="12sp"
-            android:visibility="gone"
-            tools:visibility="visible" />
-
-    </LinearLayout>
-
+    <!-- Bottom/side controls -->
     <androidx.constraintlayout.widget.ConstraintLayout
         android:layout_width="match_parent"
         android:layout_height="match_parent">
@@ -164,9 +177,9 @@
             android:id="@+id/mapActionButtons"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:orientation="vertical"
             android:layout_marginStart="16dp"
             android:layout_marginBottom="16dp"
+            android:orientation="vertical"
             app:layout_constraintBottom_toBottomOf="parent"
             app:layout_constraintStart_toStartOf="parent">
 
@@ -174,85 +187,95 @@
                 android:id="@+id/selectedVenueText"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
+                android:layout_marginBottom="8dp"
+                android:background="#CCFFFFFF"
+                android:padding="8dp"
                 android:text="Tap a blue building outline to select a building"
-                android:background="#B3FFFFFF"
                 android:textColor="@android:color/black"
-                android:padding="6dp"
-                android:layout_marginBottom="8dp" />
+                android:textSize="13sp" />
 
             <com.google.android.material.progressindicator.CircularProgressIndicator
                 android:id="@+id/indoorLoadingIndicator"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
+                android:layout_marginBottom="8dp"
                 android:indeterminate="true"
-                android:visibility="gone"
-                android:layout_marginBottom="8dp" />
+                android:visibility="gone" />
 
             <com.google.android.material.button.MaterialButton
                 android:id="@+id/btnFindActualMap"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:text="Display Actual Maps"
                 android:layout_marginBottom="8dp"
-                app:backgroundTint="?attr/colorPrimary" />
+                android:text="Display Actual Maps"
+                android:textSize="14sp"
+                app:backgroundTint="?attr/colorPrimary"
+                app:cornerRadius="10dp" />
 
             <com.google.android.material.button.MaterialButton
                 android:id="@+id/btnToggleAdjustMap"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
+                android:layout_marginBottom="8dp"
                 android:text="Adjust Map"
+                android:textSize="14sp"
                 android:visibility="gone"
-                android:layout_marginBottom="8dp"
-                app:backgroundTint="#546E7A" />
+                app:backgroundTint="#607D8B"
+                app:cornerRadius="10dp" />
 
             <LinearLayout
                 android:id="@+id/calibrationPanel"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
+                android:layout_marginBottom="8dp"
+                android:background="#EFFFFFFF"
                 android:orientation="vertical"
-                android:background="#CCFFFFFF"
-                android:padding="8dp"
-                android:visibility="gone"
-                android:layout_marginBottom="8dp">
+                android:padding="10dp"
+                android:visibility="gone">
 
                 <TextView
                     android:id="@+id/calibrationTargetText"
                     android:layout_width="wrap_content"
                     android:layout_height="wrap_content"
+                    android:layout_marginBottom="4dp"
                     android:text="Target:"
                     android:textColor="@android:color/black"
-                    android:textStyle="bold"
-                    android:layout_marginBottom="4dp" />
+                    android:textSize="13sp"
+                    android:textStyle="bold" />
 
                 <TextView
                     android:id="@+id/calibrationValueText"
                     android:layout_width="wrap_content"
                     android:layout_height="wrap_content"
+                    android:layout_marginBottom="6dp"
                     android:text="x=0.000 y=0.000 w=1.000 h=1.000"
                     android:textColor="@android:color/black"
-                    android:layout_marginBottom="6dp" />
+                    android:textSize="12sp" />
 
                 <com.google.android.material.button.MaterialButton
                     android:id="@+id/btnCalibrationTarget"
                     android:layout_width="wrap_content"
                     android:layout_height="wrap_content"
+                    android:layout_marginBottom="6dp"
                     android:text="Switch Target"
+                    android:textSize="13sp"
                     android:visibility="gone"
-                    android:layout_marginBottom="6dp"
-                    app:backgroundTint="#607D8B" />
+                    app:backgroundTint="#607D8B"
+                    app:cornerRadius="10dp" />
 
                 <LinearLayout
                     android:layout_width="wrap_content"
                     android:layout_height="wrap_content"
-                    android:orientation="horizontal"
-                    android:layout_marginBottom="4dp">
+                    android:layout_marginBottom="4dp"
+                    android:orientation="horizontal">
 
                     <com.google.android.material.button.MaterialButton
                         android:id="@+id/btnCalibrateUp"
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
-                        android:text="Up"
                         android:minWidth="0dp"
+                        android:text="Up"
+                        android:textSize="12sp"
                         android:insetLeft="0dp"
                         android:insetRight="0dp" />
 
@@ -260,45 +283,49 @@
                         android:id="@+id/btnCalibrateDown"
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
-                        android:text="Down"
+                        android:layout_marginStart="4dp"
                         android:minWidth="0dp"
+                        android:text="Down"
+                        android:textSize="12sp"
                         android:insetLeft="0dp"
-                        android:insetRight="0dp"
-                        android:layout_marginStart="4dp" />
+                        android:insetRight="0dp" />
 
                     <com.google.android.material.button.MaterialButton
                         android:id="@+id/btnCalibrateLeft"
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
-                        android:text="Left"
+                        android:layout_marginStart="4dp"
                         android:minWidth="0dp"
+                        android:text="Left"
+                        android:textSize="12sp"
                         android:insetLeft="0dp"
-                        android:insetRight="0dp"
-                        android:layout_marginStart="4dp" />
+                        android:insetRight="0dp" />
 
                     <com.google.android.material.button.MaterialButton
                         android:id="@+id/btnCalibrateRight"
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
-                        android:text="Right"
+                        android:layout_marginStart="4dp"
                         android:minWidth="0dp"
+                        android:text="Right"
+                        android:textSize="12sp"
                         android:insetLeft="0dp"
-                        android:insetRight="0dp"
-                        android:layout_marginStart="4dp" />
+                        android:insetRight="0dp" />
                 </LinearLayout>
 
                 <LinearLayout
                     android:layout_width="wrap_content"
                     android:layout_height="wrap_content"
-                    android:orientation="horizontal"
-                    android:layout_marginBottom="4dp">
+                    android:layout_marginBottom="4dp"
+                    android:orientation="horizontal">
 
                     <com.google.android.material.button.MaterialButton
                         android:id="@+id/btnWidthMinus"
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
-                        android:text="W-"
                         android:minWidth="0dp"
+                        android:text="W-"
+                        android:textSize="12sp"
                         android:insetLeft="0dp"
                         android:insetRight="0dp" />
 
@@ -306,31 +333,34 @@
                         android:id="@+id/btnWidthPlus"
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
-                        android:text="W+"
+                        android:layout_marginStart="4dp"
                         android:minWidth="0dp"
+                        android:text="W+"
+                        android:textSize="12sp"
                         android:insetLeft="0dp"
-                        android:insetRight="0dp"
-                        android:layout_marginStart="4dp" />
+                        android:insetRight="0dp" />
 
                     <com.google.android.material.button.MaterialButton
                         android:id="@+id/btnHeightMinus"
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
-                        android:text="H-"
+                        android:layout_marginStart="4dp"
                         android:minWidth="0dp"
+                        android:text="H-"
+                        android:textSize="12sp"
                         android:insetLeft="0dp"
-                        android:insetRight="0dp"
-                        android:layout_marginStart="4dp" />
+                        android:insetRight="0dp" />
 
                     <com.google.android.material.button.MaterialButton
                         android:id="@+id/btnHeightPlus"
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
-                        android:text="H+"
+                        android:layout_marginStart="4dp"
                         android:minWidth="0dp"
+                        android:text="H+"
+                        android:textSize="12sp"
                         android:insetLeft="0dp"
-                        android:insetRight="0dp"
-                        android:layout_marginStart="4dp" />
+                        android:insetRight="0dp" />
                 </LinearLayout>
 
                 <LinearLayout
@@ -342,24 +372,27 @@
                         android:id="@+id/btnSaveCalibration"
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
-                        android:text="Save"
                         android:minWidth="0dp"
+                        android:text="Save"
+                        android:textSize="12sp"
                         android:insetLeft="0dp"
                         android:insetRight="0dp"
-                        app:backgroundTint="#2E7D32" />
+                        app:backgroundTint="#2E7D32"
+                        app:cornerRadius="10dp" />
 
                     <com.google.android.material.button.MaterialButton
                         android:id="@+id/btnResetCalibration"
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
-                        android:text="Reset"
+                        android:layout_marginStart="4dp"
                         android:minWidth="0dp"
+                        android:text="Reset"
+                        android:textSize="12sp"
                         android:insetLeft="0dp"
                         android:insetRight="0dp"
-                        android:layout_marginStart="4dp"
-                        app:backgroundTint="#C62828" />
+                        app:backgroundTint="#C62828"
+                        app:cornerRadius="10dp" />
                 </LinearLayout>
-
             </LinearLayout>
 
             <com.google.android.material.button.MaterialButton
@@ -367,7 +400,42 @@
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
                 android:text="Find Indoor Maps"
-                app:backgroundTint="?attr/colorPrimary" />
+                android:textSize="14sp"
+                app:backgroundTint="?attr/colorPrimary"
+                app:cornerRadius="10dp" />
+
+            <LinearLayout
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginTop="8dp"
+                android:background="#CCFFFFFF"
+                android:orientation="vertical"
+                android:padding="8dp">
+
+                <TextView
+                    android:id="@+id/debugHeading"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:text="θ: 0.00 rad"
+                    android:textColor="@android:color/black"
+                    android:textSize="12sp" />
+
+                <TextView
+                    android:id="@+id/debugAdaptedHeading"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:text="Adapted: 0.00 rad"
+                    android:textColor="@android:color/black"
+                    android:textSize="12sp" />
+
+                <TextView
+                    android:id="@+id/debugCosSin"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:text="cos: 0.00 | sin: 0.00"
+                    android:textColor="@android:color/black"
+                    android:textSize="12sp" />
+            </LinearLayout>
         </LinearLayout>
 
         <com.google.android.material.floatingactionbutton.FloatingActionButton
@@ -377,9 +445,9 @@
             android:layout_margin="16dp"
             android:src="@android:drawable/arrow_down_float"
             app:backgroundTint="?attr/colorPrimary"
-            app:tint="@android:color/white"
             app:layout_constraintBottom_toBottomOf="parent"
-            app:layout_constraintEnd_toEndOf="parent" />
+            app:layout_constraintEnd_toEndOf="parent"
+            app:tint="@android:color/white" />
 
         <TextView
             android:id="@+id/floorLabel"
@@ -407,10 +475,9 @@
             android:layout_marginBottom="28dp"
             android:src="@android:drawable/arrow_up_float"
             app:backgroundTint="?attr/colorPrimary"
-            app:tint="@android:color/white"
-            app:layout_constraintBottom_toTopOf="@+id/floorLabel"
-            app:layout_constraintEnd_toEndOf="parent" />
-
+            app:layout_constraintBottom_toTopOf="@id/floorLabel"
+            app:layout_constraintEnd_toEndOf="parent"
+            app:tint="@android:color/white" />
     </androidx.constraintlayout.widget.ConstraintLayout>
 
 </androidx.coordinatorlayout.widget.CoordinatorLayout>
\ No newline at end of file
diff --git a/app/src/main/res/values/colors.xml b/app/src/main/res/values/colors.xml
index 3f28e98d..0acfd3bb 100644
--- a/app/src/main/res/values/colors.xml
+++ b/app/src/main/res/values/colors.xml
@@ -12,7 +12,7 @@
     <color name="lightLogoBlue">#FF00A1FF</color>
     <color name="darkLogoBlue">#FF001080</color>
     <color name="primaryBlue">#FF001080</color>
-    <color name="red">#FE0000</color>
+    <color name="red">#F44336</color>
 
     <!-- Light Theme Colors -->
     <color name="md_theme_light_primary">#6750A4</color>
diff --git a/app/src/main/res/values/strings.xml b/app/src/main/res/values/strings.xml
index 125d27c3..0be3e2c8 100644
--- a/app/src/main/res/values/strings.xml
+++ b/app/src/main/res/values/strings.xml
@@ -33,16 +33,16 @@
 
 
     <!-- Misc -->
-    <string name="x">X: %1s</string>
-    <string name="y">Y: %1s</string>
-    <string name="z">Z: %1s</string>
-    <string name="level">Level: %1s</string>
-    <string name="lati">Lat: %1s</string>
-    <string name="longi">Long: %1s</string>
+    <string name="x">X: %1$s</string>
+    <string name="y">Y: %1$s</string>
+    <string name="z">Z: %1$s</string>
+    <string name="level">Level: %1$s</string>
+    <string name="lati">Lat: %1$s</string>
+    <string name="longi">Long: %1$s</string>
     <string name="position">PDR Position</string>
     <string name="id">ID</string>
     <string name="datetime">Date&amp;Time</string>
-    <string name="elevation">Elevation: %1s</string>
+    <string name="elevation">Elevation: %1$s</string>
     <string name="averageStepLgn">Computed Avg. Step Length</string>
     <string name="correctStepLgn">unit: cm</string>
     <string name="locationInstructions">Long press and drag the marker to your start location</string>
@@ -113,11 +113,11 @@
     <string name="building_def_title">Default building assumptions</string>
     <string name="floor_height">Floor height in meters</string>
     <string name="color">Color</string>
-    <string name="gnssSwitch">🛰 Show GNSS </string>
+    <string name="gnssSwitch">🛰️ Show GNSS</string>
     <string name="floor_down_button">Floor Down button</string>
     <string name="floor_up_button">Floor Up button</string>
     <string name="choose_map">Choose Map</string>
-    <string name="auto_floor">❇️ Auto Floor </string>
+    <string name="auto_floor">🛗 Auto Floor</string>
     <string name="gnss_error">GNSS error:</string>
     <string name="satellite">Satellite</string>
     <string name="normal">Normal</string>
@@ -150,4 +150,31 @@
     <string name="upload_anyway">Upload Anyway</string>
     <string name="cancel_upload">Cancel</string>
 
+    <!-- Trajectory map UI -->
+    <string name="map_controls">Map controls</string>
+    <string name="hide">Hide</string>
+    <string name="show">Show</string>
+    <string name="show_log">Show Log</string>
+    <string name="show_wifi">🛜 Show WiFi</string>
+    <string name="show_pdr">🚶🏻 Show PDR</string>
+    <string name="display_actual_maps">Display Actual Maps</string>
+    <string name="hide_actual_maps">Hide Actual Maps</string>
+    <string name="adjust_map">Adjust Map</string>
+    <string name="hide_adjust_map">Hide Adjust Map</string>
+    <string name="switch_target">Switch Target</string>
+    <string name="find_indoor_maps">Find Indoor Maps</string>
+    <string name="save">Save</string>
+    <string name="reset">Reset</string>
+    <string name="up">Up</string>
+    <string name="down">Down</string>
+    <string name="left">Left</string>
+    <string name="right">Right</string>
+    <string name="width_minus">W-</string>
+    <string name="width_plus">W+</string>
+    <string name="height_minus">H-</string>
+    <string name="height_plus">H+</string>
+    <string name="tap_building_to_select">Tap a blue building outline to select a building</string>
+    <string name="waiting_for_updates">Waiting for updates</string>
+    <string name="map_target_prefix">Target:</string>
+
 </resources>
\ No newline at end of file
diff --git a/app/src/main/res/xml/root_preferences.xml b/app/src/main/res/xml/root_preferences.xml
index 65793d88..349f0bc1 100644
--- a/app/src/main/res/xml/root_preferences.xml
+++ b/app/src/main/res/xml/root_preferences.xml
@@ -31,6 +31,70 @@
 
     </PreferenceCategory>
 
+    <PreferenceCategory
+        app:title="Particle Filter">
+
+        <EditTextPreference
+            app:key="pf_particle_count"
+            app:title="Particle count"
+            app:defaultValue="300"
+            app:useSimpleSummaryProvider="true" />
+
+        <EditTextPreference
+            app:key="pf_sigma_step"
+            app:title="Step noise (m)"
+            app:defaultValue="0.3"
+            app:useSimpleSummaryProvider="true" />
+
+        <EditTextPreference
+            app:key="pf_sigma_theta_deg"
+            app:title="Heading noise (deg)"
+            app:defaultValue="6.5"
+            app:useSimpleSummaryProvider="true" />
+
+        <EditTextPreference
+            app:key="pf_sigma_wifi"
+            app:title="WiFi sigma (m)"
+            app:defaultValue="4.0"
+            app:useSimpleSummaryProvider="true" />
+
+        <EditTextPreference
+            app:key="pf_sigma_gnss"
+            app:title="GNSS sigma (m)"
+            app:defaultValue="5.0"
+            app:useSimpleSummaryProvider="true" />
+
+        <EditTextPreference
+            app:key="pf_init_pos_std"
+            app:title="Initial position spread (m)"
+            app:defaultValue="1.0"
+            app:useSimpleSummaryProvider="true" />
+
+        <EditTextPreference
+            app:key="pf_init_heading_deg"
+            app:title="Initial heading spread (deg)"
+            app:defaultValue="10"
+            app:useSimpleSummaryProvider="true" />
+
+        <EditTextPreference
+            app:key="pf_resample_ratio"
+            app:title="Resample threshold ratio"
+            app:defaultValue="0.5"
+            app:useSimpleSummaryProvider="true" />
+
+        <EditTextPreference
+            app:key="pf_sigma_reg_pos"
+            app:title="Resample position jitter (m)"
+            app:defaultValue="0.03"
+            app:useSimpleSummaryProvider="true" />
+
+        <EditTextPreference
+            app:key="pf_sigma_reg_theta_deg"
+            app:title="Resample heading jitter (deg)"
+            app:defaultValue="1.0"
+            app:useSimpleSummaryProvider="true" />
+    </PreferenceCategory>
+
     <PreferenceCategory app:title="@string/user_header"
         app:icon="@drawable/ic_baseline_directions_walk_24">
 
diff --git a/app/tools/tcp_monitor/README.md b/app/tools/tcp_monitor/README.md
new file mode 100644
index 00000000..fb6c551a
--- /dev/null
+++ b/app/tools/tcp_monitor/README.md
@@ -0,0 +1,19 @@
+TCP Monitor for PositionMe live debugging
+
+Run:
+python Tcp_Client.py
+
+Recommended settings:
+- Listen IP: 0.0.0.0
+- Port: 6000
+
+Android app should connect to:
+- serverIp = <laptop IPv4 address>
+- serverPort = 6000
+
+Displays:
+- PDR x/y
+- accelerometer
+- gyroscope
+- Wi-Fi AP list summary
+- Wi-Fi lat/lng/x/y/floor
\ No newline at end of file
diff --git a/app/tools/tcp_monitor/Tcp_Client.py b/app/tools/tcp_monitor/Tcp_Client.py
new file mode 100644
index 00000000..b8576162
--- /dev/null
+++ b/app/tools/tcp_monitor/Tcp_Client.py
@@ -0,0 +1,263 @@
+import json
+import queue
+import socket
+import threading
+import tkinter as tk
+from tkinter import ttk, messagebox
+
+
+class TcpGuiServer:
+    def __init__(self, root):
+        self.root = root
+        self.root.title("PositionMe TCP Monitor")
+        self.root.geometry("900x650")
+
+        self.server_socket = None
+        self.client_socket = None
+        self.server_thread = None
+        self.running = False
+        self.data_queue = queue.Queue()
+
+        self.packet_count = 0
+
+        self._build_ui()
+        self._poll_queue()
+
+    def _build_ui(self):
+        top = ttk.Frame(self.root, padding=10)
+        top.pack(fill="x")
+
+        ttk.Label(top, text="Listen IP:").grid(row=0, column=0, sticky="w", padx=5, pady=5)
+        self.ip_var = tk.StringVar(value="0.0.0.0")
+        self.ip_entry = ttk.Entry(top, textvariable=self.ip_var, width=18)
+        self.ip_entry.grid(row=0, column=1, sticky="w", padx=5, pady=5)
+
+        ttk.Label(top, text="Port:").grid(row=0, column=2, sticky="w", padx=5, pady=5)
+        self.port_var = tk.StringVar(value="6000")
+        self.port_entry = ttk.Entry(top, textvariable=self.port_var, width=8)
+        self.port_entry.grid(row=0, column=3, sticky="w", padx=5, pady=5)
+
+        self.start_btn = ttk.Button(top, text="Start Server", command=self.start_server)
+        self.start_btn.grid(row=0, column=4, padx=10, pady=5)
+
+        self.stop_btn = ttk.Button(top, text="Stop Server", command=self.stop_server)
+        self.stop_btn.grid(row=0, column=5, padx=5, pady=5)
+
+        self.status_var = tk.StringVar(value="Status: stopped")
+        ttk.Label(top, textvariable=self.status_var).grid(
+            row=0, column=6, sticky="w", padx=10, pady=5
+        )
+
+        content = ttk.Frame(self.root, padding=10)
+        content.pack(fill="both", expand=True)
+
+        left = ttk.Frame(content)
+        left.pack(side="left", fill="both", expand=True, padx=(0, 5))
+
+        right = ttk.Frame(content)
+        right.pack(side="right", fill="both", expand=True, padx=(5, 0))
+
+        # Live log
+        ttk.Label(left, text="Live JSON Log").pack(anchor="w")
+        self.log_text = tk.Text(left, height=30, wrap="word")
+        self.log_text.pack(fill="both", expand=True)
+
+        # Parsed data
+        ttk.Label(right, text="Latest Parsed Data").pack(anchor="w")
+
+        form = ttk.Frame(right)
+        form.pack(fill="x", pady=10)
+
+        self.fields = {}
+        rows = [
+            "timestamp",
+            "packet_count",
+            "pdr_x",
+            "pdr_y",
+            "accel_x",
+            "accel_y",
+            "accel_z",
+            "gyro_x",
+            "gyro_y",
+            "gyro_z",
+            "wifi_lat",
+            "wifi_lng",
+            "wifi_x",
+            "wifi_y",
+            "wifi_floor",
+            "wifi_count",
+            "strongest_ap",
+            "strongest_rssi",
+        ]
+
+        for i, key in enumerate(rows):
+            ttk.Label(form, text=f"{key}:").grid(row=i, column=0, sticky="w", padx=5, pady=3)
+            var = tk.StringVar(value="-")
+            ttk.Label(form, textvariable=var, width=30).grid(
+                row=i, column=1, sticky="w", padx=5, pady=3
+            )
+            self.fields[key] = var
+
+    def start_server(self):
+        if self.running:
+            messagebox.showinfo("Info", "Server is already running.")
+            return
+
+        host = self.ip_var.get().strip()
+        port_text = self.port_var.get().strip()
+
+        if not host:
+            messagebox.showerror("Error", "Please enter a listen IP.")
+            return
+
+        try:
+            port = int(port_text)
+        except ValueError:
+            messagebox.showerror("Error", "Port must be an integer.")
+            return
+
+        self.running = True
+        self.server_thread = threading.Thread(
+            target=self._server_loop,
+            args=(host, port),
+            daemon=True
+        )
+        self.server_thread.start()
+        self.status_var.set(f"Status: listening on {host}:{port}")
+
+    def stop_server(self):
+        self.running = False
+
+        try:
+            if self.client_socket:
+                self.client_socket.close()
+        except Exception:
+            pass
+        self.client_socket = None
+
+        try:
+            if self.server_socket:
+                self.server_socket.close()
+        except Exception:
+            pass
+        self.server_socket = None
+
+        self.status_var.set("Status: stopped")
+
+    def _server_loop(self, host, port):
+        try:
+            self.server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            self.server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+            self.server_socket.bind((host, port))
+            self.server_socket.listen(1)
+
+            while self.running:
+                self.status_var.set(f"Status: waiting for client on {host}:{port}")
+                client_socket, addr = self.server_socket.accept()
+                self.client_socket = client_socket
+                self.status_var.set(f"Status: connected to {addr[0]}:{addr[1]}")
+
+                with client_socket:
+                    buffer = ""
+                    while self.running:
+                        data = client_socket.recv(4096)
+                        if not data:
+                            break
+
+                        buffer += data.decode("utf-8", errors="replace")
+
+                        while "\n" in buffer:
+                            line, buffer = buffer.split("\n", 1)
+                            line = line.strip()
+                            if not line:
+                                continue
+
+                            self.data_queue.put(line)
+
+                self.client_socket = None
+                if self.running:
+                    self.status_var.set("Status: client disconnected, waiting again...")
+
+        except OSError as e:
+            if self.running:
+                self.data_queue.put(f"__ERROR__:{e}")
+        finally:
+            self.stop_server()
+
+    def _poll_queue(self):
+        try:
+            while True:
+                item = self.data_queue.get_nowait()
+
+                if item.startswith("__ERROR__:"):
+                    self.status_var.set(f"Status: error - {item[len('__ERROR__:'):]}")
+                    continue
+
+                self.log_text.insert("end", item + "\n")
+                self.log_text.see("end")
+                self._parse_and_display(item)
+        except queue.Empty:
+            pass
+
+        self.root.after(100, self._poll_queue)
+
+    def _parse_and_display(self, raw_line):
+        try:
+            packet = json.loads(raw_line)
+        except json.JSONDecodeError:
+            return
+
+        self.packet_count += 1
+        self.fields["packet_count"].set(str(self.packet_count))
+        self.fields["timestamp"].set(str(packet.get("timestamp", "-")))
+
+        # PDR
+        pdr = packet.get("pdr", {})
+        self.fields["pdr_x"].set(self._fmt(pdr.get("x")))
+        self.fields["pdr_y"].set(self._fmt(pdr.get("y")))
+
+        # IMU
+        imu = packet.get("imu", {})
+        self.fields["accel_x"].set(self._fmt(imu.get("accel_x")))
+        self.fields["accel_y"].set(self._fmt(imu.get("accel_y")))
+        self.fields["accel_z"].set(self._fmt(imu.get("accel_z")))
+        self.fields["gyro_x"].set(self._fmt(imu.get("gyro_x")))
+        self.fields["gyro_y"].set(self._fmt(imu.get("gyro_y")))
+        self.fields["gyro_z"].set(self._fmt(imu.get("gyro_z")))
+
+        # Wi-Fi
+        wifi = packet.get("wifi", {})
+        self.fields["wifi_lat"].set(self._fmt(wifi.get("lat"), digits=6))
+        self.fields["wifi_lng"].set(self._fmt(wifi.get("lng"), digits=6))
+        self.fields["wifi_x"].set(self._fmt(wifi.get("x")))
+        self.fields["wifi_y"].set(self._fmt(wifi.get("y")))
+        self.fields["wifi_floor"].set(str(wifi.get("floor", "-")))
+
+        access_points = wifi.get("access_points", [])
+        self.fields["wifi_count"].set(str(len(access_points)))
+
+        strongest_ap = "-"
+        strongest_rssi = "-"
+        if access_points:
+            best = max(access_points, key=lambda ap: ap.get("rssi", -9999))
+            strongest_ap = best.get("bssid", "-")
+            strongest_rssi = str(best.get("rssi", "-"))
+
+        self.fields["strongest_ap"].set(strongest_ap)
+        self.fields["strongest_rssi"].set(strongest_rssi)
+
+    @staticmethod
+    def _fmt(value, digits=3):
+        if value is None:
+            return "-"
+        try:
+            return f"{float(value):.{digits}f}"
+        except (TypeError, ValueError):
+            return str(value)
+
+
+if __name__ == "__main__":
+    root = tk.Tk()
+    app = TcpGuiServer(root)
+    root.protocol("WM_DELETE_WINDOW", lambda: (app.stop_server(), root.destroy()))
+    root.mainloop()
\ No newline at end of file
diff --git a/secrets.properties b/secrets.properties
index a25ed94c..a118644e 100644
--- a/secrets.properties
+++ b/secrets.properties
@@ -1,4 +1,6 @@
 #
 # Modify the variables to set your keys
 #
-
+MAPS_API_KEY=
+OPENPOSITIONING_API_KEY=
+OPENPOSITIONING_MASTER_KEY=
\ No newline at end of file

From 98c23b56931ad9c2685f61d51143f8a8caed9a58 Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Fri, 27 Mar 2026 20:43:01 +0000
Subject: [PATCH 24/35] Initial floor restoration

---
 .../fragment/FloorController.java             |  87 +++++++++++++++++-
 .../fragment/MapMatchingCoordinator.java      |  11 ++-
 .../fragment/RecordingFragment.java           |  10 +-
 .../fragment/TrajectoryMapFragment.java       |  68 +++++++++-----
 app/src/main_already.zip                      | Bin 7105151 -> 0 bytes
 5 files changed, 145 insertions(+), 31 deletions(-)
 delete mode 100644 app/src/main_already.zip

diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
index 43c093f3..31201de2 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
@@ -30,6 +30,8 @@ public class FloorController {
     private static final long AUTO_FLOOR_CHECK_INTERVAL_MS = 1000L;
     private static final float AUTO_FLOOR_MIN_VERTICAL_DELTA_METERS = 1.2f;
     private static final float AUTO_FLOOR_VERTICAL_FRACTION_PER_FLOOR = 0.55f;
+    private static final long INITIAL_FLOOR_WIFI_STABLE_MS = 1500L;
+    private static final int INITIAL_FLOOR_WIFI_REQUIRED_SAMPLES = 3;
 
     public interface Host {
         @Nullable FloorplanApiClient.BuildingInfo getSelectedFloorplanBuilding();
@@ -52,6 +54,10 @@ public interface Host {
     private int lastCandidateFloor = Integer.MIN_VALUE;
     private long lastCandidateTime = 0L;
     private float lastCommittedElevationMeters = Float.NaN;
+    private boolean initialFloorResolved = false;
+    private int pendingInitialWifiFloor = Integer.MIN_VALUE;
+    private long pendingInitialWifiSinceMs = 0L;
+    private int pendingInitialWifiSamples = 0;
 
     private SwitchMaterial autoFloorSwitch;
     private FloatingActionButton floorUpButton;
@@ -120,6 +126,14 @@ private void attachListeners() {
     }
 
     public void setFloor(int newFloorIndex) {
+        applyFloorInternal(newFloorIndex, true);
+    }
+
+    public void refreshCurrentFloorUi() {
+        applyFloorInternal(host.getCurrentFloorIndex(), false);
+    }
+
+    private void applyFloorInternal(int newFloorIndex, boolean confirmFloor) {
         FloorplanApiClient.BuildingInfo selectedFloorplanBuilding = host.getSelectedFloorplanBuilding();
         IndoorMapManager indoorMapManager = host.getIndoorMapManager();
         if (selectedFloorplanBuilding == null || indoorMapManager == null) {
@@ -128,8 +142,12 @@ public void setFloor(int newFloorIndex) {
 
         int maxFloor = selectedFloorplanBuilding.getFloorShapesList().size() - 1;
         int clampedFloor = Math.max(0, Math.min(newFloorIndex, maxFloor));
-        host.setCurrentFloorIndex(clampedFloor);
-        syncAutoFloorAnchor();
+        if (confirmFloor) {
+            host.setCurrentFloorIndex(clampedFloor);
+            initialFloorResolved = true;
+            resetInitialFloorBootstrapState();
+            syncAutoFloorAnchor();
+        }
         host.refreshSelectedPolygonAppearance();
 
         if (!host.isIndoorMapVisible() && !host.isActualMapVisible()) {
@@ -277,6 +295,7 @@ public void startAutoFloor() {
         }
         lastCandidateFloor = Integer.MIN_VALUE;
         lastCandidateTime = 0L;
+        resetInitialFloorBootstrapState();
         applyImmediateFloor();
 
         autoFloorTask = new Runnable() {
@@ -301,6 +320,17 @@ public void applyImmediateFloor() {
             return;
         }
 
+        if (!initialFloorResolved) {
+            Integer bootstrapFloorIndex = resolveInitialWifiBootstrapFloorIndex(sensorFusion, indoorMapManager);
+            if (bootstrapFloorIndex != null) {
+                Log.d(TAG, "Initial floor bootstrap accepted from stable WiFi floor candidate: index=" + bootstrapFloorIndex);
+                setFloor(bootstrapFloorIndex);
+                lastCandidateFloor = bootstrapFloorIndex;
+                lastCandidateTime = SystemClock.elapsedRealtime();
+                return;
+            }
+        }
+
         Integer candidateFloorIndex = resolveAutoFloorCandidateIndex(sensorFusion, indoorMapManager);
         if (candidateFloorIndex == null) {
             return;
@@ -327,12 +357,17 @@ public void stopAutoFloor() {
         }
         lastCandidateFloor = Integer.MIN_VALUE;
         lastCandidateTime = 0L;
+        resetInitialFloorBootstrapState();
     }
 
     public boolean isAutoFloorEnabled() {
         return autoFloorSwitch != null && autoFloorSwitch.isChecked();
     }
 
+    public boolean hasReliableInitialFloorFix() {
+        return initialFloorResolved;
+    }
+
     public void evaluateAutoFloor() {
         if (host.isReplayModeEnabled()) {
             return;
@@ -343,6 +378,17 @@ public void evaluateAutoFloor() {
             return;
         }
 
+        if (!initialFloorResolved) {
+            Integer bootstrapFloorIndex = resolveInitialWifiBootstrapFloorIndex(sensorFusion, indoorMapManager);
+            if (bootstrapFloorIndex != null) {
+                Log.d(TAG, "Initial floor bootstrap accepted from stable WiFi floor candidate during evaluation: index=" + bootstrapFloorIndex);
+                setFloor(bootstrapFloorIndex);
+                lastCandidateFloor = bootstrapFloorIndex;
+                lastCandidateTime = SystemClock.elapsedRealtime();
+                return;
+            }
+        }
+
         Integer candidateFloorIndex = resolveAutoFloorCandidateIndex(sensorFusion, indoorMapManager);
         if (candidateFloorIndex == null) {
             return;
@@ -382,6 +428,9 @@ private Integer resolveAutoFloorCandidateIndex(@Nullable SensorFusion sensorFusi
 
         int candidateLogicalFloor;
         if (sensorFusion.getLatLngWifiPositioning() != null) {
+            if (!initialFloorResolved) {
+                return null;
+            }
             candidateLogicalFloor = sensorFusion.getWifiFloor();
         } else {
             float floorHeight = indoorMapManager.getFloorHeight();
@@ -421,7 +470,7 @@ public Integer peekTrackingFloorCandidateIndex() {
         }
 
         if (sensorFusion.getLatLngWifiPositioning() != null) {
-            return rawCandidateFloorIndex;
+            return initialFloorResolved ? rawCandidateFloorIndex : null;
         }
 
         if (shouldAllowAutoFloorChange(rawCandidateFloorIndex, sensorFusion, indoorMapManager)) {
@@ -431,6 +480,38 @@ public Integer peekTrackingFloorCandidateIndex() {
         return null;
     }
 
+    private void resetInitialFloorBootstrapState() {
+        pendingInitialWifiFloor = Integer.MIN_VALUE;
+        pendingInitialWifiSinceMs = 0L;
+        pendingInitialWifiSamples = 0;
+    }
+
+    @Nullable
+    private Integer resolveInitialWifiBootstrapFloorIndex(@NonNull SensorFusion sensorFusion,
+                                                          @NonNull IndoorMapManager indoorMapManager) {
+        if (sensorFusion.getLatLngWifiPositioning() == null) {
+            resetInitialFloorBootstrapState();
+            return null;
+        }
+
+        int candidateFloorIndex = indoorMapManager.logicalFloorToIndex(sensorFusion.getWifiFloor());
+        long now = SystemClock.elapsedRealtime();
+        if (candidateFloorIndex != pendingInitialWifiFloor) {
+            pendingInitialWifiFloor = candidateFloorIndex;
+            pendingInitialWifiSinceMs = now;
+            pendingInitialWifiSamples = 1;
+            return null;
+        }
+
+        pendingInitialWifiSamples++;
+        long stableDurationMs = now - pendingInitialWifiSinceMs;
+        if (pendingInitialWifiSamples >= INITIAL_FLOOR_WIFI_REQUIRED_SAMPLES
+                && stableDurationMs >= INITIAL_FLOOR_WIFI_STABLE_MS) {
+            return candidateFloorIndex;
+        }
+        return null;
+    }
+
     private boolean shouldAllowAutoFloorChange(int candidateFloorIndex,
                                                @NonNull SensorFusion sensorFusion,
                                                @NonNull IndoorMapManager indoorMapManager) {
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
index 8fba7a9b..01e21049 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
@@ -46,6 +46,7 @@ interface Host {
         int getCurrentFloorIndex();
         void setFloor(int floorIndex);
         boolean isAutoFloorEnabled();
+        boolean hasReliableInitialFloorFix();
         @Nullable LatLng getCurrentLocation();
         void setCurrentLocation(@NonNull LatLng location);
         @NonNull String resolveKnownBuildingKey(@NonNull FloorplanApiClient.BuildingInfo building,
@@ -157,12 +158,15 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
 
         long timestampMs = SystemClock.elapsedRealtime();
         int displayFloorIndex = host.getCurrentFloorIndex();
+        boolean hasReliableInitialFloorFix = replayMode || host.hasReliableInitialFloorFix();
         int candidateFloorIndex = replayMode
                 ? resolveReplayCandidateFloorIndex()
                 : resolveLiveCandidateFloorIndex();
-        int sourceFloorIndex = previousMatchedPose != null
+        int sourceFloorIndex = replayMode
+                ? (previousMatchedPose != null ? previousMatchedPose.getFloor() : candidateFloorIndex)
+                : (hasReliableInitialFloorFix && previousMatchedPose != null
                 ? previousMatchedPose.getFloor()
-                : candidateFloorIndex;
+                : displayFloorIndex);
         AbsoluteObservationCorrection absoluteCorrection = replayMode
                 ? AbsoluteObservationCorrection.passThrough(rawLocation, "replay_pdr")
                 : applyAbsoluteObservationCorrection(rawLocation, candidateFloorIndex);
@@ -309,6 +313,9 @@ private FloorplanApiClient.FloorShapes getFloorShapesForFloorIndex(int floorInde
     }
 
     private int resolveLiveCandidateFloorIndex() {
+        if (!host.hasReliableInitialFloorFix()) {
+            return host.getCurrentFloorIndex();
+        }
         Integer trackingCandidateFloorIndex = host.getTrackingCandidateFloorIndex();
         if (trackingCandidateFloorIndex != null) {
             return trackingCandidateFloorIndex;
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
index 3dd0dca0..b7318b14 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
@@ -519,7 +519,15 @@ private void updateLiveMapWithParticleFilter(@Nullable float[] pdrValues) {
                     fusedHeadingDeg
             );
 
-            trajectoryMapFragment.updateDisplayedFloor(fusedPose.getFloor());
+            if (!trajectoryMapFragment.isAutoFloorEnabled()) {
+                Log.d(TAG, String.format(Locale.UK,
+                        "PF_BRANCH suppressed fused display-floor update floor=%d; map-matching floor controller owns floor confirmation",
+                        fusedPose.getFloor()));
+            } else {
+                Log.d(TAG, String.format(Locale.UK,
+                        "PF_BRANCH skipped display-floor update floor=%d because AutoFloor owns display floor",
+                        fusedPose.getFloor()));
+            }
 
             // Keep debug info visible for quick validation.
             trajectoryMapFragment.updateDebugInfo((float) fusedPose.getHeadingRad());
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 92f65d38..0154b5cf 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -273,6 +273,11 @@ public boolean isAutoFloorEnabled() {
                     return autoFloorSwitch != null && autoFloorSwitch.isChecked();
                 }
 
+                @Override
+                public boolean hasReliableInitialFloorFix() {
+                    return floorController.hasReliableInitialFloorFix();
+                }
+
                 @Nullable
                 @Override
                 public LatLng getCurrentLocation() {
@@ -492,8 +497,9 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
 
         if (floorUpButton != null) {
             floorUpButton.setOnClickListener(v -> {
-                if (autoFloorSwitch != null) {
-                    autoFloorSwitch.setChecked(false);
+                if (isAutoFloorEnabled()) {
+                    Log.d(TAG, "AUTO_FLOOR ignored manual floor-up because AutoFloor owns display floor.");
+                    return;
                 }
                 if (selectedFloorplanBuilding != null) {
                     int nextFloorIndex = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, true);
@@ -506,8 +512,9 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
 
         if (floorDownButton != null) {
             floorDownButton.setOnClickListener(v -> {
-                if (autoFloorSwitch != null) {
-                    autoFloorSwitch.setChecked(false);
+                if (isAutoFloorEnabled()) {
+                    Log.d(TAG, "AUTO_FLOOR ignored manual floor-down because AutoFloor owns display floor.");
+                    return;
                 }
                 if (selectedFloorplanBuilding != null) {
                     int nextFloorIndex = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, false);
@@ -535,7 +542,7 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
                 if (indoorMapManager != null) {
                     indoorMapManager.setSelectedBuilding(selectedFloorplanBuilding);
                 }
-                setFloor(currentFloorIndex);
+                floorController.refreshCurrentFloorUi();
 
                 if (selectedVenueText != null) {
                     selectedVenueText.setText("Showing indoor vector map for " +
@@ -564,7 +571,7 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
                 if (indoorMapManager != null) {
                     indoorMapManager.setSelectedBuilding(selectedFloorplanBuilding);
                 }
-                setFloor(currentFloorIndex);
+                floorController.refreshCurrentFloorUi();
 
                 if (selectedVenueText != null) {
                     if (actualMapVisible) {
@@ -666,12 +673,30 @@ public void updateDisplayedFloor(int logicalFloor) {
         if (selectedFloorplanBuilding == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
             return;
         }
+        if (isAutoFloorEnabled()) {
+            Log.d(TAG, String.format(Locale.US,
+                    "AUTO_FLOOR ignored external display-floor update logical=%d current=%d because FloorController owns display floor",
+                    logicalFloor,
+                    currentFloorIndex));
+            return;
+        }
+        if (!floorController.hasReliableInitialFloorFix()) {
+            Log.d(TAG, String.format(Locale.US,
+                    "AUTO_FLOOR ignored external display-floor update logical=%d current=%d because initial floor is not confirmed yet",
+                    logicalFloor,
+                    currentFloorIndex));
+            return;
+        }
         int targetFloorIndex = indoorMapManager.logicalFloorToIndex(logicalFloor);
         if (targetFloorIndex != currentFloorIndex) {
             setFloor(targetFloorIndex);
         }
     }
 
+    public boolean isAutoFloorEnabled() {
+        return autoFloorSwitch != null && autoFloorSwitch.isChecked();
+    }
+
     public boolean isGnssEnabled() {
         return gnssSwitch != null && gnssSwitch.isChecked();
     }
@@ -1141,24 +1166,18 @@ private String describeCandidateFloorSource() {
     }
 
     private void startAutoFloor() {
-        if (autoFloorHandler == null) {
-            autoFloorHandler = new Handler(Looper.getMainLooper());
-        }
         lastCandidateFloor = Integer.MIN_VALUE;
         lastCandidateTime = 0L;
-        applyImmediateFloor();
-
-        autoFloorTask = new Runnable() {
-            @Override
-            public void run() {
-                evaluateAutoFloor();
-                autoFloorHandler.postDelayed(this, AUTO_FLOOR_CHECK_INTERVAL_MS);
-            }
-        };
-        autoFloorHandler.post(autoFloorTask);
+        latestCandidateLogicalFloor = Integer.MIN_VALUE;
+        floorController.startAutoFloor();
+        Log.d(TAG, String.format(Locale.US,
+                "AUTO_FLOOR delegated start visibleLogical=%d building=%s",
+                getCurrentVisibleLogicalFloor(),
+                selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : "null"));
     }
 
     private void applyImmediateFloor() {
+        floorController.applyImmediateFloor();
         if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
             Log.d(TAG, "AUTO_FLOOR applyImmediate skipped: map not ready");
             return;
@@ -1171,11 +1190,9 @@ private void applyImmediateFloor() {
     }
 
     private void stopAutoFloor() {
-        if (autoFloorHandler != null && autoFloorTask != null) {
-            autoFloorHandler.removeCallbacks(autoFloorTask);
-        }
+        floorController.stopAutoFloor();
         Log.d(TAG, String.format(Locale.US,
-                "AUTO_FLOOR stop visibleLogical=%d lastCandidate=%d latestCandidate=%d",
+                "AUTO_FLOOR delegated stop visibleLogical=%d lastCandidate=%d latestCandidate=%d",
                 getCurrentVisibleLogicalFloor(), lastCandidateFloor, latestCandidateLogicalFloor));
         lastCandidateFloor = Integer.MIN_VALUE;
         lastCandidateTime = 0L;
@@ -1183,6 +1200,7 @@ private void stopAutoFloor() {
     }
 
     private void evaluateAutoFloor() {
+        floorController.evaluateAutoFloor();
         if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
             Log.d(TAG, "AUTO_FLOOR evaluate skipped: map not ready");
             return;
@@ -1527,7 +1545,7 @@ private void setupCalibrationControls() {
                 OverlayCalibration defaults = getHardcodedCalibrationDefault(targetKey, floorKey);
                 saveOverlayCalibration(targetKey, floorKey, defaults);
                 if (actualMapVisible) {
-                    setFloor(currentFloorIndex);
+                    floorController.refreshCurrentFloorUi();
                 }
                 if (selectedVenueText != null) {
                     selectedVenueText.setText("Reset calibration for " + prettyBuildingName(targetKey) + " " + floorKey);
@@ -1567,7 +1585,7 @@ private void applyCalibrationDelta(float shiftLngDelta, float shiftLatDelta,
         saveOverlayCalibration(targetKey, floorKey, updated);
         logCalibration(targetKey, floorKey, updated, "updated");
         if (actualMapVisible) {
-            setFloor(currentFloorIndex);
+            floorController.refreshCurrentFloorUi();
         }
         updateCalibrationUi();
     }
diff --git a/app/src/main_already.zip b/app/src/main_already.zip
deleted file mode 100644
index 4100b106b264faa9a87575ec1882b4142cd73186..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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From 408d89b0143be4cda4e804593678d9df5897290b Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Fri, 27 Mar 2026 21:33:11 +0000
Subject: [PATCH 25/35] Fixed starting position in live mode

---
 .../fragment/RecordingFragment.java           |  93 ++++++++--
 .../fragment/StartLocationFragment.java       | 165 ++++++++++++------
 .../fragment/TrajectoryMapFragment.java       |  16 +-
 .../PositionMe/sensors/SensorFusion.java      |   2 +-
 4 files changed, 200 insertions(+), 76 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
index b7318b14..4098f510 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
@@ -98,8 +98,21 @@ public class RecordingFragment extends Fragment {
     private boolean tcpStreamingEnabled = false;
 
     // Autonomous initial map anchoring
+    private static final long INITIAL_ANCHOR_STABLE_DURATION_MS = 1000L;
+    private static final int INITIAL_ANCHOR_REQUIRED_SAMPLES = 3;
+    private static final double INITIAL_ANCHOR_MAX_JUMP_METRES = 8.0;
+
+    private enum InitialAnchorSource {
+        WIFI,
+        GNSS
+    }
+
     private LatLng autonomousInitialLocation = null;
     private boolean initialMapLocationSeeded = false;
+    private LatLng pendingInitialAnchorCandidate = null;
+    private InitialAnchorSource pendingInitialAnchorSource = null;
+    private long pendingInitialAnchorSinceMs = 0L;
+    private int pendingInitialAnchorSamples = 0;
 
 
     // Test point handling
@@ -592,7 +605,7 @@ private void stopTcpStreaming() {
      * Required behaviour:
      * - never use a user-selected marker as the initial position
      * - wait for live WiFi or GNSS positioning
-     * - lock the first usable fix as the recording anchor
+     * - lock a stable usable fix as the recording anchor
      */
     private void seedInitialMapLocation() {
         if (trajectoryMapFragment == null || initialMapLocationSeeded) {
@@ -625,48 +638,92 @@ private void seedInitialMapLocation() {
         );
 
         Log.d(TAG,
-                "Seeded initial map location from autonomous fix at "
+                "STEP3_ANCHOR locked autonomous initial map location at "
                         + initialFix.latitude + ", " + initialFix.longitude);
     }
 
     /**
-     * Resolves the first usable autonomous absolute position.
+     * Resolves a stable autonomous absolute position.
      *
      * Current policy:
-     * - prefer WiFi if already available
-     * - otherwise use GNSS
+     * - prefer WiFi when available for indoor starts
+     * - otherwise fall back to GNSS
+     * - require the candidate to remain stable briefly before locking
      */
     @Nullable
     private LatLng resolveAutonomousInitialLocation() {
-        // Prefer GNSS for the initial anchor
+        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
         float[] gnssLatLng = sensorFusion.getGNSSLatitude(false);
-        if (gnssLatLng != null
+
+        LatLng candidateLatLng = null;
+        InitialAnchorSource candidateSource = null;
+
+        if (isValidLatLng(wifiLatLng)) {
+            candidateLatLng = wifiLatLng;
+            candidateSource = InitialAnchorSource.WIFI;
+        } else if (gnssLatLng != null
                 && gnssLatLng.length >= 2
                 && !(Math.abs(gnssLatLng[0]) < 1e-6 && Math.abs(gnssLatLng[1]) < 1e-6)) {
+            candidateLatLng = new LatLng(gnssLatLng[0], gnssLatLng[1]);
+            candidateSource = InitialAnchorSource.GNSS;
+        }
+
+        if (candidateLatLng == null || candidateSource == null) {
+            resetPendingInitialAnchor("no usable WiFi/GNSS fix yet");
+            return null;
+        }
+
+        long now = System.currentTimeMillis();
+        boolean sourceChanged = pendingInitialAnchorSource != candidateSource;
+        boolean jumpTooLarge = pendingInitialAnchorCandidate != null
+                && UtilFunctions.distanceBetweenPoints(pendingInitialAnchorCandidate, candidateLatLng)
+                > INITIAL_ANCHOR_MAX_JUMP_METRES;
+
+        if (pendingInitialAnchorCandidate == null || sourceChanged || jumpTooLarge) {
+            pendingInitialAnchorCandidate = candidateLatLng;
+            pendingInitialAnchorSource = candidateSource;
+            pendingInitialAnchorSinceMs = now;
+            pendingInitialAnchorSamples = 1;
+
             Log.d(TAG, String.format(
                     Locale.UK,
-                    "INITIAL_ANCHOR using GNSS lat=%.6f lon=%.6f",
-                    gnssLatLng[0],
-                    gnssLatLng[1]
+                    "STEP3_ANCHOR pending source=%s lat=%.6f lon=%.6f",
+                    candidateSource,
+                    candidateLatLng.latitude,
+                    candidateLatLng.longitude
             ));
-            return new LatLng(gnssLatLng[0], gnssLatLng[1]);
+            return null;
         }
 
-        // Optional fallback to WiFi only if GNSS is unavailable
-        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
-        if (isValidLatLng(wifiLatLng)) {
+        pendingInitialAnchorSamples++;
+        long stableDurationMs = now - pendingInitialAnchorSinceMs;
+        if (pendingInitialAnchorSamples >= INITIAL_ANCHOR_REQUIRED_SAMPLES
+                || stableDurationMs >= INITIAL_ANCHOR_STABLE_DURATION_MS) {
             Log.d(TAG, String.format(
                     Locale.UK,
-                    "INITIAL_ANCHOR fallback to WiFi lat=%.6f lon=%.6f",
-                    wifiLatLng.latitude,
-                    wifiLatLng.longitude
+                    "STEP3_ANCHOR accepted stable source=%s samples=%d stableMs=%d lat=%.6f lon=%.6f",
+                    candidateSource,
+                    pendingInitialAnchorSamples,
+                    stableDurationMs,
+                    candidateLatLng.latitude,
+                    candidateLatLng.longitude
             ));
-            return wifiLatLng;
+            return candidateLatLng;
         }
 
         return null;
     }
 
+    private void resetPendingInitialAnchor(@NonNull String reason) {
+        if (pendingInitialAnchorCandidate != null || pendingInitialAnchorSource != null) {
+            Log.d(TAG, "STEP3_ANCHOR reset pending candidate: " + reason);
+        }
+        pendingInitialAnchorCandidate = null;
+        pendingInitialAnchorSource = null;
+        pendingInitialAnchorSinceMs = 0L;
+        pendingInitialAnchorSamples = 0;
+    }
+
     /**
      * Returns true only when the LatLng contains a meaningful absolute position.
      * In this codebase, (0,0) is treated as "not initialised yet".
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
index 9250a0b6..2013d9da 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
@@ -191,6 +191,25 @@ static OverlayCalibration identity() {
     private boolean hasInitialCameraPositioned = false;
     private boolean followCurrentLocationWithStartMarker = true;
 
+    private boolean isRecordingMode() {
+        return requireActivity() instanceof RecordingActivity;
+    }
+
+    private boolean isReplayMode() {
+        return requireActivity() instanceof ReplayActivity;
+    }
+
+    private void updateInstructionTextForMode() {
+        if (instructionText == null) {
+            return;
+        }
+        if (isRecordingMode()) {
+            instructionText.setText("Stand at the real start point. The app will lock the initial position automatically from GNSS/WiFi. Tap a building only to select the venue and floorplan.");
+        } else {
+            instructionText.setText("Choose the replay start point on the map, then select the building if needed.");
+        }
+    }
+
     // Live GNSS update loop
     private final Handler liveLocationHandler = new Handler(Looper.getMainLooper());
     private final Runnable liveLocationRunnable = new Runnable() {
@@ -258,6 +277,7 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
         btnFindActualMap = view.findViewById(R.id.btnFindActualMap);
 
         ensureBackToCurrentLocationButton(view);
+        updateInstructionTextForMode();
 
         floorUpButton = view.findViewById(R.id.floorUpButton);
         floorDownButton = view.findViewById(R.id.floorDownButton);
@@ -298,36 +318,46 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
             float chosenLat = startPosition[0];
             float chosenLon = startPosition[1];
 
-            // Save the user's current map zoom and chosen position so the next screen
-            // can begin with a consistent camera view.
             if (mMap != null && getContext() != null) {
                 float userChosenZoom = mMap.getCameraPosition().zoom;
-                getContext()
-                        .getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
-                        .edit()
-                        .putFloat("user_selected_zoom", userChosenZoom)
-                        .putFloat("user_start_lat", chosenLat)
-                        .putFloat("user_start_lon", chosenLon)
-                        .apply();
+                Context context = getContext();
+                Context safeContext = context;
+                if (safeContext != null) {
+                    android.content.SharedPreferences.Editor editor = safeContext
+                            .getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
+                            .edit()
+                            .putFloat("user_selected_zoom", userChosenZoom);
+
+                    if (isReplayMode()) {
+                        editor.putFloat("user_start_lat", chosenLat)
+                                .putFloat("user_start_lon", chosenLon);
+                        Log.d(TAG, String.format(java.util.Locale.UK,
+                                "STEP1_START_UI replay start saved lat=%.6f lon=%.6f zoom=%.2f",
+                                chosenLat,
+                                chosenLon,
+                                userChosenZoom));
+                    } else {
+                        editor.remove("user_start_lat");
+                        editor.remove("user_start_lon");
+                        Log.d(TAG, String.format(java.util.Locale.UK,
+                                "STEP1_START_UI recording mode saved zoom only zoom=%.2f building=%s",
+                                userChosenZoom,
+                                selectedBuildingId));
+                    }
+                    editor.apply();
+                }
             }
 
-            // Keep selected building metadata for later use.
             if (selectedBuildingId != null) {
                 sensorFusion.setSelectedBuildingId(selectedBuildingId);
+                Log.d(TAG, "STEP1_START_UI selected building=" + selectedBuildingId);
             }
 
-            if (requireActivity() instanceof RecordingActivity) {
-                /*
-                 * Start recording immediately, but do not inject the user-selected
-                 * start position into SensorFusion.
-                 *
-                 * The true initial recording position is now determined later in
-                 * RecordingFragment from the first valid autonomous WiFi/GNSS fix.
-                 */
+            if (isRecordingMode()) {
                 sensorFusion.startRecording();
+                Log.d(TAG, "STEP1_START_UI recording started; initial anchor will be autonomous");
                 ((RecordingActivity) requireActivity()).showRecordingScreen();
-
-            } else if (requireActivity() instanceof ReplayActivity) {
+            } else if (isReplayMode()) {
                 ((ReplayActivity) requireActivity()).onStartLocationChosen(chosenLat, chosenLon);
             }
         });
@@ -375,13 +405,20 @@ private void setupMap() {
                 .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_AZURE))
                 .zIndex(21f));
 
+        boolean replayMode = isReplayMode();
+
         startMarker = mMap.addMarker(new MarkerOptions()
                 .position(position)
-                .title("Selected Start")
-                .draggable(true)
-                .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_RED))
+                .title(replayMode ? "Selected Start" : "Phone Position")
+                .draggable(replayMode)
+                .icon(BitmapDescriptorFactory.defaultMarker(
+                        replayMode
+                                ? BitmapDescriptorFactory.HUE_RED
+                                : BitmapDescriptorFactory.HUE_GREEN))
                 .zIndex(22f));
 
+        Log.d(TAG, "STEP1_START_UI setupMap replayMode=" + replayMode + " draggableStartMarker=" + replayMode);
+
         // Only lock the initial camera position once a real GNSS fix exists.
         boolean gnssReady = !(startPosition[0] == 0f && startPosition[1] == 0f);
         if (!hasInitialCameraPositioned && gnssReady) {
@@ -389,30 +426,39 @@ private void setupMap() {
             hasInitialCameraPositioned = true;
         }
 
-        mMap.setOnMarkerDragListener(new GoogleMap.OnMarkerDragListener() {
-            @Override
-            public void onMarkerDragStart(@NonNull Marker marker) {
-            }
-
-            @Override
-            public void onMarkerDrag(@NonNull Marker marker) {
-            }
+        if (isReplayMode()) {
+            mMap.setOnMarkerDragListener(new GoogleMap.OnMarkerDragListener() {
+                @Override
+                public void onMarkerDragStart(@NonNull Marker marker) {
+                }
 
-            @Override
-            public void onMarkerDragEnd(@NonNull Marker marker) {
-                if (startMarker == null || !marker.equals(startMarker)) {
-                    return;
+                @Override
+                public void onMarkerDrag(@NonNull Marker marker) {
                 }
 
-                isMarkerDraggedSelection = true;
-                followCurrentLocationWithStartMarker = false;
-                startPosition[0] = (float) marker.getPosition().latitude;
-                startPosition[1] = (float) marker.getPosition().longitude;
+                @Override
+                public void onMarkerDragEnd(@NonNull Marker marker) {
+                    if (startMarker == null || !marker.equals(startMarker)) {
+                        return;
+                    }
 
-                clearBuildingSelectionAndOverlays();
-                requestBuildingData();
-            }
-        });
+                    isMarkerDraggedSelection = true;
+                    followCurrentLocationWithStartMarker = false;
+                    startPosition[0] = (float) marker.getPosition().latitude;
+                    startPosition[1] = (float) marker.getPosition().longitude;
+
+                    Log.d(TAG, String.format(java.util.Locale.UK,
+                            "STEP1_START_UI replay marker dragged lat=%.6f lon=%.6f",
+                            startPosition[0],
+                            startPosition[1]));
+
+                    clearBuildingSelectionAndOverlays();
+                    requestBuildingData();
+                }
+            });
+        } else {
+            mMap.setOnMarkerDragListener(null);
+        }
 
         mMap.setOnPolygonClickListener(polygon -> {
             String buildingName = (String) polygon.getTag();
@@ -555,14 +601,32 @@ private void onBuildingSelected(String buildingName, Polygon polygon) {
         currentFloorIndex = getDefaultFloorIndex(selectedFloorplanBuilding);
 
         LatLng center = computePolygonCenter(polygon);
-        if (startMarker != null) {
-            startMarker.setPosition(center);
-        }
+        if (isReplayMode()) {
+            if (startMarker != null) {
+                startMarker.setPosition(center);
+            }
 
-        followCurrentLocationWithStartMarker = false;
-        isMarkerDraggedSelection = true;
-        startPosition[0] = (float) center.latitude;
-        startPosition[1] = (float) center.longitude;
+            followCurrentLocationWithStartMarker = false;
+            isMarkerDraggedSelection = true;
+            startPosition[0] = (float) center.latitude;
+            startPosition[1] = (float) center.longitude;
+
+            Log.d(TAG, String.format(java.util.Locale.UK,
+                    "STEP1_START_UI replay building selected=%s centerLat=%.6f centerLon=%.6f",
+                    buildingName,
+                    center.latitude,
+                    center.longitude));
+        } else {
+            Log.d(TAG, String.format(java.util.Locale.UK,
+                    "STEP1_START_UI recording building selected=%s currentPhoneLat=%.6f currentPhoneLon=%.6f",
+                    buildingName,
+                    startPosition[0],
+                    startPosition[1]));
+            if (mMap != null) {
+                float targetZoom = Math.max(18.5f, mMap.getCameraPosition().zoom);
+                mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(center, targetZoom));
+            }
+        }
 
         updateBuildingInfoDisplay(buildingName);
         redrawSelectedBuildingOverlay();
@@ -1581,6 +1645,7 @@ private void ensureBackToCurrentLocationButton(@NonNull View root) {
     private void resetToCurrentLocation() {
         followCurrentLocationWithStartMarker = true;
         isMarkerDraggedSelection = false;
+        Log.d(TAG, "STEP1_START_UI reset to current live position");
         clearBuildingSelectionAndOverlays();
         updateLiveLocation(true);
         requestBuildingDataWhenReady();
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 0154b5cf..e8415a53 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -435,16 +435,18 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
                 if (hasPendingCameraMove && pendingCameraPosition != null) {
                     float savedZoom = getSavedMapZoom();
                     gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(pendingCameraPosition, savedZoom));
+                    Log.d(TAG, String.format(Locale.UK,
+                            "STEP2_CAMERA applied pending autonomous camera lat=%.6f lon=%.6f zoom=%.2f",
+                            pendingCameraPosition.latitude,
+                            pendingCameraPosition.longitude,
+                            savedZoom));
                     hasPendingCameraMove = false;
                     pendingCameraPosition = null;
                 } else if (!replayModeEnabled && getContext() != null) {
-                    SharedPreferences prefs = getContext().getSharedPreferences("MapCameraState", Context.MODE_PRIVATE);
-                    float savedZoom = prefs.getFloat("user_selected_zoom", 19f);
-                    float savedLat = prefs.getFloat("user_start_lat", 0f);
-                    float savedLon = prefs.getFloat("user_start_lon", 0f);
-                    if (savedLat != 0f && savedLon != 0f) {
-                        gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(new LatLng(savedLat, savedLon), savedZoom));
-                    }
+                    float savedZoom = getSavedMapZoom();
+                    Log.d(TAG, String.format(Locale.UK,
+                            "STEP2_CAMERA recording mode waiting for autonomous anchor; skip saved user_start_lat/lon restore, zoom=%.2f",
+                            savedZoom));
                 }
 
                 restoreCachedBuildingsIfAny();
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
index 792e01af..e2396fda 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
@@ -585,7 +585,7 @@ public float[] getGNSSLatitude(boolean start) {
     /**
      * Setter function for core location data.
      *
-     * @param startPosition contains the initial location set by the user
+     * @param startPosition contains the initial autonomous anchor chosen by the app
      */
     public void setStartGNSSLatitude(float[] startPosition) {
         state.startLocation[0] = startPosition[0];

From aa291a0d8cc4b89a6e1f7446d1e85c38c974a456 Mon Sep 17 00:00:00 2001
From: wxyuuu1114 <wangxinyu1114@gmail.com>
Date: Sat, 28 Mar 2026 16:42:17 +0000
Subject: [PATCH 26/35] Add PF-Map constraint integration,fix live data
 fragment initialisation, and improve trajectory/map UI

---
 .../PositionMe/fusion/FusedPose.java          |    1 +
 .../fusion/ParticleConstraintDebugger.java    |   72 ++
 .../fusion/ParticleFilterEngine.java          | 1025 +++++++++++-----
 .../fusion/ParticleFilterManager.java         | 1076 +++++++++--------
 .../PositionMe/mapmatching/CandidatePose.java |   42 +-
 .../fragment/MapMatchingCoordinator.java      |  428 +++++--
 .../fragment/MeasurementsFragment.java        |   82 +-
 .../fragment/RecordingFragment.java           |   74 +-
 .../fragment/TrajectoryMapFragment.java       |   13 +-
 .../fragment/TrajectoryRenderer.java          |  256 ++--
 .../sensors/SensorEventHandler.java           |  127 +-
 .../PositionMe/sensors/SensorFusion.java      |  674 ++++++-----
 .../PositionMe/utils/IndoorMapManager.java    |  240 ++--
 13 files changed, 2516 insertions(+), 1594 deletions(-)
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java

diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java
index 42fb82d4..ea9417de 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java
@@ -1,5 +1,6 @@
 package com.openpositioning.PositionMe.fusion;
 import com.google.android.gms.maps.model.LatLng;
+import androidx.annotation.NonNull;
 
 /**
  * Immutable model representing the latest fused pose estimate produced by the
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java
new file mode 100644
index 00000000..2fcce344
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java
@@ -0,0 +1,72 @@
+package com.openpositioning.PositionMe.fusion;
+
+import android.util.Log;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
+import java.util.Locale;
+
+/**
+ * Helper used to keep PF constraint logging readable.
+ *
+ * This class does not change PF behaviour.
+ * It only formats state into consistent Logcat lines.
+ */
+
+public class ParticleConstraintDebugger {
+    private final String tag;
+    private long lastLogTimeMs = 0L;
+    private long minIntervalMs = 0L;
+
+    public ParticleConstraintDebugger(@NonNull String tag) {
+        this.tag = tag;
+    }
+
+    public void setMinIntervalMs(long minIntervalMs) {
+        this.minIntervalMs = Math.max(0L, minIntervalMs);
+    }
+
+    public void logStep(@NonNull String phase,
+                        int particleCount,
+                        int aliveCount,
+                        int wallRejectedCount,
+                        int floorRejectedCount,
+                        int connectorAcceptedCount,
+                        int observationAcceptedCount,
+                        @Nullable String note) {
+        long now = System.currentTimeMillis();
+        if (now - lastLogTimeMs < minIntervalMs) {
+            return;
+        }
+        lastLogTimeMs = now;
+
+        Log.d(tag, String.format(Locale.US,
+                "PF_CONSTRAINT phase=%s particles=%d alive=%d wallRejected=%d floorRejected=%d connectorAccepted=%d obsAccepted=%d note=%s",
+                phase,
+                particleCount,
+                aliveCount,
+                wallRejectedCount,
+                floorRejectedCount,
+                connectorAcceptedCount,
+                observationAcceptedCount,
+                note == null ? "-" : note));
+    }
+
+    public void logFusedPose(@NonNull String phase,
+                             double lat,
+                             double lng,
+                             int floor,
+                             double headingRad,
+                             double confidence) {
+        long now = System.currentTimeMillis();
+        if (now - lastLogTimeMs < minIntervalMs) {
+            return;
+        }
+        lastLogTimeMs = now;
+
+        Log.d(tag, String.format(Locale.US,
+                "PF_FUSED phase=%s lat=%.6f lng=%.6f floor=%d headingRad=%.3f confidence=%.3f",
+                phase, lat, lng, floor, headingRad, confidence));
+    }
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
index 884f8fb5..c692fd94 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
@@ -2,387 +2,872 @@
 
 import android.util.Log;
 
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
+import com.google.android.gms.maps.model.LatLng;
+import com.openpositioning.PositionMe.mapmatching.CandidatePose;
+import com.openpositioning.PositionMe.utils.IndoorMapManager;
+
 import java.util.ArrayList;
+import java.util.Collections;
 import java.util.List;
+import java.util.Locale;
 import java.util.Random;
 
 /**
- * Core particle filter engine.
- *
- * <p>This class owns the particle set and implements the standard PF loop:
- *
- * <ol>
- *   <li>initialise()</li>
- *   <li>predict(deltaS, deltaTheta)</li>
- *   <li>update(observation)</li>
- *   <li>estimate()</li>
- * </ol>
+ * Core particle filter engine for live indoor positioning.
  *
- * <p>State per particle:
- * - x, y: local planar position in meters
- * - theta: heading in radians
- * - floor: discrete floor hypothesis
- * - weight: particle importance weight
+ * Design goals:
+ * - Keep the engine independent from Fragment/UI code.
+ * - Support a hybrid strategy:
+ *   1) prediction from motion
+ *   2) optional map-constraint penalty / rejection
+ *   3) optional absolute observation weighting (GNSS / WiFi / matched pose)
+ *   4) resampling
+ *   5) fused state extraction
  *
- * <p>Heading convention:
- * - theta is stored in Android-style azimuth convention:
- *   0 = north, +pi/2 = east, pi = south, -pi/2 = west
- *
- * <p>For motion projection into Cartesian x/y:
- * - x positive = east
- * - y positive = north
- * so we convert with:
- *   motionHeading = pi/2 - theta
+ * Important:
+ * This engine is intentionally conservative.
+ * It does NOT immediately kill every particle near a wall unless the transition is clearly impossible.
+ * That makes debugging and convergence much more stable in early integration.
  */
 public class ParticleFilterEngine {
 
     private static final String TAG = "ParticleFilterEngine";
 
-    /** The active particle set representing the belief distribution. */
-    private final List<Particle> particles = new ArrayList<>();
+    /**
+     * Individual particle.
+     */
+    public static class Particle {
+        public double lat;
+        public double lng;
+        public double headingRad;
+        public int logicalFloor;
+        public double weight;
+        public boolean alive = true;
+
+        public Particle(double lat,
+                        double lng,
+                        double headingRad,
+                        int logicalFloor,
+                        double weight) {
+            this.lat = lat;
+            this.lng = lng;
+            this.headingRad = headingRad;
+            this.logicalFloor = logicalFloor;
+            this.weight = weight;
+        }
 
-    /** Random generator used for motion noise, initial spread, and resampling jitter. */
-    private final Random rng = new Random();
+        public Particle copy() {
+            Particle p = new Particle(lat, lng, headingRad, logicalFloor, weight);
+            p.alive = alive;
+            return p;
+        }
 
-    // -------------------------
-    // Tunable filter parameters
-    // -------------------------
+        public LatLng toLatLng() {
+            return new LatLng(lat, lng);
+        }
+    }
 
-    private final int particleCount;
-    private final double sigmaStep;
-    private final double sigmaTheta;
-    private final double sigmaWifi;
-    private final double sigmaGnss;
-    private final double initPosStd;
-    private final double initHeadingStd;
-    private final double resampleRatio;
-    private final double sigmaRegPos;
-    private final double sigmaRegTheta;
+    /**
+     * Motion input for one PF update.
+     * This should usually come from PDR / IMU integration.
+     */
+    public static class MotionInput {
+        public final double deltaForwardMeters;
+        public final double deltaHeadingRad;
+        public final double deltaHeightMeters;
+        public final boolean heightChanged;
+        public final long timestampMs;
+
+        public MotionInput(double deltaForwardMeters,
+                           double deltaHeadingRad,
+                           double deltaHeightMeters,
+                           boolean heightChanged,
+                           long timestampMs) {
+            this.deltaForwardMeters = deltaForwardMeters;
+            this.deltaHeadingRad = deltaHeadingRad;
+            this.deltaHeightMeters = deltaHeightMeters;
+            this.heightChanged = heightChanged;
+            this.timestampMs = timestampMs;
+        }
+    }
 
-    // -------------------------
-    // Diagnostics / statistics
-    // -------------------------
+    /**
+     * Optional absolute observation.
+     * Can be GNSS, WiFi, or map-matched pose.
+     */
+    public static class AbsoluteObservation {
+        @Nullable public final LatLng latLng;
+        @Nullable public final Integer logicalFloor;
+        @Nullable public final Double headingRad;
+        public final double horizontalSigmaMeters;
+        public final double headingSigmaRad;
+        public final double confidence;
+        public final String source;
+
+        public AbsoluteObservation(@Nullable LatLng latLng,
+                                   @Nullable Integer logicalFloor,
+                                   @Nullable Double headingRad,
+                                   double horizontalSigmaMeters,
+                                   double headingSigmaRad,
+                                   double confidence,
+                                   @NonNull String source) {
+            this.latLng = latLng;
+            this.logicalFloor = logicalFloor;
+            this.headingRad = headingRad;
+            this.horizontalSigmaMeters = horizontalSigmaMeters;
+            this.headingSigmaRad = headingSigmaRad;
+            this.confidence = confidence;
+            this.source = source;
+        }
+    }
 
-    /** Effective sample size after the latest update step. */
-    private double lastNeff = 0.0;
+    /**
+     * Optional map-constraint helper.
+     *
+     * You can back this with:
+     * - IndoorMapManager
+     * - wall polygons / line segments
+     * - connector / stairs / lift regions
+     * - floor transition rules
+     */
+    public interface ConstraintModel {
+
+        /**
+         * Returns true if the particle state is inside a valid walkable region.
+         */
+        boolean isWalkable(double lat, double lng, int logicalFloor);
+
+        /**
+         * Returns true if the transition from old->new is blocked by a wall / invalid barrier.
+         */
+        boolean crossesWall(double oldLat, double oldLng,
+                            double newLat, double newLng,
+                            int logicalFloor);
+
+        /**
+         * Returns true if changing from oldFloor to newFloor is allowed near this location.
+         * Usually this means stairs / lift / connector region.
+         */
+        boolean isFloorTransitionAllowed(double lat, double lng, int oldFloor, int newFloor);
+
+        /**
+         * Returns a soft map-consistency factor in [0, 1].
+         * 1 = strong agreement with map
+         * 0 = impossible according to map
+         */
+        double mapLikelihood(double lat, double lng, int logicalFloor);
+
+        /**
+         * Optional nearest valid pose for recovery if particles collapse.
+         */
+        @Nullable
+        CandidatePose getRecoveryPose(@NonNull LatLng currentLatLng, int logicalFloor);
+    }
 
-    /** Whether the last update triggered resampling. */
-    private boolean lastResampled = false;
+    /**
+     * Tunable configuration for the PF.
+     */
+    public static class Config {
+        public int particleCount = 250;
+
+        // Prediction noise
+        public double forwardNoiseStdMeters = 0.25;
+        public double headingNoiseStdRad = Math.toRadians(6.0);
+
+        // Map-constraint behaviour
+        public boolean enableMapConstraints = true;
+        public boolean hardKillOnWallCross = true;
+        public boolean hardKillOnInvalidFloorTransition = true;
+        public boolean softPenaltyForOutOfWalkable = true;
+
+        public double outOfWalkablePenalty = 0.10;
+        public double wallCrossPenalty = 0.02;
+        public double invalidFloorPenalty = 0.02;
+
+        // Observation blending
+        public boolean enableAbsoluteObservationWeighting = true;
+        public double minimumWeightFloor = 1e-12;
+
+        // Degeneracy / recovery
+        public double resampleEffectiveSampleSizeRatio = 0.45;
+        public boolean enableRecoveryIfCollapsed = true;
+        public int recoverySeedCount = 40;
+
+        // Logging
+        public boolean debugLogging = true;
+    }
 
-    public ParticleFilterEngine(ParticleFilterConfig cfg) {
-        this.particleCount = cfg.particleCount;
-        this.sigmaStep = cfg.sigmaStep;
-        this.sigmaTheta = cfg.sigmaThetaRad;
-        this.sigmaWifi = cfg.sigmaWifi;
-        this.sigmaGnss = cfg.sigmaGnss;
-        this.initPosStd = cfg.initPosStd;
-        this.initHeadingStd = cfg.initHeadingStdRad;
-        this.resampleRatio = cfg.resampleRatio;
-        this.sigmaRegPos = cfg.sigmaRegPos;
-        this.sigmaRegTheta = cfg.sigmaRegThetaRad;
+    /**
+     * Summary of one update step for easier debugging.
+     */
+    public static class StepDiagnostics {
+        public int totalParticles;
+        public int aliveParticles;
+        public int wallRejectedCount;
+        public int floorRejectedCount;
+        public int outOfWalkablePenalisedCount;
+        public int observationWeightedCount;
+        public double effectiveSampleSize;
+        public boolean resampled;
+        public boolean recovered;
     }
 
     /**
-     * Initialises the particle cloud around a starting pose hypothesis.
-     *
-     * <p>All particles begin on the same floor, but position and heading are
-     * spread using Gaussian noise to represent initial uncertainty.
-     *
-     * @param x initial x coordinate in local frame
-     * @param y initial y coordinate in local frame
-     * @param theta initial heading in radians
-     * @param floor initial floor estimate
+     * Result of one PF update.
      */
-    public void initialise(double x, double y, double theta, int floor) {
-        particles.clear();
+    public static class StepResult {
+        @NonNull public final FusedPose fusedPose;
+        @NonNull public final StepDiagnostics diagnostics;
+        @NonNull public final List<Particle> particlesSnapshot;
+
+        public StepResult(@NonNull FusedPose fusedPose,
+                          @NonNull StepDiagnostics diagnostics,
+                          @NonNull List<Particle> particlesSnapshot) {
+            this.fusedPose = fusedPose;
+            this.diagnostics = diagnostics;
+            this.particlesSnapshot = particlesSnapshot;
+        }
+    }
 
-        for (int i = 0; i < particleCount; i++) {
-            double px = x + rng.nextGaussian() * initPosStd;
-            double py = y + rng.nextGaussian() * initPosStd;
-            double pt = wrapAngle(theta + rng.nextGaussian() * initHeadingStd);
+    private final Config config;
+    private final Random random;
+    private final List<Particle> particles = new ArrayList<>();
 
-            particles.add(new Particle(px, py, pt, floor, 1.0 / particleCount));
-        }
+    @Nullable
+    private ConstraintModel constraintModel;
+    @Nullable private LatLng referenceOriginLatLng;
+    private double referenceOriginLat = Double.NaN;
+    private double referenceOriginLng = Double.NaN;
 
-        lastNeff = particleCount;
-        lastResampled = false;
+    public ParticleFilterEngine(@NonNull Config config) {
+        this.config = config;
+        this.random = new Random();
+    }
 
-        Log.d(TAG,
-                "PF engine initialised"
-                        + " | particleCount=" + particleCount
-                        + ", initPosStd=" + initPosStd
-                        + ", initHeadingStdDeg=" + Math.toDegrees(initHeadingStd));
+    public void setConstraintModel(@Nullable ConstraintModel constraintModel) {
+        this.constraintModel = constraintModel;
     }
 
-    /**
-     * @return true once particles have been created
-     */
     public boolean isInitialised() {
         return !particles.isEmpty();
     }
 
+    public void clear() {
+        particles.clear();
+        referenceOriginLatLng = null;
+        referenceOriginLat = Double.NaN;
+        referenceOriginLng = Double.NaN;
+    }
+
     /**
-     * Motion prediction step.
-     *
-     * <p>This propagates each particle forward according to:
-     * - a distance increment deltaS
-     * - a heading increment deltaTheta
-     *
-     * <p>Noise is added independently to translation and heading to represent
-     * uncertainty in the motion model.
-     *
-     * @param deltaS motion increment in meters
-     * @param deltaTheta heading increment in radians
+     * Initialise particles around a known anchor.
      */
-    public void predict(double deltaS, double deltaTheta) {
-        for (Particle particle : particles) {
-            // Add stochastic noise to the motion command
-            double ds = deltaS + rng.nextGaussian() * sigmaStep;
-            double dTheta = deltaTheta + rng.nextGaussian() * sigmaTheta;
+    public void initialise(@NonNull LatLng startLatLng,
+                           int logicalFloor,
+                           double headingRad) {
+        particles.clear();
+
+        referenceOriginLatLng = startLatLng;
+        referenceOriginLat = startLatLng.latitude;
+        referenceOriginLng = startLatLng.longitude;
+
+        double initialSpreadMeters = 1.0;
+        double headingSpreadRad = Math.toRadians(12.0);
 
-            // Update heading first
-            particle.theta = wrapAngle(particle.theta + dTheta);
+        for (int i = 0; i < config.particleCount; i++) {
+            double dNorth = gaussian(0.0, initialSpreadMeters);
+            double dEast = gaussian(0.0, initialSpreadMeters);
 
-            // Convert Android-style heading into x/y projection angle
-            double motionHeading = (Math.PI / 2.0) - particle.theta;
+            LatLng perturbed = offsetLatLngMeters(startLatLng, dNorth, dEast);
 
-            // Move particle in local Cartesian frame
-            particle.x += ds * Math.cos(motionHeading);
-            particle.y += ds * Math.sin(motionHeading);
+            double particleHeading = wrapAngleRad(headingRad + gaussian(0.0, headingSpreadRad));
+
+            Particle particle = new Particle(
+                    perturbed.latitude,
+                    perturbed.longitude,
+                    particleHeading,
+                    logicalFloor,
+                    1.0 / config.particleCount
+            );
+
+            if (constraintModel != null && config.enableMapConstraints) {
+                if (!constraintModel.isWalkable(particle.lat, particle.lng, logicalFloor)) {
+                    if (config.softPenaltyForOutOfWalkable) {
+                        particle.weight *= config.outOfWalkablePenalty;
+                    }
+                }
+            }
+
+            particles.add(particle);
         }
+
+        normaliseWeights();
+        log(String.format(Locale.US,
+                "Initialised PF with %d particles at %.6f, %.6f floor=%d",
+                particles.size(), startLatLng.latitude, startLatLng.longitude, logicalFloor));
     }
 
     /**
-     * Measurement update step.
-     *
-     * <p>Each available observation contributes multiplicatively to the
-     * particle weight:
-     * - Wi-Fi position
-     * - Wi-Fi floor
-     * - GNSS position
-     *
-     * <p>After reweighting:
-     * - weights are normalised
-     * - effective sample size is computed
-     * - resampling is triggered if degeneracy is too high
-     *
-     * @param observation observation bundle for this update cycle
+     * Main PF update.
      */
-    public void update(ParticleFilterObservation observation) {
+    @NonNull
+    public StepResult update(@NonNull MotionInput motionInput,
+                             @Nullable AbsoluteObservation absoluteObservation) {
+
         if (particles.isEmpty()) {
-            return;
+            throw new IllegalStateException("ParticleFilterEngine.update() called before initialise().");
         }
 
-        double weightSum = 0.0;
-
-        for (Particle particle : particles) {
-            double w = 1.0;
+        StepDiagnostics diagnostics = new StepDiagnostics();
+        diagnostics.totalParticles = particles.size();
 
-            // -------------------------
-            // Wi-Fi position likelihood
-            // -------------------------
-            if (observation.getWifiX() != null && observation.getWifiY() != null) {
-                double dx = particle.x - observation.getWifiX();
-                double dy = particle.y - observation.getWifiY();
+        predictParticles(motionInput, diagnostics);
+        applyConstraintWeights(motionInput, diagnostics);
 
-                // Gaussian likelihood based on local planar distance
-                w *= gaussian2D(dx, dy, sigmaWifi);
+        if (absoluteObservation != null && config.enableAbsoluteObservationWeighting) {
+            applyAbsoluteObservation(absoluteObservation, diagnostics);
+        }
 
-                // Penalise particles that disagree with Wi-Fi floor estimate
-                if (observation.getWifiFloor() != null
-                        && particle.floor != observation.getWifiFloor()) {
-                    w *= 0.10;
-                }
-            }
+        enforceWeightFloor();
+        normaliseWeights();
 
-            // -------------------------
-            // GNSS position likelihood
-            // -------------------------
-//            if (observation.getGnssX() != null && observation.getGnssY() != null) {
-//                double dx = particle.x - observation.getGnssX();
-//                double dy = particle.y - observation.getGnssY();
-//                w *= gaussian2D(dx, dy, sigmaGnss);
-//            }
+        diagnostics.aliveParticles = countAliveParticles();
+        diagnostics.effectiveSampleSize = computeEffectiveSampleSize();
 
-            particle.weight = w;
-            weightSum += w;
+        if (shouldResample(diagnostics.effectiveSampleSize)) {
+            systematicResample();
+            diagnostics.resampled = true;
         }
 
-        normaliseWeights(weightSum);
-
-        lastNeff = effectiveSampleSize();
-        lastResampled = false;
+        if (countAliveParticles() == 0 || totalWeight() <= 0.0) {
+            if (config.enableRecoveryIfCollapsed) {
+                recoverParticles();
+                diagnostics.recovered = true;
+            }
+        }
 
-        // Resample if too few particles carry meaningful weight
-        if (lastNeff < particleCount * resampleRatio) {
-            systematicResample();
-            regularizeParticles();
-            lastResampled = true;
+        normaliseWeights();
+        FusedPose fusedPose = buildFusedPose();
+        List<Particle> snapshot = deepCopyParticles();
+
+        if (config.debugLogging) {
+            Log.d(TAG, String.format(Locale.US,
+                    "PF step: alive=%d/%d wallReject=%d floorReject=%d walkPenalty=%d obsWeighted=%d ess=%.2f resampled=%s recovered=%s",
+                    diagnostics.aliveParticles,
+                    diagnostics.totalParticles,
+                    diagnostics.wallRejectedCount,
+                    diagnostics.floorRejectedCount,
+                    diagnostics.outOfWalkablePenalisedCount,
+                    diagnostics.observationWeightedCount,
+                    diagnostics.effectiveSampleSize,
+                    String.valueOf(diagnostics.resampled),
+                    String.valueOf(diagnostics.recovered)));
         }
+
+        return new StepResult(fusedPose, diagnostics, snapshot);
     }
 
     /**
-     * Computes the current fused pose estimate from the weighted particle set.
+     * Prediction step.
      *
-     * <p>Position is the weighted mean of x and y.
-     * Heading is the circular weighted mean of theta.
-     * Floor is the weighted average rounded to nearest integer.
-     *
-     * @param converter converts local x/y back into LatLng
-     * @return fused pose estimate
+     * Each particle:
+     * - perturbs heading
+     * - moves forward with motion noise
+     * - optionally changes logical floor if vertical change is significant
      */
-    public FusedPose estimate(CoordinateConverter converter) {
-        if (particles.isEmpty()) {
-            return null;
+    private void predictParticles(@NonNull MotionInput motionInput,
+                                  @NonNull StepDiagnostics diagnostics) {
+
+        for (Particle p : particles) {
+            if (!p.alive) {
+                continue;
+            }
+
+            double oldLat = p.lat;
+            double oldLng = p.lng;
+            int oldFloor = p.logicalFloor;
+
+            double noisyHeading = wrapAngleRad(
+                    p.headingRad
+                            + motionInput.deltaHeadingRad
+                            + gaussian(0.0, config.headingNoiseStdRad)
+            );
+
+            double noisyForward = motionInput.deltaForwardMeters
+                    + gaussian(0.0, config.forwardNoiseStdMeters);
+
+            double dNorth = noisyForward * Math.cos(noisyHeading);
+            double dEast = noisyForward * Math.sin(noisyHeading);
+
+            LatLng updated = offsetLatLngMeters(new LatLng(oldLat, oldLng), dNorth, dEast);
+
+            p.lat = updated.latitude;
+            p.lng = updated.longitude;
+            p.headingRad = noisyHeading;
+
+            // Simple vertical floor proposal.
+            if (motionInput.heightChanged && Math.abs(motionInput.deltaHeightMeters) > 1.2) {
+                int floorDelta = motionInput.deltaHeightMeters > 0 ? 1 : -1;
+                p.logicalFloor = oldFloor + floorDelta;
+            }
         }
+    }
 
-        double x = 0.0;
-        double y = 0.0;
-        double weightedFloor = 0.0;
-        double sinSum = 0.0;
-        double cosSum = 0.0;
+    /**
+     * Apply map-based penalties / rejection after prediction.
+     */
+    private void applyConstraintWeights(@NonNull MotionInput motionInput,
+                                        @NonNull StepDiagnostics diagnostics) {
 
-        for (Particle particle : particles) {
-            x += particle.x * particle.weight;
-            y += particle.y * particle.weight;
-            weightedFloor += particle.floor * particle.weight;
-            sinSum += Math.sin(particle.theta) * particle.weight;
-            cosSum += Math.cos(particle.theta) * particle.weight;
+        if (constraintModel == null || !config.enableMapConstraints) {
+            return;
         }
 
-        double theta = Math.atan2(sinSum, cosSum);
-        int floor = (int) Math.round(weightedFloor);
+        for (Particle p : particles) {
+            if (!p.alive) {
+                continue;
+            }
 
-        // Use N_eff as a simple confidence proxy
-        float confidence = (float) Math.min(1.0, lastNeff / particleCount);
+            // Walkability check
+            boolean walkable = constraintModel.isWalkable(p.lat, p.lng, p.logicalFloor);
+            if (!walkable) {
+                if (config.softPenaltyForOutOfWalkable) {
+                    p.weight *= config.outOfWalkablePenalty;
+                    diagnostics.outOfWalkablePenalisedCount++;
+                }
+            }
 
-        return new FusedPose(
-                x,
-                y,
-                theta,
-                floor,
-                converter.localToLatLng(x, y),
-                confidence
-        );
+            // We do a wall-cross / transition validation by approximating previous state
+            double backwardNorth = motionInput.deltaForwardMeters * Math.cos(p.headingRad);
+            double backwardEast = motionInput.deltaForwardMeters * Math.sin(p.headingRad);
+            LatLng approxPrev = offsetLatLngMeters(new LatLng(p.lat, p.lng), -backwardNorth, -backwardEast);
+
+            boolean crossedWall = constraintModel.crossesWall(
+                    approxPrev.latitude,
+                    approxPrev.longitude,
+                    p.lat,
+                    p.lng,
+                    p.logicalFloor
+            );
+
+            if (crossedWall) {
+                diagnostics.wallRejectedCount++;
+                if (config.hardKillOnWallCross) {
+                    p.alive = false;
+                    p.weight = 0.0;
+                    continue;
+                } else {
+                    p.weight *= config.wallCrossPenalty;
+                }
+            }
+
+            // Floor transition check
+            if (motionInput.heightChanged && Math.abs(motionInput.deltaHeightMeters) > 1.2) {
+                int oldFloor = motionInput.deltaHeightMeters > 0
+                        ? p.logicalFloor - 1
+                        : p.logicalFloor + 1;
+
+                boolean allowed = constraintModel.isFloorTransitionAllowed(
+                        p.lat, p.lng, oldFloor, p.logicalFloor
+                );
+
+                if (!allowed) {
+                    diagnostics.floorRejectedCount++;
+                    if (config.hardKillOnInvalidFloorTransition) {
+                        p.alive = false;
+                        p.weight = 0.0;
+                        continue;
+                    } else {
+                        p.weight *= config.invalidFloorPenalty;
+                    }
+                }
+            }
+
+            // Soft map likelihood
+            double mapLikelihood = clamp01(
+                    constraintModel.mapLikelihood(p.lat, p.lng, p.logicalFloor)
+            );
+            p.weight *= Math.max(config.minimumWeightFloor, mapLikelihood);
+        }
     }
 
     /**
-     * Computes effective sample size.
-     *
-     * <p>A lower value means more degeneracy, i.e. fewer particles dominate
-     * the total weight distribution.
+     * Apply absolute observation weighting.
      */
-    public double effectiveSampleSize() {
-        double sumSquares = 0.0;
-        for (Particle particle : particles) {
-            sumSquares += particle.weight * particle.weight;
+    private void applyAbsoluteObservation(@NonNull AbsoluteObservation obs,
+                                          @NonNull StepDiagnostics diagnostics) {
+
+        for (Particle p : particles) {
+            if (!p.alive) {
+                continue;
+            }
+
+            double w = 1.0;
+
+            if (obs.latLng != null) {
+                double distMeters = distanceMeters(
+                        p.lat, p.lng,
+                        obs.latLng.latitude, obs.latLng.longitude
+                );
+                double sigma = Math.max(0.5, obs.horizontalSigmaMeters);
+                w *= gaussianPdf(distMeters, 0.0, sigma);
+            }
+
+            if (obs.logicalFloor != null) {
+                if (p.logicalFloor != obs.logicalFloor) {
+                    w *= 0.15;
+                }
+            }
+
+            if (obs.headingRad != null) {
+                double err = smallestAngleDiffRad(p.headingRad, obs.headingRad);
+                double sigma = Math.max(Math.toRadians(5.0), obs.headingSigmaRad);
+                w *= gaussianPdf(err, 0.0, sigma);
+            }
+
+            // Blend by confidence so weak observations do not dominate too aggressively.
+            double confidence = clamp01(obs.confidence);
+            double blended = (1.0 - confidence) + confidence * w;
+
+            p.weight *= Math.max(config.minimumWeightFloor, blended);
+            diagnostics.observationWeightedCount++;
         }
-        return 1.0 / Math.max(sumSquares, 1e-12);
     }
 
-    public double getLastNeff() {
-        return lastNeff;
+    private void enforceWeightFloor() {
+        for (Particle p : particles) {
+            if (!p.alive) {
+                p.weight = 0.0;
+            } else {
+                p.weight = Math.max(config.minimumWeightFloor, p.weight);
+            }
+        }
     }
 
-    public boolean wasResampledLastStep() {
-        return lastResampled;
+    private double totalWeight() {
+        double sum = 0.0;
+        for (Particle p : particles) {
+            sum += p.weight;
+        }
+        return sum;
     }
 
-    /**
-     * Gaussian likelihood in local 2D position space.
-     *
-     * <p>This is used for Wi-Fi and GNSS weighting.
-     */
-    private double gaussian2D(double dx, double dy, double sigma) {
-        double d2 = dx * dx + dy * dy;
-        double s2 = sigma * sigma;
+    private void normaliseWeights() {
+        double sum = totalWeight();
+        if (sum <= 0.0) {
+            double equal = 1.0 / Math.max(1, particles.size());
+            for (Particle p : particles) {
+                p.weight = p.alive ? equal : 0.0;
+            }
+            return;
+        }
+
+        for (Particle p : particles) {
+            p.weight /= sum;
+        }
+    }
 
-        if (s2 < 1e-12) {
-            return 1.0;
+    private int countAliveParticles() {
+        int alive = 0;
+        for (Particle p : particles) {
+            if (p.alive) {
+                alive++;
+            }
         }
+        return alive;
+    }
 
-        return Math.exp(-0.5 * d2 / s2);
+    private double computeEffectiveSampleSize() {
+        double sumSq = 0.0;
+        for (Particle p : particles) {
+            sumSq += p.weight * p.weight;
+        }
+        if (sumSq <= 0.0) {
+            return 0.0;
+        }
+        return 1.0 / sumSq;
+    }
+
+    private boolean shouldResample(double ess) {
+        return ess < (config.particleCount * config.resampleEffectiveSampleSizeRatio);
     }
 
     /**
-     * Normalises particle weights so they sum to 1.
-     *
-     * <p>If all weights collapse numerically, recover by assigning uniform
-     * weights instead of producing NaNs.
+     * Standard systematic resampling.
      */
-    private void normaliseWeights(double weightSum) {
-        if (weightSum < 1e-12) {
-            double uniformWeight = 1.0 / particleCount;
-            for (Particle particle : particles) {
-                particle.weight = uniformWeight;
-            }
-            return;
+    private void systematicResample() {
+        List<Particle> newParticles = new ArrayList<>(particles.size());
+
+        double step = 1.0 / particles.size();
+        double u = random.nextDouble() * step;
+
+        double[] cumulative = new double[particles.size()];
+        double running = 0.0;
+        for (int i = 0; i < particles.size(); i++) {
+            running += particles.get(i).weight;
+            cumulative[i] = running;
         }
 
-        for (Particle particle : particles) {
-            particle.weight /= weightSum;
+        int i = 0;
+        for (int m = 0; m < particles.size(); m++) {
+            double threshold = u + m * step;
+            while (i < cumulative.length - 1 && cumulative[i] < threshold) {
+                i++;
+            }
+
+            Particle copy = particles.get(i).copy();
+            copy.weight = 1.0 / particles.size();
+            copy.alive = true;
+            newParticles.add(copy);
         }
+
+        particles.clear();
+        particles.addAll(newParticles);
     }
 
     /**
-     * Adds a small amount of random jitter after resampling.
+     * Recovery if the PF collapses.
      *
-     * <p>This prevents the particle set from collapsing into too many exact
-     * copies of the same hypothesis.
+     * Strategy:
+     * - keep a few random particles around the highest-weight survivor if possible
+     * - otherwise reseed around current fused pose or origin-like fallback
      */
-    private void regularizeParticles() {
-        for (Particle particle : particles) {
-            particle.x += rng.nextGaussian() * sigmaRegPos;
-            particle.y += rng.nextGaussian() * sigmaRegPos;
-            particle.theta = wrapAngle(particle.theta + rng.nextGaussian() * sigmaRegTheta);
+    private void recoverParticles() {
+        Particle seed = findBestParticle();
+        LatLng center;
+
+        int floor;
+        double heading;
+
+        if (seed != null) {
+            center = new LatLng(seed.lat, seed.lng);
+            floor = seed.logicalFloor;
+            heading = seed.headingRad;
+        } else {
+            center = new LatLng(0.0, 0.0);
+            floor = 0;
+            heading = 0.0;
+        }
+
+        particles.clear();
+
+        for (int i = 0; i < config.particleCount; i++) {
+            double dNorth = gaussian(0.0, 1.5);
+            double dEast = gaussian(0.0, 1.5);
+            LatLng p = offsetLatLngMeters(center, dNorth, dEast);
+
+            particles.add(new Particle(
+                    p.latitude,
+                    p.longitude,
+                    wrapAngleRad(heading + gaussian(0.0, Math.toRadians(15))),
+                    floor,
+                    1.0 / config.particleCount
+            ));
+        }
+    }
+
+    @Nullable
+    private Particle findBestParticle() {
+        Particle best = null;
+        double bestW = -1.0;
+        for (Particle p : particles) {
+            if (p.weight > bestW) {
+                bestW = p.weight;
+                best = p;
+            }
         }
+        return best;
     }
 
     /**
-     * Systematic resampling.
-     *
-     * <p>This produces a new particle set according to the current weights,
-     * then resets all copied particles to equal weight.
+     * Build fused pose from weighted mean.
      */
-    private void systematicResample() {
-        List<Particle> resampled = new ArrayList<>(particleCount);
-        double[] cdf = new double[particleCount];
+    @NonNull
+    private FusedPose buildFusedPose() {
+        double lat = 0.0;
+        double lng = 0.0;
+        double cosSum = 0.0;
+        double sinSum = 0.0;
+
+        List<Integer> floors = new ArrayList<>();
+        List<Double> floorWeights = new ArrayList<>();
+
+        double weightSum = 0.0;
 
-        cdf[0] = particles.get(0).weight;
-        for (int i = 1; i < particleCount; i++) {
-            cdf[i] = cdf[i - 1] + particles.get(i).weight;
+        for (Particle p : particles) {
+            if (!p.alive || p.weight <= 0.0) {
+                continue;
+            }
+
+            lat += p.lat * p.weight;
+            lng += p.lng * p.weight;
+            cosSum += Math.cos(p.headingRad) * p.weight;
+            sinSum += Math.sin(p.headingRad) * p.weight;
+
+            floors.add(p.logicalFloor);
+            floorWeights.add(p.weight);
+            weightSum += p.weight;
         }
 
-        double step = 1.0 / particleCount;
-        double u0 = rng.nextDouble() * step;
-        int cdfIndex = 0;
+        if (weightSum <= 0.0) {
+            LatLng fallbackLatLng = referenceOriginLatLng != null
+                    ? referenceOriginLatLng
+                    : new LatLng(0.0, 0.0);
+
+            return new FusedPose(
+                    0.0,
+                    0.0,
+                    0.0,
+                    0,
+                    fallbackLatLng,
+                    0.0f
+            );
+        }
 
-        for (int i = 0; i < particleCount; i++) {
-            double threshold = u0 + i * step;
+        // Safety in case weights are not perfectly normalised.
+        lat /= weightSum;
+        lng /= weightSum;
 
-            while (cdfIndex < particleCount - 1 && cdf[cdfIndex] < threshold) {
-                cdfIndex++;
-            }
+        int fusedFloor = weightedModeFloor(floors, floorWeights);
+        double fusedHeading = Math.atan2(sinSum, cosSum);
+        float confidence = (float) computeConfidence();
+
+        LatLng fusedLatLng = new LatLng(lat, lng);
 
-            Particle copy = particles.get(cdfIndex).copy();
-            copy.weight = 1.0 / particleCount;
-            resampled.add(copy);
+        double xMeters = 0.0;
+        double yMeters = 0.0;
+
+        if (!Double.isNaN(referenceOriginLat) && !Double.isNaN(referenceOriginLng)) {
+            double[] xy = latLngToLocalMeters(
+                    referenceOriginLat,
+                    referenceOriginLng,
+                    lat,
+                    lng
+            );
+            xMeters = xy[0];
+            yMeters = xy[1];
         }
 
-        particles.clear();
-        particles.addAll(resampled);
+        return new FusedPose(
+                xMeters,
+                yMeters,
+                fusedHeading,
+                fusedFloor,
+                fusedLatLng,
+                confidence
+        );
+    }
+
+    private int weightedModeFloor(@NonNull List<Integer> floors,
+                                  @NonNull List<Double> weights) {
+        if (floors.isEmpty()) {
+            return 0;
+        }
+
+        java.util.Map<Integer, Double> acc = new java.util.HashMap<>();
+        for (int i = 0; i < floors.size(); i++) {
+            int f = floors.get(i);
+            double w = weights.get(i);
+            acc.put(f, acc.getOrDefault(f, 0.0) + w);
+        }
+
+        int bestFloor = floors.get(0);
+        double bestWeight = -1.0;
+        for (java.util.Map.Entry<Integer, Double> e : acc.entrySet()) {
+            if (e.getValue() > bestWeight) {
+                bestWeight = e.getValue();
+                bestFloor = e.getKey();
+            }
+        }
+        return bestFloor;
     }
 
     /**
-     * Wraps angle to [-pi, pi].
+     * A simple confidence metric:
+     * higher when ESS is high and alive particle count is healthy.
      */
-    private double wrapAngle(double angle) {
-        while (angle > Math.PI) {
-            angle -= 2.0 * Math.PI;
+    private double computeConfidence() {
+        double ess = computeEffectiveSampleSize();
+        double essRatio = ess / Math.max(1.0, config.particleCount);
+        double aliveRatio = countAliveParticles() / (double) Math.max(1, config.particleCount);
+        return clamp01(0.5 * essRatio + 0.5 * aliveRatio);
+    }
+
+    @NonNull
+    public List<Particle> getParticlesSnapshot() {
+        return deepCopyParticles();
+    }
+
+    @NonNull
+    private List<Particle> deepCopyParticles() {
+        List<Particle> copy = new ArrayList<>(particles.size());
+        for (Particle p : particles) {
+            copy.add(p.copy());
         }
-        while (angle < -Math.PI) {
-            angle += 2.0 * Math.PI;
+        return copy;
+    }
+
+    // -------------------------
+    // Math helpers
+    // -------------------------
+
+    private double gaussian(double mean, double std) {
+        return mean + random.nextGaussian() * std;
+    }
+
+    private static double gaussianPdf(double x, double mean, double std) {
+        double sigma = Math.max(1e-6, std);
+        double z = (x - mean) / sigma;
+        return Math.exp(-0.5 * z * z);
+    }
+
+    private static double wrapAngleRad(double a) {
+        while (a > Math.PI) a -= 2.0 * Math.PI;
+        while (a < -Math.PI) a += 2.0 * Math.PI;
+        return a;
+    }
+
+    private static double smallestAngleDiffRad(double a, double b) {
+        return wrapAngleRad(a - b);
+    }
+
+    private static double clamp01(double x) {
+        return Math.max(0.0, Math.min(1.0, x));
+    }
+
+    private static LatLng offsetLatLngMeters(@NonNull LatLng base,
+                                             double northMeters,
+                                             double eastMeters) {
+        double dLat = northMeters / 111320.0;
+        double dLng = eastMeters / (111320.0 * Math.cos(Math.toRadians(base.latitude)));
+        return new LatLng(base.latitude + dLat, base.longitude + dLng);
+    }
+
+    private static double distanceMeters(double lat1, double lng1,
+                                         double lat2, double lng2) {
+        double dLat = (lat2 - lat1) * 111320.0;
+        double midLatRad = Math.toRadians((lat1 + lat2) * 0.5);
+        double dLng = (lng2 - lng1) * 111320.0 * Math.cos(midLatRad);
+        return Math.sqrt(dLat * dLat + dLng * dLng);
+    }
+
+    @NonNull
+    private static double[] latLngToLocalMeters(double originLat,
+                                                double originLng,
+                                                double lat,
+                                                double lng) {
+        double dNorth = (lat - originLat) * 111320.0;
+        double midLatRad = Math.toRadians((lat + originLat) * 0.5);
+        double dEast = (lng - originLng) * 111320.0 * Math.cos(midLatRad);
+        return new double[]{dEast, dNorth};
+    }
+
+    private void log(@NonNull String message) {
+        if (config.debugLogging) {
+            Log.d(TAG, message);
         }
-        return angle;
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
index 0fbdc317..98cdd64e 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
@@ -1,628 +1,740 @@
 package com.openpositioning.PositionMe.fusion;
 
 import android.content.Context;
-import android.content.SharedPreferences;
+import android.os.SystemClock;
 import android.util.Log;
-
+import android.content.SharedPreferences;
 import androidx.preference.PreferenceManager;
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
 
 import com.google.android.gms.maps.model.LatLng;
+import com.openpositioning.PositionMe.mapmatching.CandidatePose;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
-import androidx.annotation.Nullable;
+import com.openpositioning.PositionMe.sensors.SensorTypes;
+import com.openpositioning.PositionMe.utils.BuildingPolygon;
+import com.openpositioning.PositionMe.utils.IndoorMapManager;
+
+import com.openpositioning.PositionMe.fusion.CoordinateConverter;
+import com.openpositioning.PositionMe.mapmatching.VerticalMotionDetector;
+import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint;
+import com.openpositioning.PositionMe.mapmatching.MapGeometryUtils;
+import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
+
+import java.util.List;
+import java.util.Locale;
 
 /**
- * High-level manager around the particle filter engine.
+ * High-level controller for the live particle filter.
  *
- * <p>This class is responsible for:
- * - loading PF settings from SharedPreferences
- * - listening for user changes to those settings
- * - initialising the engine when enough information is available
- * - converting raw app data into PF prediction + observation inputs
- * - storing the latest fused pose estimate
+ * Responsibilities:
+ * - initialise the PF from a GNSS start anchor
+ * - convert live PDR motion into PF motion updates
+ * - convert map-match / WiFi / GNSS into optional absolute observations
+ * - expose latest fused pose back to SensorFusion
+ * - hold a first-pass hybrid map constraint model
  *
- * <p>This class does not implement the PF math itself.
- * That logic lives in {@link ParticleFilterEngine}.
+ * Notes:
+ * - This class does not render anything.
+ * - Rendering belongs in TrajectoryMapFragment / TrajectoryRenderer.
+ * - This version is intentionally conservative so it integrates safely first.
  */
 public class ParticleFilterManager {
 
-    private static final String TAG = "RecordingMode";
+    private static final String TAG = "ParticleFilterManager";
+
+    /**
+     * Optional callback host if another layer wants fused pose updates.
+     */
+    public interface Host {
+        void onFusedPoseUpdated(@NonNull FusedPose fusedPose);
+    }
 
-    /** Main app sensor/data source. */
     private final SensorFusion sensorFusion;
+    private final ParticleFilterEngine engine;
+    private final ParticleConstraintDebugger debugger;
 
-    /** Application context used for preferences. */
-    private final Context appContext;
+    @Nullable
+    private final Host host;
 
-    /** SharedPreferences backing live-tunable PF settings. */
-    private final SharedPreferences prefs;
+    @Nullable
+    private IndoorMapManager indoorMapManager;
 
-    /** Converts between global LatLng and local x/y coordinates. */
+    @Nullable
+    private HybridConstraintModel constraintModel;
+    @Nullable
     private CoordinateConverter coordinateConverter;
+    private final VerticalMotionDetector verticalMotionDetector = new VerticalMotionDetector();
 
-    /** The actual PF engine instance. */
-    private ParticleFilterEngine particleFilterEngine;
-
-    /** Latest estimated fused pose. */
+    /**
+     * Latest filtered pose exposed to the rest of the app.
+     */
+    @Nullable
     private FusedPose latestFusedPose;
-    /** Latest raw PF estimate before Kalman-style output smoothing. */
+
+    /**
+     * Latest raw PF output before any future smoothing layer.
+     * For now this is the same as fused output, but we keep them separate
+     * so later you can add smoothing without changing the external API.
+     */
+    @Nullable
     private FusedPose latestRawPose;
 
-    /** Kalman-style output smoother sitting after the PF. */
-    private final KalmanPoseSmoother poseSmoother = new KalmanPoseSmoother();
+    /**
+     * Whether the PF is currently enabled by the selected recording mode.
+     */
+    private boolean enabled = false;
 
-    /** Whether WiFi observation was accepted during the latest buildObservation() call. */
-    private boolean lastWifiAccepted = false;
+    /**
+     * Whether the PF has been initialised with a real anchor.
+     */
+    private boolean initialised = false;
 
-    /** Whether GNSS observation was accepted during the latest buildObservation() call. */
-    private boolean lastGnssAccepted = false;
+    /**
+     * Last raw PDR values used to compute motion deltas.
+     */
+    @Nullable
+    private float[] lastPdrValues;
 
-    /*WiFi and GNSS gating*/
-    private static final double WIFI_GATE_METERS = 12.0;
-    private static final double GNSS_GATE_METERS = 25.0;
-    private static final double WIFI_OBS_EMA_ALPHA = 0.25;
+    /**
+     * Latest map-matched pose if provided by another subsystem.
+     */
+    @Nullable
+    private CandidatePose latestMatchedPose;
 
-    private boolean wifiObsEmaInitialised = false;
-    private double wifiObsEmaX = 0.0;
-    private double wifiObsEmaY = 0.0;
+    /**
+     * Primary constructor using an optional host callback.
+     */
+    public ParticleFilterManager(@NonNull SensorFusion sensorFusion,
+                                 @Nullable Host host) {
+        this.sensorFusion = sensorFusion;
+        this.host = host;
 
-    /*When false, the manager remains constructed and can still hold PF settings,
-    but it must not produce fused poses or consume step updates for this session.*/
-    private boolean enabled = false;
+        Context context = sensorFusion.getContext();
+        ParticleFilterEngine.Config cfg = buildConfigFromPreferences(context);
+
+        this.engine = new ParticleFilterEngine(cfg);
+        this.debugger = new ParticleConstraintDebugger(TAG);
+        this.debugger.setMinIntervalMs(300);
+    }
 
-    // -------------------------
-    // PDR incremental tracking
     /**
-     * PF prediction currently uses incremental displacement magnitude extracted
-     * from cumulative PDR/IMUNet position.
-     *
-     * These fields store the previous position so we can compute deltaS.
+     * Compatibility constructor for branches where SensorFusion still passes Context.
+     * The Context is currently unused here, but this keeps your existing SensorFusion code compiling.
      */
-    private boolean firstPdrSample = true;
-    private double lastPdrX = 0.0;
-    private double lastPdrY = 0.0;
+    public ParticleFilterManager(@NonNull SensorFusion sensorFusion,
+                                 @Nullable Context ignoredContext) {
+        this(sensorFusion, (Host) null);
+    }
 
-    /** Previous heading so we can compute deltaTheta. */
-    private double lastHeading = 0.0;
+    /**
+     * Enable or disable PF operation.
+     * Disabling also clears its state to avoid stale outputs.
+     */
+    public void setEnabled(boolean enabled) {
+        this.enabled = enabled;
 
-    // -------------------------
-    // Live PF settings
-    /** Current active PF settings. */
-    private ParticleFilterConfig currentConfig;
+        Log.d(TAG,"Particle filter enabled = " + enabled);
+
+        if (!enabled) {
+            reset();
+        }
+
+        Log.d(TAG, "Particle filter enabled = " + enabled);
+    }
 
     /**
-     * Set to true when the user changes PF settings in-app.
-     *
-     * <p>At the next step() call we reset the filter and allow it to reinitialise
-     * using the new parameter set.
+     * Returns whether PF mode is enabled.
      */
-    private boolean pfConfigDirty = false;
+    public boolean isEnabled() {
+        return enabled;
+    }
 
-    public ParticleFilterManager(SensorFusion sensorFusion, Context context) {
-        this.sensorFusion = sensorFusion;
-        this.appContext = context.getApplicationContext();
+    /**
+     * Attach or refresh the current indoor map manager.
+     * This should be called once the active map fragment has a valid IndoorMapManager.
+     */
+    public void setIndoorMapManager(@Nullable IndoorMapManager indoorMapManager) {
+        this.indoorMapManager = indoorMapManager;
+        this.constraintModel = new HybridConstraintModel(indoorMapManager);
+        this.engine.setConstraintModel(this.constraintModel);
 
-        this.prefs = PreferenceManager.getDefaultSharedPreferences(appContext);
+        Log.d(TAG, "IndoorMapManager attached to ParticleFilterManager: " + (indoorMapManager != null));
+    }
 
-        // Load config once at construction time
-        this.currentConfig = loadPfConfig();
+    /**
+     * Resets the PF for a new recording session.
+     */
+    public void reset() {
+        engine.clear();
+        latestFusedPose = null;
+        latestRawPose = null;
+        lastPdrValues = null;
+        latestMatchedPose = null;
+        initialised = false;
 
-        // Listen for runtime parameter changes from the settings UI
-        prefs.registerOnSharedPreferenceChangeListener(pfListener);
+        Log.d(TAG, "Particle filter reset.");
     }
 
     /**
-     * Preference change listener for PF parameters only.
-     *
-     * <p>When the user edits a PF setting in the app:
-     * - reload config once
-     * - mark the filter dirty
-     * - let the next step() reset and rebuild the PF
+     * Returns true if the PF currently has particles initialised.
      */
-    private final SharedPreferences.OnSharedPreferenceChangeListener pfListener =
-            (sharedPreferences, key) -> {
-                if (key == null) return;
-
-                switch (key) {
-                    case "pf_particle_count":
-                    case "pf_sigma_step":
-                    case "pf_sigma_theta_deg":
-                    case "pf_sigma_wifi":
-                    case "pf_sigma_gnss":
-                    case "pf_init_pos_std":
-                    case "pf_init_heading_deg":
-                    case "pf_resample_ratio":
-                    case "pf_sigma_reg_pos":
-                    case "pf_sigma_reg_theta_deg":
-                        currentConfig = loadPfConfig();
-                        pfConfigDirty = true;
-                        Log.d(TAG, "PF config changed: " + key);
-                        break;
-                }
-            };
+    public boolean isInitialised() {
+        return initialised && engine.isInitialised();
+    }
 
     /**
-     * Must be called when the manager is no longer needed,
-     * otherwise the preference listener remains registered.
+     * Returns the latest fused PF pose.
      */
-    public void destroy() {
-        prefs.unregisterOnSharedPreferenceChangeListener(pfListener);
+    @Nullable
+    public FusedPose getLatestFusedPose() {
+        return latestFusedPose;
     }
 
     /**
-     * Loads all PF tunable parameters from SharedPreferences.
-     *
-     * <p>Angle values are stored in degrees in the UI,
-     * but converted to radians here before being passed to the engine.
+     * Returns the latest raw PF pose.
+     * At the moment this is the same as the fused pose.
      */
-    private ParticleFilterConfig loadPfConfig() {
-        int particleCount = Integer.parseInt(prefs.getString("pf_particle_count", "300"));
-        double sigmaStep = Double.parseDouble(prefs.getString("pf_sigma_step", "0.15"));
-        double sigmaThetaDeg = Double.parseDouble(prefs.getString("pf_sigma_theta_deg", "6"));
-        double sigmaWifi = Double.parseDouble(prefs.getString("pf_sigma_wifi", "2.5"));
-        double sigmaGnss = Double.parseDouble(prefs.getString("pf_sigma_gnss", "5.0"));
-        double initPosStd = Double.parseDouble(prefs.getString("pf_init_pos_std", "1.0"));
-        double initHeadingDeg = Double.parseDouble(prefs.getString("pf_init_heading_deg", "10"));
-        double resampleRatio = Double.parseDouble(prefs.getString("pf_resample_ratio", "0.5"));
-        double sigmaRegPos = Double.parseDouble(prefs.getString("pf_sigma_reg_pos", "0.03"));
-        double sigmaRegThetaDeg = Double.parseDouble(prefs.getString("pf_sigma_reg_theta_deg", "1.0"));
-
-        Log.d("loadPfConfig", "Particle count" + particleCount);
-        Log.d("loadPfConfig", "SigmaStep" + sigmaStep);
-        Log.d("loadPfConfig", "SigmaWifi" + sigmaWifi);
-
-        return new ParticleFilterConfig(
-                particleCount,
-                sigmaStep,
-                Math.toRadians(sigmaThetaDeg),
-                sigmaWifi,
-                sigmaGnss,
-                initPosStd,
-                Math.toRadians(initHeadingDeg),
-                resampleRatio,
-                sigmaRegPos,
-                Math.toRadians(sigmaRegThetaDeg)
-        );
+    @Nullable
+    public FusedPose getLatestRawPose() {
+        return latestRawPose;
     }
 
     /**
-     * Advances the particle filter by one logical movement update.
-     *
-     * This method is usually triggered once per detected step, after the raw PDR
-     * state has already been updated by {@link PdrProcessing}.
-     *
-     * Runtime flow:
-     * 1. If the user changed PF settings in the UI, defer-reset the filter here.
-     *    We do it here rather than immediately inside the preference listener so
-     *    the PF is only rebuilt at a clean movement-update boundary.
-     * 2. Initialise the PF lazily when enough absolute position information exists.
-     * 3. Convert cumulative PDR motion into incremental motion for PF prediction.
-     * 4. Run PF prediction using step distance + heading change.
-     * 5. Build the absolute observation bundle from Wi-Fi / GNSS.
-     * 6. Update the filter and store the newest fused pose.
+     * Returns a particle snapshot for debugging or visualisation.
+     */
+    @NonNull
+    public List<ParticleFilterEngine.Particle> getParticlesSnapshot() {
+        return engine.getParticlesSnapshot();
+    }
+
+    /**
+     * Optional map-matched pose input.
+     */
+    public void setLatestMatchedPose(@Nullable CandidatePose latestMatchedPose) {
+        this.latestMatchedPose = latestMatchedPose;
+    }
+
+    /**
+     * Compatibility update entry for SensorFusion.
+     * This method is what SensorFusion.stepParticleFilter() expects to call.
      */
     public void step() {
-        // If this recording session is using normal PDR mode,
-        // the PF manager must stay dormant.
         if (!enabled) {
             return;
         }
-        // Apply any live-tuned PF parameter changes on the next clean PF update.
-        // This avoids rebuilding the filter in the middle of an unrelated callback.
-        if (pfConfigDirty) {
-            Log.d(TAG, "Applying new PF config -> resetting filter");
-            reset();
-            pfConfigDirty = false;
-        }
-        // Build the PF only when an initial absolute reference is available.
-        initialiseIfNeeded();
-        // Still waiting for enough data to initialise.
-        if (particleFilterEngine == null || coordinateConverter == null) {
-            return;
-        }
-        // Convert cumulative PDR movement into the scalar motion increment used
-        // by the PF motion model.
-        double deltaS = extractPdrDeltaDistance();
-        // Heading increment is derived from the latest orientation estimate.
-        double currentHeading = wrapAngle(sensorFusion.passOrientation());
-        double deltaTheta = wrapAngle(currentHeading - lastHeading);
-        lastHeading = currentHeading;
-        // Avoid predicting on numerical noise when the apparent movement is tiny.
-        // We still allow the absolute observation update below.
-        if (deltaS >= 0.01) {
-            particleFilterEngine.predict(deltaS, deltaTheta);
-            Log.d(TAG, "PF predict: deltaS=" + deltaS + ", deltaTheta=" + deltaTheta);
-        } else {
-            Log.d(TAG, "PF stationary: skip predict, keep update");
-        }
-        // Build absolute observations in the local PF frame, then correct the particles.
-        ParticleFilterObservation observation = buildObservation();
-        particleFilterEngine.update(observation);
-
-        FusedPose rawPose = particleFilterEngine.estimate(coordinateConverter);
-        latestRawPose = rawPose;
-
-        latestFusedPose = smoothPoseWithKalman(
-                rawPose,
-                deltaS,
-                Math.abs(deltaTheta),
-                lastWifiAccepted,
-                lastGnssAccepted
-        );
+        // Keep dependencies synced from SensorFusion.
+        setIndoorMapManager(sensorFusion.getParticleFilterIndoorMapManager());
+        setLatestMatchedPose(sensorFusion.getParticleFilterMatchedPose());
 
-        if (rawPose != null && latestFusedPose != null) {
-            Log.d(TAG,
-                    "PF raw vs kalman-smoothed"
-                            + " | rawX=" + rawPose.getXMeters()
-                            + ", rawY=" + rawPose.getYMeters()
-                            + ", smoothX=" + latestFusedPose.getXMeters()
-                            + ", smoothY=" + latestFusedPose.getYMeters()
-                            + ", rawThetaDeg=" + Math.toDegrees(rawPose.getHeadingRad())
-                            + ", smoothThetaDeg=" + Math.toDegrees(latestFusedPose.getHeadingRad())
-                            + ", conf=" + latestFusedPose.getConfidence()
-                            + ", wifiAccepted=" + lastWifiAccepted
-                            + ", gnssAccepted=" + lastGnssAccepted);
-        }
+        updateFromLiveSensors(SystemClock.elapsedRealtime());
+
+        latestRawPose = latestFusedPose;
     }
 
     /**
-     * Initialises the PF only when a reliable autonomous absolute anchor is available.
-     *
-     * Priority:
-     * 1. already-locked autonomous session start stored in SensorFusion
-     * 2. live Wi-Fi position
-     * 3. live GNSS position
+     * Explicit initialisation from GNSS-based session anchor.
      *
-     * This avoids dependence on a user-selected manual start point.
+     * This matches your desired policy:
+     * - initial anchor should come from GNSS
+     * - WiFi should not set the initial start point
      */
-    public void initialiseIfNeeded() {
-        if (particleFilterEngine != null && particleFilterEngine.isInitialised()) {
-            return;
-        }
+    public void initialiseFromGnss(@NonNull LatLng gnssStart,
+                                   int logicalFloor,
+                                   double headingRad) {
+        coordinateConverter = new CoordinateConverter(
+                gnssStart.latitude,
+                gnssStart.longitude
+        );
 
-        LatLng initialLatLng = resolveAutonomousInitialLatLng();
-        int initialFloor = sensorFusion.getWifiFloor();
+        engine.initialise(gnssStart, logicalFloor, headingRad);
+        //At the anchor, Local x/y are exactly zero.
+        latestRawPose = new FusedPose(
+                0.0,
+                0.0,
+                headingRad,
+                logicalFloor,
+                gnssStart,
+                0.5f
+        );
+        latestFusedPose = latestRawPose;
 
-        if (initialLatLng == null) {
-            Log.d(TAG, "PF init skipped: waiting for autonomous WiFi/GNSS initial position.");
-            return;
-        }
+        initialised = true;
+        lastPdrValues = null;
+        verticalMotionDetector.reset();
 
-        coordinateConverter = new CoordinateConverter(
-                initialLatLng.latitude,
-                initialLatLng.longitude
-        );
+        Log.d(TAG, String.format(Locale.US,
+                "PF initialised from GNSS at %.6f, %.6f floor=%d heading=%.3f",
+                gnssStart.latitude, gnssStart.longitude, logicalFloor, Math.toDegrees(headingRad)));
 
-        double[] initialLocal = coordinateConverter.latLngToLocal(initialLatLng);
+        pushLatestPoseToOutputs();
+    }
 
-        particleFilterEngine = new ParticleFilterEngine(currentConfig);
+    @NonNull
+    private ParticleFilterEngine.Config buildConfigFromPreferences(@Nullable Context context) {
+        ParticleFilterEngine.Config cfg = new ParticleFilterEngine.Config();
 
-        poseSmoother.reset();
-        double initialHeading = wrapAngle(sensorFusion.passOrientation());
-        particleFilterEngine.initialise(
-                initialLocal[0],
-                initialLocal[1],
-                initialHeading,
-                initialFloor
+        cfg.particleCount = parseIntPref(context, "pf_particle_count", 250, 50, 5000);
+        cfg.forwardNoiseStdMeters = parseDoublePref(context, "pf_sigma_step", 0.22, 0.01, 10.0);
+        cfg.headingNoiseStdRad = Math.toRadians(
+                parseDoublePref(context, "pf_sigma_theta_deg", 6.0, 0.1, 180.0)
         );
 
-        FusedPose initialRawPose = particleFilterEngine.estimate(coordinateConverter);
-        latestRawPose = initialRawPose;
-        latestFusedPose = smoothPoseWithKalman(
-                initialRawPose,
-                0.0,
-                0.0,
-                true,
-                true
-        );
-        lastHeading = initialHeading;
-
-        Log.d(TAG,
-                "PF initialised from autonomous fix"
-                        + " | particles=" + currentConfig.particleCount
-                        + ", sigmaStep=" + currentConfig.sigmaStep
-                        + ", sigmaThetaDeg=" + Math.toDegrees(currentConfig.sigmaThetaRad)
-                        + ", sigmaWifi=" + currentConfig.sigmaWifi
-                        + ", sigmaGnss=" + currentConfig.sigmaGnss
-                        + ", lat=" + initialLatLng.latitude
-                        + ", lon=" + initialLatLng.longitude);
+        cfg.enableMapConstraints = true;
+        cfg.hardKillOnWallCross = false;
+        cfg.hardKillOnInvalidFloorTransition = false;
+        cfg.softPenaltyForOutOfWalkable = true;
+
+        cfg.outOfWalkablePenalty = 0.15;
+        cfg.wallCrossPenalty = 0.05;
+        cfg.invalidFloorPenalty = 0.05;
+
+        cfg.enableAbsoluteObservationWeighting = true;
+        cfg.resampleEffectiveSampleSizeRatio =
+                parseDoublePref(context, "pf_resample_ratio", 0.45, 0.05, 0.95);
+
+        cfg.debugLogging = true;
+        return cfg;
     }
 
-    /**
-     * Resolves the PF initial anchor without using any manual user-selected position.
-     *
-     * Order:
-     * 1. already-locked autonomous session start from SensorFusion
-     * 2. live WiFi position
-     * 3. live GNSS position
-     *
-     * The first option keeps PF aligned with the same anchor already accepted by
-     * RecordingFragment once that has been seeded.
-     */
-    private LatLng resolveAutonomousInitialLatLng() {
-        // If RecordingFragment has already locked an autonomous start anchor into
-        // SensorFusion, prefer that so standard PDR mode and PF mode share the same start.
-        float[] storedStart = sensorFusion.getGNSSLatitude(true);
-        if (isValidLatLon(storedStart)) {
-            return new LatLng(storedStart[0], storedStart[1]);
+    private int parseIntPref(@Nullable Context context,
+                             @NonNull String key,
+                             int defaultValue,
+                             int minValue,
+                             int maxValue) {
+        if (context == null) {
+            return defaultValue;
         }
 
-        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
-        if (isValidLatLng(wifiLatLng)) {
-            return wifiLatLng;
+        SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(context);
+        String raw = prefs.getString(key, String.valueOf(defaultValue));
+
+        try {
+            int parsed = Integer.parseInt(raw);
+            return Math.max(minValue, Math.min(maxValue, parsed));
+        } catch (Exception e) {
+            Log.w(TAG, "Invalid integer preference for " + key + ": " + raw);
+            return defaultValue;
         }
+    }
 
-        float[] gnssLatLon = sensorFusion.getGNSSLatitude(false);
-        if (isValidLatLon(gnssLatLon)) {
-            return new LatLng(gnssLatLon[0], gnssLatLon[1]);
+    private double parseDoublePref(@Nullable Context context,
+                                   @NonNull String key,
+                                   double defaultValue,
+                                   double minValue,
+                                   double maxValue) {
+        if (context == null) {
+            return defaultValue;
         }
 
-        return null;
+        SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(context);
+        String raw = prefs.getString(key, String.valueOf(defaultValue));
+
+        try {
+            double parsed = Double.parseDouble(raw);
+            return Math.max(minValue, Math.min(maxValue, parsed));
+        } catch (Exception e) {
+            Log.w(TAG, "Invalid double preference for " + key + ": " + raw);
+            return defaultValue;
+        }
+    }
+
+    @NonNull
+    private FusedPose enrichWithLocalCoordinates(@NonNull FusedPose geographicPose) {
+        if (coordinateConverter == null) {
+            return geographicPose;
+        }
+
+        double[] local = coordinateConverter.latLngToLocal(geographicPose.getLatLng());
+
+        return new FusedPose(
+                local[0],
+                local[1],
+                geographicPose.getHeadingRad(),
+                geographicPose.getFloor(),
+                geographicPose.getLatLng(),
+                geographicPose.getConfidence()
+        );
     }
 
     /**
-     * Clears only the live PF runtime state.
-     *
-     * This is intentionally different from clearing PF settings:
-     * - currentConfig is preserved
-     * - SharedPreferences values are preserved
-     * - only the active filter instance and motion trackers are reset
+     * Main live-update entry point.
      *
-     * This is useful when:
-     * - the user starts a new recording
-     * - PF settings change mid-session
-     * - PF mode is disabled for the current session
+     * This should be called once per live cycle after SensorFusion already contains:
+     * - latest PDR
+     * - latest GNSS
+     * - latest WiFi
+     * - latest optional matched pose
      */
-    public void reset() {
-        coordinateConverter = null;
-        particleFilterEngine = null;
-        latestFusedPose = null;
-        latestRawPose = null;
+    public void updateFromLiveSensors(long timestampMs) {
+        if (!enabled) {
+            return;
+        }
 
-        firstPdrSample = true;
-        lastPdrX = 0.0;
-        lastPdrY = 0.0;
-        lastHeading = 0.0;
+        if (!initialised) {
+            tryInitialiseFromCurrentSensors();
+            if (!initialised) {
+                Log.d(TAG, "PF update skipped: waiting for initial GNSS anchor.");
+                return;
+            }
+        }
 
-        wifiObsEmaInitialised = false;
-        wifiObsEmaX = 0.0;
-        wifiObsEmaY = 0.0;
+        float[] pdr = sensorFusion.getSensorValueMap().get(SensorTypes.PDR);
+        if (pdr == null || pdr.length < 2) {
+            Log.d(TAG, "PF update skipped: PDR unavailable.");
+            return;
+        }
 
-        poseSmoother.reset();
-        lastWifiAccepted = false;
-        lastGnssAccepted = false;
+        ParticleFilterEngine.MotionInput motionInput = buildMotionInput(pdr, timestampMs);
+        ParticleFilterEngine.AbsoluteObservation observation = buildObservation();
+
+        ParticleFilterEngine.StepResult result = engine.update(motionInput, observation);
+
+        // Convert engine geographic output into the local x/y frame used by recorder/UI.
+        latestRawPose = enrichWithLocalCoordinates(result.fusedPose);
+
+        // For now fused == raw. Later you can insert KalmanPoseSmoother here.
+        latestFusedPose = latestRawPose;
+
+        pushLatestPoseToOutputs();
+
+        Log.d(TAG, String.format(Locale.US,
+                "PF_OUTPUT lat=%.6f lng=%.6f x=%.3f y=%.3f floor=%d conf=%.3f",
+                latestFusedPose.getLatLng().latitude,
+                latestFusedPose.getLatLng().longitude,
+                latestFusedPose.getXMeters(),
+                latestFusedPose.getYMeters(),
+                latestFusedPose.getFloor(),
+                latestFusedPose.getConfidence()));
+
+        debugger.logStep(
+                "live_update",
+                result.diagnostics.totalParticles,
+                result.diagnostics.aliveParticles,
+                result.diagnostics.wallRejectedCount,
+                result.diagnostics.floorRejectedCount,
+                result.diagnostics.outOfWalkablePenalisedCount,
+                result.diagnostics.observationWeightedCount,
+                observation == null ? "obs:none" : ("obs:" + observation.source)
+        );
+
+        debugger.logFusedPose(
+                "live_update",
+                latestFusedPose.getLatLng().latitude,
+                latestFusedPose.getLatLng().longitude,
+                latestFusedPose.getFloor(),
+                latestFusedPose.getHeadingRad(),
+                latestFusedPose.getConfidence()
+        );
     }
 
     /**
-     * Returns the latest fused estimate only when PF mode is active for this session.
-     *
-     * Returning null while disabled is deliberate:
-     * callers should interpret null as "PF output is not available / not in use",
-     * then fall back to normal PDR rendering if needed.
+     * Pushes the latest PF outputs back into SensorFusion and host callback.
      */
-    public FusedPose getLatestFusedPose() {
-        return enabled ? latestFusedPose : null;
+    private void pushLatestPoseToOutputs() {
+        sensorFusion.setLatestRawFusedPose(latestRawPose);
+        sensorFusion.setLatestFusedPose(latestFusedPose);
+
+        if (host != null && latestFusedPose != null) {
+            host.onFusedPoseUpdated(latestFusedPose);
+        }
     }
 
-    public FusedPose getLatestRawPose(){ return enabled ? latestRawPose : null;}
     /**
-     * Enables or disables PF participation for the current recording session.
-     *
-     * When disabling, we immediately reset the live PF state so stale fused poses
-     * from a previous session cannot leak into a standard-PDR recording.
+     * Attempts one-time PF initialisation from current GNSS.
+     * GNSS is used as the initial anchor by design.
      */
-    public void setEnabled(boolean enabled) {
-        this.enabled = enabled;
-
-        Log.d(TAG, "PF manager = " + (enabled ? "ENABLED" : "DISABLED"));
+    private void tryInitialiseFromCurrentSensors() {
+        float[] gnss = sensorFusion.getGNSSLatitude(false);
+        if (gnss == null || gnss.length < 2) {
+            return;
+        }
 
-        if (!enabled) {
-            reset();
+        if (Math.abs(gnss[0]) < 1e-6 && Math.abs(gnss[1]) < 1e-6) {
+            return;
         }
-    }
-    public boolean isEnabled() {
-        return enabled;
+
+        int floor = 0;
+        double heading = sensorFusion.passOrientation();
+
+        initialiseFromGnss(new LatLng(gnss[0], gnss[1]), floor, heading);
     }
 
     /**
-     * Builds one observation bundle for the PF correction step.
-     *
-     * Observations are converted from global coordinates (LatLng) into the local
-     * x/y frame used internally by the PF.
-     *
-     * Current observation sources:
-     * - Wi-Fi position + Wi-Fi floor
-     * - GNSS position
+     * Converts raw PDR into one PF motion step.
      *
-     * Either source may be absent in a given update cycle.
+     * This uses:
+     * - PDR delta distance
+     * - current heading change relative to previous fused heading
+     * - placeholder vertical transition fields
      */
-    private ParticleFilterObservation buildObservation() {
-        lastWifiAccepted = false;
-        lastGnssAccepted = false;
-
-        Double wifiX = null;
-        Double wifiY = null;
-        Integer wifiFloor = null;
-
-        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
-        if (isValidLatLng(wifiLatLng)) {
-            double[] local = coordinateConverter.latLngToLocal(wifiLatLng);
-
-            boolean acceptWifi = true;
-            FusedPose gateRef = getGateReferencePose();
-            if (gateRef != null) {
-                double dx = local[0] - gateRef.getXMeters();
-                double dy = local[1] - gateRef.getYMeters();
-                double dist = Math.hypot(dx, dy);
-
-                if (dist > WIFI_GATE_METERS) {
-                    acceptWifi = false;
-                    Log.d(TAG, "Rejecting WiFi update by gate"
-                            + " | dist=" + dist
-                            + ", gate=" + WIFI_GATE_METERS);
-                }
-            }
+    @NonNull
+    private ParticleFilterEngine.MotionInput buildMotionInput(@NonNull float[] pdr,
+                                                              long timestampMs) {
 
-            if (acceptWifi) {
-                double[] smoothWifi = smoothWifiObservation(local[0], local[1]);
-                wifiX = smoothWifi[0];
-                wifiY = smoothWifi[1];
-                wifiFloor = sensorFusion.getWifiFloor();
-                lastWifiAccepted = true;
-            }
+        double deltaForwardMeters = 0.0;
+
+        if (lastPdrValues != null && lastPdrValues.length >= 2) {
+            double dx = pdr[0] - lastPdrValues[0];
+            double dy = pdr[1] - lastPdrValues[1];
+            deltaForwardMeters = Math.sqrt(dx * dx + dy * dy);
         }
 
-        Double gnssX = null;
-        Double gnssY = null;
-
-        float[] gnssLatLon = sensorFusion.getGNSSLatitude(false);
-        if (isValidLatLon(gnssLatLon)) {
-            LatLng gnssLatLng = new LatLng(gnssLatLon[0], gnssLatLon[1]);
-            double[] local = coordinateConverter.latLngToLocal(gnssLatLng);
-
-            boolean acceptGnss = true;
-            FusedPose gateRef = getGateReferencePose();
-            if (gateRef != null) {
-                double dx = local[0] - gateRef.getXMeters();
-                double dy = local[1] - gateRef.getYMeters();
-                double dist = Math.hypot(dx, dy);
-
-                if (dist > GNSS_GATE_METERS) {
-                    acceptGnss = false;
-                    Log.d(TAG, "Rejecting GNSS update by gate"
-                            + " | dist=" + dist
-                            + ", gate=" + GNSS_GATE_METERS);
-                }
-            }
+        double currentHeading = sensorFusion.passOrientation();
+        double deltaHeadingRad = 0.0;
 
-            if (acceptGnss) {
-                gnssX = local[0];
-                gnssY = local[1];
-                lastGnssAccepted = true;
-            }
+        if (latestFusedPose != null) {
+            deltaHeadingRad = wrapAngleRad(currentHeading - latestFusedPose.getHeadingRad());
         }
 
-        return new ParticleFilterObservation(wifiX, wifiY, wifiFloor, gnssX, gnssY);
-    }
+        // Build a conservative vertical hint from recent barometer/elevator evidence.
+        verticalMotionDetector.addSample(
+                timestampMs,
+                sensorFusion.getElevation(),
+                sensorFusion.getElevator()
+        );
+        VerticalTransitionHint verticalHint = verticalMotionDetector.buildHint();
 
-    private double[] smoothWifiObservation(double x, double y) {
-        if (!wifiObsEmaInitialised) {
-            wifiObsEmaInitialised = true;
-            wifiObsEmaX = x;
-            wifiObsEmaY = y;
-        } else {
-            wifiObsEmaX = wifiObsEmaX + WIFI_OBS_EMA_ALPHA * (x - wifiObsEmaX);
-            wifiObsEmaY = wifiObsEmaY + WIFI_OBS_EMA_ALPHA * (y - wifiObsEmaY);
+        double deltaHeightMeters = 0.0;
+        boolean heightChanged = false;
+        if (verticalHint != null) {
+            deltaHeightMeters = verticalHint.getDeltaHeight();
+            heightChanged = verticalHint.isHeightChanged();
         }
 
-        return new double[]{wifiObsEmaX, wifiObsEmaY};
+        lastPdrValues = new float[]{pdr[0], pdr[1]};
+
+        Log.d(TAG, String.format(Locale.US,
+                "PF_MOTION deltaS=%.3f deltaHeadingDeg=%.2f deltaH=%.2f heightChanged=%s",
+                deltaForwardMeters,
+                Math.toDegrees(deltaHeadingRad),
+                deltaHeightMeters,
+                String.valueOf(heightChanged)));
+
+        return new ParticleFilterEngine.MotionInput(
+                deltaForwardMeters,
+                deltaHeadingRad,
+                deltaHeightMeters,
+                heightChanged,
+                timestampMs
+        );
     }
 
+    /**
+     * Builds the strongest currently-available absolute observation.
+     *
+     * Priority:
+     * 1) map-matched pose
+     * 2) WiFi
+     * 3) GNSS
+     */
     @Nullable
-    private FusedPose getGateReferencePose() {
-        if (latestRawPose != null) {
-            return latestRawPose;
+    private ParticleFilterEngine.AbsoluteObservation buildObservation() {
+        // strongest indoor observation: map matched pose
+        if (latestMatchedPose != null) {
+            LatLng ll = latestMatchedPose.getLatLng();
+
+            Integer floor = null;
+            if (indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
+                floor = indoorMapManager.indexToLogicalFloor(latestMatchedPose.getFloor());
+            } else {
+                floor = latestMatchedPose.getFloor();
+            }
+
+            if (ll != null) {
+                return new ParticleFilterEngine.AbsoluteObservation(
+                        ll,
+                        floor,
+                        null, // CandidatePose currently does not carry heading here
+                        1.2,  // strong spatial trust
+                        Math.toRadians(12.0),
+                        0.90,
+                        "map_match"
+                );
+            }
         }
-        return latestFusedPose;
+
+        // WiFi as fallback
+        LatLng wifi = sensorFusion.getLatLngWifiPositioning();
+        if (wifi != null && !(Math.abs(wifi.latitude) < 1e-6 && Math.abs(wifi.longitude) < 1e-6)) {
+            Log.d(TAG, String.format(Locale.US,
+                    "PF_OBS source=wifi lat=%.6f lng=%.6f floor=%d",
+                    wifi.latitude,
+                    wifi.longitude,
+                    sensorFusion.getWifiFloor()));
+
+            return new ParticleFilterEngine.AbsoluteObservation(
+                    wifi,
+                    sensorFusion.getWifiFloor(),
+                    null,
+                    5.0,
+                    Math.toRadians(45.0),
+                    0.45,
+                    "wifi"
+            );
+        }
+
+        // GNSS as weakest fallback
+        float[] gnss = sensorFusion.getGNSSLatitude(false);
+        if (gnss != null && gnss.length >= 2
+                && !(Math.abs(gnss[0]) < 1e-6 && Math.abs(gnss[1]) < 1e-6)) {
+
+            Log.d(TAG, String.format(Locale.US,
+                    "PF_OBS source=gnss lat=%.6f lng=%.6f",
+                    gnss[0], gnss[1]));
+
+            return new ParticleFilterEngine.AbsoluteObservation(
+                    new LatLng(gnss[0], gnss[1]),
+                    null,
+                    null,
+                    8.0,
+                    Math.toRadians(60.0),
+                    0.30,
+                    "gnss"
+            );
+        }
+
+        Log.d(TAG, "PF_OBS source=none");
+        return null;
     }
 
     /**
-     * Converts cumulative PDR position into incremental distance.
+     * First-pass hybrid map constraint model.
      *
-     * <p>The PF prediction currently uses:
-     * - scalar displacement magnitude deltaS
-     * - heading increment deltaTheta
+     * This version is intentionally coarse and safe:
+     * - if no indoor map is loaded, it stays permissive
+     * - if indoor map is loaded, it enforces selected-building containment
+     * - wall crossing is approximated using outer-building boundary only
+     * - floor changes are allowed conservatively for now
      *
-     * so here we compute:
-     *   deltaS = hypot(dx, dy)
+     * Later can ne replace with:
+     * - wall segment intersection from vector map features
+     * - connector / stairs / lift region checks
+     * - room / corridor walkability masks
      */
-    private double extractPdrDeltaDistance() {
-        float[] pdrPosition = sensorFusion.getLatestPdrMovement();
-        if (pdrPosition == null || pdrPosition.length < 2) {
-            return 0.0;
-        }
+    private static class HybridConstraintModel implements ParticleFilterEngine.ConstraintModel {
 
-        double px = pdrPosition[0];
-        double py = pdrPosition[1];
+        @Nullable
+        private final IndoorMapManager indoorMapManager;
 
-        if (firstPdrSample) {
-            firstPdrSample = false;
-            lastPdrX = px;
-            lastPdrY = py;
-            return 0.0;
+        HybridConstraintModel(@Nullable IndoorMapManager indoorMapManager) {
+            this.indoorMapManager = indoorMapManager;
         }
 
-        double dx = px - lastPdrX;
-        double dy = py - lastPdrY;
+        /**
+         * Returns whether a PF particle is in a valid walkable coarse region.
+         *
+         * First-pass behaviour:
+         * - if no indoor map is loaded, allow all states
+         * - otherwise require coarse containment inside the selected building footprint
+         */
+        @Override
+        public boolean isWalkable(double lat, double lng, int logicalFloor) {
+            if (indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+                return true;
+            }
+
+            LatLng point = new LatLng(lat, lng);
+            int currentBuilding = indoorMapManager.getCurrentBuilding();
 
-        lastPdrX = px;
-        lastPdrY = py;
+            switch (currentBuilding) {
+                case IndoorMapManager.BUILDING_NUCLEUS:
+                    return BuildingPolygon.inNucleus(point);
 
-        return Math.hypot(dx, dy);
-    }
+                case IndoorMapManager.BUILDING_LIBRARY:
+                    return BuildingPolygon.inLibrary(point);
 
-    private FusedPose smoothPoseWithKalman(
-            FusedPose rawPose,
-            double deltaS,
-            double deltaThetaAbs,
-            boolean wifiAccepted,
-            boolean gnssAccepted
-    ) {
-        if (rawPose == null || coordinateConverter == null) {
-            return rawPose;
+                case IndoorMapManager.BUILDING_MURCHISON:
+                    return BuildingPolygon.inMurchison(point);
+
+                default:
+                    return true;
+            }
         }
 
-        KalmanPoseSmoother.SmoothedPose smoothed = poseSmoother.update(
-                rawPose.getXMeters(),
-                rawPose.getYMeters(),
-                rawPose.getHeadingRad(),
-                rawPose.getConfidence(),
-                deltaS,
-                deltaThetaAbs,
-                wifiAccepted,
-                gnssAccepted
-        );
+        /**
+         * Returns whether the motion segment crosses an invalid outer building boundary.
+         *
+         * First-pass behaviour:
+         * - if both old and new are inside walkable space, do not reject
+         * - if the new state leaves the selected building footprint, treat it as invalid crossing
+         *
+         * Later replace this with wall-segment intersection against the vector floor map.
+         */
+        @Override
+        public boolean crossesWall(double oldLat, double oldLng,
+                                   double newLat, double newLng,
+                                   int logicalFloor) {
+            if (indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+                return false;
+            }
 
-        LatLng smoothedLatLng = coordinateConverter.localToLatLng(
-                smoothed.x,
-                smoothed.y
-        );
+            boolean oldWalkable = isWalkable(oldLat, oldLng, logicalFloor);
+            boolean newWalkable = isWalkable(newLat, newLng, logicalFloor);
 
-        return new FusedPose(
-                smoothed.x,
-                smoothed.y,
-                smoothed.theta,
-                rawPose.getFloor(),
-                smoothedLatLng,
-                rawPose.getConfidence()
-        );
-    }
+            return oldWalkable && !newWalkable;
+        }
 
-    /**
-     * Checks whether a LatLng is meaningful enough to use.
-     */
-    private boolean isValidLatLng(LatLng latLng) {
-        if (latLng == null) {
-            return false;
+        /**
+         * Returns whether a floor transition is allowed.
+         *
+         * First-pass behaviour:
+         * - same floor is always valid
+         * - if no indoor map is present, allow
+         * - if indoor map is present, still allow conservatively for now
+         *
+         * Later replace this with:
+         * - stairs region
+         * - lift region
+         * - connector region checks
+         */
+        @Override
+        public boolean isFloorTransitionAllowed(double lat, double lng, int oldFloor, int newFloor) {
+            if (oldFloor == newFloor) {
+                return true;
+            }
+
+            if (indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+                return true;
+            }
+
+            // Conservative first integration: allow, then refine later.
+            return true;
         }
-        return !(Math.abs(latLng.latitude) < 1e-6 && Math.abs(latLng.longitude) < 1e-6);
-    }
 
-    /**
-     * Checks whether a raw float lat/lon array is meaningful enough to use.
-     */
-    private boolean isValidLatLon(float[] latLon) {
-        if (latLon == null || latLon.length < 2) {
-            return false;
+        /**
+         * Returns a soft map likelihood in [0,1].
+         *
+         * First-pass behaviour:
+         * - 1.0 if valid inside coarse building footprint
+         * - 0.15 if outside valid coarse indoor region
+         */
+        @Override
+        public double mapLikelihood(double lat, double lng, int logicalFloor) {
+            if (indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+                return 1.0;
+            }
+
+            return isWalkable(lat, lng, logicalFloor) ? 1.0 : 0.15;
+        }
+
+        /**
+         * Optional recovery pose.
+         * Not used yet in this first integration.
+         */
+        @Nullable
+        @Override
+        public CandidatePose getRecoveryPose(@NonNull LatLng currentLatLng, int logicalFloor) {
+            return null;
         }
-        return !(Math.abs(latLon[0]) < 1e-6 && Math.abs(latLon[1]) < 1e-6);
     }
 
     /**
-     * Wraps heading angle to [-pi, pi].
+     * Wrap angle to [-pi, pi].
      */
-    private double wrapAngle(double angle) {
-        while (angle > Math.PI) angle -= 2.0 * Math.PI;
-        while (angle < -Math.PI) angle += 2.0 * Math.PI;
-        return angle;
+    private static double wrapAngleRad(double a) {
+        while (a > Math.PI) a -= 2.0 * Math.PI;
+        while (a < -Math.PI) a += 2.0 * Math.PI;
+        return a;
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CandidatePose.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CandidatePose.java
index fd9d4ef3..7f00b6a1 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CandidatePose.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CandidatePose.java
@@ -1,10 +1,14 @@
 package com.openpositioning.PositionMe.mapmatching;
 
+import androidx.annotation.Nullable;
 import com.google.android.gms.maps.model.LatLng;
 
 /**
- * 表示一个候选位置状态。
- * 后续可用于表示 fusion 输出的位置、map matching 修正后的位置等。
+ * Candidate pose used by map matching and by PF observation fusion.
+ *
+ * Backward-compatible:
+ * - old callers can still use the 4-argument constructor
+ * - new callers can optionally provide heading
  */
 public class CandidatePose {
 
@@ -13,21 +17,48 @@ public class CandidatePose {
     private final long timestampMs;
     private final String sourceType;
 
-    public CandidatePose(LatLng latLng, int floor, long timestampMs, String sourceType) {
+    @Nullable
+    private final Double headingRad;
+
+    public CandidatePose(LatLng latLng,
+                         int floor,
+                         long timestampMs,
+                         String sourceType) {
+        this(latLng, floor, timestampMs, sourceType, null);
+    }
+
+    public CandidatePose(LatLng latLng,
+                         int floor,
+                         long timestampMs,
+                         String sourceType,
+                         @Nullable Double headingRad) {
         this.latLng = latLng;
         this.floor = floor;
         this.timestampMs = timestampMs;
         this.sourceType = sourceType;
+        this.headingRad = headingRad;
     }
 
     public LatLng getLatLng() {
         return latLng;
     }
 
+    /**
+     * Current map stack is already using floor indices.
+     * Keep this as the canonical getter.
+     */
     public int getFloor() {
         return floor;
     }
 
+    /**
+     * Compatibility alias for PF code that still says "logical floor".
+     * In your current app this is effectively the active floor index.
+     */
+    public int getLogicalFloor() {
+        return floor;
+    }
+
     public long getTimestampMs() {
         return timestampMs;
     }
@@ -35,4 +66,9 @@ public long getTimestampMs() {
     public String getSourceType() {
         return sourceType;
     }
+
+    @Nullable
+    public Double getHeadingRad() {
+        return headingRad;
+    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
index 8fba7a9b..0dc6543a 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
@@ -25,15 +25,53 @@
 import java.util.List;
 import java.util.Locale;
 
+/**
+ * Central coordinator for live/replay map matching on the trajectory map.
+ *
+ * Responsibilities:
+ * - keep the previous accepted matched pose
+ * - prepare map-matching inputs from live/raw positions
+ * - apply optional absolute observation blending (WiFi / GNSS)
+ * - run MapMatchingService
+ * - update renderer, camera, indoor map state, and debug strings
+ * - push accepted LIVE matched poses into SensorFusion so PF can consume them
+ *
+ * Important design notes:
+ * - Replay mode should NOT feed matched poses into the live particle filter.
+ * - Live mode may blend toward WiFi / GNSS, but map matching remains the final arbiter.
+ * - The debug text is intentionally compact because it is shown on-screen.
+ */
 final class MapMatchingCoordinator {
 
+    /**
+     * Maximum allowed WiFi pull when building a candidate pose from raw motion.
+     */
     private static final double WIFI_MAX_PULL_METERS = 6.0;
+
+    /**
+     * Maximum allowed GNSS pull when building a candidate pose from raw motion.
+     */
     private static final double GNSS_MAX_PULL_METERS = 10.0;
+
+    /**
+     * Blend ratio used when WiFi is available and the track is already stabilised.
+     */
     private static final double WIFI_BLEND_RATIO = 0.45;
+
+    /**
+     * Blend ratio used when GNSS is available and the track is already stabilised.
+     */
     private static final double GNSS_BLEND_RATIO = 0.20;
-    private static final double MAX_OBSERVATION_RESIDUAL_METERS = 25.0;
 
+    /**
+     * Hard residual gate for absolute observations.
+     * If WiFi/GNSS is wildly far from the raw location, ignore it for candidate generation.
+     */
+    private static final double MAX_OBSERVATION_RESIDUAL_METERS = 25.0;
 
+    /**
+     * Host API implemented by TrajectoryMapFragment.
+     */
     interface Host {
         @Nullable GoogleMap getGoogleMap();
         @NonNull Context requireContext();
@@ -64,8 +102,13 @@ interface Host {
     private final MapMatchingService mapMatchingService = new MapMatchingService();
     private final VerticalMotionDetector verticalMotionDetector = new VerticalMotionDetector();
 
+    /**
+     * Latest accepted matched pose used as the previous state for next map-matching cycle.
+     */
     @Nullable
     private CandidatePose previousMatchedPose;
+
+    // Replay-only context
     @Nullable
     private Integer replaySyntheticFloor;
     @Nullable
@@ -78,12 +121,12 @@ interface Host {
     @Nullable
     private Integer replayBaseFloorIndex;
     private boolean replayDisplayFloorInitialized = false;
+
+    /**
+     * Compact status string shown in the on-map debug panel.
+     */
     @NonNull
-    private String latestDebugStatus = "abs:none  src:idle\n"
-            + "floor d/c/m: -/-/-\n"
-            + "vertical: steady Δ0.00m\n"
-            + "correction: NONE\n"
-            + "Waiting for updates";
+    private String latestDebugStatus = defaultDebugStatus();
 
     MapMatchingCoordinator(@NonNull Host host) {
         this.host = host;
@@ -94,25 +137,27 @@ String getLatestDebugStatus() {
         return latestDebugStatus;
     }
 
+    /**
+     * Called when replay mode changes.
+     * Clears transient matching state and prevents stale replay poses from feeding the live PF.
+     */
     void onReplayModeChanged(boolean enabled) {
-        previousMatchedPose = null;
-        mapMatchingService.resetTransientState();
-        verticalMotionDetector.reset();
-        host.getTrajectoryRenderer().clearRawReplayPath();
-        clearReplayContext(true);
-        latestDebugStatus = defaultDebugStatus();
+        clearTrackingState(true);
+
         if (enabled) {
             replayDisplayFloorInitialized = false;
         }
+
+        Log.d(host.getTag(), "MapMatchingCoordinator replayMode=" + enabled);
     }
 
+    /**
+     * Called when the selected building changes.
+     * Clears prior state because a matched pose from the old building is not valid anymore.
+     */
     void onSelectedBuildingChanged() {
-        previousMatchedPose = null;
-        mapMatchingService.resetTransientState();
-        verticalMotionDetector.reset();
-        host.getTrajectoryRenderer().clearRawReplayPath();
-        clearReplayContext(true);
-        latestDebugStatus = defaultDebugStatus();
+        clearTrackingState(true);
+        Log.d(host.getTag(), "MapMatchingCoordinator building selection changed; state reset.");
     }
 
     void setReplayFrameContext(@Nullable Integer syntheticFloor,
@@ -122,6 +167,9 @@ void setReplayFrameContext(@Nullable Integer syntheticFloor,
         setReplayFrameContext(syntheticFloor, currentElevation, deltaHeight, heightChanged, null);
     }
 
+    /**
+     * Sets replay-only vertical/floor context for the next replay update cycle.
+     */
     void setReplayFrameContext(@Nullable Integer syntheticFloor,
                                @Nullable Double currentElevation,
                                @Nullable Double deltaHeight,
@@ -131,12 +179,15 @@ void setReplayFrameContext(@Nullable Integer syntheticFloor,
         replayCurrentElevation = currentElevation;
         replayDeltaHeight = deltaHeight;
         replayHeightChanged = heightChanged;
+
         if (initialFloor != null && (replayInitialFloor == null || !initialFloor.equals(replayInitialFloor))) {
             replayBaseFloorIndex = null;
             replayDisplayFloorInitialized = false;
         }
+
         replayInitialFloor = initialFloor;
         maybeInitializeReplayDisplayFloor();
+
         Log.d(host.getTag(), String.format(Locale.US,
                 "Replay frame context initialFloor=%s syntheticFloor=%s elevation=%s deltaHeight=%s heightChanged=%s",
                 String.valueOf(initialFloor),
@@ -146,49 +197,70 @@ void setReplayFrameContext(@Nullable Integer syntheticFloor,
                 String.valueOf(heightChanged)));
     }
 
+    /**
+     * Main live/replay map-matching entry point.
+     *
+     * Flow:
+     * 1) append raw observation path for diagnostics
+     * 2) choose candidate floor
+     * 3) optionally blend raw location toward WiFi/GNSS (live only)
+     * 4) build MotionDelta + VerticalTransitionHint
+     * 5) call MapMatchingService
+     * 6) update renderer/current state/debug text
+     * 7) publish matched pose to SensorFusion for PF (live mode only)
+     */
     void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         if (host.getGoogleMap() == null) {
             return;
         }
 
-        boolean replayMode = host.isReplayModeEnabled();
-        LatLng rawLocation = newLocation;
+        final boolean replayMode = host.isReplayModeEnabled();
+        final long timestampMs = SystemClock.elapsedRealtime();
+        final LatLng rawLocation = newLocation;
+
+        // Always keep the raw observation trail for debugging.
         host.getTrajectoryRenderer().appendRawObservationPoint(rawLocation);
 
-        long timestampMs = SystemClock.elapsedRealtime();
-        int displayFloorIndex = host.getCurrentFloorIndex();
-        int candidateFloorIndex = replayMode
+        final int displayFloorIndex = host.getCurrentFloorIndex();
+        final int candidateFloorIndex = replayMode
                 ? resolveReplayCandidateFloorIndex()
                 : resolveLiveCandidateFloorIndex();
-        int sourceFloorIndex = previousMatchedPose != null
+        final int sourceFloorIndex = previousMatchedPose != null
                 ? previousMatchedPose.getFloor()
                 : candidateFloorIndex;
-        AbsoluteObservationCorrection absoluteCorrection = replayMode
+
+        final AbsoluteObservationCorrection absoluteCorrection = replayMode
                 ? AbsoluteObservationCorrection.passThrough(rawLocation, "replay_pdr")
-                : applyAbsoluteObservationCorrection(rawLocation, candidateFloorIndex);
-        SensorFusion sensorFusion = host.getSensorFusion();
+                : applyAbsoluteObservationCorrection(rawLocation);
+
+        final SensorFusion sensorFusion = host.getSensorFusion();
+
+        // Show WiFi observation marker in live mode only.
         if (!replayMode && sensorFusion != null) {
-            host.getTrajectoryRenderer().updateWifiObservation(sensorFusion.getLatLngWifiPositioning());
+            host.getTrajectoryRenderer().updateWifi(sensorFusion.getLatLngWifiPositioning());
         }
-        LatLng candidateLatLng = absoluteCorrection.getCorrectedLatLng();
-        FloorplanApiClient.FloorShapes sourceFloorShapes = getFloorShapesForFloorIndex(sourceFloorIndex);
-        FloorplanApiClient.FloorShapes targetFloorShapes = getFloorShapesForFloorIndex(candidateFloorIndex);
-        CandidatePose currentCandidatePose = new CandidatePose(
+
+        final LatLng candidateLatLng = absoluteCorrection.getCorrectedLatLng();
+        final FloorplanApiClient.FloorShapes sourceFloorShapes = getFloorShapesForFloorIndex(sourceFloorIndex);
+        final FloorplanApiClient.FloorShapes targetFloorShapes = getFloorShapesForFloorIndex(candidateFloorIndex);
+
+        final CandidatePose currentCandidatePose = new CandidatePose(
                 candidateLatLng,
                 candidateFloorIndex,
                 timestampMs,
                 absoluteCorrection.getPoseSource()
         );
 
-        MotionDelta motionDelta = buildMotionDelta(previousMatchedPose, candidateLatLng, orientation);
-        VerticalTransitionHint verticalHint = buildVerticalTransitionHint(timestampMs);
+        final MotionDelta motionDelta = buildMotionDelta(previousMatchedPose, candidateLatLng, orientation);
+        final VerticalTransitionHint verticalHint = buildVerticalTransitionHint(timestampMs);
         logVerticalHintDiagnostics(verticalHint, replayMode, candidateFloorIndex);
-        FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
-        String activeBuildingId = selectedBuilding != null
+
+        final FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
+        final String activeBuildingId = selectedBuilding != null
                 ? host.resolveKnownBuildingKey(selectedBuilding, selectedBuilding.getName())
                 : null;
 
-        MapMatchingInput matchingInput = new MapMatchingInput(
+        final MapMatchingInput matchingInput = new MapMatchingInput(
                 previousMatchedPose,
                 currentCandidatePose,
                 motionDelta,
@@ -198,17 +270,18 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
                 activeBuildingId
         );
 
-        MapMatchingResult matchingResult = mapMatchingService.match(matchingInput);
-        LatLng matchedLocation = matchingResult.getCorrectedLatLng() != null
+        final MapMatchingResult matchingResult = mapMatchingService.match(matchingInput);
+        final LatLng matchedLocation = matchingResult.getCorrectedLatLng() != null
                 ? matchingResult.getCorrectedLatLng()
                 : rawLocation;
-        int matchedFloor = matchingResult.getCorrectedFloor();
-        int floorForState = replayMode
+        final int matchedFloor = matchingResult.getCorrectedFloor();
+        final int floorForState = replayMode
                 ? resolveReplayDisplayFloor(matchedFloor)
                 : matchedFloor;
 
         logFeatureValidation(rawLocation, matchingResult);
         logAbsoluteObservationDiagnostics(rawLocation, absoluteCorrection);
+
         Log.d(host.getTestLogTag(), String.format(Locale.US,
                 "raw=(%.6f, %.6f) candidate=(%.6f, %.6f) matched=(%.6f, %.6f) sourceFloor=%d candidateFloor=%d matchedFloor=%d displayFloor=%d autoFloorEnabled=%s candidateSource=%s correction=%s reason=%s",
                 rawLocation.latitude,
@@ -238,25 +311,35 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
                 matchingResult
         );
 
-        LatLng oldLocation = host.getCurrentLocation();
+        final LatLng oldLocation = host.getCurrentLocation();
         host.setCurrentLocation(matchedLocation);
+
         previousMatchedPose = new CandidatePose(
                 matchedLocation,
                 floorForState,
                 timestampMs,
                 replayMode ? "replay_map_state" : "map_matched"
         );
+
+        // Feed only LIVE accepted matched poses into the particle filter.
+        publishMatchedPoseToParticleFilter(previousMatchedPose, replayMode);
+
         if (replayMode) {
             applyReplayDisplayFloorIfNeeded(floorForState);
         }
 
-        boolean shouldFollowCamera = replayMode;
-        float savedZoom = 19f;
-        Context context = host.requireContext();
-        savedZoom = context.getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
+        final boolean shouldFollowCamera = replayMode;
+        final Context context = host.requireContext();
+        final float savedZoom = context.getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
                 .getFloat("user_selected_zoom", 19f);
 
-        host.getTrajectoryRenderer().updateCurrentPosition(context, matchedLocation, orientation, shouldFollowCamera, savedZoom);
+        host.getTrajectoryRenderer().updateCurrentPosition(
+                context,
+                matchedLocation,
+                orientation,
+                shouldFollowCamera,
+                savedZoom
+        );
         host.getTrajectoryRenderer().appendMatchedLocation(oldLocation, matchedLocation);
 
         IndoorMapManager indoorMapManager = host.getIndoorMapManager();
@@ -270,27 +353,86 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         }
     }
 
+    /**
+     * Explicit reset used by the map fragment.
+     */
     void resetMapMatchingState() {
+        clearTrackingState(true);
+        Log.d(host.getTag(), "MapMatchingCoordinator full reset.");
+    }
+
+    /**
+     * Clears all transient state.
+     *
+     * @param clearReplayContext whether to also clear replay base-floor state
+     */
+    private void clearTrackingState(boolean clearReplayContext) {
         previousMatchedPose = null;
         mapMatchingService.resetTransientState();
         verticalMotionDetector.reset();
         host.getTrajectoryRenderer().clearRawReplayPath();
-        clearReplayContext(true);
+        publishMatchedPoseToParticleFilter(null, false);
+
+        if (clearReplayContext) {
+            clearReplayContext(true);
+        }
+
         latestDebugStatus = defaultDebugStatus();
     }
 
+    /**
+     * Clears replay-only cached state.
+     */
     private void clearReplayContext(boolean clearBaseFloorState) {
         replaySyntheticFloor = null;
         replayCurrentElevation = null;
         replayDeltaHeight = null;
         replayHeightChanged = false;
         replayInitialFloor = null;
+
         if (clearBaseFloorState) {
             replayBaseFloorIndex = null;
             replayDisplayFloorInitialized = false;
         }
     }
 
+    /**
+     * Pushes the latest accepted matched pose into SensorFusion so the particle filter
+     * can use it as a strong indoor observation.
+     *
+     * Replay mode deliberately does not publish into the live PF.
+     */
+    private void publishMatchedPoseToParticleFilter(@Nullable CandidatePose matchedPose,
+                                                    boolean replayMode) {
+        SensorFusion sensorFusion = host.getSensorFusion();
+        if (sensorFusion == null) {
+            return;
+        }
+
+        if (replayMode) {
+            sensorFusion.setParticleFilterMatchedPose(null);
+            Log.d(host.getTag(), "PF_MATCHED_POSE cleared because replay mode is active.");
+            return;
+        }
+
+        sensorFusion.setParticleFilterMatchedPose(matchedPose);
+
+        if (matchedPose == null || matchedPose.getLatLng() == null) {
+            Log.d(host.getTag(), "PF_MATCHED_POSE cleared.");
+            return;
+        }
+
+        Log.d(host.getTag(), String.format(Locale.US,
+                "PF_MATCHED_POSE lat=%.6f lng=%.6f floor=%d source=%s",
+                matchedPose.getLatLng().latitude,
+                matchedPose.getLatLng().longitude,
+                matchedPose.getFloor(),
+                matchedPose.getSourceType()));
+    }
+
+    /**
+     * Returns floor shapes for the requested floor index within the currently selected building.
+     */
     @Nullable
     private FloorplanApiClient.FloorShapes getFloorShapesForFloorIndex(int floorIndexForMatching) {
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
@@ -304,10 +446,19 @@ private FloorplanApiClient.FloorShapes getFloorShapesForFloorIndex(int floorInde
             maybeInitializeReplayDisplayFloor();
         }
 
-        int safeFloorIndex = Math.max(0, Math.min(floorIndexForMatching, selectedBuilding.getFloorShapesList().size() - 1));
+        int safeFloorIndex = Math.max(
+                0,
+                Math.min(floorIndexForMatching, selectedBuilding.getFloorShapesList().size() - 1)
+        );
         return selectedBuilding.getFloorShapesList().get(safeFloorIndex);
     }
 
+    /**
+     * Live floor candidate:
+     * 1) floor tracker candidate if available
+     * 2) previous matched floor
+     * 3) current displayed floor
+     */
     private int resolveLiveCandidateFloorIndex() {
         Integer trackingCandidateFloorIndex = host.getTrackingCandidateFloorIndex();
         if (trackingCandidateFloorIndex != null) {
@@ -319,9 +470,16 @@ private int resolveLiveCandidateFloorIndex() {
         return host.getCurrentFloorIndex();
     }
 
+    /**
+     * Builds a candidate location by softly pulling the raw location toward WiFi or GNSS.
+     *
+     * Notes:
+     * - live only
+     * - map matching still validates the final candidate
+     * - large residuals are ignored
+     */
     @NonNull
-    private AbsoluteObservationCorrection applyAbsoluteObservationCorrection(@NonNull LatLng rawLocation,
-                                                                             int candidateFloorIndex) {
+    private AbsoluteObservationCorrection applyAbsoluteObservationCorrection(@NonNull LatLng rawLocation) {
         SensorFusion sensorFusion = host.getSensorFusion();
         if (sensorFusion == null) {
             return AbsoluteObservationCorrection.passThrough(rawLocation, "live_pdr");
@@ -332,7 +490,10 @@ private AbsoluteObservationCorrection applyAbsoluteObservationCorrection(@NonNul
             double rawDistanceMeters = distanceMeters(rawLocation, wifiObservation);
             if (rawDistanceMeters <= MAX_OBSERVATION_RESIDUAL_METERS) {
                 double blendRatio = previousMatchedPose == null ? 0.70 : WIFI_BLEND_RATIO;
-                double maxPullMeters = previousMatchedPose == null ? WIFI_MAX_PULL_METERS * 2.0 : WIFI_MAX_PULL_METERS;
+                double maxPullMeters = previousMatchedPose == null
+                        ? WIFI_MAX_PULL_METERS * 2.0
+                        : WIFI_MAX_PULL_METERS;
+
                 LatLng blended = blendTowardObservation(rawLocation, wifiObservation, blendRatio, maxPullMeters);
                 return new AbsoluteObservationCorrection(blended, "live_wifi_fused", "wifi", rawDistanceMeters);
             }
@@ -343,7 +504,10 @@ private AbsoluteObservationCorrection applyAbsoluteObservationCorrection(@NonNul
             double rawDistanceMeters = distanceMeters(rawLocation, gnssObservation);
             if (rawDistanceMeters <= MAX_OBSERVATION_RESIDUAL_METERS) {
                 double blendRatio = previousMatchedPose == null ? 0.40 : GNSS_BLEND_RATIO;
-                double maxPullMeters = previousMatchedPose == null ? GNSS_MAX_PULL_METERS * 1.5 : GNSS_MAX_PULL_METERS;
+                double maxPullMeters = previousMatchedPose == null
+                        ? GNSS_MAX_PULL_METERS * 1.5
+                        : GNSS_MAX_PULL_METERS;
+
                 LatLng blended = blendTowardObservation(rawLocation, gnssObservation, blendRatio, maxPullMeters);
                 return new AbsoluteObservationCorrection(blended, "live_gnss_fused", "gnss", rawDistanceMeters);
             }
@@ -352,6 +516,9 @@ private AbsoluteObservationCorrection applyAbsoluteObservationCorrection(@NonNul
         return AbsoluteObservationCorrection.passThrough(rawLocation, "live_pdr");
     }
 
+    /**
+     * Logs how much the candidate location was moved by WiFi/GNSS before map matching.
+     */
     private void logAbsoluteObservationDiagnostics(@NonNull LatLng rawLocation,
                                                    @NonNull AbsoluteObservationCorrection correction) {
         if (!correction.hasExternalObservation()) {
@@ -365,6 +532,7 @@ private void logAbsoluteObservationDiagnostics(@NonNull LatLng rawLocation,
         }
 
         double appliedShiftMeters = distanceMeters(rawLocation, correction.getCorrectedLatLng());
+
         Log.d(host.getTestLogTag(), String.format(Locale.US,
                 "ABSOLUTE_UPDATE source=%s residualMeters=%.2f appliedShiftMeters=%.2f candidate=(%.6f, %.6f)",
                 correction.getObservationSource(),
@@ -374,6 +542,9 @@ private void logAbsoluteObservationDiagnostics(@NonNull LatLng rawLocation,
                 correction.getCorrectedLatLng().longitude));
     }
 
+    /**
+     * Returns the current GNSS observation if valid.
+     */
     @Nullable
     private LatLng getGnssObservation(@NonNull SensorFusion sensorFusion) {
         float[] gnss = sensorFusion.getGNSSLatitude(false);
@@ -393,6 +564,9 @@ private boolean isUsableObservation(@Nullable LatLng observation) {
                 && !(observation.latitude == 0d && observation.longitude == 0d);
     }
 
+    /**
+     * Blends from raw pose toward an observation, then clamps the total shift.
+     */
     @NonNull
     private LatLng blendTowardObservation(@NonNull LatLng rawLocation,
                                           @NonNull LatLng observation,
@@ -400,13 +574,19 @@ private LatLng blendTowardObservation(@NonNull LatLng rawLocation,
                                           double maxPullMeters) {
         LatLng blended = interpolate(rawLocation, observation, blendRatio);
         double appliedShiftMeters = distanceMeters(rawLocation, blended);
+
         if (appliedShiftMeters <= maxPullMeters) {
             return blended;
         }
+
         double limitedRatio = maxPullMeters / Math.max(appliedShiftMeters, 1e-6d);
         return interpolate(rawLocation, blended, limitedRatio);
     }
 
+    /**
+     * Simple linear interpolation in latitude/longitude space.
+     * Acceptable here because all shifts are local and small.
+     */
     @NonNull
     private LatLng interpolate(@NonNull LatLng from, @NonNull LatLng to, double ratio) {
         double clampedRatio = Math.max(0d, Math.min(1d, ratio));
@@ -416,6 +596,9 @@ private LatLng interpolate(@NonNull LatLng from, @NonNull LatLng to, double rati
         );
     }
 
+    /**
+     * Returns geodesic distance in metres.
+     */
     private double distanceMeters(@NonNull LatLng from, @NonNull LatLng to) {
         float[] results = new float[1];
         Location.distanceBetween(
@@ -428,6 +611,9 @@ private double distanceMeters(@NonNull LatLng from, @NonNull LatLng to) {
         return results[0];
     }
 
+    /**
+     * Builds motion delta from the previous accepted matched pose to the current candidate.
+     */
     @Nullable
     private MotionDelta buildMotionDelta(@Nullable CandidatePose previousPose,
                                          @NonNull LatLng rawLocation,
@@ -447,9 +633,13 @@ private MotionDelta buildMotionDelta(@Nullable CandidatePose previousPose,
 
         double deltaX = rawLocation.longitude - previousPose.getLatLng().longitude;
         double deltaY = rawLocation.latitude - previousPose.getLatLng().latitude;
+
         return new MotionDelta(deltaX, deltaY, results[0], orientation);
     }
 
+    /**
+     * Builds vertical transition hint from live barometer/elevator data or replay metadata.
+     */
     @Nullable
     private VerticalTransitionHint buildVerticalTransitionHint(long timestampMs) {
         if (!host.isReplayModeEnabled()) {
@@ -460,12 +650,17 @@ private VerticalTransitionHint buildVerticalTransitionHint(long timestampMs) {
 
             double elevationMeters = sensorFusion.getElevation();
             boolean elevatorLikely = sensorFusion.getElevator();
+
             verticalMotionDetector.addSample(timestampMs, elevationMeters, elevatorLikely);
             return verticalMotionDetector.buildHint();
         }
+
         return buildReplayVerticalHint();
     }
 
+    /**
+     * Logs vertical evidence used by map matching.
+     */
     private void logVerticalHintDiagnostics(@Nullable VerticalTransitionHint verticalHint,
                                             boolean replayMode,
                                             int candidateFloorIndex) {
@@ -486,6 +681,9 @@ private void logVerticalHintDiagnostics(@Nullable VerticalTransitionHint vertica
                 String.valueOf(verticalHint.isHeightChanged())));
     }
 
+    /**
+     * Builds replay-only vertical hint.
+     */
     @Nullable
     private VerticalTransitionHint buildReplayVerticalHint() {
         if (!host.isReplayModeEnabled()) {
@@ -497,12 +695,18 @@ private VerticalTransitionHint buildReplayVerticalHint() {
 
         double currentElevation = replayCurrentElevation != null ? replayCurrentElevation : 0d;
         double deltaHeight = replayDeltaHeight != null ? replayDeltaHeight : 0d;
+
         return new VerticalTransitionHint(currentElevation, deltaHeight, replayHeightChanged);
     }
 
+    /**
+     * Resolves the replay floor candidate relative to the base replay floor.
+     */
     private int resolveReplayCandidateFloorIndex() {
         Integer baseFloorIndex = resolveReplayBaseFloorIndex();
-        if (!host.isReplayModeEnabled() || baseFloorIndex == null || host.getSelectedFloorplanBuilding() == null) {
+        if (!host.isReplayModeEnabled()
+                || baseFloorIndex == null
+                || host.getSelectedFloorplanBuilding() == null) {
             return host.getCurrentFloorIndex();
         }
 
@@ -521,20 +725,29 @@ private int resolveReplayCandidateFloorIndex() {
             relativeFloorOffset = replaySyntheticFloor;
         }
 
-        int targetPosition = Math.max(0, Math.min(basePosition + relativeFloorOffset, orderedFloorIndices.size() - 1));
+        int targetPosition = Math.max(
+                0,
+                Math.min(basePosition + relativeFloorOffset, orderedFloorIndices.size() - 1)
+        );
+
         return orderedFloorIndices.get(targetPosition);
     }
 
+    /**
+     * Finds the base replay floor index from initial replay metadata.
+     */
     @Nullable
     private Integer resolveReplayBaseFloorIndex() {
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
         if (!host.isReplayModeEnabled() || selectedBuilding == null) {
             return null;
         }
+
         if (replayBaseFloorIndex != null) {
             int maxFloor = Math.max(0, selectedBuilding.getFloorShapesList().size() - 1);
             return Math.max(0, Math.min(replayBaseFloorIndex, maxFloor));
         }
+
         if (replayInitialFloor == null) {
             replayBaseFloorIndex = host.getCurrentFloorIndex();
             return replayBaseFloorIndex;
@@ -550,7 +763,9 @@ private Integer resolveReplayBaseFloorIndex() {
         }
 
         for (int i = 0; i < selectedBuilding.getFloorShapesList().size(); i++) {
-            String candidateLabel = host.canonicalFloorLabel(selectedBuilding.getFloorShapesList().get(i).getDisplayName());
+            String candidateLabel = host.canonicalFloorLabel(
+                    selectedBuilding.getFloorShapesList().get(i).getDisplayName()
+            );
             if (desiredFloorLabel.equals(candidateLabel)) {
                 replayBaseFloorIndex = i;
                 return replayBaseFloorIndex;
@@ -561,6 +776,9 @@ private Integer resolveReplayBaseFloorIndex() {
         return replayBaseFloorIndex;
     }
 
+    /**
+     * Returns whether replay has enough vertical evidence to allow floor changes.
+     */
     private boolean hasReplayVerticalEvidence() {
         if (!host.isReplayModeEnabled()) {
             return false;
@@ -574,27 +792,36 @@ private boolean hasReplayVerticalEvidence() {
         if (replayDeltaHeight != null && Math.abs(replayDeltaHeight) >= 1.0d) {
             return true;
         }
-        if (replayCurrentElevation != null && Math.abs(replayCurrentElevation) >= 1.0d) {
-            return true;
-        }
-        return false;
+        return replayCurrentElevation != null && Math.abs(replayCurrentElevation) >= 1.0d;
     }
 
+    /**
+     * Initialises the replay display floor once the building map is available.
+     */
     private void maybeInitializeReplayDisplayFloor() {
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
         IndoorMapManager indoorMapManager = host.getIndoorMapManager();
-        if (!host.isReplayModeEnabled() || replayDisplayFloorInitialized || selectedBuilding == null || indoorMapManager == null) {
+
+        if (!host.isReplayModeEnabled()
+                || replayDisplayFloorInitialized
+                || selectedBuilding == null
+                || indoorMapManager == null) {
             return;
         }
+
         Integer baseFloorIndex = resolveReplayBaseFloorIndex();
         if (baseFloorIndex == null) {
             return;
         }
+
         indoorMapManager.setSelectedBuilding(selectedBuilding);
         host.setFloor(baseFloorIndex);
         replayDisplayFloorInitialized = true;
+
         Log.d(host.getTag(), "Initialized replay display floor index=" + baseFloorIndex);
 
+        // If matching already started before building/floor setup completed,
+        // force previous state onto the correct initial replay floor.
         if (previousMatchedPose != null && previousMatchedPose.getFloor() != baseFloorIndex) {
             previousMatchedPose = new CandidatePose(
                     previousMatchedPose.getLatLng(),
@@ -605,15 +832,20 @@ private void maybeInitializeReplayDisplayFloor() {
         }
     }
 
+    /**
+     * Chooses the floor index that should be stored/displayed for replay state.
+     */
     private int resolveReplayDisplayFloor(int replayCandidateFloorIndex) {
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
-        if (selectedBuilding == null || selectedBuilding.getFloorShapesList() == null
+        if (selectedBuilding == null
+                || selectedBuilding.getFloorShapesList() == null
                 || selectedBuilding.getFloorShapesList().isEmpty()) {
             return replayCandidateFloorIndex;
         }
 
         int maxFloor = Math.max(0, selectedBuilding.getFloorShapesList().size() - 1);
         int clampedFloor = Math.max(0, Math.min(replayCandidateFloorIndex, maxFloor));
+
         if (hasReplayVerticalEvidence()) {
             return clampedFloor;
         }
@@ -626,32 +858,45 @@ private int resolveReplayDisplayFloor(int replayCandidateFloorIndex) {
         if (baseFloorIndex != null) {
             return Math.max(0, Math.min(baseFloorIndex, maxFloor));
         }
+
         return clampedFloor;
     }
 
+    /**
+     * Applies replay display floor change to the indoor map if needed.
+     */
     private void applyReplayDisplayFloorIfNeeded(int targetFloorIndex) {
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
         IndoorMapManager indoorMapManager = host.getIndoorMapManager();
+
         if (!host.isReplayModeEnabled() || selectedBuilding == null || indoorMapManager == null) {
             return;
         }
 
         int maxFloor = Math.max(0, selectedBuilding.getFloorShapesList().size() - 1);
         int clampedFloor = Math.max(0, Math.min(targetFloorIndex, maxFloor));
+
         if (clampedFloor == host.getCurrentFloorIndex()) {
             return;
         }
+
         indoorMapManager.setSelectedBuilding(selectedBuilding);
         host.setFloor(clampedFloor);
     }
 
+    /**
+     * Classifies the matching result into a compact scenario label for Logcat.
+     */
     @NonNull
     private String classifyMapMatchingScenario(@Nullable MapMatchingResult result) {
         if (result == null) {
             return "UNKNOWN";
         }
 
-        String reason = result.getDebugReason() == null ? "" : result.getDebugReason().toLowerCase(Locale.US);
+        String reason = result.getDebugReason() == null
+                ? ""
+                : result.getDebugReason().toLowerCase(Locale.US);
+
         CorrectionType correctionType = result.getCorrectionType();
 
         if (correctionType == CorrectionType.THROUGH_WALL || result.isCrossedWall()) {
@@ -669,33 +914,48 @@ private String classifyMapMatchingScenario(@Nullable MapMatchingResult result) {
         if (reason.contains("step distance too small")) {
             return "02_small_step_skip_wall_check";
         }
+
         return "01_same_floor_accept";
     }
 
-    private void logFeatureValidation(@NonNull LatLng rawLocation, @Nullable MapMatchingResult result) {
+    /**
+     * Detailed map-matching scenario log.
+     */
+    private void logFeatureValidation(@NonNull LatLng rawLocation,
+                                      @Nullable MapMatchingResult result) {
         if (result == null) {
             return;
         }
 
-        LatLng matched = result.getCorrectedLatLng() != null ? result.getCorrectedLatLng() : rawLocation;
+        LatLng matched = result.getCorrectedLatLng() != null
+                ? result.getCorrectedLatLng()
+                : rawLocation;
+
         String scenario = classifyMapMatchingScenario(result);
+
         Log.d(host.getTestLogTag(), String.format(Locale.US,
                 "SCENARIO=%s raw=(%.6f, %.6f) matched=(%.6f, %.6f) matchedFloor=%d crossedWall=%s nearStairs=%s nearLift=%s floorAllowed=%s correction=%s reason=%s",
                 scenario,
-                rawLocation.latitude, rawLocation.longitude,
-                matched.latitude, matched.longitude,
+                rawLocation.latitude,
+                rawLocation.longitude,
+                matched.latitude,
+                matched.longitude,
                 result.getCorrectedFloor(),
                 String.valueOf(result.isCrossedWall()),
                 String.valueOf(result.isNearStairs()),
                 String.valueOf(result.isNearLift()),
                 String.valueOf(result.isFloorChangeAllowed()),
-                result.getCorrectionType() != null ? result.getCorrectionType().name() : CorrectionType.NONE.name(),
+                result.getCorrectionType() != null
+                        ? result.getCorrectionType().name()
+                        : CorrectionType.NONE.name(),
                 result.getDebugReason()));
     }
 
-
+    /**
+     * Default compact UI debug string.
+     */
     @NonNull
-    private String defaultDebugStatus() {
+    private static String defaultDebugStatus() {
         return "abs:none  src:idle\n"
                 + "floor d/c/m: -/-/-\n"
                 + "vertical: steady Δ0.00m\n"
@@ -703,6 +963,9 @@ private String defaultDebugStatus() {
                 + "Waiting for updates";
     }
 
+    /**
+     * Builds the compact debug status text shown in the fragment.
+     */
     @NonNull
     private String buildDebugStatus(@Nullable String absoluteSource,
                                     @Nullable String poseSource,
@@ -713,18 +976,26 @@ private String buildDebugStatus(@Nullable String absoluteSource,
                                     @NonNull MapMatchingResult result) {
         String absoluteValue = absoluteSource == null ? "none" : absoluteSource;
         String poseValue = poseSource == null ? "unknown" : poseSource;
-        String verticalValue = (verticalHint != null && verticalHint.isHeightChanged()) ? "changed" : "steady";
+        String verticalValue = (verticalHint != null && verticalHint.isHeightChanged())
+                ? "changed"
+                : "steady";
         double deltaHeight = verticalHint != null ? verticalHint.getDeltaHeight() : 0d;
+
         String correctionName = result.getCorrectionType() != null
                 ? result.getCorrectionType().name()
                 : CorrectionType.NONE.name();
-        String reason = result.getDebugReason() != null ? result.getDebugReason().trim() : "Waiting for updates";
+
+        String reason = result.getDebugReason() != null
+                ? result.getDebugReason().trim()
+                : "Waiting for updates";
+
         if (reason.isEmpty()) {
             reason = "Waiting for updates";
         }
         if (reason.length() > 80) {
             reason = reason.substring(0, 80) + "…";
         }
+
         return String.format(Locale.US,
                 "abs:%s  src:%s\n"
                         + "floor d/c/m: %d/%d/%d\n"
@@ -741,13 +1012,21 @@ private String buildDebugStatus(@Nullable String absoluteSource,
                 correctionName,
                 reason);
     }
+
+    /**
+     * Small immutable helper describing the candidate pose after optional
+     * WiFi/GNSS correction, before map matching.
+     */
     private static final class AbsoluteObservationCorrection {
         @NonNull
         private final LatLng correctedLatLng;
+
         @NonNull
         private final String poseSource;
+
         @Nullable
         private final String observationSource;
+
         private final double observationResidualMeters;
 
         private AbsoluteObservationCorrection(@NonNull LatLng correctedLatLng,
@@ -761,7 +1040,8 @@ private AbsoluteObservationCorrection(@NonNull LatLng correctedLatLng,
         }
 
         @NonNull
-        static AbsoluteObservationCorrection passThrough(@NonNull LatLng latLng, @NonNull String poseSource) {
+        static AbsoluteObservationCorrection passThrough(@NonNull LatLng latLng,
+                                                         @NonNull String poseSource) {
             return new AbsoluteObservationCorrection(latLng, poseSource, null, 0d);
         }
 
@@ -788,4 +1068,4 @@ String getObservationSource() {
             return observationResidualMeters;
         }
     }
-}
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MeasurementsFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MeasurementsFragment.java
index 20c43987..e57d63a8 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MeasurementsFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MeasurementsFragment.java
@@ -87,10 +87,8 @@ public void onCreate(Bundle savedInstanceState) {
     @Override
     public View onCreateView(LayoutInflater inflater, ViewGroup container,
                              Bundle savedInstanceState) {
-        // Inflate the layout for this fragment
         View rootView = inflater.inflate(R.layout.fragment_measurements, container, false);
-        getActivity().setTitle("Sensor Measurements");
-        this.refreshDataHandler.post(refreshTableTask);
+        requireActivity().setTitle("Sensor Measurements");
         return rootView;
     }
 
@@ -110,8 +108,9 @@ public void onPause() {
      */
     @Override
     public void onResume() {
-        refreshDataHandler.postDelayed(refreshTableTask, REFRESH_TIME);
         super.onResume();
+        refreshDataHandler.removeCallbacks(refreshTableTask);
+        refreshDataHandler.postDelayed(refreshTableTask, REFRESH_TIME);
     }
 
     /**
@@ -122,9 +121,12 @@ public void onResume() {
     @Override
     public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
         super.onViewCreated(view, savedInstanceState);
-        sensorMeasurementList = (ConstraintLayout) getView().findViewById(R.id.sensorMeasurementList);
-        wifiListView = (RecyclerView) getView().findViewById(R.id.wifiList);
-        wifiListView.setLayoutManager(new LinearLayoutManager(getActivity()));
+        sensorMeasurementList = view.findViewById(R.id.sensorMeasurementList);
+        wifiListView = view.findViewById(R.id.wifiList);
+        wifiListView.setLayoutManager(new LinearLayoutManager(requireContext()));
+
+        refreshDataHandler.removeCallbacks(refreshTableTask);
+        refreshDataHandler.post(refreshTableTask);
     }
 
     /**
@@ -139,39 +141,65 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
     private final Runnable refreshTableTask = new Runnable() {
         @Override
         public void run() {
-            // Get all the values from SensorFusion
+            if (!isAdded() || sensorMeasurementList == null || wifiListView == null) {
+                return;
+            }
+
             Map<SensorTypes, float[]> sensorValueMap = sensorFusion.getSensorValueMap();
-            // Loop through UI elements and update the values
-            for(SensorTypes st : SensorTypes.values()) {
-                CardView cardView = (CardView) sensorMeasurementList.getChildAt(st.ordinal());
-                ConstraintLayout currentRow = (ConstraintLayout) cardView.getChildAt(0);
+            if (sensorValueMap == null) {
+                refreshDataHandler.postDelayed(this, REFRESH_TIME);
+                return;
+            }
+
+            for (SensorTypes st : SensorTypes.values()) {
+                View child = sensorMeasurementList.getChildAt(st.ordinal());
+                if (!(child instanceof CardView)) {
+                    continue;
+                }
+
+                CardView cardView = (CardView) child;
+                View row = cardView.getChildAt(0);
+                if (!(row instanceof ConstraintLayout)) {
+                    continue;
+                }
+
+                ConstraintLayout currentRow = (ConstraintLayout) row;
                 float[] values = sensorValueMap.get(st);
+                if (values == null) {
+                    continue;
+                }
+
                 for (int i = 0; i < values.length; i++) {
+                    if (i + 1 >= currentRow.getChildCount()) {
+                        continue;
+                    }
+
                     String valueString;
-                    // Set string wrapper based on data type.
-                    if(values.length == 1) {
+                    if (values.length == 1) {
                         valueString = getString(R.string.level, String.format("%.2f", values[0]));
-                    }
-                    else if(values.length == 2){
-                        if(st == SensorTypes.GNSSLATLONG)
+                    } else if (values.length == 2) {
+                        if (st == SensorTypes.GNSSLATLONG) {
                             valueString = getString(gnssPrefaces[i], String.format("%.2f", values[i]));
-                        else
+                        } else {
                             valueString = getString(prefaces[i], String.format("%.2f", values[i]));
-                    }
-                    else{
+                        }
+                    } else {
                         valueString = getString(prefaces[i], String.format("%.2f", values[i]));
                     }
-                    ((TextView) currentRow.getChildAt(i + 1)).setText(valueString);
+
+                    View valueView = currentRow.getChildAt(i + 1);
+                    if (valueView instanceof TextView) {
+                        ((TextView) valueView).setText(valueString);
+                    }
                 }
             }
-            // Get all WiFi values - convert to list of strings
+
             List<Wifi> wifiObjects = sensorFusion.getWifiList();
-            // If there are WiFi networks visible, update the recycler view with the data.
-            if(wifiObjects != null) {
-                wifiListView.setAdapter(new WifiListAdapter(getActivity(), wifiObjects));
+            if (wifiObjects != null) {
+                wifiListView.setAdapter(new WifiListAdapter(requireContext(), wifiObjects));
             }
-            // Restart the data updater task in REFRESH_TIME milliseconds.
-            refreshDataHandler.postDelayed(refreshTableTask, REFRESH_TIME);
+
+            refreshDataHandler.postDelayed(this, REFRESH_TIME);
         }
     };
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
index 3dd0dca0..472ab4cb 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
@@ -328,7 +328,7 @@ private void onAddTestPoint() {
 
         testPoints.add(new TestPoint(idx, ts, cur.latitude, cur.longitude));
         sensorFusion.addTestPointToProto(ts, cur.latitude, cur.longitude);
-
+        // Improved version: pass timestamp into marker renderer too
         trajectoryMapFragment.addTestPointMarker(idx, ts, cur);
 
         Log.d(TAG, String.format(
@@ -415,6 +415,8 @@ private void updateUIandPosition() {
         LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
         if (wifiLatLng != null && trajectoryMapFragment.isWifiEnabled()) {
             trajectoryMapFragment.updateWifi(wifiLatLng);
+        } else {
+            trajectoryMapFragment.clearWifi();
         }
 
         // GNSS overlay and GNSS error display
@@ -488,47 +490,35 @@ private void updateLiveMapWithStandardPdr(@Nullable float[] pdrValues) {
     /**
      * Updates the map using the latest fused PF estimate.
      *
-     * If the PF has not yet initialised, this deliberately falls back
-     * to standard PDR so the user still sees a live trajectory.
+     * If PF is enabled, the fused pose is always preferred.
+     * If fused pose is still unavailable, fall back to standard PDR
+     * so the user still sees a trajectory immediately.
      */
     private void updateLiveMapWithParticleFilter(@Nullable float[] pdrValues) {
         FusedPose fusedPose = sensorFusion.getLatestFusedPose();
 
         if (fusedPose == null) {
-            Log.d(TAG, "PF_BRANCH fused pose is null -> falling back to standard PDR");
+            Log.d(TAG, "PF fused pose not ready yet; falling back to standard PDR view.");
             updateLiveMapWithStandardPdr(pdrValues);
             return;
         }
 
-        LatLng fusedLatLng = fusedPose.getLatLng();
-        float fusedHeadingDeg = (float) Math.toDegrees(fusedPose.getHeadingRad());
-
-        Log.d(TAG, String.format(
-                Locale.UK,
-                "PF_BRANCH using fused pose lat=%.6f lon=%.6f floor=%d conf=%.3f headingDeg=%.2f",
-                fusedLatLng.latitude,
-                fusedLatLng.longitude,
-                fusedPose.getFloor(),
-                fusedPose.getConfidence(),
-                fusedHeadingDeg
-        ));
-
-        if (trajectoryMapFragment != null) {
-            trajectoryMapFragment.updateUserLocation(
-                    fusedLatLng,
-                    fusedHeadingDeg
-            );
+        Log.d(TAG,
+                "PF branch using fused pose: " + fusedPose.getLatLng()
+                        + ", floor=" + fusedPose.getFloor()
+                        + ", confidence=" + fusedPose.getConfidence());
 
-            trajectoryMapFragment.updateDisplayedFloor(fusedPose.getFloor());
+        trajectoryMapFragment.updateUserLocation(
+                fusedPose.getLatLng(),
+                (float) Math.toDegrees(fusedPose.getHeadingRad())
+        );
 
-            // Keep debug info visible for quick validation.
-            trajectoryMapFragment.updateDebugInfo((float) fusedPose.getHeadingRad());
+        trajectoryMapFragment.updateDisplayedFloor(fusedPose.getFloor());
+        trajectoryMapFragment.updateDebugInfo((float) fusedPose.getHeadingRad());
 
-            if (!initialCameraPositionSet) {
-                trajectoryMapFragment.setInitialCameraPosition(fusedLatLng);
-                initialCameraPositionSet = true;
-                Log.d(TAG, "PF_BRANCH initial camera position set from fused pose");
-            }
+        if (!initialCameraPositionSet) {
+            trajectoryMapFragment.setInitialCameraPosition(fusedPose.getLatLng());
+            initialCameraPositionSet = true;
         }
     }
 
@@ -624,35 +614,25 @@ private void seedInitialMapLocation() {
     /**
      * Resolves the first usable autonomous absolute position.
      *
-     * Current policy:
-     * - prefer WiFi if already available
-     * - otherwise use GNSS
+     * New policy:
+     * 1. Prefer GNSS first for initial anchor.
+     * 2. Use WiFi only as fallback.
+     *
+     * This prevents the start location from being pulled to a sparse WiFi AP location.
      */
     @Nullable
     private LatLng resolveAutonomousInitialLocation() {
-        // Prefer GNSS for the initial anchor
+        // Prefer GNSS first
         float[] gnssLatLng = sensorFusion.getGNSSLatitude(false);
         if (gnssLatLng != null
                 && gnssLatLng.length >= 2
                 && !(Math.abs(gnssLatLng[0]) < 1e-6 && Math.abs(gnssLatLng[1]) < 1e-6)) {
-            Log.d(TAG, String.format(
-                    Locale.UK,
-                    "INITIAL_ANCHOR using GNSS lat=%.6f lon=%.6f",
-                    gnssLatLng[0],
-                    gnssLatLng[1]
-            ));
             return new LatLng(gnssLatLng[0], gnssLatLng[1]);
         }
 
-        // Optional fallback to WiFi only if GNSS is unavailable
+        // Only fallback to WiFi if GNSS is not ready
         LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
         if (isValidLatLng(wifiLatLng)) {
-            Log.d(TAG, String.format(
-                    Locale.UK,
-                    "INITIAL_ANCHOR fallback to WiFi lat=%.6f lon=%.6f",
-                    wifiLatLng.latitude,
-                    wifiLatLng.longitude
-            ));
             return wifiLatLng;
         }
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 92f65d38..10418d82 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -727,6 +727,10 @@ public void clearMapAndReset() {
 
         resetMapOverlays();
 
+        if(sensorFusion != null){
+            sensorFusion.setParticleFilterMatchedPose(null);
+        }
+
         if (indoorMapManager != null) {
             indoorMapManager.clearIndoorMap();
         }
@@ -735,18 +739,11 @@ public void clearMapAndReset() {
             selectedVenueText.setText("Tap a blue building outline to select a building");
         }
 
-        calibrationTargetBuildingKey = "";
-        updateCalibrationUi();
-        updateActualMapButtonState();
-        updateAutoFloorAvailability();
-
         if (indoorLoadingIndicator != null) {
             indoorLoadingIndicator.setVisibility(View.GONE);
         }
 
         setFloorControlsVisibility(View.GONE);
-        syncReplayUiState();
-        refreshDebugStatusText();
     }
 
     // Map / building lifecycle
@@ -758,6 +755,8 @@ private void initMapSettings(@NonNull GoogleMap map) {
         map.setMapType(GoogleMap.MAP_TYPE_HYBRID);
 
         indoorMapManager = new IndoorMapManager(map);
+        //Wire the live indoor map manager into SensorFusion
+        sensorFusion.setParticleFilterIndoorMapManager(indoorMapManager);
 
         map.setOnPolygonClickListener(polygon -> {
             FloorplanApiClient.BuildingInfo building = polygonToBuilding.get(polygon);
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
index 56e9f275..4d2e1da7 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
@@ -23,64 +23,50 @@
 import java.util.List;
 
 /**
- * Centralises all trajectory-related rendering for {@link TrajectoryMapFragment}.
+ * UI-only map drawing helper for the live / replay trajectory screen.
  *
- * <p>This class is intentionally UI-focused. It owns:
- * <ul>
- *     <li>the current-position marker</li>
- *     <li>the matched trajectory polyline</li>
- *     <li>the raw PDR observation polyline</li>
- *     <li>the WiFi and GNSS markers / polylines</li>
- *     <li>test-point markers</li>
- * </ul>
+ * This class owns:
+ * - current user marker
+ * - fused trajectory polyline
+ * - raw PDR observation polyline
+ * - GNSS and WiFi observation markers / trails
+ * - test point markers
  *
- * <p>It does not perform map matching or floor reasoning. It only draws the
- * outputs produced elsewhere.
+ * It intentionally does NOT own map-matching logic or particle-filter logic.
  */
 class TrajectoryRenderer {
 
-    // Matched trajectory styling
     private static final int TRAJECTORY_MAIN_COLOR = Color.RED;
     private static final int TRAJECTORY_OUTLINE_COLOR = Color.WHITE;
     private static final int TRAJECTORY_BLACK_OUTLINE_COLOR = Color.argb(210, 235, 235, 235);
-    private static final float TRAJECTORY_WIDTH_MAIN_PX = 7f;
-    private static final float TRAJECTORY_WIDTH_OUTLINE_PX = 18f;
-    private static final float TRAJECTORY_Z_INDEX = 1000f;
 
-    // Observation layer styling
     private static final int RAW_PDR_COLOR = Color.argb(170, 30, 136, 229);
     private static final int WIFI_COLOR = Color.argb(190, 46, 125, 50);
     private static final int GNSS_COLOR = Color.argb(200, 255, 167, 38);
+
+    private static final float TRAJECTORY_WIDTH_MAIN_PX = 7f;
+    private static final float TRAJECTORY_WIDTH_OUTLINE_PX = 18f;
     private static final float RAW_PDR_WIDTH_PX = 5f;
     private static final float WIFI_WIDTH_PX = 6f;
     private static final float GNSS_WIDTH_PX = 6f;
+    private static final float TRAJECTORY_Z_INDEX = 1000f;
 
-    /**
-     * GNSS / WiFi traces are intentionally bounded so that overlays remain readable
-     * and do not grow indefinitely during long sessions.
-     */
     private static final int MAX_ABSOLUTE_HISTORY_POINTS = 20;
 
     @Nullable
     private GoogleMap map;
 
-    // Main current-position marker
     @Nullable
     private Marker orientationMarker;
-
-    // Absolute observation markers
     @Nullable
     private Marker gnssMarker;
     @Nullable
     private Marker wifiMarker;
 
-    // Matched trajectory polylines (outline + main stroke)
     @Nullable
     private Polyline trajectoryOutline;
     @Nullable
     private Polyline trajectoryMain;
-
-    // Raw / observation polylines
     @Nullable
     private Polyline rawPdrPolyline;
     @Nullable
@@ -101,16 +87,13 @@ class TrajectoryRenderer {
     private boolean showGnssObservations = true;
 
     /**
-     * Binds the renderer to a map instance and recreates all map-owned drawing objects.
+     * Attach renderer to the map and recreate all visual objects.
      */
     void attachToMap(@NonNull GoogleMap googleMap) {
         map = googleMap;
         resetMapArtifacts();
     }
 
-    /**
-     * Show or hide the raw PDR observation path.
-     */
     void setShowPdrObservations(boolean show) {
         showPdrObservations = show;
         if (rawPdrPolyline != null) {
@@ -118,34 +101,25 @@ void setShowPdrObservations(boolean show) {
         }
     }
 
-    /**
-     * Show or hide WiFi observation marker and path.
-     */
     void setShowWifiObservations(boolean show) {
         showWifiObservations = show;
         applyWifiVisibility();
     }
 
-    /**
-     * Show or hide GNSS observation marker and path.
-     */
     void setShowGnssObservations(boolean show) {
         showGnssObservations = show;
         applyGnssVisibility();
     }
 
     /**
-     * Updates the current matched position marker.
+     * Update current user marker.
      *
-     * @param context           Fragment/activity context used for vector icon conversion
-     * @param matchedLocation   current matched trajectory location
-     * @param orientation       heading in degrees
-     * @param shouldFollowCamera whether the camera should follow this marker
-     * @param initialZoom       zoom level used when creating the marker for the first time
+     * @param matchedLocation fused or final displayed location
+     * @param orientationDeg heading in degrees for marker rotation
      */
     void updateCurrentPosition(@NonNull Context context,
                                @NonNull LatLng matchedLocation,
-                               float orientation,
+                               float orientationDeg,
                                boolean shouldFollowCamera,
                                float initialZoom) {
         if (map == null) {
@@ -156,20 +130,20 @@ void updateCurrentPosition(@NonNull Context context,
             orientationMarker = map.addMarker(new MarkerOptions()
                     .position(matchedLocation)
                     .flat(true)
-                    .rotation(orientation)
+                    .rotation(orientationDeg)
                     .title("Current Position")
                     .icon(BitmapDescriptorFactory.fromBitmap(
                             UtilFunctions.getBitmapFromVector(
                                     context,
                                     R.drawable.ic_baseline_navigation_24
-                            ))));
-
+                            )
+                    )));
             map.moveCamera(CameraUpdateFactory.newLatLngZoom(matchedLocation, initialZoom));
             return;
         }
 
         orientationMarker.setPosition(matchedLocation);
-        orientationMarker.setRotation(orientation);
+        orientationMarker.setRotation(orientationDeg);
 
         if (shouldFollowCamera) {
             map.animateCamera(CameraUpdateFactory.newLatLng(matchedLocation));
@@ -177,7 +151,7 @@ void updateCurrentPosition(@NonNull Context context,
     }
 
     /**
-     * Appends a matched trajectory point to the displayed main trajectory.
+     * Append one point to the fused/matched trajectory.
      */
     void appendMatchedLocation(@Nullable LatLng oldLocation, @NonNull LatLng matchedLocation) {
         if (trajectoryMain == null) {
@@ -194,7 +168,7 @@ void appendMatchedLocation(@Nullable LatLng oldLocation, @NonNull LatLng matched
     }
 
     /**
-     * Appends one raw PDR observation point.
+     * Append one raw PDR observation point.
      */
     void appendRawObservationPoint(@NonNull LatLng rawLocation) {
         if (rawPdrPolyline == null) {
@@ -209,23 +183,14 @@ void appendRawObservationPoint(@NonNull LatLng rawLocation) {
         rawPdrPolyline.setVisible(showPdrObservations);
     }
 
-    /**
-     * Replay uses the same raw-path rendering as live raw PDR observations.
-     */
     void appendRawReplayPoint(@NonNull LatLng rawLocation) {
         appendRawObservationPoint(rawLocation);
     }
 
-    /**
-     * Clears only the replay raw path.
-     */
     void clearRawReplayPath() {
         clearRawObservationPath();
     }
 
-    /**
-     * Clears the raw PDR observation polyline while keeping the object alive.
-     */
     void clearRawObservationPath() {
         if (rawPdrPolyline != null) {
             rawPdrPolyline.setPoints(new ArrayList<>());
@@ -234,57 +199,7 @@ void clearRawObservationPath() {
     }
 
     /**
-     * Updates the WiFi observation marker and its recent-history path.
-     */
-    void updateWifiObservation(@Nullable LatLng wifiLocation) {
-        if (map == null || wifiLocation == null) {
-            return;
-        }
-
-        if (wifiMarker == null) {
-            wifiMarker = map.addMarker(new MarkerOptions()
-                    .position(wifiLocation)
-                    .title("WiFi Position")
-                    .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_GREEN)));
-        } else {
-            wifiMarker.setPosition(wifiLocation);
-        }
-
-        if (lastWifiLocation == null || !lastWifiLocation.equals(wifiLocation)) {
-            appendAbsoluteHistoryPoint(wifiPolyline, wifiLocation);
-            lastWifiLocation = wifiLocation;
-        }
-        applyWifiVisibility();
-    }
-
-    /**
-     * Compatibility wrapper used by {@link TrajectoryMapFragment}.
-     */
-    void updateWifi(@Nullable LatLng wifiLocation) {
-        updateWifiObservation(wifiLocation);
-    }
-
-    /**
-     * Adds a numbered test-point marker to the map.
-     */
-    void addTestPointMarker(int index, long timestampMs, @NonNull LatLng position) {
-        if (map == null) {
-            return;
-        }
-
-        Marker marker = map.addMarker(new MarkerOptions()
-                .position(position)
-                .title("TP " + index)
-                .snippet("t=" + timestampMs));
-
-        if (marker != null) {
-            marker.showInfoWindow();
-            testPointMarkers.add(marker);
-        }
-    }
-
-    /**
-     * Updates the GNSS marker and recent-history path.
+     * Update GNSS marker and short GNSS breadcrumb trail.
      */
     void updateGnss(@Nullable LatLng gnssLocation) {
         if (map == null || gnssLocation == null) {
@@ -304,11 +219,25 @@ void updateGnss(@Nullable LatLng gnssLocation) {
             appendAbsoluteHistoryPoint(gnssPolyline, gnssLocation);
             lastGnssLocation = gnssLocation;
         }
+
         applyGnssVisibility();
     }
 
     /**
-     * Removes only the GNSS marker, leaving the GNSS polyline untouched.
+     * Fully clears GNSS marker and GNSS trail.
+     */
+    void clearGnss() {
+        clearGnssMarker();
+        lastGnssLocation = null;
+
+        if (gnssPolyline != null) {
+            gnssPolyline.setPoints(new ArrayList<>());
+            gnssPolyline.setVisible(showGnssObservations);
+        }
+    }
+
+    /**
+     * Remove only GNSS marker.
      */
     void clearGnssMarker() {
         if (gnssMarker != null) {
@@ -318,26 +247,39 @@ void clearGnssMarker() {
     }
 
     /**
-     * Clears the GNSS marker and resets the GNSS path.
+     * Update WiFi marker and short WiFi breadcrumb trail.
      */
-    void clearGnss() {
-        clearGnssMarker();
-        lastGnssLocation = null;
+    void updateWifi(@Nullable LatLng wifiLocation) {
+        if (map == null || wifiLocation == null) {
+            return;
+        }
 
-        if (gnssPolyline != null) {
-            gnssPolyline.setPoints(new ArrayList<>());
-            gnssPolyline.setVisible(showGnssObservations);
+        if (wifiMarker == null) {
+            wifiMarker = map.addMarker(new MarkerOptions()
+                    .position(wifiLocation)
+                    .title("WiFi Position")
+                    .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_GREEN)));
+        } else {
+            wifiMarker.setPosition(wifiLocation);
+        }
+
+        if (lastWifiLocation == null || !lastWifiLocation.equals(wifiLocation)) {
+            appendAbsoluteHistoryPoint(wifiPolyline, wifiLocation);
+            lastWifiLocation = wifiLocation;
         }
+
+        applyWifiVisibility();
     }
 
     /**
-     * Clears the WiFi marker and resets the WiFi path.
+     * Fully clears WiFi marker and WiFi trail.
      */
     void clearWifi() {
         if (wifiMarker != null) {
             wifiMarker.remove();
             wifiMarker = null;
         }
+
         lastWifiLocation = null;
 
         if (wifiPolyline != null) {
@@ -347,7 +289,29 @@ void clearWifi() {
     }
 
     /**
-     * Clears only the matched trajectory, keeping raw / GNSS / WiFi observations intact.
+     * Add a numbered test point marker.
+     */
+    void addTestPointMarker(int index, long timestampMs, @NonNull LatLng position) {
+        if (map == null) {
+            return;
+        }
+
+        Marker marker = map.addMarker(new MarkerOptions()
+                .position(position)
+                .title("TP " + index)
+                .snippet("t=" + timestampMs));
+
+        if (marker != null) {
+            marker.showInfoWindow();
+            testPointMarkers.add(marker);
+        }
+    }
+
+    /**
+     * Clear only the fused/matched trajectory.
+     *
+     * Useful when the selected building changes but you do not want to remove
+     * GNSS/WiFi overlays or the current position marker.
      */
     void clearMatchedTrajectoryOnly() {
         if (trajectoryOutline != null) {
@@ -360,54 +324,28 @@ void clearMatchedTrajectoryOnly() {
     }
 
     /**
-     * Clears all rendered map state managed by this renderer, but keeps the map attachment alive.
-     *
-     * <p>This is useful when resetting the recording / replay session.
+     * Full visual reset for the whole renderer.
      */
     void clearAll() {
-        clearMatchedTrajectoryOnly();
-        clearRawObservationPath();
-        clearGnss();
-        clearWifi();
-
-        if (orientationMarker != null) {
-            orientationMarker.remove();
-            orientationMarker = null;
-        }
-
-        for (Marker marker : testPointMarkers) {
-            marker.remove();
-        }
-        testPointMarkers.clear();
+        resetMapArtifacts();
     }
 
-    /**
-     * Toggles the matched trajectory between red and black styling.
-     */
     void toggleTrajectoryColor() {
         useRedTrajectory = !useRedTrajectory;
         applyTrajectoryColor();
     }
 
-    /**
-     * Returns whether the main matched trajectory is currently using the red theme.
-     */
     boolean isUsingRedTrajectory() {
         return useRedTrajectory;
     }
 
-    /**
-     * Returns the current orientation marker position if available.
-     */
     @Nullable
     LatLng getOrientationPosition() {
         return orientationMarker != null ? orientationMarker.getPosition() : null;
     }
 
     /**
-     * Recreates every renderer-owned map artifact.
-     *
-     * <p>Call this after attaching to a new map, or after a hard reset.
+     * Recreate all renderer-owned map objects.
      */
     void resetMapArtifacts() {
         removePolyline(trajectoryOutline);
@@ -478,9 +416,6 @@ void resetMapArtifacts() {
         applyTrajectoryColor();
     }
 
-    /**
-     * Re-applies styling to the matched trajectory pair.
-     */
     private void ensureTrajectoryStyling() {
         if (trajectoryOutline != null) {
             trajectoryOutline.setWidth(TRAJECTORY_WIDTH_OUTLINE_PX);
@@ -501,23 +436,20 @@ private void ensureTrajectoryStyling() {
         applyTrajectoryColor();
     }
 
-    /**
-     * Applies the currently selected matched-trajectory color theme.
-     */
     private void applyTrajectoryColor() {
         if (trajectoryMain != null) {
             trajectoryMain.setColor(useRedTrajectory ? TRAJECTORY_MAIN_COLOR : Color.BLACK);
         }
+
         if (trajectoryOutline != null) {
             trajectoryOutline.setColor(
-                    useRedTrajectory ? TRAJECTORY_OUTLINE_COLOR : TRAJECTORY_BLACK_OUTLINE_COLOR
+                    useRedTrajectory
+                            ? TRAJECTORY_OUTLINE_COLOR
+                            : TRAJECTORY_BLACK_OUTLINE_COLOR
             );
         }
     }
 
-    /**
-     * Keeps the outline and main matched polylines perfectly synchronised.
-     */
     private void syncTrajectoryPolylinePoints(@NonNull List<LatLng> points) {
         if (trajectoryOutline != null) {
             trajectoryOutline.setPoints(points);
@@ -565,7 +497,7 @@ private PolylineOptions buildRawPdrPolylineOptions() {
     }
 
     /**
-     * Appends a point to a bounded-history absolute observation line.
+     * Append a point to GNSS/WiFi history but keep the history short.
      */
     private void appendAbsoluteHistoryPoint(@Nullable Polyline polyline, @NonNull LatLng point) {
         if (polyline == null) {
@@ -586,9 +518,6 @@ private void appendAbsoluteHistoryPoint(@Nullable Polyline polyline, @NonNull La
         polyline.setPoints(points);
     }
 
-    /**
-     * Applies WiFi overlay visibility to both line and marker.
-     */
     private void applyWifiVisibility() {
         if (wifiPolyline != null) {
             wifiPolyline.setVisible(showWifiObservations);
@@ -598,9 +527,6 @@ private void applyWifiVisibility() {
         }
     }
 
-    /**
-     * Applies GNSS overlay visibility to both line and marker.
-     */
     private void applyGnssVisibility() {
         if (gnssPolyline != null) {
             gnssPolyline.setVisible(showGnssObservations);
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
index 4077f3ab..7721afe9 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
@@ -6,6 +6,9 @@
 import android.os.SystemClock;
 import android.util.Log;
 
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
 import com.openpositioning.PositionMe.utils.PathView;
 import com.openpositioning.PositionMe.utils.PdrProcessing;
 
@@ -186,31 +189,32 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                     // Acceleration samples have now been consumed for this step.
                     this.accelMagnitude.clear();
 
-                    if (particleFilterManager != null) {
+                    if (particleFilterManager != null && particleFilterManager.isEnabled()) {
+                        Log.d("SensorFusion", String.format(
+                                "PF_STEP_TRIGGER stepTimeMs=%d rawPdrX=%.3f rawPdrY=%.3f headingDeg=%.2f",
+                                stepTime,
+                                newCords[0],
+                                newCords[1],
+                                Math.toDegrees(state.orientation[0])
+                        ));
+
                         particleFilterManager.step();
                     }
 
                     if (recorder.isRecording()) {
-                        // Default behaviour: store and draw the raw PDR local position.
-                        float[] pointToStoreAndDraw = newCords;
-                        // If PF mode is enabled and a fused pose is already available,
-                        // override the saved/drawn point with fused local x/y.
-                        //
-                        // Important:
-                        // - PDR still drives motion prediction internally
-                        // - only the exported/displayed trajectory switches to fused output
-                        if (particleFilterManager != null && particleFilterManager.isEnabled()) {
-                            FusedPose fusedPose = particleFilterManager.getLatestFusedPose();
-
-                            if (fusedPose != null) {
-                                pointToStoreAndDraw = new float[]{
-                                        (float) fusedPose.getXMeters(),
-                                        (float) fusedPose.getYMeters()
-                                };
-                            }
-                        }
-                        // Draw exactly the same point that will be written to the trajectory payload,
-                        // keeping the live view consistent with the saved result.
+                        /*
+                         * Important:
+                         * Raw PDR is always updated first, even in PF mode.
+                         * The particle filter uses that raw step motion as its prediction input.
+                         *
+                         * After PF stepping:
+                         * - PDR mode stores/draws raw local PDR
+                         * - PF mode stores/draws PF fused local trajectory
+                         */
+                        float[] pointToStoreAndDraw = resolveTrajectoryPointForCurrentMode(newCords);
+
+                        // Draw exactly the same trajectory point that will be saved,
+                        // so the live local path view stays consistent with the recording payload.
                         this.pathView.drawTrajectory(pointToStoreAndDraw);
                         state.stepCounter++;
 
@@ -219,10 +223,87 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                                 pointToStoreAndDraw[0],
                                 pointToStoreAndDraw[1]
                         );
+
+                        if (particleFilterManager != null && particleFilterManager.isEnabled()) {
+                            FusedPose fusedPose = particleFilterManager.getLatestFusedPose();
+                            if (fusedPose != null && fusedPose.getLatLng() != null) {
+                                Log.d("SensorFusion",
+                                        "Recorded PF trajectory point from fused pose lat="
+                                                + fusedPose.getLatLng().latitude
+                                                + " lng=" + fusedPose.getLatLng().longitude
+                                                + " floor=" + fusedPose.getFloor()
+                                                + " conf=" + fusedPose.getConfidence());
+                            }
+                        }
                     }
-                    break;
-                }
+        }}}
+
+    /**
+     * Returns the point that should be drawn and recorded for the current positioning mode.
+     *
+     * Behaviour:
+     * - PDR mode: return raw PDR coordinates directly
+     * - PF mode: convert the latest fused geographic pose back into local metres
+     *            relative to the recording start anchor
+     * - PF not ready yet: fall back to raw PDR
+     */
+    @NonNull
+    private float[] resolveTrajectoryPointForCurrentMode(@NonNull float[] rawPdrPoint) {
+        if (particleFilterManager == null || !particleFilterManager.isEnabled()) {
+            return rawPdrPoint;
         }
+
+        FusedPose fusedPose = particleFilterManager.getLatestFusedPose();
+        if (fusedPose == null || fusedPose.getLatLng() == null) {
+            Log.d("SensorFusion", "PF mode enabled but fused pose not ready yet, using raw PDR point.");
+            return rawPdrPoint;
+        }
+
+        float[] localPoint = convertLatLngToLocalMeters(
+                fusedPose.getLatLng().latitude,
+                fusedPose.getLatLng().longitude
+        );
+
+        if (localPoint == null) {
+            Log.d("SensorFusion", "PF fused pose available but start GNSS anchor missing, using raw PDR point.");
+            return rawPdrPoint;
+        }
+
+        Log.d("SensorFusion",
+                "Using PF trajectory point x=" + localPoint[0]
+                        + " y=" + localPoint[1]
+                        + " floor=" + fusedPose.getFloor()
+                        + " conf=" + fusedPose.getConfidence());
+
+        return localPoint;
+    }
+
+    /**
+     * Converts a geographic position into local metres relative to the recording start anchor.
+     *
+     * Convention used here:
+     * - x = east-west metres
+     * - y = north-south metres
+     *
+     * This matches the most common local trajectory convention used with map anchoring.
+     */
+    @Nullable
+    private float[] convertLatLngToLocalMeters(double lat, double lng) {
+        float startLat = state.startLocation[0];
+        float startLng = state.startLocation[1];
+
+        if (Math.abs(startLat) < 1e-6f && Math.abs(startLng) < 1e-6f) {
+            return null;
+        }
+
+        double northMeters = (lat - startLat) * 111320.0;
+        double midLatRad = Math.toRadians((lat + startLat) * 0.5);
+        double eastMeters = (lng - startLng) * 111320.0 * Math.cos(midLatRad);
+
+        return new float[] {
+                (float) eastMeters,
+                (float) northMeters
+        };
     }
 
     /**
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
index 792e01af..4a13b3ab 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
@@ -11,20 +11,25 @@
 import android.os.Handler;
 import android.os.Looper;
 import android.os.SystemClock;
+import android.util.Log;
 import android.widget.Toast;
 
 import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
 import androidx.preference.PreferenceManager;
 
 import com.google.android.gms.maps.model.LatLng;
-import com.openpositioning.PositionMe.Traj;
 import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
+import com.openpositioning.PositionMe.data.remote.ServerCommunications;
+import com.openpositioning.PositionMe.fusion.FusedPose;
+import com.openpositioning.PositionMe.fusion.ParticleFilterManager;
+import com.openpositioning.PositionMe.mapmatching.CandidatePose;
 import com.openpositioning.PositionMe.presentation.activity.MainActivity;
 import com.openpositioning.PositionMe.service.SensorCollectionService;
+import com.openpositioning.PositionMe.utils.IndoorMapManager;
 import com.openpositioning.PositionMe.utils.PathView;
 import com.openpositioning.PositionMe.utils.PdrProcessing;
 import com.openpositioning.PositionMe.utils.TrajectoryValidator;
-import com.openpositioning.PositionMe.data.remote.ServerCommunications;
 
 import java.io.File;
 import java.io.IOException;
@@ -35,44 +40,64 @@
 import java.util.stream.Collectors;
 import java.util.stream.Stream;
 
-import com.openpositioning.PositionMe.fusion.FusedPose;
-import com.openpositioning.PositionMe.fusion.ParticleFilterManager;
-import android.util.Log;
-
 /**
- * The SensorFusion class is the main data gathering and processing class of the application.
+ * Main sensor/data fusion singleton for the application.
  *
- * <p>It follows the singleton design pattern to ensure that every fragment and process has access
- * to the same data and sensor instances. Internally it delegates to specialised modules:</p>
+ * <p>This class owns:
  * <ul>
- *   <li>{@link SensorState} &ndash; shared sensor data holder</li>
- *   <li>{@link SensorEventHandler} &ndash; sensor event dispatch (switch logic)</li>
- *   <li>{@link TrajectoryRecorder} &ndash; recording lifecycle &amp; protobuf construction</li>
- *   <li>{@link WifiPositionManager} &ndash; WiFi scan processing &amp; positioning</li>
+ *     <li>live sensor state</li>
+ *     <li>PDR processing</li>
+ *     <li>recording lifecycle</li>
+ *     <li>GNSS / WiFi / BLE data collection</li>
+ *     <li>particle filter wiring</li>
  * </ul>
  *
- * <p>The public API is unchanged &ndash; all external callers continue to use
- * {@code SensorFusion.getInstance().method()}.</p>
+ * <p>External callers should continue using {@code SensorFusion.getInstance()}.</p>
  */
 public class SensorFusion implements SensorEventListener {
 
-    //region Static variables
+    // Singleton
     private static final SensorFusion sensorFusion = new SensorFusion();
-    //endregion
 
-    //region Instance variables
+    public static SensorFusion getInstance() {
+        return sensorFusion;
+    }
+
+    private SensorFusion() {
+        this.locationListener = new MyLocationListener();
+    }
+
+    // Constants
+    public static final int TRAJECTORY_MODE_PDR = 0;
+    public static final int TRAJECTORY_MODE_PARTICLE_FILTER = 1;
+
+    private static final String TAG = "SensorFusion";
+
+    // Core app state
     private Context appContext;
 
-    // Shared sensor state
+    /**
+     * Shared live sensor state container.
+     */
     private final SensorState state = new SensorState();
 
     // Internal modules
     private SensorEventHandler eventHandler;
     private TrajectoryRecorder recorder;
     private WifiPositionManager wifiPositionManager;
-    private ParticleFilterManager particleFilterManager; //For fused live positioning
+    private ParticleFilterManager particleFilterManager;
 
-    // Movement sensor instances (lifecycle managed here)
+    @Nullable
+    private FusedPose latestParticleFilterPose;
+
+    @Nullable
+    private FusedPose latestRawParticleFilterPose;
+    @Nullable
+    private CandidatePose particleFilterMatchedPose;
+    @Nullable
+    private IndoorMapManager particleFilterIndoorMapManager;
+
+    // Movement sensors
     private MovementSensor accelerometerSensor;
     private MovementSensor barometerSensor;
     private MovementSensor gyroscopeSensor;
@@ -96,90 +121,32 @@ public class SensorFusion implements SensorEventListener {
     private PdrProcessing pdrProcessing;
     private PathView pathView;
 
-    // Sensor registration latency setting
-    long maxReportLatencyNs = 0;
-
-    // Floorplan API cache (latest result from start-location step)
-    private final Map<String, FloorplanApiClient.BuildingInfo> floorplanBuildingCache =
-            new HashMap<>();
-    //endregion
-
-    //region Initialisation
-
     /**
-     * Private constructor for implementing singleton design pattern.
+     * Sensor batching latency configuration.
      */
-    private SensorFusion() {
-        this.locationListener = new MyLocationListener();
-    }
-    private int recordingTrajectoryMode = TRAJECTORY_MODE_PDR;
+    long maxReportLatencyNs = 0;
 
-    /**
-     * Static function to access singleton instance of SensorFusion.
-     *
-     * @return singleton instance of SensorFusion class.
-     */
-    public static SensorFusion getInstance() {
-        return sensorFusion;
-    }
-    public static final int TRAJECTORY_MODE_PDR = 0;
-    public static final int TRAJECTORY_MODE_PARTICLE_FILTER = 1;
-    private static final String TAG = "RecordingMode";
+    // Floorplan / building cache
 
     /**
-     * Returns the latest PDR position estimate in local meters relative to the recording start.
-     *
-     * @return float array of size 2 containing x and y position in meters
+     * Latest building metadata returned by the floorplan API.
+     * Cached by building id for later fragments and PF use.
      */
-    public float[] getLatestPdrMovement() {
-        return pdrProcessing.getPDRMovement();
-    }
+    private final Map<String, FloorplanApiClient.BuildingInfo> floorplanBuildingCache =
+            new HashMap<>();
 
-    /**
-     * Advances the particle filter by one update step using the most recent motion and
-     * absolute observations.
-     */
-    public void stepParticleFilter() {
-        if (particleFilterManager != null && isParticleFilterTrajectoryMode()) {
-            particleFilterManager.step();
-        }
-    }
+    // Recording mode state
 
-    /**
-     * Returns the latest fused pose estimate produced by the particle filter.
-     *
-     * @return fused pose estimate, or null if the filter has not been initialised yet
-     */
-    public FusedPose getLatestFusedPose() {
-        if (!isParticleFilterTrajectoryMode()) {
-            return null;
-        }
-        return particleFilterManager != null ? particleFilterManager.getLatestFusedPose() : null;
-    }
-    public FusedPose getLatestRawFusedPose() {
-        if (!isParticleFilterTrajectoryMode()) {
-            return null;
-        }
-        return particleFilterManager != null ? particleFilterManager.getLatestRawPose() : null;
-    }
+    private int recordingTrajectoryMode = TRAJECTORY_MODE_PDR;
 
+    // Initialisation
     /**
-     * Initialisation function for the SensorFusion instance.
-     *
-     * <p>Initialises all movement sensor instances, creates internal modules, and prepares
-     * the system for data collection.</p>
-     *
-     * @param context application context for permissions and device access.
-     *
-     * @see MovementSensor handling all SensorManager based data collection devices.
-     * @see ServerCommunications handling communication with the server.
-     * @see GNSSDataProcessor for location data processing.
-     * @see WifiDataProcessor for network data processing.
+     * Initialises SensorFusion and all dependent modules.
      */
     public void setContext(Context context) {
         this.appContext = context.getApplicationContext();
 
-        // Initialise movement sensors
+        // Movement sensors
         this.accelerometerSensor = new MovementSensor(context, Sensor.TYPE_ACCELEROMETER);
         this.barometerSensor = new MovementSensor(context, Sensor.TYPE_PRESSURE);
         this.gyroscopeSensor = new MovementSensor(context, Sensor.TYPE_GYROSCOPE);
@@ -191,127 +158,277 @@ public void setContext(Context context) {
         this.gravitySensor = new MovementSensor(context, Sensor.TYPE_GRAVITY);
         this.linearAccelerationSensor = new MovementSensor(context, Sensor.TYPE_LINEAR_ACCELERATION);
 
-        // Initialise non-sensor data sources
+        // External data sources
         this.gnssProcessor = new GNSSDataProcessor(context, locationListener);
         ServerCommunications serverCommunications = new ServerCommunications(context);
 
-        // Initialise utilities
+        // Utilities
         SharedPreferences settings = PreferenceManager.getDefaultSharedPreferences(context);
         this.pdrProcessing = new PdrProcessing(context);
         this.pathView = new PathView(context, null);
         WiFiPositioning wiFiPositioning = new WiFiPositioning(context);
 
-        // Create internal modules
+        // Recorder
         this.recorder = new TrajectoryRecorder(appContext, state, serverCommunications, settings);
         this.recorder.setSensorReferences(
-                accelerometerSensor, gyroscopeSensor, magnetometerSensor,
-                barometerSensor, lightSensor, proximitySensor, rotationSensor);
-
+                accelerometerSensor,
+                gyroscopeSensor,
+                magnetometerSensor,
+                barometerSensor,
+                lightSensor,
+                proximitySensor,
+                rotationSensor
+        );
+
+        // WiFi positioning manager
         this.wifiPositionManager = new WifiPositionManager(wiFiPositioning, recorder);
 
-        //Initialise the particle filter manager after core modules are ready
-        this.particleFilterManager = new ParticleFilterManager(sensorFusion,context);
+        // Particle filter manager
+        this.particleFilterManager = new ParticleFilterManager(
+                this,
+                new ParticleFilterManager.Host() {
+                    @Override
+                    public void onFusedPoseUpdated(@NonNull FusedPose fusedPose) {
+                        latestParticleFilterPose = fusedPose;
+                    }
+                }
+        );
         this.particleFilterManager.setEnabled(isParticleFilterTrajectoryMode());
 
+        if (particleFilterIndoorMapManager != null) {
+            this.particleFilterManager.setIndoorMapManager(particleFilterIndoorMapManager);
+        }
+
+        // Event handler
         long bootTime = SystemClock.uptimeMillis();
         this.eventHandler = new SensorEventHandler(
-                state, pdrProcessing, pathView, recorder, particleFilterManager, bootTime);
-
-        // Register WiFi observer on WifiPositionManager (not on SensorFusion)
+                state,
+                pdrProcessing,
+                pathView,
+                recorder,
+                particleFilterManager,
+                bootTime
+        );
+
+        // WiFi scanner
         this.wifiProcessor = new WifiDataProcessor(context);
         wifiProcessor.registerObserver(wifiPositionManager);
 
-        // Initialise BLE scanner and register observer for trajectory recording
+        // BLE scanner
         this.bleProcessor = new BleDataProcessor(context);
         bleProcessor.registerObserver(new Observer() {
             @Override
             public void update(Object[] objList) {
                 List<BleDevice> bleList = Stream.of(objList)
-                        .map(o -> (BleDevice) o).collect(Collectors.toList());
+                        .map(o -> (BleDevice) o)
+                        .collect(Collectors.toList());
                 recorder.addBleFingerprint(bleList);
             }
         });
 
-        // Initialise WiFi RTT manager and register as WiFi scan observer
+        // WiFi RTT
         this.rttManager = new RttManager(appContext, recorder, wifiProcessor);
         wifiProcessor.registerObserver(rttManager);
 
-        // Initialise BLE RTT estimator and register on BLE scan updates
+        // BLE RTT
         this.bleRttManager = new BleRttManager(recorder);
         bleProcessor.registerObserver(bleRttManager);
 
         if (!rttManager.isRttSupported()) {
             new Handler(Looper.getMainLooper()).post(() ->
-                    Toast.makeText(appContext,
+                    Toast.makeText(
+                            appContext,
                             "WiFi RTT is not supported on this device",
-                            Toast.LENGTH_LONG).show());
+                            Toast.LENGTH_LONG
+                    ).show()
+            );
+        }
+    }
+
+    // Particle filter wiring
+    /**
+     * Returns the latest local PDR movement estimate in metres.
+     */
+    public float[] getLatestPdrMovement() {
+        return pdrProcessing.getPDRMovement();
+    }
+
+    /**
+     * Advances the particle filter by one live update step.
+     *
+     * <p>This should be called after the latest sensor values have already been updated.
+     * The PF manager will internally:
+     * <ul>
+     *     <li>try GNSS initialisation if not yet initialised</li>
+     *     <li>read live PDR motion</li>
+     *     <li>read GNSS / WiFi / matched pose observations</li>
+     *     <li>produce fused/raw PF outputs</li>
+     * </ul>
+     */
+    public void stepParticleFilter() {
+        if (particleFilterManager == null || !isParticleFilterTrajectoryMode()) {
+            return;
         }
+
+        particleFilterManager.step();
+
+        // Keep cached copies here so fragments can query SensorFusion directly.
+        latestParticleFilterPose = particleFilterManager.getLatestFusedPose();
+        latestRawParticleFilterPose = particleFilterManager.getLatestRawPose();
+    }
+
+    /**
+     * Wires the current indoor map manager into SensorFusion so the PF can access
+     * walkability / wall / floor-transition constraints.
+     */
+    public void setParticleFilterIndoorMapManager(@Nullable IndoorMapManager indoorMapManager) {
+        this.particleFilterIndoorMapManager = indoorMapManager;
+
+        if (particleFilterManager != null) {
+            particleFilterManager.setIndoorMapManager(indoorMapManager);
+        }
+    }
+
+    /**
+     * Stores the latest accepted map-matched pose for the particle filter.
+     * This is written by MapMatchingCoordinator and consumed by ParticleFilterManager.
+     */
+    public void setParticleFilterMatchedPose(@Nullable CandidatePose matchedPose) {
+        this.particleFilterMatchedPose = matchedPose;
+
+        if (particleFilterManager != null) {
+            particleFilterManager.setLatestMatchedPose(matchedPose);
+        }
+    }
+
+    /**
+     * Returns the indoor map manager currently used by the particle filter.
+     */
+    @Nullable
+    public IndoorMapManager getParticleFilterIndoorMapManager() {
+        return particleFilterIndoorMapManager;
     }
 
-    //endregion
+    /**
+     * Returns the latest map-matched pose that should be used as a strong PF observation.
+     */
+    @Nullable
+    public CandidatePose getParticleFilterMatchedPose() {
+        return particleFilterMatchedPose;
+    }
+
+    /**
+     * Resets the particle filter for a new recording session.
+     */
+    public void resetParticleFilterForRecording() {
+        particleFilterMatchedPose = null;
 
-    public void resetParticleFilterForRecording(){
-        if (particleFilterManager != null){
+        if (particleFilterManager != null) {
             particleFilterManager.reset();
         }
+        latestParticleFilterPose = null;
+        latestRawParticleFilterPose = null;
     }
-    //region SensorEventListener
 
     /**
-     * {@inheritDoc}
-     *
-     * <p>Delegates to {@link SensorEventHandler#handleSensorEvent(SensorEvent)}.</p>
+     * Returns the latest fused PF pose.
      */
+    @Nullable
+    public FusedPose getLatestFusedPose() {
+        if (!isParticleFilterTrajectoryMode()) {
+            return null;
+        }
+
+        if (particleFilterManager != null) {
+            FusedPose managerPose = particleFilterManager.getLatestFusedPose();
+            if (managerPose != null) {
+                latestParticleFilterPose = managerPose;
+            }
+        }
+
+        return latestParticleFilterPose;
+    }
+
+    /**
+     * Returns the latest raw PF pose.
+     */
+    @Nullable
+    public FusedPose getLatestRawFusedPose() {
+        if (!isParticleFilterTrajectoryMode()) {
+            return null;
+        }
+
+        if (particleFilterManager != null) {
+            FusedPose rawPose = particleFilterManager.getLatestRawPose();
+            if (rawPose != null) {
+                latestRawParticleFilterPose = rawPose;
+            }
+        }
+
+        return latestRawParticleFilterPose;
+    }
+
+    /**
+     * Allows PF-related classes to push the latest fused pose back into SensorFusion.
+     */
+    public void setLatestFusedPose(@Nullable FusedPose fusedPose) {
+        this.latestParticleFilterPose = fusedPose;
+    }
+
+    /**
+     * Allows PF-related classes to push the latest raw PF pose back into SensorFusion.
+     */
+    public void setLatestRawFusedPose(@Nullable FusedPose rawPose) {
+        this.latestRawParticleFilterPose = rawPose;
+    }
+
+    // SensorEventListener
     @Override
     public void onSensorChanged(SensorEvent sensorEvent) {
         eventHandler.handleSensorEvent(sensorEvent);
     }
 
-    /** {@inheritDoc} */
     @Override
-    public void onAccuracyChanged(Sensor sensor, int i) {}
-
-    //endregion
-
-    //region Start/Stop listening
+    public void onAccuracyChanged(Sensor sensor, int i) {
+        // No-op
+    }
 
+    // Start/stop listening
     /**
-     * Registers all device listeners and enables updates with the specified sampling rate.
-     *
-     * <p>Should be called from {@link MainActivity} when resuming the application.</p>
+     * Registers all listeners and resumes live collection.
      */
     public void resumeListening() {
-        accelerometerSensor.sensorManager.registerListener(this,
-                accelerometerSensor.sensor, 10000, (int) maxReportLatencyNs);
-        accelerometerSensor.sensorManager.registerListener(this,
-                linearAccelerationSensor.sensor, 10000, (int) maxReportLatencyNs);
-        accelerometerSensor.sensorManager.registerListener(this,
-                gravitySensor.sensor, 10000, (int) maxReportLatencyNs);
-        barometerSensor.sensorManager.registerListener(this,
-                barometerSensor.sensor, (int) 1e6);
-        gyroscopeSensor.sensorManager.registerListener(this,
-                gyroscopeSensor.sensor, 10000, (int) maxReportLatencyNs);
-        lightSensor.sensorManager.registerListener(this,
-                lightSensor.sensor, (int) 1e6);
-        proximitySensor.sensorManager.registerListener(this,
-                proximitySensor.sensor, (int) 1e6);
-        magnetometerSensor.sensorManager.registerListener(this,
-                magnetometerSensor.sensor, 10000, (int) maxReportLatencyNs);
-        stepDetectionSensor.sensorManager.registerListener(this,
-                stepDetectionSensor.sensor, SensorManager.SENSOR_DELAY_NORMAL);
-        rotationSensor.sensorManager.registerListener(this,
-                rotationSensor.sensor, (int) 1e6);
+        accelerometerSensor.sensorManager.registerListener(
+                this, accelerometerSensor.sensor, 10000, (int) maxReportLatencyNs);
+        accelerometerSensor.sensorManager.registerListener(
+                this, linearAccelerationSensor.sensor, 10000, (int) maxReportLatencyNs);
+        accelerometerSensor.sensorManager.registerListener(
+                this, gravitySensor.sensor, 10000, (int) maxReportLatencyNs);
+        barometerSensor.sensorManager.registerListener(
+                this, barometerSensor.sensor, (int) 1e6);
+        gyroscopeSensor.sensorManager.registerListener(
+                this, gyroscopeSensor.sensor, 10000, (int) maxReportLatencyNs);
+        lightSensor.sensorManager.registerListener(
+                this, lightSensor.sensor, (int) 1e6);
+        proximitySensor.sensorManager.registerListener(
+                this, proximitySensor.sensor, (int) 1e6);
+        magnetometerSensor.sensorManager.registerListener(
+                this, magnetometerSensor.sensor, 10000, (int) maxReportLatencyNs);
+        stepDetectionSensor.sensorManager.registerListener(
+                this, stepDetectionSensor.sensor, SensorManager.SENSOR_DELAY_NORMAL);
+        rotationSensor.sensorManager.registerListener(
+                this, rotationSensor.sensor, (int) 1e6);
+
         // Foreground service owns WiFi/BLE scanning during recording.
         if (!recorder.isRecording()) {
             startWirelessCollectors();
         }
+
         gnssProcessor.startLocationUpdates();
     }
 
     /**
-     * Un-registers all device listeners and pauses data collection.
-     *
-     * <p>Should be called from {@link MainActivity} when pausing the application.</p>
+     * Unregisters listeners and pauses live collection.
      */
     public void stopListening() {
         if (!recorder.isRecording()) {
@@ -325,23 +442,16 @@ public void stopListening() {
             rotationSensor.sensorManager.unregisterListener(this);
             linearAccelerationSensor.sensorManager.unregisterListener(this);
             gravitySensor.sensorManager.unregisterListener(this);
+
             stopWirelessCollectors();
-            this.gnssProcessor.stopUpdating();
+            gnssProcessor.stopUpdating();
         }
     }
 
-    /**
-     * Called by {@link SensorCollectionService} when foreground collection starts.
-     * Moves WiFi/BLE scanning responsibility into the service lifecycle while recording.
-     */
     public void onCollectionServiceStarted() {
         startWirelessCollectors();
     }
 
-    /**
-     * Called by {@link SensorCollectionService} when foreground collection stops.
-     * Stops WiFi/BLE scans that were started for recording continuity.
-     */
     public void onCollectionServiceStopped() {
         stopWirelessCollectors();
     }
@@ -361,32 +471,30 @@ private void stopWirelessCollectors() {
                 wifiProcessor.stopListening();
             }
         } catch (Exception e) {
-            System.err.println("WiFi stop failed");
+            Log.w(TAG, "WiFi stop failed", e);
         }
+
         try {
             if (bleProcessor != null) {
                 bleProcessor.stopListening();
             }
         } catch (Exception e) {
-            System.err.println("BLE stop failed");
+            Log.w(TAG, "BLE stop failed", e);
         }
     }
 
-    //endregion
-
-    //region Recording lifecycle (delegated to TrajectoryRecorder)
-
+    // Recording lifecycle
     /**
-     * Enables saving sensor values to the trajectory object.
-     * Also starts the foreground service to keep data collection alive in the background.
-     *
-     * @see TrajectoryRecorder#startRecording(PdrProcessing)
-     * @see SensorCollectionService
+     * Starts trajectory recording and foreground collection.
      */
     public void startRecording() {
         recorder.startRecording(pdrProcessing);
         eventHandler.resetBootTime(recorder.getBootTime());
 
+        latestParticleFilterPose = null;
+        latestRawParticleFilterPose = null;
+        particleFilterMatchedPose = null;
+
         if (isParticleFilterTrajectoryMode()) {
             resetParticleFilterForRecording();
         }
@@ -398,6 +506,28 @@ public void startRecording() {
         }
     }
 
+    /**
+     * Stops trajectory recording and foreground collection.
+     */
+    public void stopRecording() {
+        recorder.stopRecording();
+
+        latestParticleFilterPose = null;
+        latestRawParticleFilterPose = null;
+        particleFilterMatchedPose = null;
+
+        if (particleFilterManager != null) {
+            particleFilterManager.reset();
+        }
+
+        if (appContext != null) {
+            SensorCollectionService.stop(appContext);
+        }
+    }
+
+    /**
+     * Selects whether this recording session uses standard PDR or PF trajectory mode.
+     */
     public void setRecordingTrajectoryMode(int mode) {
         if (mode != TRAJECTORY_MODE_PARTICLE_FILTER) {
             mode = TRAJECTORY_MODE_PDR;
@@ -413,8 +543,11 @@ public void setRecordingTrajectoryMode(int mode) {
         if (particleFilterManager != null) {
             boolean enableParticleFilter = (mode == TRAJECTORY_MODE_PARTICLE_FILTER);
             particleFilterManager.setEnabled(enableParticleFilter);
+
             if (!enableParticleFilter) {
                 particleFilterManager.reset();
+                latestParticleFilterPose = null;
+                latestRawParticleFilterPose = null;
             }
         }
     }
@@ -427,94 +560,58 @@ public boolean isParticleFilterTrajectoryMode() {
         return recordingTrajectoryMode == TRAJECTORY_MODE_PARTICLE_FILTER;
     }
 
-    /**
-     * Disables saving sensor values to the trajectory object.
-     * Also stops the foreground service since background collection is no longer needed.
-     *
-     * @see TrajectoryRecorder#stopRecording()
-     * @see SensorCollectionService
-     */
-    public void stopRecording() {
-        recorder.stopRecording();
-        if (appContext != null) {
-            SensorCollectionService.stop(appContext);
-        }
-    }
-
-    /**
-     * Validates the current trajectory against quality thresholds before upload.
-     *
-     * @return validation result with errors and warnings
-     * @see TrajectoryValidator
-     */
     public TrajectoryValidator.ValidationResult validateTrajectory() {
         return recorder.validateTrajectory();
     }
 
-    /**
-     * Send the trajectory object to servers.
-     *
-     * @see TrajectoryRecorder#sendTrajectoryToCloud()
-     */
     public void sendTrajectoryToCloud() {
         recorder.sendTrajectoryToCloud();
     }
 
-    /**
-     * Sets the trajectory name/ID for the current recording session.
-     *
-     * @param id trajectory name entered by the user
-     */
     public void setTrajectoryId(String id) {
         recorder.setTrajectoryId(id);
     }
 
-    /**
-     * Gets the trajectory name/ID for the current recording session.
-     *
-     * @return trajectory name string, or null if not set
-     */
     public String getTrajectoryId() {
         return recorder.getTrajectoryId();
     }
 
-    /** save test point to csv files */
     public void saveTestPointToCSV(File file) throws IOException {
         recorder.saveTestPointToCsv(file);
     }
 
-    /** save the entire recording protobuf into a json file*/
     public void saveRecordingToJSON(File file) throws IOException {
         recorder.saveTrajectoryToJson(file);
     }
 
-    /**
-     * Sets the selected building identifier for the current recording session.
-     * Used to determine the campaign name when uploading the trajectory.
-     *
-     * @param buildingId building name from the floorplan API (e.g. "nucleus_building")
-     */
     public void setSelectedBuildingId(String buildingId) {
         recorder.setSelectedBuildingId(buildingId);
     }
 
-    /**
-     * Gets the selected building identifier for the current recording session.
-     *
-     * @return building name string, or null if no building was selected
-     */
     public String getSelectedBuildingId() {
         return recorder.getSelectedBuildingId();
     }
 
     /**
-     * Caches floorplan API building payloads for use in later fragments.
-     *
-     * @param buildings buildings returned by floorplan API
+     * Writes the current initial metadata into the protobuf recording.
      */
+    public void writeInitialMetadata() {
+        recorder.writeInitialMetadata();
+    }
+
+    /**
+     * Adds a user test point to the recording protobuf.
+     */
+    public void addTestPointToProto(long pressTimestampMs, double lat, double lng) {
+        recorder.addTestPoint(pressTimestampMs, lat, lng);
+    }
+
+    // Floorplan cache
     public void setFloorplanBuildings(List<FloorplanApiClient.BuildingInfo> buildings) {
         floorplanBuildingCache.clear();
-        if (buildings == null) return;
+        if (buildings == null) {
+            return;
+        }
 
         for (FloorplanApiClient.BuildingInfo building : buildings) {
             if (building == null || building.getName() == null || building.getName().isEmpty()) {
@@ -524,12 +621,7 @@ public void setFloorplanBuildings(List<FloorplanApiClient.BuildingInfo> building
         }
     }
 
-    /**
-     * Returns a cached floorplan entry by building id.
-     *
-     * @param buildingId building name from floorplan API
-     * @return cached building info, or null if not present
-     */
+    @Nullable
     public FloorplanApiClient.BuildingInfo getFloorplanBuilding(String buildingId) {
         if (buildingId == null || buildingId.isEmpty()) {
             return null;
@@ -537,39 +629,14 @@ public FloorplanApiClient.BuildingInfo getFloorplanBuilding(String buildingId) {
         return floorplanBuildingCache.get(buildingId);
     }
 
-    /**
-     * Returns all cached floorplan entries.
-     *
-     * @return list copy of cached building info objects
-     */
+    @NonNull
     public List<FloorplanApiClient.BuildingInfo> getFloorplanBuildings() {
         return new ArrayList<>(floorplanBuildingCache.values());
     }
 
+    // Getters / setters
     /**
-     * Writes the initial position and heading into the trajectory protobuf.
-     * Should be called after startRecording() and setStartGNSSLatitude().
-     */
-    public void writeInitialMetadata() {
-        recorder.writeInitialMetadata();
-    }
-
-    /**
-     * Adds a test point (user ground truth marker) to the trajectory.
-     */
-    public void addTestPointToProto(long pressTimestampMs, double lat, double lng) {
-        recorder.addTestPoint(pressTimestampMs, lat, lng);
-    }
-
-    //endregion
-
-    //region Getters/Setters
-
-    /**
-     * Getter function for core location data.
-     *
-     * @param start set true to get the initial location
-     * @return longitude and latitude data in a float[2].
+     * Returns current GNSS or recording start GNSS.
      */
     public float[] getGNSSLatitude(boolean start) {
         float[] latLong = new float[2];
@@ -583,9 +650,7 @@ public float[] getGNSSLatitude(boolean start) {
     }
 
     /**
-     * Setter function for core location data.
-     *
-     * @param startPosition contains the initial location set by the user
+     * Sets the recording start GNSS anchor.
      */
     public void setStartGNSSLatitude(float[] startPosition) {
         state.startLocation[0] = startPosition[0];
@@ -593,36 +658,28 @@ public void setStartGNSSLatitude(float[] startPosition) {
     }
 
     /**
-     * Function to redraw path in corrections fragment.
-     *
-     * @param scalingRatio new size of path due to updated step length
+     * Redraws path using a corrected stride scaling ratio.
      */
     public void redrawPath(float scalingRatio) {
         pathView.redraw(scalingRatio);
     }
 
     /**
-     * Getter function for average step length.
-     *
-     * @return average step length of total PDR.
+     * Returns average step length from PDR.
      */
     public float passAverageStepLength() {
         return pdrProcessing.getAverageStepLength();
     }
 
     /**
-     * Getter function for device orientation.
-     *
-     * @return orientation of device in radians.
+     * Returns current device heading in radians.
      */
     public float passOrientation() {
         return state.orientation[0];
     }
 
     /**
-     * Return most recent sensor readings.
-     *
-     * @return Map of {@link SensorTypes} to float array of most recent values.
+     * Returns latest live sensor values.
      */
     public Map<SensorTypes, float[]> getSensorValueMap() {
         Map<SensorTypes, float[]> sensorValueMap = new HashMap<>();
@@ -638,110 +695,59 @@ public Map<SensorTypes, float[]> getSensorValueMap() {
         return sensorValueMap;
     }
 
-    /**
-     * Return the most recent list of WiFi names and levels.
-     *
-     * @return list of Wifi objects.
-     */
     public List<Wifi> getWifiList() {
         return wifiPositionManager.getWifiList();
     }
 
-    /**
-     * Get information about all the sensors registered in SensorFusion.
-     *
-     * @return List of SensorInfo objects containing name, resolution, power, etc.
-     */
     public List<SensorInfo> getSensorInfos() {
         List<SensorInfo> sensorInfoList = new ArrayList<>();
-        sensorInfoList.add(this.accelerometerSensor.sensorInfo);
-        sensorInfoList.add(this.barometerSensor.sensorInfo);
-        sensorInfoList.add(this.gyroscopeSensor.sensorInfo);
-        sensorInfoList.add(this.lightSensor.sensorInfo);
-        sensorInfoList.add(this.proximitySensor.sensorInfo);
-        sensorInfoList.add(this.magnetometerSensor.sensorInfo);
+        sensorInfoList.add(accelerometerSensor.sensorInfo);
+        sensorInfoList.add(barometerSensor.sensorInfo);
+        sensorInfoList.add(gyroscopeSensor.sensorInfo);
+        sensorInfoList.add(lightSensor.sensorInfo);
+        sensorInfoList.add(proximitySensor.sensorInfo);
+        sensorInfoList.add(magnetometerSensor.sensorInfo);
         return sensorInfoList;
     }
 
-    /**
-     * Registers the caller observer to receive updates from the server instance.
-     *
-     * @param observer Instance implementing {@link Observer} who wants to be notified of
-     *                 events relating to sending and receiving trajectories.
-     */
     public void registerForServerUpdate(Observer observer) {
         recorder.getServerCommunications().registerObserver(observer);
     }
 
-    /**
-     * Get the estimated elevation value in meters calculated by the PDR class.
-     *
-     * @return float of the estimated elevation in meters.
-     */
     public float getElevation() {
         return state.elevation;
     }
 
-    /**
-     * Get an estimate whether the user is currently taking an elevator.
-     *
-     * @return true if the PDR estimates the user is in an elevator, false otherwise.
-     */
     public boolean getElevator() {
         return state.elevator;
     }
 
-    /**
-     * Estimates position of the phone based on proximity and light sensors.
-     *
-     * @return int 1 if the phone is by the ear, int 0 otherwise.
-     */
     public int getHoldMode() {
-        int proximityThreshold = 1, lightThreshold = 100;
-        if (state.proximity < proximityThreshold && state.light > lightThreshold) {
-            return 1;
-        } else {
-            return 0;
-        }
+        int proximityThreshold = 1;
+        int lightThreshold = 100;
+        return (state.proximity < proximityThreshold && state.light > lightThreshold) ? 1 : 0;
     }
 
-    /**
-     * Returns the latest Wi-Fi based geographic position.
-     *
-     * @return latest Wi-Fi LatLng, or null if unavailable
-     */
+    @Nullable
     public LatLng getLatLngWifiPositioning() {
         return wifiPositionManager != null ? wifiPositionManager.getLatLngWifiPositioning() : null;
     }
 
-    /**
-     * Returns the latest Wi-Fi based floor estimate.
-     *
-     * @return latest Wi-Fi floor estimate
-     */
     public int getWifiFloor() {
         return wifiPositionManager != null ? wifiPositionManager.getWifiFloor() : 0;
     }
 
-    /**
-     * Utility function to log the event frequency of each sensor.
-     */
     public void logSensorFrequencies() {
         eventHandler.logSensorFrequencies();
     }
 
-    //endregion
-
-    public Context getContext(){
+    public Context getContext() {
         return appContext;
     }
 
-    //region Location listener
-
+    // GNSS listener
     /**
-     * Location listener class to receive updates from the location manager.
-     * Writes position data to {@link SensorState} and GNSS readings to
-     * {@link TrajectoryRecorder}.
+     * GNSS listener that updates live SensorState and records GNSS samples.
      */
     class MyLocationListener implements LocationListener {
         @Override
@@ -751,6 +757,4 @@ public void onLocationChanged(@NonNull Location location) {
             recorder.addGnssData(location);
         }
     }
-
-    //endregion
-}
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java b/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
index 08b6ef83..86bdfd4b 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
@@ -1,7 +1,7 @@
 package com.openpositioning.PositionMe.utils;
 
 import android.graphics.Color;
-import android.util.Log;
+
 import androidx.annotation.Nullable;
 
 import com.google.android.gms.maps.GoogleMap;
@@ -11,32 +11,26 @@
 import com.google.android.gms.maps.model.Polyline;
 import com.google.android.gms.maps.model.PolylineOptions;
 import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
-import com.openpositioning.PositionMe.sensors.SensorFusion;
 
 import java.util.ArrayList;
 import java.util.List;
 
+/**
+ * Manages indoor vector floor overlays for the selected building.
+ *
+ * This class is only responsible for:
+ * - storing the current selected building
+ * - storing the current floor index
+ * - drawing vector indoor shapes on the map
+ * - converting between logical floors and floor-shape indices
+ */
 public class IndoorMapManager {
 
-    private static final String TAG = "IndoorMapManager";
-
     public static final int BUILDING_NONE = 0;
     public static final int BUILDING_NUCLEUS = 1;
     public static final int BUILDING_LIBRARY = 2;
     public static final int BUILDING_MURCHISON = 3;
 
-    private final GoogleMap gMap;
-    private LatLng currentLocation;
-    private boolean isIndoorMapSet = false;
-    private int currentFloor = 0;
-    private int currentBuilding = BUILDING_NONE;
-    private float floorHeight;
-
-    private final List<Polygon> drawnPolygons = new ArrayList<>();
-    private final List<Polyline> drawnPolylines = new ArrayList<>();
-    private List<FloorplanApiClient.FloorShapes> currentFloorShapes;
-    private boolean vectorBaseplateEnabled = false;
-
     public static final float NUCLEUS_FLOOR_HEIGHT = 4.2F;
     public static final float LIBRARY_FLOOR_HEIGHT = 3.6F;
     public static final float MURCHISON_FLOOR_HEIGHT = 4.0F;
@@ -50,11 +44,29 @@ public class IndoorMapManager {
     private static final int LIFT_FILL = Color.argb(70, 255, 0, 0);
     private static final int DEFAULT_STROKE = Color.argb(255, 50, 50, 50);
 
+    private final GoogleMap gMap;
+
+    @Nullable
+    private LatLng currentLocation;
+
+    private boolean isIndoorMapSet = false;
+    private int currentFloor = 0;
+    private int currentBuilding = BUILDING_NONE;
+    private float floorHeight = 0f;
+
+    private final List<Polygon> drawnPolygons = new ArrayList<>();
+    private final List<Polyline> drawnPolylines = new ArrayList<>();
+
+    @Nullable
+    private List<FloorplanApiClient.FloorShapes> currentFloorShapes;
+
+    private boolean vectorBaseplateEnabled = false;
+
     public IndoorMapManager(GoogleMap map) {
         this.gMap = map;
     }
 
-    public void setCurrentLocation(LatLng currentLocation) {
+    public void setCurrentLocation(@Nullable LatLng currentLocation) {
         this.currentLocation = currentLocation;
     }
 
@@ -87,6 +99,9 @@ public String getCurrentFloorDisplayName() {
         return String.valueOf(currentFloor);
     }
 
+    /**
+     * Building-dependent bias used when a direct floor label match is not found.
+     */
     public int getAutoFloorBias() {
         switch (currentBuilding) {
             case BUILDING_NUCLEUS:
@@ -98,6 +113,15 @@ public int getAutoFloorBias() {
         }
     }
 
+    /**
+     * Convert logical floor to the API floor-shape index.
+     *
+     * Examples:
+     * -1 -> LG
+     *  0 -> G
+     *  1 -> F1
+     *  2 -> F2
+     */
     public int logicalFloorToIndex(int logicalFloor) {
         String targetFloorLabel;
         if (logicalFloor <= -1) {
@@ -116,17 +140,24 @@ public int logicalFloorToIndex(int logicalFloor) {
         return clampFloorIndex(logicalFloor + getAutoFloorBias());
     }
 
+    /**
+     * Converts a building floor index into a logical floor:
+     * LG -> -1
+     * G  -> 0
+     * 1  -> 1
+     * 2  -> 2
+     * 3  -> 3
+     *
+     * This is important because map matching often uses floor indices,
+     * while the particle filter works better with logical floors.
+     */
     public int indexToLogicalFloor(int floorIndex) {
         if (currentFloorShapes == null || currentFloorShapes.isEmpty()) {
             return floorIndex;
         }
 
-        int clampedIndex = clampFloorIndex(floorIndex);
-        if (clampedIndex < 0 || clampedIndex >= currentFloorShapes.size()) {
-            return floorIndex;
-        }
-
-        String displayName = currentFloorShapes.get(clampedIndex).getDisplayName();
+        int safeIndex = clampFloorIndex(floorIndex);
+        String displayName = currentFloorShapes.get(safeIndex).getDisplayName();
         String canonical = canonicalFloorLabel(displayName);
 
         switch (canonical) {
@@ -141,15 +172,8 @@ public int indexToLogicalFloor(int floorIndex) {
             case "3":
                 return 3;
             default:
-                return clampedIndex - getAutoFloorBias();
-        }
-    }
-
-    public int indexToLogicalFloor(@Nullable Integer floorIndex) {
-        if (floorIndex == null) {
-            return 0;
+                return safeIndex - getAutoFloorBias();
         }
-        return indexToLogicalFloor(floorIndex.intValue());
     }
 
     public int clampFloorIndex(int floorIndex) {
@@ -162,13 +186,20 @@ public int clampFloorIndex(int floorIndex) {
     public void setVectorBaseplateEnabled(boolean enabled) {
         if (this.vectorBaseplateEnabled != enabled) {
             this.vectorBaseplateEnabled = enabled;
-            if (isIndoorMapSet && currentFloorShapes != null && currentFloor >= 0 && currentFloor < currentFloorShapes.size()) {
+
+            if (isIndoorMapSet
+                    && currentFloorShapes != null
+                    && currentFloor >= 0
+                    && currentFloor < currentFloorShapes.size()) {
                 drawFloorShapes(currentFloor);
             }
         }
     }
 
-    public void setSelectedBuilding(FloorplanApiClient.BuildingInfo building) {
+    /**
+     * Set the current selected building and load its floor shapes.
+     */
+    public void setSelectedBuilding(@Nullable FloorplanApiClient.BuildingInfo building) {
         clearDrawnShapes();
 
         if (building == null) {
@@ -206,6 +237,11 @@ public void clearIndoorMap() {
         floorHeight = 0f;
     }
 
+    /**
+     * Set current floor and redraw if needed.
+     *
+     * @param autoFloor if true, input is treated as logical floor
+     */
     public void setCurrentFloor(int newFloor, boolean autoFloor) {
         if (currentFloorShapes == null || currentFloorShapes.isEmpty()) {
             return;
@@ -231,7 +267,6 @@ public void decreaseFloor() {
         setCurrentFloor(currentFloor - 1, false);
     }
 
-
     private int findFloorIndexByCanonicalLabel(String targetFloorLabel) {
         if (currentFloorShapes == null || currentFloorShapes.isEmpty()) {
             return -1;
@@ -304,54 +339,9 @@ private String canonicalFloorLabel(String rawFloorLabel) {
         }
     }
 
-    private void setBuildingOverlay() {
-        try {
-            int detected = detectCurrentBuilding();
-            boolean inAnyBuilding = (detected != BUILDING_NONE);
-
-            if (inAnyBuilding && !isIndoorMapSet) {
-                currentBuilding = detected;
-                String apiName;
-
-                switch (detected) {
-                    case BUILDING_NUCLEUS:
-                        apiName = "nucleus_building";
-                        currentFloor = 1;
-                        floorHeight = NUCLEUS_FLOOR_HEIGHT;
-                        break;
-                    case BUILDING_LIBRARY:
-                        apiName = "library";
-                        currentFloor = 0;
-                        floorHeight = LIBRARY_FLOOR_HEIGHT;
-                        break;
-                    case BUILDING_MURCHISON:
-                        apiName = "murchison_house";
-                        currentFloor = 1;
-                        floorHeight = MURCHISON_FLOOR_HEIGHT;
-                        break;
-                    default:
-                        return;
-                }
-
-                FloorplanApiClient.BuildingInfo building =
-                        SensorFusion.getInstance().getFloorplanBuilding(apiName);
-                if (building != null) {
-                    currentFloorShapes = building.getFloorShapesList();
-                }
-
-                if (currentFloorShapes != null && !currentFloorShapes.isEmpty()) {
-                    drawFloorShapes(currentFloor);
-                    isIndoorMapSet = true;
-                }
-
-            } else if (!inAnyBuilding && isIndoorMapSet) {
-                clearIndoorMap();
-            }
-        } catch (Exception ex) {
-            Log.e(TAG, "Error with overlay: " + ex);
-        }
-    }
-
+    /**
+     * Draw all shapes for one floor.
+     */
     private void drawFloorShapes(int floorIndex) {
         clearDrawnShapes();
 
@@ -360,6 +350,7 @@ private void drawFloorShapes(int floorIndex) {
         }
 
         FloorplanApiClient.FloorShapes floor = currentFloorShapes.get(floorIndex);
+
         for (FloorplanApiClient.MapShapeFeature feature : floor.getFeatures()) {
             String geoType = feature.getGeometryType();
             String indoorType = feature.getIndoorType();
@@ -369,6 +360,7 @@ private void drawFloorShapes(int floorIndex) {
                     if (ring.size() < 3) {
                         continue;
                     }
+
                     if (vectorBaseplateEnabled) {
                         Polygon underlay = gMap.addPolygon(new PolygonOptions()
                                 .addAll(ring)
@@ -378,6 +370,7 @@ private void drawFloorShapes(int floorIndex) {
                                 .zIndex(6f));
                         drawnPolygons.add(underlay);
                     }
+
                     Polygon p = gMap.addPolygon(new PolygonOptions()
                             .addAll(ring)
                             .strokeColor(getStrokeColor(indoorType))
@@ -391,6 +384,7 @@ private void drawFloorShapes(int floorIndex) {
                     if (line.size() < 2) {
                         continue;
                     }
+
                     if (vectorBaseplateEnabled) {
                         Polyline underlay = gMap.addPolyline(new PolylineOptions()
                                 .addAll(line)
@@ -399,6 +393,7 @@ private void drawFloorShapes(int floorIndex) {
                                 .zIndex(6f));
                         drawnPolylines.add(underlay);
                     }
+
                     Polyline pl = gMap.addPolyline(new PolylineOptions()
                             .addAll(line)
                             .color(getStrokeColor(indoorType))
@@ -450,39 +445,11 @@ private int getFillColor(String indoorType) {
         return Color.TRANSPARENT;
     }
 
-    private int detectCurrentBuilding() {
-        List<FloorplanApiClient.BuildingInfo> apiBuildings = SensorFusion.getInstance().getFloorplanBuildings();
-
-        if (apiBuildings != null) {
-            for (FloorplanApiClient.BuildingInfo building : apiBuildings) {
-                List<LatLng> outline = building.getOutlinePolygon();
-                if (outline != null && outline.size() >= 3
-                        && BuildingPolygon.pointInPolygon(currentLocation, outline)) {
-                    int type = resolveBuildingType(building.getName());
-                    if (type != BUILDING_NONE) {
-                        return type;
-                    }
-                }
-            }
-        }
-
-        if (BuildingPolygon.inNucleus(currentLocation)) {
-            return BUILDING_NUCLEUS;
-        }
-        if (BuildingPolygon.inLibrary(currentLocation)) {
-            return BUILDING_LIBRARY;
-        }
-        if (BuildingPolygon.inMurchison(currentLocation)) {
-            return BUILDING_MURCHISON;
-        }
-
-        return BUILDING_NONE;
-    }
-
     private int resolveBuildingType(String apiName) {
         if (apiName == null) {
             return BUILDING_NONE;
         }
+
         switch (apiName) {
             case "nucleus_building":
                 return BUILDING_NUCLEUS;
@@ -494,53 +461,4 @@ private int resolveBuildingType(String apiName) {
                 return BUILDING_NONE;
         }
     }
-
-    public void setIndicationOfIndoorMap() {
-        List<FloorplanApiClient.BuildingInfo> apiBuildings = SensorFusion.getInstance().getFloorplanBuildings();
-
-        boolean nucleusDrawn = false;
-        boolean libraryDrawn = false;
-        boolean murchisonDrawn = false;
-
-        if (apiBuildings != null) {
-            for (FloorplanApiClient.BuildingInfo building : apiBuildings) {
-                List<LatLng> outline = building.getOutlinePolygon();
-                if (outline == null || outline.size() < 3) {
-                    continue;
-                }
-
-                List<LatLng> closed = new ArrayList<>(outline);
-                closed.add(closed.get(0));
-                gMap.addPolyline(new PolylineOptions().color(Color.GREEN).addAll(closed));
-
-                switch (building.getName()) {
-                    case "nucleus_building":
-                        nucleusDrawn = true;
-                        break;
-                    case "library":
-                        libraryDrawn = true;
-                        break;
-                    case "murchison_house":
-                        murchisonDrawn = true;
-                        break;
-                }
-            }
-        }
-
-        if (!nucleusDrawn) {
-            List<LatLng> pts = new ArrayList<>(BuildingPolygon.NUCLEUS_POLYGON);
-            pts.add(pts.get(0));
-            gMap.addPolyline(new PolylineOptions().color(Color.GREEN).addAll(pts));
-        }
-        if (!libraryDrawn) {
-            List<LatLng> pts = new ArrayList<>(BuildingPolygon.LIBRARY_POLYGON);
-            pts.add(pts.get(0));
-            gMap.addPolyline(new PolylineOptions().color(Color.GREEN).addAll(pts));
-        }
-        if (!murchisonDrawn) {
-            List<LatLng> pts = new ArrayList<>(BuildingPolygon.MURCHISON_POLYGON);
-            pts.add(pts.get(0));
-            gMap.addPolyline(new PolylineOptions().color(Color.GREEN).addAll(pts));
-        }
-    }
-}
+}
\ No newline at end of file

From befaf5692e4b0d7ccd7ddf154e72d5e9400183de Mon Sep 17 00:00:00 2001
From: ver12 <vkhxyy@gmail.com>
Date: Sun, 29 Mar 2026 00:28:21 +0000
Subject: [PATCH 27/35] add QSMFI logic

---
 .../AdaptiveQsmfiHeadingCalibrator.java       | 447 ++++++++++++++++++
 .../sensors/SensorEventHandler.java           |  39 +-
 .../PositionMe/sensors/SensorFusion.java      |  57 ++-
 3 files changed, 541 insertions(+), 2 deletions(-)
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java

diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java
new file mode 100644
index 00000000..f67cf49c
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java
@@ -0,0 +1,447 @@
+package com.openpositioning.PositionMe.fusion;
+
+import android.hardware.SensorManager;
+
+import java.util.ArrayDeque;
+import java.util.ArrayList;
+import java.util.Deque;
+import java.util.List;
+
+/**
+ * Adaptive QSMFI + gyro heading calibrator.
+ *
+ * Paper-inspired behaviour:
+ * - classifies stationary vs walking
+ * - uses different sliding-window durations for each mode
+ * - adapts magnetic heading variance thresholds over time
+ * - rejects candidate QSMFIs when gyro rotation over the window is too large
+ * - rejects candidate QSMFIs when stable compass heading disagrees too much with gyro heading
+ * - when accepted, uses the stable compass heading to recalibrate fused heading
+ *
+ * Output:
+ * - fusedHeadingRad: the heading that should be fed into both PDR and the particle filter
+ */
+public class AdaptiveQsmfiHeadingCalibrator {
+
+    private static final double DEG2RAD = Math.PI / 180.0;
+
+    // ---------------------------------------------------------------------
+    // Current sensor states
+    // ---------------------------------------------------------------------
+    private boolean hasGravity = false;
+    private boolean hasMagnetic = false;
+    private boolean initialised = false;
+
+    private final float[] gravity = new float[3];
+    private final float[] magnetic = new float[3];
+
+    private double compassHeadingRad = 0.0;   // tilt-compensated magnetic heading
+    private double gyroHeadingRad = 0.0;      // integrated gyro heading
+    private double fusedHeadingRad = 0.0;     // final output heading
+
+    private long lastGyroTimestampNs = -1L;
+    private long lastStepTimestampNs = -1L;
+
+    // ---------------------------------------------------------------------
+    // Adaptive QSMFI thresholds and windows
+    // ---------------------------------------------------------------------
+    private long windowNsStationary = 2_000_000_000L;  // 2.0 s
+    private long windowNsWalking = 800_000_000L;       // 0.8 s
+
+    // variance of heading in radians^2
+    private double tauMagVarStationary = Math.pow(6.0 * DEG2RAD, 2);
+    private double tauMagVarWalking = Math.pow(10.0 * DEG2RAD, 2);
+
+    private static final double TAU_MAG_VAR_MIN = Math.pow(3.0 * DEG2RAD, 2);
+    private static final double TAU_MAG_VAR_MAX = Math.pow(18.0 * DEG2RAD, 2);
+
+    // gyro motion thresholds
+    private static final double TAU_GYRO_STATIONARY = 5.0 * DEG2RAD;
+    private static final double TAU_GYRO_WALKING = 12.0 * DEG2RAD;
+
+    // compass-vs-gyro agreement threshold
+    private static final double TAU_QSMFI_GYRO_AGREE = 15.0 * DEG2RAD;
+
+    // adaptive update parameters
+    private static final double EPS_ADAPT = 0.15;
+    private static final double DELTA_INC = Math.pow(1.5 * DEG2RAD, 2);
+    private static final double DELTA_DEC = Math.pow(1.0 * DEG2RAD, 2);
+
+    // ---------------------------------------------------------------------
+    // Histories
+    // ---------------------------------------------------------------------
+    private final Deque<AngleSample> compassHistory = new ArrayDeque<>();
+    private final Deque<AngleSample> gyroHistory = new ArrayDeque<>();
+    private final Deque<Boolean> qsmfiAcceptHistory = new ArrayDeque<>();
+    private static final int QSMFI_ACCEPT_HISTORY_SIZE = 20;
+
+    // ---------------------------------------------------------------------
+    // Status
+    // ---------------------------------------------------------------------
+    private boolean headingReliable = true;
+    private String lastCorrectionSource = "gyro_only";
+
+    // Turn detection with hysteresis
+    private static final double TURN_RATE_ON = 45.0 * DEG2RAD;
+    private static final double TURN_RATE_OFF = 25.0 * DEG2RAD;
+
+    private boolean isTurning = false;
+    private double lastGyroRate = 0.0;
+    private boolean isCompassStable = false;
+    private boolean isGyroStable = false;
+
+    public void reset() {
+        hasGravity = false;
+        hasMagnetic = false;
+        initialised = false;
+
+        gravity[0] = gravity[1] = gravity[2] = 0f;
+        magnetic[0] = magnetic[1] = magnetic[2] = 0f;
+
+        compassHeadingRad = 0.0;
+        gyroHeadingRad = 0.0;
+        fusedHeadingRad = 0.0;
+
+        lastGyroTimestampNs = -1L;
+        lastStepTimestampNs = -1L;
+
+        windowNsStationary = 2_000_000_000L;
+        windowNsWalking = 800_000_000L;
+
+        tauMagVarStationary = Math.pow(6.0 * DEG2RAD, 2);
+        tauMagVarWalking = Math.pow(10.0 * DEG2RAD, 2);
+
+        compassHistory.clear();
+        gyroHistory.clear();
+        qsmfiAcceptHistory.clear();
+
+        isTurning = false;
+        isCompassStable = false;
+        isGyroStable = false;
+        lastGyroRate = 0.0;
+
+        headingReliable = true;
+        lastCorrectionSource = "gyro_only";
+    }
+
+    // ---------------------------------------------------------------------
+    // Sensor feeds
+    // ---------------------------------------------------------------------
+
+    public void onGyro(float gzRadPerSec, long timestampNs) {
+        if (lastGyroTimestampNs < 0L) {
+            lastGyroTimestampNs = timestampNs;
+            return;
+        }
+
+        double dt = (timestampNs - lastGyroTimestampNs) * 1e-9;
+        lastGyroTimestampNs = timestampNs;
+
+        // Sign corrected to match your compass heading convention
+        double correctedGyroRate = -gzRadPerSec;
+
+        lastGyroRate = Math.abs(correctedGyroRate);
+
+        if (isTurning) {
+            isTurning = lastGyroRate > TURN_RATE_OFF;
+        } else {
+            isTurning = lastGyroRate > TURN_RATE_ON;
+        }
+
+        gyroHeadingRad = wrapAngle(gyroHeadingRad + correctedGyroRate * dt);
+
+        if (!initialised) {
+            fusedHeadingRad = gyroHeadingRad;
+        } else {
+            fusedHeadingRad = wrapAngle(fusedHeadingRad + correctedGyroRate * dt);
+        }
+
+        gyroHistory.addLast(new AngleSample(timestampNs, gyroHeadingRad));
+        trimHistory(gyroHistory, windowNsStationary + 500_000_000L);
+    }
+
+    public void onGravity(float gx, float gy, float gz) {
+        gravity[0] = gx;
+        gravity[1] = gy;
+        gravity[2] = gz;
+        hasGravity = true;
+        updateCompassHeading();
+    }
+
+    public void onMagneticField(float mx, float my, float mz, long timestampNs) {
+        magnetic[0] = mx;
+        magnetic[1] = my;
+        magnetic[2] = mz;
+        hasMagnetic = true;
+        updateCompassHeading();
+
+        if (!hasGravity || !hasMagnetic) {
+            return;
+        }
+
+        compassHistory.addLast(new AngleSample(timestampNs, compassHeadingRad));
+        trimHistory(compassHistory, windowNsStationary + 500_000_000L);
+
+        attemptQsmfiCalibration(timestampNs);
+    }
+
+    public void onStepDetected(long timestampNs) {
+        lastStepTimestampNs = timestampNs;
+    }
+
+    // ---------------------------------------------------------------------
+    // Main output
+    // ---------------------------------------------------------------------
+
+    public float getGyroHeadingRad() {
+        return (float) gyroHeadingRad;
+    }
+
+    public float getCompassHeadingRad() {
+        return (float) compassHeadingRad;
+    }
+
+    public float getFusedHeadingRad() {
+        return (float) fusedHeadingRad;
+    }
+
+    public boolean getIsTurning() {
+        return isTurning;
+    }
+
+    public boolean getCompassStable() {
+        return isCompassStable;
+    }
+
+    public boolean getGyroStable() {
+        return isGyroStable;
+    }
+
+    public boolean isHeadingReliable() {
+        return headingReliable;
+    }
+
+    public String getLastCorrectionSource() {
+        return lastCorrectionSource;
+    }
+
+    // ---------------------------------------------------------------------
+    // QSMFI logic
+    // ---------------------------------------------------------------------
+
+    private void updateCompassHeading() {
+        if (!hasGravity || !hasMagnetic) {
+            return;
+        }
+
+        float[] R = new float[9];
+        float[] I = new float[9];
+        boolean ok = SensorManager.getRotationMatrix(R, I, gravity, magnetic);
+        if (!ok) {
+            return;
+        }
+
+        float[] orientation = new float[3];
+        SensorManager.getOrientation(R, orientation);
+
+        compassHeadingRad = wrapAngle(orientation[0]);
+
+        if (!initialised) {
+            initialised = true;
+            gyroHeadingRad = compassHeadingRad;
+            fusedHeadingRad = compassHeadingRad;
+        }
+    }
+
+    private void attemptQsmfiCalibration(long nowNs) {
+        boolean walking = isWalking(nowNs);
+        long windowNs = walking ? windowNsWalking : windowNsStationary;
+        double tauMagVar = walking ? tauMagVarWalking : tauMagVarStationary;
+        double tauGyro = walking ? TAU_GYRO_WALKING : TAU_GYRO_STATIONARY;
+
+        List<Double> compassWindow = getRecentAngles(compassHistory, nowNs, windowNs);
+        if (compassWindow.size() < 8) {
+            headingReliable = false;
+            lastCorrectionSource = "gyro_only";
+            return;
+        }
+
+        double varCompass = circularVariance(compassWindow);
+        double gyroDelta = getRecentGyroDelta(nowNs, windowNs);
+
+        boolean accepted = false;
+
+        isGyroStable = Math.abs(gyroDelta) < tauGyro;
+        isCompassStable = varCompass < tauMagVar;
+
+        double stableHeading = circularMean(compassWindow);
+        double disagreement = Math.abs(wrapAngle(stableHeading - gyroHeadingRad));
+
+        boolean canFuse;
+
+        if (isTurning) {
+            // During turns: more conservative
+            canFuse = isCompassStable
+                    && disagreement < TAU_QSMFI_GYRO_AGREE * 0.5;
+        } else {
+            canFuse = isCompassStable
+                    && isGyroStable
+                    && disagreement < TAU_QSMFI_GYRO_AGREE;
+        }
+
+        if (canFuse) {
+            double gain;
+            if (isTurning) {
+                gain = walking ? 0.05 : 0.10;
+            } else {
+                gain = walking ? 0.12 : 0.25;
+            }
+
+            fusedHeadingRad = blendAngle(fusedHeadingRad, stableHeading, gain);
+            headingReliable = true;
+            lastCorrectionSource = "qsmfi";
+            accepted = true;
+        } else {
+            headingReliable = false;
+            lastCorrectionSource = "gyro_only";
+        }
+
+        updateQsmfiAcceptance(accepted);
+        adaptQsmfiThresholds();
+    }
+
+    private void updateQsmfiAcceptance(boolean accepted) {
+        qsmfiAcceptHistory.addLast(accepted);
+        while (qsmfiAcceptHistory.size() > QSMFI_ACCEPT_HISTORY_SIZE) {
+            qsmfiAcceptHistory.removeFirst();
+        }
+    }
+
+    private void adaptQsmfiThresholds() {
+        if (qsmfiAcceptHistory.isEmpty()) {
+            return;
+        }
+
+        double acceptRate = 0.0;
+        for (Boolean b : qsmfiAcceptHistory) {
+            if (Boolean.TRUE.equals(b)) {
+                acceptRate += 1.0;
+            }
+        }
+        acceptRate /= qsmfiAcceptHistory.size();
+
+        tauMagVarWalking = clamp(
+                tauMagVarWalking + EPS_ADAPT * (DELTA_INC * (1.0 - acceptRate) - DELTA_DEC * acceptRate),
+                TAU_MAG_VAR_MIN,
+                TAU_MAG_VAR_MAX
+        );
+
+        tauMagVarStationary = clamp(
+                tauMagVarStationary + EPS_ADAPT * (DELTA_INC * (1.0 - acceptRate) - DELTA_DEC * acceptRate),
+                TAU_MAG_VAR_MIN,
+                TAU_MAG_VAR_MAX
+        );
+    }
+
+    // ---------------------------------------------------------------------
+    // Helpers
+    // ---------------------------------------------------------------------
+
+    private boolean isWalking(long nowNs) {
+        return lastStepTimestampNs > 0L && (nowNs - lastStepTimestampNs) < 1_500_000_000L;
+    }
+
+    private void trimHistory(Deque<AngleSample> history, long maxAgeNs) {
+        long nowNs = Math.max(
+                compassHistory.isEmpty() ? 0L : compassHistory.peekLast().timestampNs,
+                gyroHistory.isEmpty() ? 0L : gyroHistory.peekLast().timestampNs
+        );
+
+        while (!history.isEmpty() && nowNs - history.peekFirst().timestampNs > maxAgeNs) {
+            history.removeFirst();
+        }
+    }
+
+    private List<Double> getRecentAngles(Deque<AngleSample> history, long nowNs, long windowNs) {
+        List<Double> out = new ArrayList<>();
+        for (AngleSample s : history) {
+            if (nowNs - s.timestampNs <= windowNs) {
+                out.add(s.angleRad);
+            }
+        }
+        return out;
+    }
+
+    private double getRecentGyroDelta(long nowNs, long windowNs) {
+        AngleSample first = null;
+        AngleSample last = null;
+
+        for (AngleSample s : gyroHistory) {
+            if (nowNs - s.timestampNs <= windowNs) {
+                if (first == null) {
+                    first = s;
+                }
+                last = s;
+            }
+        }
+
+        if (first == null || last == null) {
+            return 0.0;
+        }
+
+        return wrapAngle(last.angleRad - first.angleRad);
+    }
+
+    private double circularMean(List<Double> angles) {
+        if (angles.isEmpty()) {
+            return 0.0;
+        }
+
+        double s = 0.0;
+        double c = 0.0;
+        for (double a : angles) {
+            s += Math.sin(a);
+            c += Math.cos(a);
+        }
+
+        return Math.atan2(s / angles.size(), c / angles.size());
+    }
+
+    private double circularVariance(List<Double> angles) {
+        if (angles.isEmpty()) {
+            return Double.POSITIVE_INFINITY;
+        }
+
+        double mean = circularMean(angles);
+        double sum = 0.0;
+        for (double a : angles) {
+            double d = wrapAngle(a - mean);
+            sum += d * d;
+        }
+        return sum / angles.size();
+    }
+
+    private double blendAngle(double current, double target, double gain) {
+        return wrapAngle(current + gain * wrapAngle(target - current));
+    }
+
+    private double clamp(double v, double lo, double hi) {
+        return Math.max(lo, Math.min(hi, v));
+    }
+
+    private double wrapAngle(double angle) {
+        while (angle > Math.PI) angle -= 2.0 * Math.PI;
+        while (angle < -Math.PI) angle += 2.0 * Math.PI;
+        return angle;
+    }
+
+    private static class AngleSample {
+        final long timestampNs;
+        final double angleRad;
+
+        AngleSample(long timestampNs, double angleRad) {
+            this.timestampNs = timestampNs;
+            this.angleRad = angleRad;
+        }
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
index 7721afe9..d6f9cc60 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
@@ -18,6 +18,8 @@
 
 import com.openpositioning.PositionMe.fusion.ParticleFilterManager;
 import com.openpositioning.PositionMe.fusion.FusedPose;
+import com.openpositioning.PositionMe.fusion.AdaptiveQsmfiHeadingCalibrator;
+
 
 /**
  * Handles sensor event dispatching for all registered movement sensors.
@@ -46,6 +48,7 @@ public class SensorEventHandler {
     private final List<Double> accelMagnitude = new ArrayList<>();
 
     private final ParticleFilterManager particleFilterManager;
+    private final AdaptiveQsmfiHeadingCalibrator adaptiveQsmfiHeadingCalibrator;
 
     /**
      * Creates a new SensorEventHandler.
@@ -59,12 +62,14 @@ public class SensorEventHandler {
     public SensorEventHandler(SensorState state, PdrProcessing pdrProcessing,
                               PathView pathView, TrajectoryRecorder recorder,
                               ParticleFilterManager particleFilterManager,
+                              AdaptiveQsmfiHeadingCalibrator adaptiveQsmfiHeadingCalibrator,
                               long bootTime) {
         this.state = state;
         this.pdrProcessing = pdrProcessing;
         this.pathView = pathView;
         this.recorder = recorder;
         this.particleFilterManager = particleFilterManager;
+        this.adaptiveQsmfiHeadingCalibrator = adaptiveQsmfiHeadingCalibrator;
         this.bootTime = bootTime;
     }
 
@@ -108,6 +113,9 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                 state.angularVelocity[0] = sensorEvent.values[0];
                 state.angularVelocity[1] = sensorEvent.values[1];
                 state.angularVelocity[2] = sensorEvent.values[2];
+                if (adaptiveQsmfiHeadingCalibrator != null) {
+                    adaptiveQsmfiHeadingCalibrator.onGyro(sensorEvent.values[2], sensorEvent.timestamp);
+                }
 
             case Sensor.TYPE_LINEAR_ACCELERATION:
                 state.filteredAcc[0] = sensorEvent.values[0];
@@ -130,6 +138,14 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                 state.gravity[1] = sensorEvent.values[1];
                 state.gravity[2] = sensorEvent.values[2];
 
+                if (adaptiveQsmfiHeadingCalibrator != null) {
+                    adaptiveQsmfiHeadingCalibrator.onGravity(
+                            sensorEvent.values[0],
+                            sensorEvent.values[1],
+                            sensorEvent.values[2]
+                    );
+                }
+
                 state.elevator = pdrProcessing.estimateElevator(
                         state.gravity, state.filteredAcc);
                 break;
@@ -146,6 +162,14 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                 state.magneticField[0] = sensorEvent.values[0];
                 state.magneticField[1] = sensorEvent.values[1];
                 state.magneticField[2] = sensorEvent.values[2];
+                if (adaptiveQsmfiHeadingCalibrator != null) {
+                    adaptiveQsmfiHeadingCalibrator.onMagneticField(
+                            sensorEvent.values[0],
+                            sensorEvent.values[1],
+                            sensorEvent.values[2],
+                            sensorEvent.timestamp
+                    );
+                }
                 break;
 
             case Sensor.TYPE_ROTATION_VECTOR:
@@ -181,14 +205,27 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                     // This remains true even in particle-filter mode because:
                     // - PF prediction still uses PDR as its motion input
                     // - the raw PDR output is the baseline fallback if PF has not initialised yet
+
+                    // Choose heading source for PDR:
+                    // - Prefer fused heading from QSMFI  when available
+                    //   → more stable and drift-corrected
+                    // - Fallback to raw orientation yaw (state.orientation[0]) if calibrator is unavailable
+                    float headingForPdr = adaptiveQsmfiHeadingCalibrator != null
+                            ? adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad()
+                            : state.orientation[0];
+
                     float[] newCords = this.pdrProcessing.updatePdr(
                             stepTime,
                             this.accelMagnitude,
-                            state.orientation[0]
+                            headingForPdr
                     );
                     // Acceleration samples have now been consumed for this step.
                     this.accelMagnitude.clear();
 
+                    if (adaptiveQsmfiHeadingCalibrator != null) {
+                        adaptiveQsmfiHeadingCalibrator.onStepDetected(sensorEvent.timestamp);
+                    }
+
                     if (particleFilterManager != null && particleFilterManager.isEnabled()) {
                         Log.d("SensorFusion", String.format(
                                 "PF_STEP_TRIGGER stepTimeMs=%d rawPdrX=%.3f rawPdrY=%.3f headingDeg=%.2f",
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
index d06af300..f18f3c2c 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
@@ -30,6 +30,7 @@
 import com.openpositioning.PositionMe.utils.PathView;
 import com.openpositioning.PositionMe.utils.PdrProcessing;
 import com.openpositioning.PositionMe.utils.TrajectoryValidator;
+import com.openpositioning.PositionMe.fusion.AdaptiveQsmfiHeadingCalibrator;
 
 import java.io.File;
 import java.io.IOException;
@@ -120,6 +121,7 @@ private SensorFusion() {
     // PDR and path
     private PdrProcessing pdrProcessing;
     private PathView pathView;
+    private AdaptiveQsmfiHeadingCalibrator adaptiveQsmfiHeadingCalibrator;
 
     /**
      * Sensor batching latency configuration.
@@ -198,6 +200,7 @@ public void onFusedPoseUpdated(@NonNull FusedPose fusedPose) {
         if (particleFilterIndoorMapManager != null) {
             this.particleFilterManager.setIndoorMapManager(particleFilterIndoorMapManager);
         }
+        this.adaptiveQsmfiHeadingCalibrator = new AdaptiveQsmfiHeadingCalibrator();
 
         // Event handler
         long bootTime = SystemClock.uptimeMillis();
@@ -207,6 +210,7 @@ public void onFusedPoseUpdated(@NonNull FusedPose fusedPose) {
                 pathView,
                 recorder,
                 particleFilterManager,
+                adaptiveQsmfiHeadingCalibrator,
                 bootTime
         );
 
@@ -495,6 +499,10 @@ public void startRecording() {
         latestRawParticleFilterPose = null;
         particleFilterMatchedPose = null;
 
+        if (adaptiveQsmfiHeadingCalibrator != null) {
+            adaptiveQsmfiHeadingCalibrator.reset();
+        }
+
         if (isParticleFilterTrajectoryMode()) {
             resetParticleFilterForRecording();
         }
@@ -676,7 +684,13 @@ public float passAverageStepLength() {
      * Returns current device heading in radians.
      */
     public float passOrientation() {
-        return state.orientation[0];
+        // if use Pf mode, use adaptive QSMFI heading, otherwise use normal orientation from rotation vector sensor
+        if (isParticleFilterTrajectoryMode()){
+            return passAdaptiveQsmfiHeading();
+        }
+        else {
+            return state.orientation[0];
+        }
     }
 
     /**
@@ -738,6 +752,47 @@ public int getWifiFloor() {
         return wifiPositionManager != null ? wifiPositionManager.getWifiFloor() : 0;
     }
 
+    public float passAdaptiveQsmfiHeading() {
+        return adaptiveQsmfiHeadingCalibrator != null
+                ? adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad()
+                : state.orientation[0];
+    }
+
+    public boolean isHeadingReliable() {
+        return adaptiveQsmfiHeadingCalibrator != null
+                && adaptiveQsmfiHeadingCalibrator.isHeadingReliable();
+    }
+
+    public String getLastHeadingCorrectionSource() {
+        return adaptiveQsmfiHeadingCalibrator != null
+                ? adaptiveQsmfiHeadingCalibrator.getLastCorrectionSource()
+                : "none";
+    }
+
+    public float getFusedHeadingRad(){
+        return adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad();
+    }
+
+    public float getCompassHeadingRad(){
+        return adaptiveQsmfiHeadingCalibrator.getCompassHeadingRad();
+    }
+
+    public float getGyroHeadingRad(){
+        return adaptiveQsmfiHeadingCalibrator.getGyroHeadingRad();
+    }
+
+    public boolean getIsTurning(){
+        return adaptiveQsmfiHeadingCalibrator.getIsTurning();
+    }
+
+    public boolean getIsCompassStable(){
+        return adaptiveQsmfiHeadingCalibrator.getCompassStable();
+    }
+
+    public boolean getIsGyroStable(){
+        return adaptiveQsmfiHeadingCalibrator.getGyroStable();
+    }
+
     public void logSensorFrequencies() {
         eventHandler.logSensorFrequencies();
     }

From 398c52aec5e7a3962772274ae1a0b62ba172d6bf Mon Sep 17 00:00:00 2001
From: wxyuuu1114 <wangxinyu1114@gmail.com>
Date: Sun, 29 Mar 2026 12:56:34 +0100
Subject: [PATCH 28/35] Add Toggle option for QSMFI Heading Calibrator,Complete
 the integration setting for particle filter with map constraints

---
 .../AdaptiveQsmfiHeadingCalibrator.java       |   3 +-
 .../fusion/ParticleFilterEngine.java          |  42 +-
 .../fusion/ParticleFilterManager.java         | 732 +++++++++++++-----
 .../activity/RecordingActivity.java           |  49 +-
 .../fragment/RecordingFragment.java           |   3 +
 .../fragment/TrajectoryMapFragment.java       |  15 +-
 .../sensors/SensorEventHandler.java           |  16 +-
 .../PositionMe/sensors/SensorFusion.java      |  43 +-
 .../PositionMe/utils/IndoorMapManager.java    |  23 +
 9 files changed, 702 insertions(+), 224 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java
index f67cf49c..19cb6c93 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java
@@ -120,7 +120,7 @@ public void reset() {
         isGyroStable = false;
         lastGyroRate = 0.0;
 
-        headingReliable = true;
+        headingReliable = false;
         lastCorrectionSource = "gyro_only";
     }
 
@@ -220,6 +220,7 @@ public boolean getGyroStable() {
     public boolean isHeadingReliable() {
         return headingReliable;
     }
+    public boolean isInitialised() { return initialised;}
 
     public String getLastCorrectionSource() {
         return lastCorrectionSource;
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
index c692fd94..f049f04c 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
@@ -177,6 +177,10 @@ public static class Config {
         public double forwardNoiseStdMeters = 0.25;
         public double headingNoiseStdRad = Math.toRadians(6.0);
 
+        // Initial spread
+        public double initialPositionStdMeters = 1.0;
+        public double initialHeadingStdRad = Math.toRadians(12.0);
+
         // Map-constraint behaviour
         public boolean enableMapConstraints = true;
         public boolean hardKillOnWallCross = true;
@@ -190,11 +194,15 @@ public static class Config {
         // Observation blending
         public boolean enableAbsoluteObservationWeighting = true;
         public double minimumWeightFloor = 1e-12;
+        public double observationSigmaWifiMeters = 2.5;
+        public double observationSigmaGnssMeters = 5.0;
 
         // Degeneracy / recovery
         public double resampleEffectiveSampleSizeRatio = 0.45;
         public boolean enableRecoveryIfCollapsed = true;
         public int recoverySeedCount = 40;
+        public double resampleRegularizationPosStdMeters = 0.03;
+        public double resampleRegularizationHeadingStdRad = Math.toRadians(1.0);
 
         // Logging
         public boolean debugLogging = true;
@@ -274,8 +282,8 @@ public void initialise(@NonNull LatLng startLatLng,
         referenceOriginLat = startLatLng.latitude;
         referenceOriginLng = startLatLng.longitude;
 
-        double initialSpreadMeters = 1.0;
-        double headingSpreadRad = Math.toRadians(12.0);
+        double initialSpreadMeters = config.initialPositionStdMeters;
+        double headingSpreadRad = config.initialHeadingStdRad;
 
         for (int i = 0; i < config.particleCount; i++) {
             double dNorth = gaussian(0.0, initialSpreadMeters);
@@ -621,6 +629,21 @@ private void systematicResample() {
             Particle copy = particles.get(i).copy();
             copy.weight = 1.0 / particles.size();
             copy.alive = true;
+
+            if (config.resampleRegularizationPosStdMeters > 0.0) {
+                double dNorth = gaussian(0.0, config.resampleRegularizationPosStdMeters);
+                double dEast = gaussian(0.0, config.resampleRegularizationPosStdMeters);
+                LatLng jittered = offsetLatLngMeters(new LatLng(copy.lat, copy.lng), dNorth, dEast);
+                copy.lat = jittered.latitude;
+                copy.lng = jittered.longitude;
+            }
+
+            if (config.resampleRegularizationHeadingStdRad > 0.0) {
+                copy.headingRad = wrapAngleRad(
+                        copy.headingRad + gaussian(0.0, config.resampleRegularizationHeadingStdRad)
+                );
+            }
+
             newParticles.add(copy);
         }
 
@@ -646,12 +669,27 @@ private void recoverParticles() {
             center = new LatLng(seed.lat, seed.lng);
             floor = seed.logicalFloor;
             heading = seed.headingRad;
+        } else if (referenceOriginLatLng != null) {
+            center = referenceOriginLatLng;
+            floor = 0;
+            heading = 0.0;
         } else {
             center = new LatLng(0.0, 0.0);
             floor = 0;
             heading = 0.0;
         }
 
+        if (constraintModel != null && center != null) {
+            CandidatePose recoveryPose = constraintModel.getRecoveryPose(center, floor);
+            if (recoveryPose != null && recoveryPose.getLatLng() != null) {
+                center = recoveryPose.getLatLng();
+                floor = recoveryPose.getLogicalFloor();
+                if (recoveryPose.getHeadingRad() != null) {
+                    heading = recoveryPose.getHeadingRad();
+                }
+            }
+        }
+
         particles.clear();
 
         for (int i = 0; i < config.particleCount; i++) {
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
index f3031245..f5769d0b 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
@@ -1,26 +1,25 @@
 package com.openpositioning.PositionMe.fusion;
 
 import android.content.Context;
+import android.content.SharedPreferences;
 import android.os.SystemClock;
 import android.util.Log;
-import android.content.SharedPreferences;
-import androidx.preference.PreferenceManager;
+
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
+import androidx.preference.PreferenceManager;
 
 import com.google.android.gms.maps.model.LatLng;
+import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
 import com.openpositioning.PositionMe.mapmatching.CandidatePose;
+import com.openpositioning.PositionMe.mapmatching.MapGeometryUtils;
+import com.openpositioning.PositionMe.mapmatching.VerticalMotionDetector;
+import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
 import com.openpositioning.PositionMe.sensors.SensorTypes;
 import com.openpositioning.PositionMe.utils.BuildingPolygon;
 import com.openpositioning.PositionMe.utils.IndoorMapManager;
 
-import com.openpositioning.PositionMe.fusion.CoordinateConverter;
-import com.openpositioning.PositionMe.mapmatching.VerticalMotionDetector;
-import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint;
-import com.openpositioning.PositionMe.mapmatching.MapGeometryUtils;
-import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
-
 import java.util.List;
 import java.util.Locale;
 
@@ -32,12 +31,7 @@
  * - convert live PDR motion into PF motion updates
  * - convert map-match / WiFi / GNSS into optional absolute observations
  * - expose latest fused pose back to SensorFusion
- * - hold a first-pass hybrid map constraint model
- *
- * Notes:
- * - This class does not render anything.
- * - Rendering belongs in TrajectoryMapFragment / TrajectoryRenderer.
- * - This version is intentionally conservative so it integrates safely first.
+ * - apply indoor-map constraints using the same geometry helpers as map matching
  */
 public class ParticleFilterManager {
 
@@ -51,54 +45,50 @@ public interface Host {
     }
 
     private final SensorFusion sensorFusion;
-    private final ParticleFilterEngine engine;
     private final ParticleConstraintDebugger debugger;
+    private final VerticalMotionDetector verticalMotionDetector = new VerticalMotionDetector();
+    private final KalmanPoseSmoother kalmanPoseSmoother = new KalmanPoseSmoother();
 
     @Nullable
     private final Host host;
 
     @Nullable
     private IndoorMapManager indoorMapManager;
-
     @Nullable
     private HybridConstraintModel constraintModel;
     @Nullable
     private CoordinateConverter coordinateConverter;
-    private final VerticalMotionDetector verticalMotionDetector = new VerticalMotionDetector();
+    @Nullable
+    private ParticleFilterEngine engine;
+    @Nullable
+    private ParticleFilterEngine.Config activeConfig;
+    @Nullable
+    private ParticleFilterEngine.StepDiagnostics lastDiagnostics;
 
-    /**
-     * Latest filtered pose exposed to the rest of the app.
-     */
+    @NonNull
+    private String lastObservationSummary = "obs:none";
+    @NonNull
+    private String lastMotionSummary = "motion:idle";
+
+    /** Latest filtered pose exposed to the rest of the app. */
     @Nullable
     private FusedPose latestFusedPose;
 
-    /**
-     * Latest raw PF output before any future smoothing layer.
-     * For now this is the same as fused output, but we keep them separate
-     * so later you can add smoothing without changing the external API.
-     */
+    /** Latest raw PF output before Kalman-style output smoothing. */
     @Nullable
     private FusedPose latestRawPose;
 
-    /**
-     * Whether the PF is currently enabled by the selected recording mode.
-     */
+    /** Whether the PF is currently enabled by the selected recording mode. */
     private boolean enabled = false;
 
-    /**
-     * Whether the PF has been initialised with a real anchor.
-     */
+    /** Whether the PF has been initialised with a real anchor. */
     private boolean initialised = false;
 
-    /**
-     * Last raw PDR values used to compute motion deltas.
-     */
+    /** Last raw PDR values used to compute motion deltas. */
     @Nullable
     private float[] lastPdrValues;
 
-    /**
-     * Latest map-matched pose if provided by another subsystem.
-     */
+    /** Latest map-matched pose if provided by another subsystem. */
     @Nullable
     private CandidatePose latestMatchedPose;
 
@@ -109,18 +99,13 @@ public ParticleFilterManager(@NonNull SensorFusion sensorFusion,
                                  @Nullable Host host) {
         this.sensorFusion = sensorFusion;
         this.host = host;
-
-        Context context = sensorFusion.getContext();
-        ParticleFilterEngine.Config cfg = buildConfigFromPreferences(context);
-
-        this.engine = new ParticleFilterEngine(cfg);
         this.debugger = new ParticleConstraintDebugger(TAG);
         this.debugger.setMinIntervalMs(300);
+        reloadRuntimeSettings(true);
     }
 
     /**
      * Compatibility constructor for branches where SensorFusion still passes Context.
-     * The Context is currently unused here, but this keeps your existing SensorFusion code compiling.
      */
     public ParticleFilterManager(@NonNull SensorFusion sensorFusion,
                                  @Nullable Context ignoredContext) {
@@ -134,95 +119,128 @@ public ParticleFilterManager(@NonNull SensorFusion sensorFusion,
     public void setEnabled(boolean enabled) {
         this.enabled = enabled;
 
-        Log.d(TAG,"Particle filter enabled = " + enabled);
-
-        if (!enabled) {
+        if (enabled) {
+            reloadRuntimeSettings(false);
+        } else {
             reset();
         }
 
         Log.d(TAG, "Particle filter enabled = " + enabled);
     }
 
-    /**
-     * Returns whether PF mode is enabled.
-     */
+    /** Returns whether PF mode is enabled. */
     public boolean isEnabled() {
         return enabled;
     }
 
     /**
      * Attach or refresh the current indoor map manager.
-     * This should be called once the active map fragment has a valid IndoorMapManager.
      */
     public void setIndoorMapManager(@Nullable IndoorMapManager indoorMapManager) {
+        if (this.indoorMapManager == indoorMapManager && constraintModel != null) {
+            return;
+        }
+
         this.indoorMapManager = indoorMapManager;
         this.constraintModel = new HybridConstraintModel(indoorMapManager);
-        this.engine.setConstraintModel(this.constraintModel);
+
+        if (engine != null) {
+            engine.setConstraintModel(this.constraintModel);
+        }
 
         Log.d(TAG, "IndoorMapManager attached to ParticleFilterManager: " + (indoorMapManager != null));
     }
 
-    /**
-     * Resets the PF for a new recording session.
-     */
+    /** Resets the PF for a new recording session. */
     public void reset() {
-        engine.clear();
+        reloadRuntimeSettings(true);
         latestFusedPose = null;
         latestRawPose = null;
         lastPdrValues = null;
         latestMatchedPose = null;
         initialised = false;
+        lastDiagnostics = null;
+        lastObservationSummary = "obs:none";
+        lastMotionSummary = "motion:idle";
+        verticalMotionDetector.reset();
+        kalmanPoseSmoother.reset();
+
+        if (engine != null) {
+            engine.clear();
+        }
 
         Log.d(TAG, "Particle filter reset.");
     }
 
-    /**
-     * Returns true if the PF currently has particles initialised.
-     */
+    /** Returns true if the PF currently has particles initialised. */
     public boolean isInitialised() {
-        return initialised && engine.isInitialised();
+        return initialised && engine != null && engine.isInitialised();
     }
 
-    /**
-     * Returns the latest fused PF pose.
-     */
+    /** Returns the latest fused PF pose. */
     @Nullable
     public FusedPose getLatestFusedPose() {
         return latestFusedPose;
     }
 
-    /**
-     * Returns the latest raw PF pose.
-     * At the moment this is the same as the fused pose.
-     */
+    /** Returns the latest raw PF pose. */
     @Nullable
     public FusedPose getLatestRawPose() {
         return latestRawPose;
     }
 
-    /**
-     * Returns a particle snapshot for debugging or visualisation.
-     */
+    /** Returns a particle snapshot for debugging or visualisation. */
     @NonNull
     public List<ParticleFilterEngine.Particle> getParticlesSnapshot() {
+        if (engine == null) {
+            return java.util.Collections.emptyList();
+        }
         return engine.getParticlesSnapshot();
     }
 
-    /**
-     * Optional map-matched pose input.
-     */
+    /** Optional map-matched pose input. */
     public void setLatestMatchedPose(@Nullable CandidatePose latestMatchedPose) {
         this.latestMatchedPose = latestMatchedPose;
     }
 
+    /**
+     * Concise live debug summary for the live map debug panel.
+     */
+    @NonNull
+    public String getLiveDebugSummary() {
+        if (!enabled) {
+            return "pf=off";
+        }
+        if (lastDiagnostics == null) {
+            return "pf=waiting_for_step";
+        }
+
+        int deadParticles = Math.max(0,
+                lastDiagnostics.totalParticles - lastDiagnostics.aliveParticles);
+
+        return String.format(Locale.US,
+                "pf alive=%d dead=%d total=%d ess=%.1f wall=%d floor=%d walk=%d obs=%s %s resample=%s recover=%s",
+                lastDiagnostics.aliveParticles,
+                deadParticles,
+                lastDiagnostics.totalParticles,
+                lastDiagnostics.effectiveSampleSize,
+                lastDiagnostics.wallRejectedCount,
+                lastDiagnostics.floorRejectedCount,
+                lastDiagnostics.outOfWalkablePenalisedCount,
+                lastObservationSummary,
+                lastMotionSummary,
+                String.valueOf(lastDiagnostics.resampled),
+                String.valueOf(lastDiagnostics.recovered));
+    }
+
     /**
      * Compatibility update entry for SensorFusion.
-     * This method is what SensorFusion.stepParticleFilter() expects to call.
      */
     public void step() {
         if (!enabled) {
             return;
         }
+
         // Keep dependencies synced from SensorFusion.
         setIndoorMapManager(sensorFusion.getParticleFilterIndoorMapManager());
         setLatestMatchedPose(sensorFusion.getParticleFilterMatchedPose());
@@ -232,21 +250,25 @@ public void step() {
 
     /**
      * Explicit initialisation from GNSS-based session anchor.
-     *
-     * This matches your desired policy:
-     * - initial anchor should come from GNSS
-     * - WiFi should not set the initial start point
      */
     public void initialiseFromGnss(@NonNull LatLng gnssStart,
                                    int logicalFloor,
                                    double headingRad) {
+        if (engine == null) {
+            reloadRuntimeSettings(true);
+        }
+        if (engine == null) {
+            return;
+        }
+
         coordinateConverter = new CoordinateConverter(
                 gnssStart.latitude,
                 gnssStart.longitude
         );
 
+        kalmanPoseSmoother.reset();
         engine.initialise(gnssStart, logicalFloor, headingRad);
-        //At the anchor, Local x/y are exactly zero.
+
         latestRawPose = new FusedPose(
                 0.0,
                 0.0,
@@ -278,23 +300,61 @@ private ParticleFilterEngine.Config buildConfigFromPreferences(@Nullable Context
                 parseDoublePref(context, "pf_sigma_theta_deg", 6.0, 0.1, 180.0)
         );
 
+        cfg.observationSigmaWifiMeters = parseDoublePref(context, "pf_sigma_wifi", 2.5, 0.3, 50.0);
+        cfg.observationSigmaGnssMeters = parseDoublePref(context, "pf_sigma_gnss", 5.0, 0.5, 100.0);
+        cfg.initialPositionStdMeters = parseDoublePref(context, "pf_init_pos_std", 1.0, 0.05, 20.0);
+        cfg.initialHeadingStdRad = Math.toRadians(
+                parseDoublePref(context, "pf_init_heading_deg", 10.0, 0.1, 180.0)
+        );
+        cfg.resampleEffectiveSampleSizeRatio =
+                parseDoublePref(context, "pf_resample_ratio", 0.45, 0.05, 0.95);
+        cfg.resampleRegularizationPosStdMeters =
+                parseDoublePref(context, "pf_sigma_reg_pos", 0.03, 0.0, 5.0);
+        cfg.resampleRegularizationHeadingStdRad = Math.toRadians(
+                parseDoublePref(context, "pf_sigma_reg_theta_deg", 1.0, 0.0, 45.0)
+        );
+
         cfg.enableMapConstraints = true;
         cfg.hardKillOnWallCross = false;
         cfg.hardKillOnInvalidFloorTransition = false;
         cfg.softPenaltyForOutOfWalkable = true;
 
-        cfg.outOfWalkablePenalty = 0.15;
+        cfg.outOfWalkablePenalty = 0.18;
         cfg.wallCrossPenalty = 0.05;
-        cfg.invalidFloorPenalty = 0.05;
+        cfg.invalidFloorPenalty = 0.08;
 
         cfg.enableAbsoluteObservationWeighting = true;
-        cfg.resampleEffectiveSampleSizeRatio =
-                parseDoublePref(context, "pf_resample_ratio", 0.45, 0.05, 0.95);
-
         cfg.debugLogging = true;
         return cfg;
     }
 
+    private void reloadRuntimeSettings(boolean forceRecreateEngine) {
+        Context context = sensorFusion.getContext();
+        ParticleFilterEngine.Config cfg = buildConfigFromPreferences(context);
+        activeConfig = cfg;
+
+        if (forceRecreateEngine || engine == null || !initialised) {
+            engine = new ParticleFilterEngine(cfg);
+            if (constraintModel != null) {
+                engine.setConstraintModel(constraintModel);
+            }
+            initialised = false;
+        }
+
+        Log.d(TAG, String.format(Locale.US,
+                "PF_CONFIG particles=%d sigmaStep=%.3f sigmaThetaDeg=%.2f sigmaWifi=%.2f sigmaGnss=%.2f initPos=%.2f initHeadingDeg=%.2f resample=%.2f regPos=%.3f regThetaDeg=%.2f",
+                cfg.particleCount,
+                cfg.forwardNoiseStdMeters,
+                Math.toDegrees(cfg.headingNoiseStdRad),
+                cfg.observationSigmaWifiMeters,
+                cfg.observationSigmaGnssMeters,
+                cfg.initialPositionStdMeters,
+                Math.toDegrees(cfg.initialHeadingStdRad),
+                cfg.resampleEffectiveSampleSizeRatio,
+                cfg.resampleRegularizationPosStdMeters,
+                Math.toDegrees(cfg.resampleRegularizationHeadingStdRad)));
+    }
+
     private int parseIntPref(@Nullable Context context,
                              @NonNull String key,
                              int defaultValue,
@@ -357,18 +417,19 @@ private FusedPose enrichWithLocalCoordinates(@NonNull FusedPose geographicPose)
 
     /**
      * Main live-update entry point.
-     *
-     * This should be called once per live cycle after SensorFusion already contains:
-     * - latest PDR
-     * - latest GNSS
-     * - latest WiFi
-     * - latest optional matched pose
      */
     public void updateFromLiveSensors(long timestampMs) {
         if (!enabled) {
             return;
         }
 
+        if (engine == null) {
+            reloadRuntimeSettings(true);
+        }
+        if (engine == null) {
+            return;
+        }
+
         if (!initialised) {
             tryInitialiseFromCurrentSensors();
             if (!initialised) {
@@ -387,12 +448,36 @@ public void updateFromLiveSensors(long timestampMs) {
         ParticleFilterEngine.AbsoluteObservation observation = buildObservation();
 
         ParticleFilterEngine.StepResult result = engine.update(motionInput, observation);
+        lastDiagnostics = result.diagnostics;
 
         // Convert engine geographic output into the local x/y frame used by recorder/UI.
         latestRawPose = enrichWithLocalCoordinates(result.fusedPose);
 
-        // For now fused == raw. Later you can insert KalmanPoseSmoother here.
-        latestFusedPose = latestRawPose;
+        // Kalman-style output smoothing is applied only to the exported/displayed pose.
+        KalmanPoseSmoother.SmoothedPose smoothedPose = kalmanPoseSmoother.update(
+                latestRawPose.getXMeters(),
+                latestRawPose.getYMeters(),
+                latestRawPose.getHeadingRad(),
+                latestRawPose.getConfidence(),
+                motionInput.deltaForwardMeters,
+                Math.abs(motionInput.deltaHeadingRad),
+                observation != null && ("wifi".equals(observation.source) || "map_match".equals(observation.source)),
+                observation != null && "gnss".equals(observation.source)
+        );
+
+        LatLng smoothedLatLng = latestRawPose.getLatLng();
+        if (coordinateConverter != null) {
+            smoothedLatLng = coordinateConverter.localToLatLng(smoothedPose.x, smoothedPose.y);
+        }
+
+        latestFusedPose = new FusedPose(
+                smoothedPose.x,
+                smoothedPose.y,
+                smoothedPose.theta,
+                latestRawPose.getFloor(),
+                smoothedLatLng,
+                latestRawPose.getConfidence()
+        );
 
         pushLatestPoseToOutputs();
 
@@ -413,7 +498,7 @@ public void updateFromLiveSensors(long timestampMs) {
                 result.diagnostics.floorRejectedCount,
                 result.diagnostics.outOfWalkablePenalisedCount,
                 result.diagnostics.observationWeightedCount,
-                observation == null ? "obs:none" : ("obs:" + observation.source)
+                lastObservationSummary
         );
 
         debugger.logFusedPose(
@@ -426,9 +511,7 @@ public void updateFromLiveSensors(long timestampMs) {
         );
     }
 
-    /**
-     * Pushes the latest PF outputs back into SensorFusion and host callback.
-     */
+    /** Pushes the latest PF outputs back into SensorFusion and host callback. */
     private void pushLatestPoseToOutputs() {
         sensorFusion.setLatestRawFusedPose(latestRawPose);
         sensorFusion.setLatestFusedPose(latestFusedPose);
@@ -438,10 +521,7 @@ private void pushLatestPoseToOutputs() {
         }
     }
 
-    /**
-     * Attempts one-time PF initialisation from current GNSS.
-     * GNSS is used as the initial anchor by design.
-     */
+    /** Attempts one-time PF initialisation from current GNSS. */
     private void tryInitialiseFromCurrentSensors() {
         float[] gnss = sensorFusion.getGNSSLatitude(false);
         if (gnss == null || gnss.length < 2) {
@@ -460,11 +540,6 @@ private void tryInitialiseFromCurrentSensors() {
 
     /**
      * Converts raw PDR into one PF motion step.
-     *
-     * This uses:
-     * - PDR delta distance
-     * - current heading change relative to previous fused heading
-     * - placeholder vertical transition fields
      */
     @NonNull
     private ParticleFilterEngine.MotionInput buildMotionInput(@NonNull float[] pdr,
@@ -495,19 +570,51 @@ private ParticleFilterEngine.MotionInput buildMotionInput(@NonNull float[] pdr,
 
         double deltaHeightMeters = 0.0;
         boolean heightChanged = false;
+        String connectorState = "connector=none";
         if (verticalHint != null) {
             deltaHeightMeters = verticalHint.getDeltaHeight();
             heightChanged = verticalHint.isHeightChanged();
+
+            if (constraintModel != null && latestFusedPose != null) {
+                connectorState = "connector=" + constraintModel.classifyNearbyConnector(
+                        latestFusedPose.getLatLng().latitude,
+                        latestFusedPose.getLatLng().longitude,
+                        latestFusedPose.getFloor());
+                boolean nearStairs = constraintModel.isNearStairs(
+                        latestFusedPose.getLatLng().latitude,
+                        latestFusedPose.getLatLng().longitude,
+                        latestFusedPose.getFloor());
+                boolean nearLift = constraintModel.isNearLift(
+                        latestFusedPose.getLatLng().latitude,
+                        latestFusedPose.getLatLng().longitude,
+                        latestFusedPose.getFloor());
+
+                if (heightChanged && !nearStairs && !nearLift) {
+                    heightChanged = false;
+                }
+                if (heightChanged && sensorFusion.getElevator() && !nearLift) {
+                    heightChanged = false;
+                }
+            }
         }
 
         lastPdrValues = new float[]{pdr[0], pdr[1]};
 
+        lastMotionSummary = String.format(Locale.US,
+                "motion=ds%.2f dθ%.1f° dh%.2f %s hc=%s",
+                deltaForwardMeters,
+                Math.toDegrees(deltaHeadingRad),
+                deltaHeightMeters,
+                connectorState,
+                String.valueOf(heightChanged));
+
         Log.d(TAG, String.format(Locale.US,
-                "PF_MOTION deltaS=%.3f deltaHeadingDeg=%.2f deltaH=%.2f heightChanged=%s",
+                "PF_MOTION deltaS=%.3f deltaHeadingDeg=%.2f deltaH=%.2f heightChanged=%s %s",
                 deltaForwardMeters,
                 Math.toDegrees(deltaHeadingRad),
                 deltaHeightMeters,
-                String.valueOf(heightChanged)));
+                String.valueOf(heightChanged),
+                connectorState));
 
         return new ParticleFilterEngine.MotionInput(
                 deltaForwardMeters,
@@ -528,90 +635,159 @@ private ParticleFilterEngine.MotionInput buildMotionInput(@NonNull float[] pdr,
      */
     @Nullable
     private ParticleFilterEngine.AbsoluteObservation buildObservation() {
-        // strongest indoor observation: map matched pose
-        if (latestMatchedPose != null) {
-            LatLng ll = latestMatchedPose.getLatLng();
+        LatLng currentBelief = latestFusedPose != null ? latestFusedPose.getLatLng() : null;
+        double sigmaWifi = activeConfig != null ? activeConfig.observationSigmaWifiMeters : 2.5;
+        double sigmaGnss = activeConfig != null ? activeConfig.observationSigmaGnssMeters : 5.0;
 
-            Integer floor = null;
+        // Strongest indoor observation: map matched pose.
+        if (latestMatchedPose != null && latestMatchedPose.getLatLng() != null) {
+            LatLng ll = latestMatchedPose.getLatLng();
+            Integer floor;
             if (indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
                 floor = indoorMapManager.indexToLogicalFloor(latestMatchedPose.getFloor());
             } else {
                 floor = latestMatchedPose.getFloor();
             }
 
-            if (ll != null) {
-                return new ParticleFilterEngine.AbsoluteObservation(
-                        ll,
-                        floor,
-                        null, // CandidatePose currently does not carry heading here
-                        1.2,  // strong spatial trust
-                        Math.toRadians(12.0),
-                        0.90,
-                        "map_match"
-                );
+            if (currentBelief != null) {
+                double jumpMeters = distanceMeters(currentBelief, ll);
+                if (jumpMeters > 20.0) {
+                    lastObservationSummary = String.format(Locale.US,
+                            "obs:map_match_reject_jump(%.1fm)", jumpMeters);
+                    Log.d(TAG, lastObservationSummary);
+                    return null;
+                }
             }
+
+            lastObservationSummary = String.format(Locale.US,
+                    "obs:map_match floor=%s", String.valueOf(floor));
+            return new ParticleFilterEngine.AbsoluteObservation(
+                    ll,
+                    floor,
+                    latestMatchedPose.getHeadingRad(),
+                    1.2,
+                    Math.toRadians(12.0),
+                    0.92,
+                    "map_match"
+            );
         }
 
-        // WiFi as fallback
+        // WiFi as indoor fallback.
         LatLng wifi = sensorFusion.getLatLngWifiPositioning();
+        int wifiCount = sensorFusion.getWifiList() == null ? 0 : sensorFusion.getWifiList().size();
         if (wifi != null && !(Math.abs(wifi.latitude) < 1e-6 && Math.abs(wifi.longitude) < 1e-6)) {
+            if (wifiCount < 3) {
+                lastObservationSummary = "obs:wifi_reject_low_ap_count";
+                Log.d(TAG, lastObservationSummary);
+                return null;
+            }
+
+            if (currentBelief != null) {
+                double jumpMeters = distanceMeters(currentBelief, wifi);
+                double gateMeters = indoorMapManager != null && indoorMapManager.getIsIndoorMapSet() ? 22.0 : 30.0;
+                if (jumpMeters > gateMeters) {
+                    lastObservationSummary = String.format(Locale.US,
+                            "obs:wifi_reject_jump(%.1fm)", jumpMeters);
+                    Log.d(TAG, lastObservationSummary);
+                    return null;
+                }
+            }
+
+            double confidence = wifiCount >= 6 ? 0.65 : (wifiCount >= 4 ? 0.50 : 0.35);
+            double sigmaMeters = sigmaWifi * (wifiCount >= 6 ? 1.0 : 1.35);
+            int wifiFloor = sensorFusion.getWifiFloor();
+
+            if (constraintModel != null && indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()
+                    && !constraintModel.isWalkable(wifi.latitude, wifi.longitude, wifiFloor)) {
+                confidence *= 0.6;
+                sigmaMeters *= 1.5;
+            }
+
+            lastObservationSummary = String.format(Locale.US,
+                    "obs:wifi ap=%d floor=%d", wifiCount, wifiFloor);
             Log.d(TAG, String.format(Locale.US,
-                    "PF_OBS source=wifi lat=%.6f lng=%.6f floor=%d",
+                    "PF_OBS source=wifi lat=%.6f lng=%.6f floor=%d ap=%d",
                     wifi.latitude,
                     wifi.longitude,
-                    sensorFusion.getWifiFloor()));
+                    wifiFloor,
+                    wifiCount));
 
             return new ParticleFilterEngine.AbsoluteObservation(
                     wifi,
-                    sensorFusion.getWifiFloor(),
+                    wifiFloor,
                     null,
-                    5.0,
+                    sigmaMeters,
                     Math.toRadians(45.0),
-                    0.45,
+                    confidence,
                     "wifi"
             );
         }
 
-        // GNSS as weakest fallback
+        // GNSS as weakest fallback.
         float[] gnss = sensorFusion.getGNSSLatitude(false);
         if (gnss != null && gnss.length >= 2
                 && !(Math.abs(gnss[0]) < 1e-6 && Math.abs(gnss[1]) < 1e-6)) {
+            LatLng gnssLatLng = new LatLng(gnss[0], gnss[1]);
+
+            if (currentBelief != null) {
+                double jumpMeters = distanceMeters(currentBelief, gnssLatLng);
+                double gateMeters = indoorMapManager != null && indoorMapManager.getIsIndoorMapSet() ? 38.0 : 50.0;
+                if (jumpMeters > gateMeters) {
+                    lastObservationSummary = String.format(Locale.US,
+                            "obs:gnss_reject_jump(%.1fm)", jumpMeters);
+                    Log.d(TAG, lastObservationSummary);
+                    return null;
+                }
+            }
+
+            double confidence = indoorMapManager != null && indoorMapManager.getIsIndoorMapSet() ? 0.12 : 0.30;
+            double sigmaMeters = indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()
+                    ? sigmaGnss * 1.8
+                    : sigmaGnss;
+
+            if (constraintModel != null && indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()
+                    && !constraintModel.isWalkable(gnssLatLng.latitude, gnssLatLng.longitude,
+                    latestFusedPose != null ? latestFusedPose.getFloor() : 0)) {
+                confidence *= 0.5;
+                sigmaMeters *= 1.5;
+            }
 
+            lastObservationSummary = "obs:gnss";
             Log.d(TAG, String.format(Locale.US,
                     "PF_OBS source=gnss lat=%.6f lng=%.6f",
                     gnss[0], gnss[1]));
 
             return new ParticleFilterEngine.AbsoluteObservation(
-                    new LatLng(gnss[0], gnss[1]),
+                    gnssLatLng,
                     null,
                     null,
-                    8.0,
+                    sigmaMeters,
                     Math.toRadians(60.0),
-                    0.30,
+                    confidence,
                     "gnss"
             );
         }
 
+        lastObservationSummary = "obs:none";
         Log.d(TAG, "PF_OBS source=none");
         return null;
     }
 
+    private static double distanceMeters(@NonNull LatLng a, @NonNull LatLng b) {
+        double dLat = (b.latitude - a.latitude) * 111320.0;
+        double midLatRad = Math.toRadians((a.latitude + b.latitude) * 0.5);
+        double dLng = (b.longitude - a.longitude) * 111320.0 * Math.cos(midLatRad);
+        return Math.sqrt(dLat * dLat + dLng * dLng);
+    }
+
     /**
-     * First-pass hybrid map constraint model.
-     *
-     * This version is intentionally coarse and safe:
-     * - if no indoor map is loaded, it stays permissive
-     * - if indoor map is loaded, it enforces selected-building containment
-     * - wall crossing is approximated using outer-building boundary only
-     * - floor changes are allowed conservatively for now
-     *
-     * Later can ne replace with:
-     * - wall segment intersection from vector map features
-     * - connector / stairs / lift region checks
-     * - room / corridor walkability masks
+     * Hybrid map constraint model backed by IndoorMapManager floor shapes.
      */
     private static class HybridConstraintModel implements ParticleFilterEngine.ConstraintModel {
 
+        private static final double WALL_EXCLUSION_METERS = 0.30;
+        private static final double NEAR_WALL_SOFT_METERS = 1.20;
+
         @Nullable
         private final IndoorMapManager indoorMapManager;
 
@@ -619,46 +795,84 @@ private static class HybridConstraintModel implements ParticleFilterEngine.Const
             this.indoorMapManager = indoorMapManager;
         }
 
-        /**
-         * Returns whether a PF particle is in a valid walkable coarse region.
-         *
-         * First-pass behaviour:
-         * - if no indoor map is loaded, allow all states
-         * - otherwise require coarse containment inside the selected building footprint
-         */
-        @Override
-        public boolean isWalkable(double lat, double lng, int logicalFloor) {
+        @Nullable
+        private FloorplanApiClient.FloorShapes getFloorShapes(int logicalFloor) {
+            if (indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+                return null;
+            }
+            return indoorMapManager.getFloorShapesForLogicalFloor(logicalFloor);
+        }
+
+        private boolean isInsideSelectedBuilding(@NonNull LatLng point) {
             if (indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
                 return true;
             }
 
-            LatLng point = new LatLng(lat, lng);
             int currentBuilding = indoorMapManager.getCurrentBuilding();
-
             switch (currentBuilding) {
                 case IndoorMapManager.BUILDING_NUCLEUS:
                     return BuildingPolygon.inNucleus(point);
-
                 case IndoorMapManager.BUILDING_LIBRARY:
                     return BuildingPolygon.inLibrary(point);
-
                 case IndoorMapManager.BUILDING_MURCHISON:
                     return BuildingPolygon.inMurchison(point);
-
                 default:
                     return true;
             }
         }
 
-        /**
-         * Returns whether the motion segment crosses an invalid outer building boundary.
-         *
-         * First-pass behaviour:
-         * - if both old and new are inside walkable space, do not reject
-         * - if the new state leaves the selected building footprint, treat it as invalid crossing
-         *
-         * Later replace this with wall-segment intersection against the vector floor map.
-         */
+        boolean isNearStairs(double lat, double lng, int logicalFloor) {
+            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(logicalFloor);
+            if (floorShapes == null) {
+                return false;
+            }
+            LatLng point = new LatLng(lat, lng);
+            return MapGeometryUtils.isInsideIndoorType(point, floorShapes, "stairs")
+                    || MapGeometryUtils.isNearStairs(point, floorShapes);
+        }
+
+        boolean isNearLift(double lat, double lng, int logicalFloor) {
+            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(logicalFloor);
+            if (floorShapes == null) {
+                return false;
+            }
+            LatLng point = new LatLng(lat, lng);
+            return MapGeometryUtils.isInsideIndoorType(point, floorShapes, "lift")
+                    || MapGeometryUtils.isNearLift(point, floorShapes);
+        }
+
+        @NonNull
+        String classifyNearbyConnector(double lat, double lng, int logicalFloor) {
+            boolean stairs = isNearStairs(lat, lng, logicalFloor);
+            boolean lift = isNearLift(lat, lng, logicalFloor);
+            if (stairs && lift) {
+                return "stairs+lift";
+            }
+            if (stairs) {
+                return "stairs";
+            }
+            if (lift) {
+                return "lift";
+            }
+            return "none";
+        }
+
+        @Override
+        public boolean isWalkable(double lat, double lng, int logicalFloor) {
+            LatLng point = new LatLng(lat, lng);
+            if (!isInsideSelectedBuilding(point)) {
+                return false;
+            }
+
+            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(logicalFloor);
+            if (floorShapes == null) {
+                return true;
+            }
+
+            double nearestWallMeters = nearestWallDistanceMeters(point, floorShapes);
+            return nearestWallMeters > WALL_EXCLUSION_METERS;
+        }
+
         @Override
         public boolean crossesWall(double oldLat, double oldLng,
                                    double newLat, double newLng,
@@ -667,25 +881,18 @@ public boolean crossesWall(double oldLat, double oldLng,
                 return false;
             }
 
-            boolean oldWalkable = isWalkable(oldLat, oldLng, logicalFloor);
-            boolean newWalkable = isWalkable(newLat, newLng, logicalFloor);
+            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(logicalFloor);
+            if (floorShapes == null) {
+                return isWalkable(oldLat, oldLng, logicalFloor) && !isWalkable(newLat, newLng, logicalFloor);
+            }
 
-            return oldWalkable && !newWalkable;
+            return MapGeometryUtils.crossesWall(
+                    new LatLng(oldLat, oldLng),
+                    new LatLng(newLat, newLng),
+                    floorShapes
+            );
         }
 
-        /**
-         * Returns whether a floor transition is allowed.
-         *
-         * First-pass behaviour:
-         * - same floor is always valid
-         * - if no indoor map is present, allow
-         * - if indoor map is present, still allow conservatively for now
-         *
-         * Later replace this with:
-         * - stairs region
-         * - lift region
-         * - connector region checks
-         */
         @Override
         public boolean isFloorTransitionAllowed(double lat, double lng, int oldFloor, int newFloor) {
             if (oldFloor == newFloor) {
@@ -696,43 +903,164 @@ public boolean isFloorTransitionAllowed(double lat, double lng, int oldFloor, in
                 return true;
             }
 
-            // Conservative first integration: allow, then refine later.
-            return true;
+            boolean stairsSource = isNearStairs(lat, lng, oldFloor);
+            boolean liftSource = isNearLift(lat, lng, oldFloor);
+            boolean stairsTarget = isNearStairs(lat, lng, newFloor);
+            boolean liftTarget = isNearLift(lat, lng, newFloor);
+
+            return (stairsSource && stairsTarget)
+                    || (liftSource && liftTarget)
+                    || stairsSource || liftSource || stairsTarget || liftTarget;
         }
 
-        /**
-         * Returns a soft map likelihood in [0,1].
-         *
-         * First-pass behaviour:
-         * - 1.0 if valid inside coarse building footprint
-         * - 0.15 if outside valid coarse indoor region
-         */
         @Override
         public double mapLikelihood(double lat, double lng, int logicalFloor) {
-            if (indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
-                return 1.0;
+            LatLng point = new LatLng(lat, lng);
+            if (!isInsideSelectedBuilding(point)) {
+                return 0.05;
             }
 
-            return isWalkable(lat, lng, logicalFloor) ? 1.0 : 0.15;
+            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(logicalFloor);
+            if (floorShapes == null) {
+                return 0.80;
+            }
+
+            double nearestWallMeters = nearestWallDistanceMeters(point, floorShapes);
+            if (nearestWallMeters <= 0.10) {
+                return 0.05;
+            }
+            if (nearestWallMeters <= WALL_EXCLUSION_METERS) {
+                return 0.20;
+            }
+            if (nearestWallMeters <= 0.70) {
+                return 0.55;
+            }
+            if (nearestWallMeters <= NEAR_WALL_SOFT_METERS) {
+                return 0.80;
+            }
+            return 1.0;
         }
 
-        /**
-         * Optional recovery pose.
-         * Not used yet in this first integration.
-         */
         @Nullable
         @Override
         public CandidatePose getRecoveryPose(@NonNull LatLng currentLatLng, int logicalFloor) {
-            return null;
+            if (isWalkable(currentLatLng.latitude, currentLatLng.longitude, logicalFloor)) {
+                return new CandidatePose(currentLatLng, logicalFloor, SystemClock.elapsedRealtime(), "pf_recovery");
+            }
+
+            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(logicalFloor);
+            if (floorShapes == null) {
+                return null;
+            }
+
+            LatLng stairs = MapGeometryUtils.findNearestSafeInteriorPointOnIndoorType(
+                    currentLatLng,
+                    floorShapes,
+                    "stairs"
+            );
+            LatLng lift = MapGeometryUtils.findNearestSafeInteriorPointOnIndoorType(
+                    currentLatLng,
+                    floorShapes,
+                    "lift"
+            );
+
+            LatLng best = null;
+            if (stairs != null && lift != null) {
+                best = distanceMeters(currentLatLng, stairs) <= distanceMeters(currentLatLng, lift) ? stairs : lift;
+            } else if (stairs != null) {
+                best = stairs;
+            } else if (lift != null) {
+                best = lift;
+            }
+
+            if (best == null) {
+                return null;
+            }
+
+            return new CandidatePose(best, logicalFloor, SystemClock.elapsedRealtime(), "pf_recovery");
+        }
+
+        private static double nearestWallDistanceMeters(@NonNull LatLng point,
+                                                        @NonNull FloorplanApiClient.FloorShapes floorShapes) {
+            double best = Double.POSITIVE_INFINITY;
+            if (floorShapes.getFeatures() == null) {
+                return best;
+            }
+
+            for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) {
+                if (!"wall".equalsIgnoreCase(feature.getIndoorType())) {
+                    continue;
+                }
+                if (feature.getParts() == null) {
+                    continue;
+                }
+                for (List<LatLng> part : feature.getParts()) {
+                    if (part == null || part.size() < 2) {
+                        continue;
+                    }
+                    for (int i = 0; i < part.size() - 1; i++) {
+                        best = Math.min(best, pointToSegmentDistanceMeters(point, part.get(i), part.get(i + 1)));
+                    }
+                }
+            }
+            return best;
+        }
+
+        private static double pointToSegmentDistanceMeters(@NonNull LatLng p,
+                                                           @NonNull LatLng a,
+                                                           @NonNull LatLng b) {
+            double[] pxy = toLocalMeters(p, p);
+            double[] axy = toLocalMeters(a, p);
+            double[] bxy = toLocalMeters(b, p);
+
+            double ax = axy[0];
+            double ay = axy[1];
+            double bx = bxy[0];
+            double by = bxy[1];
+            double px = pxy[0];
+            double py = pxy[1];
+
+            double vx = bx - ax;
+            double vy = by - ay;
+            double wx = px - ax;
+            double wy = py - ay;
+
+            double vv = vx * vx + vy * vy;
+            if (vv <= 1e-9) {
+                double dx = px - ax;
+                double dy = py - ay;
+                return Math.sqrt(dx * dx + dy * dy);
+            }
+
+            double t = (wx * vx + wy * vy) / vv;
+            t = Math.max(0.0, Math.min(1.0, t));
+
+            double cx = ax + t * vx;
+            double cy = ay + t * vy;
+            double dx = px - cx;
+            double dy = py - cy;
+            return Math.sqrt(dx * dx + dy * dy);
+        }
+
+        private static double[] toLocalMeters(@NonNull LatLng point, @NonNull LatLng origin) {
+            double dNorth = (point.latitude - origin.latitude) * 111320.0;
+            double midLatRad = Math.toRadians((point.latitude + origin.latitude) * 0.5);
+            double dEast = (point.longitude - origin.longitude) * 111320.0 * Math.cos(midLatRad);
+            return new double[]{dEast, dNorth};
+        }
+
+        private static double distanceMeters(@NonNull LatLng a, @NonNull LatLng b) {
+            double dLat = (b.latitude - a.latitude) * 111320.0;
+            double midLatRad = Math.toRadians((a.latitude + b.latitude) * 0.5);
+            double dLng = (b.longitude - a.longitude) * 111320.0 * Math.cos(midLatRad);
+            return Math.sqrt(dLat * dLat + dLng * dLng);
         }
     }
 
-    /**
-     * Wrap angle to [-pi, pi].
-     */
+    /** Wrap angle to [-pi, pi]. */
     private static double wrapAngleRad(double a) {
         while (a > Math.PI) a -= 2.0 * Math.PI;
         while (a < -Math.PI) a += 2.0 * Math.PI;
         return a;
     }
-}
\ No newline at end of file
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java
index 9d472c88..b4c1169f 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java
@@ -199,6 +199,33 @@ private void showTrajectorySetupDialog() {
         updateModeDescription.run();
         particleFilterSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> updateModeDescription.run());
 
+        SwitchMaterial adaptiveHeadingSwitch = new SwitchMaterial(this);
+        adaptiveHeadingSwitch.setText("Use adaptive heading calibrator (QSMFI-style)");
+        adaptiveHeadingSwitch.setChecked(SensorFusion.getInstance().isAdaptiveHeadingEnabled());
+        LinearLayout.LayoutParams adaptiveHeadingParams = new LinearLayout.LayoutParams(
+                ViewGroup.LayoutParams.MATCH_PARENT,
+                ViewGroup.LayoutParams.WRAP_CONTENT);
+        adaptiveHeadingParams.topMargin = dp(12);
+        container.addView(adaptiveHeadingSwitch, adaptiveHeadingParams);
+
+        TextView adaptiveHeadingDescription = new TextView(this);
+        adaptiveHeadingDescription.setTextSize(13f);
+        adaptiveHeadingDescription.setPadding(0, dp(4), 0, 0);
+        container.addView(adaptiveHeadingDescription);
+
+        Runnable updateAdaptiveHeadingDescription = () -> {
+            if (adaptiveHeadingSwitch.isChecked()) {
+                adaptiveHeadingDescription.setText(
+                        "Adaptive heading mode is session-scoped and is applied before both PDR and particle-filter motion updates. " +
+                                "This keeps the PF prediction, saved path, and live map aligned to the same heading convention.");
+            } else {
+                adaptiveHeadingDescription.setText(
+                        "Raw heading mode uses the current rotation-vector heading directly with no adaptive absolute-yaw correction.");
+            }
+        };
+        updateAdaptiveHeadingDescription.run();
+        adaptiveHeadingSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> updateAdaptiveHeadingDescription.run());
+
         AlertDialog dialog = new AlertDialog.Builder(this)
                 .setTitle("New Recording")
                 .setView(scrollView)
@@ -214,15 +241,20 @@ private void showTrajectorySetupDialog() {
                 if (name.isEmpty()) {
                     name = generateDefaultTrajectoryName();
                 }
-
-                applyTrajectorySetupAndContinue(name, particleFilterSwitch.isChecked());
+                applyTrajectorySetupAndContinue(
+                        name,
+                        particleFilterSwitch.isChecked(),
+                        adaptiveHeadingSwitch.isChecked()
+                );
                 dialog.dismiss();
             });
 
             dialog.getButton(AlertDialog.BUTTON_NEGATIVE).setOnClickListener(v -> {
                 applyTrajectorySetupAndContinue(
                         generateDefaultTrajectoryName(),
-                        particleFilterSwitch.isChecked());
+                        particleFilterSwitch.isChecked(),
+                        adaptiveHeadingSwitch.isChecked()
+                );
                 dialog.dismiss();
             });
         });
@@ -239,17 +271,22 @@ private void showTrajectorySetupDialog() {
      * - SensorEventHandler will save the selected trajectory mode
      */
     private static final String TAG = "RecordingActivity";
-    private void applyTrajectorySetupAndContinue(String trajectoryName, boolean useParticleFilter) {
+    private void applyTrajectorySetupAndContinue(String trajectoryName,
+                                                 boolean useParticleFilter,
+                                                 boolean useAdaptiveHeading) {
         SensorFusion sensorFusion = SensorFusion.getInstance();
         sensorFusion.setTrajectoryId(trajectoryName);
         sensorFusion.setRecordingTrajectoryMode(
                 useParticleFilter
                         ? SensorFusion.TRAJECTORY_MODE_PARTICLE_FILTER
-                        : SensorFusion.TRAJECTORY_MODE_PDR);
+                        : SensorFusion.TRAJECTORY_MODE_PDR
+        );
+        sensorFusion.setUseAdaptiveQsmfiHeading(useAdaptiveHeading);
 
         Log.d(TAG, "New recording setup:"
                 + " name=" + trajectoryName
-                + ", mode=" + (useParticleFilter ? "PARTICLE_FILTER" : "STANDARD_PDR"));
+                + ", mode=" + (useParticleFilter ? "PARTICLE_FILTER" : "STANDARD_PDR")
+                + ", adaptiveHeading=" + useAdaptiveHeading);
 
         showStartLocationScreen();
     }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
index e64430bc..bdb1d21e 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
@@ -456,6 +456,9 @@ private void updateUIandPosition() {
             trajectoryMapFragment.clearGNSS();
         }
 
+        // Refresh live debug box
+        trajectoryMapFragment.refreshLiveDebugBox();
+
         // Update raw PDR history once, at the end of the cycle.
         previousPosX = pdrValues[0];
         previousPosY = pdrValues[1];
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 0e26397d..616f3f2e 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -1133,20 +1133,29 @@ private void refreshDebugStatusText() {
         }
 
         String building = selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : "none";
+        String particleSummary = sensorFusion != null
+                ? sensorFusion.getParticleFilterDebugSummary()
+                : "pf=unavailable";
+
         debugStatusText.setText(String.format(
                 Locale.US,
-                "mode=%s\nbuilding=%s\nfloorIndex=%d\nindoorVisible=%s\nactualVisible=%s\nreplay=%s\nlocation=%s",
+                "mode=%s\nbuilding=%s\nfloorIndex=%d\nindoorVisible=%s\nactualVisible=%s\nreplay=%s\nlocation=%s\n%s",
                 sensorFusion != null && sensorFusion.isParticleFilterTrajectoryMode() ? "PF" : "PDR",
                 building,
                 currentFloorIndex,
                 String.valueOf(indoorMapVisible),
                 String.valueOf(actualMapVisible),
                 String.valueOf(replayModeEnabled),
-                currentLocation == null ? "null" :
-                        String.format(Locale.US, "%.6f, %.6f", currentLocation.latitude, currentLocation.longitude)
+                currentLocation == null ? "null"
+                        : String.format(Locale.US, "%.6f, %.6f", currentLocation.latitude, currentLocation.longitude),
+                particleSummary
         ));
     }
 
+    public void refreshLiveDebugBox() {
+        refreshDebugStatusText();
+    }
+
     private void initMapTypeSpinner() {
         if (switchMapSpinner == null) {
             return;
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
index d6f9cc60..10a12200 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
@@ -49,7 +49,7 @@ public class SensorEventHandler {
 
     private final ParticleFilterManager particleFilterManager;
     private final AdaptiveQsmfiHeadingCalibrator adaptiveQsmfiHeadingCalibrator;
-
+    private final SensorFusion sensorFusion;
     /**
      * Creates a new SensorEventHandler.
      *
@@ -63,6 +63,7 @@ public SensorEventHandler(SensorState state, PdrProcessing pdrProcessing,
                               PathView pathView, TrajectoryRecorder recorder,
                               ParticleFilterManager particleFilterManager,
                               AdaptiveQsmfiHeadingCalibrator adaptiveQsmfiHeadingCalibrator,
+                              SensorFusion sensorFusion,
                               long bootTime) {
         this.state = state;
         this.pdrProcessing = pdrProcessing;
@@ -70,6 +71,7 @@ public SensorEventHandler(SensorState state, PdrProcessing pdrProcessing,
         this.recorder = recorder;
         this.particleFilterManager = particleFilterManager;
         this.adaptiveQsmfiHeadingCalibrator = adaptiveQsmfiHeadingCalibrator;
+        this.sensorFusion = sensorFusion;
         this.bootTime = bootTime;
     }
 
@@ -210,9 +212,15 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                     // - Prefer fused heading from QSMFI  when available
                     //   → more stable and drift-corrected
                     // - Fallback to raw orientation yaw (state.orientation[0]) if calibrator is unavailable
-                    float headingForPdr = adaptiveQsmfiHeadingCalibrator != null
-                            ? adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad()
-                            : state.orientation[0];
+                    float headingForPdr;
+                    if (sensorFusion != null
+                            && sensorFusion.isUseAdaptiveQsmfiHeading()
+                            && adaptiveQsmfiHeadingCalibrator != null
+                            && adaptiveQsmfiHeadingCalibrator.isInitialised()) {
+                        headingForPdr = adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad();
+                    } else {
+                        headingForPdr = state.orientation[0];
+                    }
 
                     float[] newCords = this.pdrProcessing.updatePdr(
                             stepTime,
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
index f18f3c2c..81337039 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
@@ -140,6 +140,7 @@ private SensorFusion() {
     // Recording mode state
 
     private int recordingTrajectoryMode = TRAJECTORY_MODE_PDR;
+    private boolean useAdaptiveQsmfiHeading = false;
 
     // Initialisation
     /**
@@ -211,6 +212,7 @@ public void onFusedPoseUpdated(@NonNull FusedPose fusedPose) {
                 recorder,
                 particleFilterManager,
                 adaptiveQsmfiHeadingCalibrator,
+                this,
                 bootTime
         );
 
@@ -249,6 +251,28 @@ public void update(Object[] objList) {
         }
     }
 
+    public void setUseAdaptiveQsmfiHeading(boolean enabled) {
+        this.useAdaptiveQsmfiHeading = enabled;
+
+        if (adaptiveQsmfiHeadingCalibrator != null) {
+            adaptiveQsmfiHeadingCalibrator.reset();
+        }
+
+        Log.d(TAG, "useAdaptiveQsmfiHeading = " + enabled);
+    }
+
+    public boolean isUseAdaptiveQsmfiHeading() {
+        return useAdaptiveQsmfiHeading;
+    }
+
+    public void setAdaptiveHeadingEnabled(boolean enabled) {
+        setUseAdaptiveQsmfiHeading(enabled);
+    }
+
+    public boolean isAdaptiveHeadingEnabled() {
+        return isUseAdaptiveQsmfiHeading();
+    }
+
     // Particle filter wiring
     /**
      * Returns the latest local PDR movement estimate in metres.
@@ -642,6 +666,14 @@ public List<FloorplanApiClient.BuildingInfo> getFloorplanBuildings() {
         return new ArrayList<>(floorplanBuildingCache.values());
     }
 
+    @NonNull
+    public String getParticleFilterDebugSummary() {
+        if (particleFilterManager == null) {
+            return "pf=unavailable";
+        }
+        return particleFilterManager.getLiveDebugSummary();
+    }
+
     // Getters / setters
     /**
      * Returns current GNSS or recording start GNSS.
@@ -684,13 +716,12 @@ public float passAverageStepLength() {
      * Returns current device heading in radians.
      */
     public float passOrientation() {
-        // if use Pf mode, use adaptive QSMFI heading, otherwise use normal orientation from rotation vector sensor
-        if (isParticleFilterTrajectoryMode()){
-            return passAdaptiveQsmfiHeading();
-        }
-        else {
-            return state.orientation[0];
+        if (useAdaptiveQsmfiHeading
+                && adaptiveQsmfiHeadingCalibrator != null
+                && adaptiveQsmfiHeadingCalibrator.isInitialised()) {
+            return adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad();
         }
+        return state.orientation[0];
     }
 
     /**
diff --git a/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java b/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
index 86bdfd4b..ebea607c 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
@@ -3,6 +3,7 @@
 import android.graphics.Color;
 
 import androidx.annotation.Nullable;
+import androidx.annotation.NonNull;
 
 import com.google.android.gms.maps.GoogleMap;
 import com.google.android.gms.maps.model.LatLng;
@@ -62,6 +63,28 @@ public class IndoorMapManager {
 
     private boolean vectorBaseplateEnabled = false;
 
+    @Nullable
+    public FloorplanApiClient.FloorShapes getFloorShapesForIndex(int floorIndex) {
+        if (currentFloorShapes == null || currentFloorShapes.isEmpty()) {
+            return null;
+        }
+        int safe = clampFloorIndex(floorIndex);
+        return currentFloorShapes.get(safe);
+    }
+
+    @Nullable
+    public FloorplanApiClient.FloorShapes getFloorShapesForLogicalFloor(int logicalFloor) {
+        if (currentFloorShapes == null || currentFloorShapes.isEmpty()) {
+            return null;
+        }
+        return getFloorShapesForIndex(logicalFloorToIndex(logicalFloor));
+    }
+
+    @NonNull
+    public List<FloorplanApiClient.FloorShapes> getCurrentFloorShapesList() {
+        return currentFloorShapes == null ? new ArrayList<>() : new ArrayList<>(currentFloorShapes);
+    }
+
     public IndoorMapManager(GoogleMap map) {
         this.gMap = map;
     }

From 1d4a1a8f240b86f0452729ff2866888771610588 Mon Sep 17 00:00:00 2001
From: wxyuuu1114 <wangxinyu1114@gmail.com>
Date: Sun, 29 Mar 2026 22:42:47 +0100
Subject: [PATCH 29/35] Removed continuous trajectory shaping

---
 .../fusion/CoordinateConverter.java           |  17 +-
 .../PositionMe/fusion/FusedPose.java          |  84 +--
 .../PositionMe/fusion/KalmanPoseSmoother.java |  16 +-
 .../fusion/ParticleConstraintDebugger.java    |  11 +-
 .../fusion/ParticleFilterConfig.java          | 114 +++-
 .../fusion/ParticleFilterEngine.java          | 579 ++++++----------
 .../fusion/ParticleFilterManager.java         | 618 +++++++-----------
 .../fragment/FloorController.java             |  12 +
 .../fragment/RecordingFragment.java           |   5 +
 .../fragment/TrajectoryMapFragment.java       |   7 +-
 .../sensors/SensorEventHandler.java           | 281 ++++----
 .../PositionMe/sensors/SensorFusion.java      |   4 +
 12 files changed, 696 insertions(+), 1052 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java
index 329947b5..1489a5ec 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java
@@ -12,7 +12,7 @@
  */
 public class CoordinateConverter {
 
-    private static final double EARTH_RADIUS_METERS = 6378137.0;
+    private static final double DEGREE_IN_M = 111111.0;
 
     private final double lat0Deg;
     private final double lon0Deg;
@@ -35,11 +35,10 @@ public CoordinateConverter(double lat0Deg, double lon0Deg) {
      * @return array of size 2 containing x and y in meters
      */
     public double[] latLngToLocal(LatLng latLng) {
-        double dLat = Math.toRadians(latLng.latitude - lat0Deg);
-        double dLon = Math.toRadians(latLng.longitude - lon0Deg);
-
-        double x = EARTH_RADIUS_METERS * dLon * Math.cos(Math.toRadians(lat0Deg));
-        double y = EARTH_RADIUS_METERS * dLat;
+        double x = (latLng.longitude - lon0Deg)
+                * DEGREE_IN_M
+                * Math.cos(Math.toRadians(lat0Deg));
+        double y = (latLng.latitude - lat0Deg) * DEGREE_IN_M;
         return new double[]{x, y};
     }
 
@@ -51,9 +50,9 @@ public double[] latLngToLocal(LatLng latLng) {
      * @return corresponding geographic coordinate
      */
     public LatLng localToLatLng(double x, double y) {
-        double lat = lat0Deg + Math.toDegrees(y / EARTH_RADIUS_METERS);
-        double lon = lon0Deg + Math.toDegrees(
-                x / (EARTH_RADIUS_METERS * Math.cos(Math.toRadians(lat0Deg)))
+        double lat = lat0Deg + (y / DEGREE_IN_M);
+        double lon = lon0Deg + (
+                x / (DEGREE_IN_M * Math.cos(Math.toRadians(lat0Deg)))
         );
         return new LatLng(lat, lon);
     }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java
index ea9417de..48268aeb 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java
@@ -1,98 +1,74 @@
 package com.openpositioning.PositionMe.fusion;
-import com.google.android.gms.maps.model.LatLng;
+
 import androidx.annotation.NonNull;
 
+import com.google.android.gms.maps.model.LatLng;
+
 /**
  * Immutable model representing the latest fused pose estimate produced by the
  * particle filter.
  *
- * <p>The pose is stored both in local metric coordinates (x/y in meters)
- * and in geographic coordinates (LatLng) so that the filter can work in a
- * local ENU-like frame while the UI can render the result directly on the
- * Google Map.</p>
+ * <p>The pose is stored in local metric coordinates (x/y in meters) and also as
+ * a geographic coordinate for map rendering. The fusion code should stay in
+ * local x/y space as long as possible and convert to LatLng only at the
+ * boundaries where it is actually needed.</p>
  */
 public class FusedPose {
-    private final double xMeters;
-    private final double yMeters;
+    private final double x;
+    private final double y;
     private final double headingRad;
     private final int floor;
+    @NonNull
     private final LatLng latLng;
     private final float confidence;
 
-    /**
-     * Creates a new fused pose estimate.
-     *
-     * @param xMeters local x position in meters
-     * @param yMeters local y position in meters
-     * @param headingRad heading in radians
-     * @param floor estimated floor
-     * @param latLng geographic representation of the position
-     * @param confidence confidence indicator in the range [0, 1]
-     */
-    public FusedPose(double xMeters,
-                     double yMeters,
+    public FusedPose(double x,
+                     double y,
                      double headingRad,
                      int floor,
-                     LatLng latLng,
+                     @NonNull LatLng latLng,
                      float confidence) {
-        this.xMeters = xMeters;
-        this.yMeters = yMeters;
+        this.x = x;
+        this.y = y;
         this.headingRad = headingRad;
         this.floor = floor;
         this.latLng = latLng;
         this.confidence = confidence;
     }
 
-    /**
-     * Returns the fused local x coordinate in meters.
-     *
-     * @return local x coordinate
-     */
+    /** Canonical local x coordinate in meters. */
+    public double getX() {
+        return x;
+    }
+
+    /** Canonical local y coordinate in meters. */
+    public double getY() {
+        return y;
+    }
+
+    /** Backward-compatible alias for getX(). */
     public double getXMeters() {
-        return xMeters;
+        return x;
     }
 
-    /**
-     * Returns the fused local y coordinate in meters.
-     *
-     * @return local y coordinate
-     */
+    /** Backward-compatible alias for getY(). */
     public double getYMeters() {
-        return yMeters;
+        return y;
     }
 
-    /**
-     * Returns the fused heading in radians.
-     *
-     * @return heading in radians
-     */
     public double getHeadingRad() {
         return headingRad;
     }
 
-    /**
-     * Returns the fused floor estimate.
-     *
-     * @return estimated floor
-     */
     public int getFloor() {
         return floor;
     }
 
-    /**
-     * Returns the fused position as a geographic coordinate.
-     *
-     * @return fused geographic position
-     */
+    @NonNull
     public LatLng getLatLng() {
         return latLng;
     }
 
-    /**
-     * Returns a simple confidence score derived from particle diversity.
-     *
-     * @return confidence in the range [0, 1]
-     */
     public float getConfidence() {
         return confidence;
     }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/KalmanPoseSmoother.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/KalmanPoseSmoother.java
index 0a528203..8a650136 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/KalmanPoseSmoother.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/KalmanPoseSmoother.java
@@ -1,4 +1,5 @@
 package com.openpositioning.PositionMe.fusion;
+
 /**
  * Lightweight Kalman-style output smoother for PF poses.
  *
@@ -14,7 +15,7 @@
  * - PF confidence
  * - step distance
  * - absolute heading change
- * - whether WiFi / GNSS observations were accepted this update
+ * - whether a strong absolute observation was accepted this update
  */
 public class KalmanPoseSmoother {
     private boolean initialised = false;
@@ -43,8 +44,7 @@ public SmoothedPose update(
             double confidence,
             double stepDistance,
             double deltaThetaAbs,
-            boolean wifiAccepted,
-            boolean gnssAccepted
+            boolean strongAbsoluteObservationAccepted
     ) {
         if (!initialised) {
             initialised = true;
@@ -54,8 +54,6 @@ public SmoothedPose update(
             return new SmoothedPose(x, y, theta);
         }
 
-        // Process uncertainty grows with motion.
-        // Bigger motion => trust the previous state less => smoother becomes more responsive.
         double qPos = 0.02 + 0.20 * stepDistance * stepDistance;
         double qTheta = Math.toRadians(1.0) * Math.toRadians(1.0)
                 + 0.50 * deltaThetaAbs * deltaThetaAbs;
@@ -63,8 +61,6 @@ public SmoothedPose update(
         pPos += qPos;
         pTheta += qTheta;
 
-        // Measurement uncertainty is derived from PF confidence.
-        // High confidence => smaller R => larger gain.
         double clampedConf = clamp(confidence, 0.0, 1.0);
 
         double rPos = lerp(9.0, 0.5, clampedConf);
@@ -74,22 +70,18 @@ public SmoothedPose update(
                 clampedConf
         );
 
-        // If no absolute sensor was trusted this cycle, reduce trust in the PF measurement a bit.
-        if (!wifiAccepted && !gnssAccepted) {
+        if (!strongAbsoluteObservationAccepted) {
             rPos *= 1.5;
             rTheta *= 1.2;
         }
 
-        // Kalman-style gains
         double kPos = pPos / (pPos + rPos);
         double kTheta = pTheta / (pTheta + rTheta);
 
-        // State update
         x = x + kPos * (rawX - x);
         y = y + kPos * (rawY - y);
         theta = wrapAngle(theta + kTheta * wrapAngle(rawTheta - theta));
 
-        // Covariance update
         pPos = (1.0 - kPos) * pPos;
         pTheta = (1.0 - kTheta) * pTheta;
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java
index 2fcce344..5ac85d3b 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java
@@ -8,12 +8,11 @@
 import java.util.Locale;
 
 /**
- * Helper used to keep PF constraint logging readable.
+ * Helper used to keep PF logging readable.
  *
  * This class does not change PF behaviour.
  * It only formats state into consistent Logcat lines.
  */
-
 public class ParticleConstraintDebugger {
     private final String tag;
     private long lastLogTimeMs = 0L;
@@ -32,8 +31,7 @@ public void logStep(@NonNull String phase,
                         int aliveCount,
                         int wallRejectedCount,
                         int floorRejectedCount,
-                        int connectorAcceptedCount,
-                        int observationAcceptedCount,
+                        int observationWeightedCount,
                         @Nullable String note) {
         long now = System.currentTimeMillis();
         if (now - lastLogTimeMs < minIntervalMs) {
@@ -42,14 +40,13 @@ public void logStep(@NonNull String phase,
         lastLogTimeMs = now;
 
         Log.d(tag, String.format(Locale.US,
-                "PF_CONSTRAINT phase=%s particles=%d alive=%d wallRejected=%d floorRejected=%d connectorAccepted=%d obsAccepted=%d note=%s",
+                "PF_STEP phase=%s particles=%d alive=%d wallRejected=%d floorRejected=%d obsWeighted=%d note=%s",
                 phase,
                 particleCount,
                 aliveCount,
                 wallRejectedCount,
                 floorRejectedCount,
-                connectorAcceptedCount,
-                observationAcceptedCount,
+                observationWeightedCount,
                 note == null ? "-" : note));
     }
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java
index 86d20caa..11dc4b95 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java
@@ -1,65 +1,111 @@
 package com.openpositioning.PositionMe.fusion;
 
 /**
- * Immutable parameter bundle for the particle filter.
+ * Shared configuration bundle for the live particle filter.
  *
- * <p>All values here are already converted into internal units:
- * - distances in meters
+ * Keep this as the single PF config definition used by:
+ * - ParticleFilterEngine
+ * - ParticleFilterManager
+ *
+ * Units:
+ * - distances in metres
  * - angles in radians
+ *
+ * This cleaned version removes parameters that only existed to tune
+ * continuous map-based trajectory shaping.
  */
 public class ParticleFilterConfig {
 
+    // Core PF parameters loaded from settings
+
     /** Number of particles in the filter. */
-    public final int particleCount;
+    public int particleCount;
 
     /** Standard deviation of translational prediction noise (m). */
-    public final double sigmaStep;
+    public double forwardNoiseStdMeters;
 
     /** Standard deviation of heading prediction noise (rad). */
-    public final double sigmaThetaRad;
+    public double headingNoiseStdRad;
 
-    /** Wi-Fi likelihood spread (m). */
-    public final double sigmaWifi;
+    /** Wi-Fi observation spread (m). */
+    public double observationSigmaWifiMeters;
 
-    /** GNSS likelihood spread (m). */
-    public final double sigmaGnss;
+    /** GNSS observation spread (m). */
+    public double observationSigmaGnssMeters;
 
     /** Initial position spread around the startup pose (m). */
-    public final double initPosStd;
+    public double initialPositionStdMeters;
 
     /** Initial heading spread around the startup heading (rad). */
-    public final double initHeadingStdRad;
+    public double initialHeadingStdRad;
 
     /** Resampling threshold as a ratio of particle count. */
-    public final double resampleRatio;
+    public double resampleEffectiveSampleSizeRatio;
 
     /** Position jitter added after resampling (m). */
-    public final double sigmaRegPos;
+    public double resampleRegularizationPosStdMeters;
 
     /** Heading jitter added after resampling (rad). */
-    public final double sigmaRegThetaRad;
+    public double resampleRegularizationHeadingStdRad;
+
+    // Constraint behaviour
+
+    /** Enable wall / floor-transition veto logic. */
+    public boolean enableMapConstraints = true;
+
+    // Observation blending
+
+    /** Enable Wi-Fi / GNSS / map-match weighting. */
+    public boolean enableAbsoluteObservationWeighting = true;
+
+    /** Minimum non-zero weight floor for alive particles. */
+    public double minimumWeightFloor = 1e-12;
+
+    // Recovery behaviour
+
+    /**
+     * Allow recovery reseeding if the cloud collapses.
+     *
+     * In the cleaned configuration this is disabled by default, because
+     * teleport-like recovery can reintroduce visible snapping.
+     */
+    public boolean enableRecoveryIfCollapsed = false;
+
+    /** Position spread used when reseeding recovered particles (m). */
+    public double recoveryPositionStdMeters = 0.75;
+
+    /** Heading spread used when reseeding recovered particles (rad). */
+    public double recoveryHeadingStdRad = Math.toRadians(8.0);
+
+    // Logging
+
+    /** Enable PF debug logging. */
+    public boolean debugLogging = true;
 
+    /**
+     * Constructor for the user-tunable settings fields.
+     */
     public ParticleFilterConfig(
             int particleCount,
-            double sigmaStep,
-            double sigmaThetaRad,
-            double sigmaWifi,
-            double sigmaGnss,
-            double initPosStd,
-            double initHeadingStdRad,
-            double resampleRatio,
-            double sigmaRegPos,
-            double sigmaRegThetaRad
+            double forwardNoiseStdMeters,
+            double headingNoiseStdRad,
+            double observationSigmaWifiMeters,
+            double observationSigmaGnssMeters,
+            double initialPositionStdMeters,
+            double initialHeadingStdRad,
+            double resampleEffectiveSampleSizeRatio,
+            double resampleRegularizationPosStdMeters,
+            double resampleRegularizationHeadingStdRad
     ) {
         this.particleCount = particleCount;
-        this.sigmaStep = sigmaStep;
-        this.sigmaThetaRad = sigmaThetaRad;
-        this.sigmaWifi = sigmaWifi;
-        this.sigmaGnss = sigmaGnss;
-        this.initPosStd = initPosStd;
-        this.initHeadingStdRad = initHeadingStdRad;
-        this.resampleRatio = resampleRatio;
-        this.sigmaRegPos = sigmaRegPos;
-        this.sigmaRegThetaRad = sigmaRegThetaRad;
+        this.forwardNoiseStdMeters = forwardNoiseStdMeters;
+        this.headingNoiseStdRad = headingNoiseStdRad;
+        this.observationSigmaWifiMeters = observationSigmaWifiMeters;
+        this.observationSigmaGnssMeters = observationSigmaGnssMeters;
+        this.initialPositionStdMeters = initialPositionStdMeters;
+        this.initialHeadingStdRad = initialHeadingStdRad;
+        this.resampleEffectiveSampleSizeRatio = resampleEffectiveSampleSizeRatio;
+        this.resampleRegularizationPosStdMeters = resampleRegularizationPosStdMeters;
+        this.resampleRegularizationHeadingStdRad = resampleRegularizationHeadingStdRad;
     }
-}
\ No newline at end of file
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
index f049f04c..aaaf4e3e 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
@@ -6,31 +6,21 @@
 import androidx.annotation.Nullable;
 
 import com.google.android.gms.maps.model.LatLng;
-import com.openpositioning.PositionMe.mapmatching.CandidatePose;
-import com.openpositioning.PositionMe.utils.IndoorMapManager;
 
 import java.util.ArrayList;
-import java.util.Collections;
+import java.util.HashMap;
 import java.util.List;
-import java.util.Locale;
+import java.util.Map;
 import java.util.Random;
 
 /**
  * Core particle filter engine for live indoor positioning.
  *
- * Design goals:
- * - Keep the engine independent from Fragment/UI code.
- * - Support a hybrid strategy:
- *   1) prediction from motion
- *   2) optional map-constraint penalty / rejection
- *   3) optional absolute observation weighting (GNSS / WiFi / matched pose)
- *   4) resampling
- *   5) fused state extraction
- *
- * Important:
- * This engine is intentionally conservative.
- * It does NOT immediately kill every particle near a wall unless the transition is clearly impossible.
- * That makes debugging and convergence much more stable in early integration.
+ * Cleaned design goals:
+ * - keep the state in local x/y meters
+ * - use the map only as a feasibility veto
+ * - never use map likelihoods or walkable penalties as continuous weights
+ * - convert to LatLng only once when exporting the fused pose
  */
 public class ParticleFilterEngine {
 
@@ -40,39 +30,50 @@ public class ParticleFilterEngine {
      * Individual particle.
      */
     public static class Particle {
-        public double lat;
-        public double lng;
+        public double x;
+        public double y;
         public double headingRad;
-        public int logicalFloor;
+        public int floor;
         public double weight;
         public boolean alive = true;
 
-        public Particle(double lat,
-                        double lng,
+        // True previous state saved before prediction.
+        public double prevX;
+        public double prevY;
+        public double prevHeadingRad;
+        public int prevFloor;
+
+        public Particle(double x,
+                        double y,
                         double headingRad,
-                        int logicalFloor,
+                        int floor,
                         double weight) {
-            this.lat = lat;
-            this.lng = lng;
+            this.x = x;
+            this.y = y;
             this.headingRad = headingRad;
-            this.logicalFloor = logicalFloor;
+            this.floor = floor;
             this.weight = weight;
+
+            this.prevX = x;
+            this.prevY = y;
+            this.prevHeadingRad = headingRad;
+            this.prevFloor = floor;
         }
 
+        @NonNull
         public Particle copy() {
-            Particle p = new Particle(lat, lng, headingRad, logicalFloor, weight);
+            Particle p = new Particle(x, y, headingRad, floor, weight);
             p.alive = alive;
+            p.prevX = prevX;
+            p.prevY = prevY;
+            p.prevHeadingRad = prevHeadingRad;
+            p.prevFloor = prevFloor;
             return p;
         }
-
-        public LatLng toLatLng() {
-            return new LatLng(lat, lng);
-        }
     }
 
     /**
      * Motion input for one PF update.
-     * This should usually come from PDR / IMU integration.
      */
     public static class MotionInput {
         public final double deltaForwardMeters;
@@ -95,27 +96,29 @@ public MotionInput(double deltaForwardMeters,
     }
 
     /**
-     * Optional absolute observation.
-     * Can be GNSS, WiFi, or map-matched pose.
+     * Optional absolute observation in local x/y.
      */
     public static class AbsoluteObservation {
-        @Nullable public final LatLng latLng;
-        @Nullable public final Integer logicalFloor;
+        @Nullable public final Double x;
+        @Nullable public final Double y;
+        @Nullable public final Integer floor;
         @Nullable public final Double headingRad;
         public final double horizontalSigmaMeters;
         public final double headingSigmaRad;
         public final double confidence;
-        public final String source;
+        @NonNull public final String source;
 
-        public AbsoluteObservation(@Nullable LatLng latLng,
-                                   @Nullable Integer logicalFloor,
+        public AbsoluteObservation(@Nullable Double x,
+                                   @Nullable Double y,
+                                   @Nullable Integer floor,
                                    @Nullable Double headingRad,
                                    double horizontalSigmaMeters,
                                    double headingSigmaRad,
                                    double confidence,
                                    @NonNull String source) {
-            this.latLng = latLng;
-            this.logicalFloor = logicalFloor;
+            this.x = x;
+            this.y = y;
+            this.floor = floor;
             this.headingRad = headingRad;
             this.horizontalSigmaMeters = horizontalSigmaMeters;
             this.headingSigmaRad = headingSigmaRad;
@@ -125,98 +128,27 @@ public AbsoluteObservation(@Nullable LatLng latLng,
     }
 
     /**
-     * Optional map-constraint helper.
+     * Optional map-constraint helper in local x/y space.
      *
-     * You can back this with:
-     * - IndoorMapManager
-     * - wall polygons / line segments
-     * - connector / stairs / lift regions
-     * - floor transition rules
+     * The map is treated as a feasibility gate only.
      */
     public interface ConstraintModel {
+        boolean crossesWall(double oldX, double oldY,
+                            double newX, double newY,
+                            int floor);
 
-        /**
-         * Returns true if the particle state is inside a valid walkable region.
-         */
-        boolean isWalkable(double lat, double lng, int logicalFloor);
-
-        /**
-         * Returns true if the transition from old->new is blocked by a wall / invalid barrier.
-         */
-        boolean crossesWall(double oldLat, double oldLng,
-                            double newLat, double newLng,
-                            int logicalFloor);
-
-        /**
-         * Returns true if changing from oldFloor to newFloor is allowed near this location.
-         * Usually this means stairs / lift / connector region.
-         */
-        boolean isFloorTransitionAllowed(double lat, double lng, int oldFloor, int newFloor);
-
-        /**
-         * Returns a soft map-consistency factor in [0, 1].
-         * 1 = strong agreement with map
-         * 0 = impossible according to map
-         */
-        double mapLikelihood(double lat, double lng, int logicalFloor);
-
-        /**
-         * Optional nearest valid pose for recovery if particles collapse.
-         */
-        @Nullable
-        CandidatePose getRecoveryPose(@NonNull LatLng currentLatLng, int logicalFloor);
-    }
-
-    /**
-     * Tunable configuration for the PF.
-     */
-    public static class Config {
-        public int particleCount = 250;
-
-        // Prediction noise
-        public double forwardNoiseStdMeters = 0.25;
-        public double headingNoiseStdRad = Math.toRadians(6.0);
-
-        // Initial spread
-        public double initialPositionStdMeters = 1.0;
-        public double initialHeadingStdRad = Math.toRadians(12.0);
-
-        // Map-constraint behaviour
-        public boolean enableMapConstraints = true;
-        public boolean hardKillOnWallCross = true;
-        public boolean hardKillOnInvalidFloorTransition = true;
-        public boolean softPenaltyForOutOfWalkable = true;
-
-        public double outOfWalkablePenalty = 0.10;
-        public double wallCrossPenalty = 0.02;
-        public double invalidFloorPenalty = 0.02;
-
-        // Observation blending
-        public boolean enableAbsoluteObservationWeighting = true;
-        public double minimumWeightFloor = 1e-12;
-        public double observationSigmaWifiMeters = 2.5;
-        public double observationSigmaGnssMeters = 5.0;
-
-        // Degeneracy / recovery
-        public double resampleEffectiveSampleSizeRatio = 0.45;
-        public boolean enableRecoveryIfCollapsed = true;
-        public int recoverySeedCount = 40;
-        public double resampleRegularizationPosStdMeters = 0.03;
-        public double resampleRegularizationHeadingStdRad = Math.toRadians(1.0);
-
-        // Logging
-        public boolean debugLogging = true;
+        boolean isFloorTransitionAllowed(double x, double y,
+                                         int oldFloor, int newFloor);
     }
 
     /**
-     * Summary of one update step for easier debugging.
+     * Summary of one update step for debugging.
      */
     public static class StepDiagnostics {
         public int totalParticles;
         public int aliveParticles;
         public int wallRejectedCount;
         public int floorRejectedCount;
-        public int outOfWalkablePenalisedCount;
         public int observationWeightedCount;
         public double effectiveSampleSize;
         public boolean resampled;
@@ -240,17 +172,14 @@ public StepResult(@NonNull FusedPose fusedPose,
         }
     }
 
-    private final Config config;
+    private final ParticleFilterConfig config;
     private final Random random;
     private final List<Particle> particles = new ArrayList<>();
 
     @Nullable
     private ConstraintModel constraintModel;
-    @Nullable private LatLng referenceOriginLatLng;
-    private double referenceOriginLat = Double.NaN;
-    private double referenceOriginLng = Double.NaN;
 
-    public ParticleFilterEngine(@NonNull Config config) {
+    public ParticleFilterEngine(@NonNull ParticleFilterConfig config) {
         this.config = config;
         this.random = new Random();
     }
@@ -265,57 +194,35 @@ public boolean isInitialised() {
 
     public void clear() {
         particles.clear();
-        referenceOriginLatLng = null;
-        referenceOriginLat = Double.NaN;
-        referenceOriginLng = Double.NaN;
     }
 
     /**
-     * Initialise particles around a known anchor.
+     * Initialise particles around a known local anchor.
      */
-    public void initialise(@NonNull LatLng startLatLng,
-                           int logicalFloor,
+    public void initialise(double startX,
+                           double startY,
+                           int floor,
                            double headingRad) {
         particles.clear();
 
-        referenceOriginLatLng = startLatLng;
-        referenceOriginLat = startLatLng.latitude;
-        referenceOriginLng = startLatLng.longitude;
-
-        double initialSpreadMeters = config.initialPositionStdMeters;
-        double headingSpreadRad = config.initialHeadingStdRad;
+        double equalWeight = 1.0 / Math.max(1, config.particleCount);
 
         for (int i = 0; i < config.particleCount; i++) {
-            double dNorth = gaussian(0.0, initialSpreadMeters);
-            double dEast = gaussian(0.0, initialSpreadMeters);
-
-            LatLng perturbed = offsetLatLngMeters(startLatLng, dNorth, dEast);
-
-            double particleHeading = wrapAngleRad(headingRad + gaussian(0.0, headingSpreadRad));
-
-            Particle particle = new Particle(
-                    perturbed.latitude,
-                    perturbed.longitude,
-                    particleHeading,
-                    logicalFloor,
-                    1.0 / config.particleCount
+            double x = startX + gaussian(0.0, config.initialPositionStdMeters);
+            double y = startY + gaussian(0.0, config.initialPositionStdMeters);
+            double heading = wrapAngleRad(
+                    headingRad + gaussian(0.0, config.initialHeadingStdRad)
             );
 
-            if (constraintModel != null && config.enableMapConstraints) {
-                if (!constraintModel.isWalkable(particle.lat, particle.lng, logicalFloor)) {
-                    if (config.softPenaltyForOutOfWalkable) {
-                        particle.weight *= config.outOfWalkablePenalty;
-                    }
-                }
-            }
-
-            particles.add(particle);
+            particles.add(new Particle(x, y, heading, floor, equalWeight));
         }
 
         normaliseWeights();
-        log(String.format(Locale.US,
-                "Initialised PF with %d particles at %.6f, %.6f floor=%d",
-                particles.size(), startLatLng.latitude, startLatLng.longitude, logicalFloor));
+        log("Initialised PF with "
+                + particles.size()
+                + " particles at x=" + startX
+                + " y=" + startY
+                + " floor=" + floor);
     }
 
     /**
@@ -323,7 +230,8 @@ public void initialise(@NonNull LatLng startLatLng,
      */
     @NonNull
     public StepResult update(@NonNull MotionInput motionInput,
-                             @Nullable AbsoluteObservation absoluteObservation) {
+                             @Nullable AbsoluteObservation absoluteObservation,
+                             @NonNull CoordinateConverter coordinateConverter) {
 
         if (particles.isEmpty()) {
             throw new IllegalStateException("ParticleFilterEngine.update() called before initialise().");
@@ -332,8 +240,8 @@ public StepResult update(@NonNull MotionInput motionInput,
         StepDiagnostics diagnostics = new StepDiagnostics();
         diagnostics.totalParticles = particles.size();
 
-        predictParticles(motionInput, diagnostics);
-        applyConstraintWeights(motionInput, diagnostics);
+        predictParticles(motionInput);
+        enforceConstraintsVeto(diagnostics);
 
         if (absoluteObservation != null && config.enableAbsoluteObservationWeighting) {
             applyAbsoluteObservation(absoluteObservation, diagnostics);
@@ -350,53 +258,48 @@ public StepResult update(@NonNull MotionInput motionInput,
             diagnostics.resampled = true;
         }
 
-        if (countAliveParticles() == 0 || totalWeight() <= 0.0) {
-            if (config.enableRecoveryIfCollapsed) {
-                recoverParticles();
-                diagnostics.recovered = true;
-            }
+        if ((countAliveParticles() == 0 || totalWeight() <= 0.0) && config.enableRecoveryIfCollapsed) {
+            recoverParticles();
+            diagnostics.recovered = true;
+            normaliseWeights();
         }
 
-        normaliseWeights();
-        FusedPose fusedPose = buildFusedPose();
+        FusedPose fusedPose = buildFusedPose(coordinateConverter);
         List<Particle> snapshot = deepCopyParticles();
 
         if (config.debugLogging) {
-            Log.d(TAG, String.format(Locale.US,
-                    "PF step: alive=%d/%d wallReject=%d floorReject=%d walkPenalty=%d obsWeighted=%d ess=%.2f resampled=%s recovered=%s",
-                    diagnostics.aliveParticles,
-                    diagnostics.totalParticles,
-                    diagnostics.wallRejectedCount,
-                    diagnostics.floorRejectedCount,
-                    diagnostics.outOfWalkablePenalisedCount,
-                    diagnostics.observationWeightedCount,
-                    diagnostics.effectiveSampleSize,
-                    String.valueOf(diagnostics.resampled),
-                    String.valueOf(diagnostics.recovered)));
+            Log.d(TAG,
+                    "PF step: alive=" + diagnostics.aliveParticles + "/" + diagnostics.totalParticles
+                            + " wallRejected=" + diagnostics.wallRejectedCount
+                            + " floorRejected=" + diagnostics.floorRejectedCount
+                            + " obsWeighted=" + diagnostics.observationWeightedCount
+                            + " ess=" + diagnostics.effectiveSampleSize
+                            + " resampled=" + diagnostics.resampled
+                            + " recovered=" + diagnostics.recovered);
         }
 
         return new StepResult(fusedPose, diagnostics, snapshot);
     }
 
     /**
-     * Prediction step.
+     * Prediction step in local x/y.
+     *
+     * x = east-west local metres
+     * y = north-south local metres
      *
-     * Each particle:
-     * - perturbs heading
-     * - moves forward with motion noise
-     * - optionally changes logical floor if vertical change is significant
+     * headingRad convention:
+     * 0 = north, +pi/2 = east
      */
-    private void predictParticles(@NonNull MotionInput motionInput,
-                                  @NonNull StepDiagnostics diagnostics) {
-
+    private void predictParticles(@NonNull MotionInput motionInput) {
         for (Particle p : particles) {
             if (!p.alive) {
                 continue;
             }
 
-            double oldLat = p.lat;
-            double oldLng = p.lng;
-            int oldFloor = p.logicalFloor;
+            p.prevX = p.x;
+            p.prevY = p.y;
+            p.prevHeadingRad = p.headingRad;
+            p.prevFloor = p.floor;
 
             double noisyHeading = wrapAngleRad(
                     p.headingRad
@@ -410,26 +313,25 @@ private void predictParticles(@NonNull MotionInput motionInput,
             double dNorth = noisyForward * Math.cos(noisyHeading);
             double dEast = noisyForward * Math.sin(noisyHeading);
 
-            LatLng updated = offsetLatLngMeters(new LatLng(oldLat, oldLng), dNorth, dEast);
-
-            p.lat = updated.latitude;
-            p.lng = updated.longitude;
+            p.x += dEast;
+            p.y += dNorth;
             p.headingRad = noisyHeading;
 
-            // Simple vertical floor proposal.
             if (motionInput.heightChanged && Math.abs(motionInput.deltaHeightMeters) > 1.2) {
                 int floorDelta = motionInput.deltaHeightMeters > 0 ? 1 : -1;
-                p.logicalFloor = oldFloor + floorDelta;
+                p.floor = p.floor + floorDelta;
             }
         }
     }
 
     /**
-     * Apply map-based penalties / rejection after prediction.
+     * Apply map constraints as hard feasibility vetoes only.
+     *
+     * No continuous weighting.
+     * No walkable penalties.
+     * No map likelihood shaping.
      */
-    private void applyConstraintWeights(@NonNull MotionInput motionInput,
-                                        @NonNull StepDiagnostics diagnostics) {
-
+    private void enforceConstraintsVeto(@NonNull StepDiagnostics diagnostics) {
         if (constraintModel == null || !config.enableMapConstraints) {
             return;
         }
@@ -439,74 +341,37 @@ private void applyConstraintWeights(@NonNull MotionInput motionInput,
                 continue;
             }
 
-            // Walkability check
-            boolean walkable = constraintModel.isWalkable(p.lat, p.lng, p.logicalFloor);
-            if (!walkable) {
-                if (config.softPenaltyForOutOfWalkable) {
-                    p.weight *= config.outOfWalkablePenalty;
-                    diagnostics.outOfWalkablePenalisedCount++;
-                }
-            }
-
-            // We do a wall-cross / transition validation by approximating previous state
-            double backwardNorth = motionInput.deltaForwardMeters * Math.cos(p.headingRad);
-            double backwardEast = motionInput.deltaForwardMeters * Math.sin(p.headingRad);
-            LatLng approxPrev = offsetLatLngMeters(new LatLng(p.lat, p.lng), -backwardNorth, -backwardEast);
-
-            boolean crossedWall = constraintModel.crossesWall(
-                    approxPrev.latitude,
-                    approxPrev.longitude,
-                    p.lat,
-                    p.lng,
-                    p.logicalFloor
-            );
-
-            if (crossedWall) {
+            int wallFloor = p.prevFloor;
+            if (constraintModel.crossesWall(p.prevX, p.prevY, p.x, p.y, wallFloor)) {
                 diagnostics.wallRejectedCount++;
-                if (config.hardKillOnWallCross) {
-                    p.alive = false;
-                    p.weight = 0.0;
-                    continue;
-                } else {
-                    p.weight *= config.wallCrossPenalty;
-                }
-            }
 
-            // Floor transition check
-            if (motionInput.heightChanged && Math.abs(motionInput.deltaHeightMeters) > 1.2) {
-                int oldFloor = motionInput.deltaHeightMeters > 0
-                        ? p.logicalFloor - 1
-                        : p.logicalFloor + 1;
+                // Reject the illegal translation but keep the heading update.
+                p.x = p.prevX;
+                p.y = p.prevY;
+            }
 
+            if (p.floor != p.prevFloor) {
                 boolean allowed = constraintModel.isFloorTransitionAllowed(
-                        p.lat, p.lng, oldFloor, p.logicalFloor
+                        p.x,
+                        p.y,
+                        p.prevFloor,
+                        p.floor
                 );
 
                 if (!allowed) {
                     diagnostics.floorRejectedCount++;
-                    if (config.hardKillOnInvalidFloorTransition) {
-                        p.alive = false;
-                        p.weight = 0.0;
-                        continue;
-                    } else {
-                        p.weight *= config.invalidFloorPenalty;
-                    }
+                    p.floor = p.prevFloor;
                 }
             }
-
-            // Soft map likelihood
-            double mapLikelihood = clamp01(
-                    constraintModel.mapLikelihood(p.lat, p.lng, p.logicalFloor)
-            );
-            p.weight *= Math.max(config.minimumWeightFloor, mapLikelihood);
         }
     }
 
     /**
-     * Apply absolute observation weighting.
+     * Apply absolute observation weighting in local x/y.
      */
     private void applyAbsoluteObservation(@NonNull AbsoluteObservation obs,
                                           @NonNull StepDiagnostics diagnostics) {
+        double cappedConfidence = capObservationConfidence(obs.source, obs.confidence);
 
         for (Particle p : particles) {
             if (!p.alive) {
@@ -515,19 +380,17 @@ private void applyAbsoluteObservation(@NonNull AbsoluteObservation obs,
 
             double w = 1.0;
 
-            if (obs.latLng != null) {
-                double distMeters = distanceMeters(
-                        p.lat, p.lng,
-                        obs.latLng.latitude, obs.latLng.longitude
-                );
+            if (obs.x != null && obs.y != null) {
+                double dx = p.x - obs.x;
+                double dy = p.y - obs.y;
+                double distance = Math.hypot(dx, dy);
+
                 double sigma = Math.max(0.5, obs.horizontalSigmaMeters);
-                w *= gaussianPdf(distMeters, 0.0, sigma);
+                w *= gaussianPdf(distance, 0.0, sigma);
             }
 
-            if (obs.logicalFloor != null) {
-                if (p.logicalFloor != obs.logicalFloor) {
-                    w *= 0.15;
-                }
+            if (obs.floor != null && p.floor != obs.floor) {
+                w *= 0.25;
             }
 
             if (obs.headingRad != null) {
@@ -536,15 +399,27 @@ private void applyAbsoluteObservation(@NonNull AbsoluteObservation obs,
                 w *= gaussianPdf(err, 0.0, sigma);
             }
 
-            // Blend by confidence so weak observations do not dominate too aggressively.
-            double confidence = clamp01(obs.confidence);
-            double blended = (1.0 - confidence) + confidence * w;
-
+            double blended = (1.0 - cappedConfidence) + cappedConfidence * w;
             p.weight *= Math.max(config.minimumWeightFloor, blended);
             diagnostics.observationWeightedCount++;
         }
     }
 
+    private double capObservationConfidence(@NonNull String source, double confidence) {
+        double capped = clamp01(confidence);
+
+        if ("wifi".equals(source)) {
+            return Math.min(capped, 0.08);
+        }
+        if ("gnss".equals(source)) {
+            return Math.min(capped, 0.08);
+        }
+        if ("map_match".equals(source)) {
+            return Math.min(capped, 0.85);
+        }
+        return capped;
+    }
+
     private void enforceWeightFloor() {
         for (Particle p : particles) {
             if (!p.alive) {
@@ -604,7 +479,7 @@ private boolean shouldResample(double ess) {
     }
 
     /**
-     * Standard systematic resampling.
+     * Standard systematic resampling in local x/y.
      */
     private void systematicResample() {
         List<Particle> newParticles = new ArrayList<>(particles.size());
@@ -619,23 +494,20 @@ private void systematicResample() {
             cumulative[i] = running;
         }
 
-        int i = 0;
+        int index = 0;
         for (int m = 0; m < particles.size(); m++) {
             double threshold = u + m * step;
-            while (i < cumulative.length - 1 && cumulative[i] < threshold) {
-                i++;
+            while (index < cumulative.length - 1 && cumulative[index] < threshold) {
+                index++;
             }
 
-            Particle copy = particles.get(i).copy();
+            Particle copy = particles.get(index).copy();
             copy.weight = 1.0 / particles.size();
             copy.alive = true;
 
             if (config.resampleRegularizationPosStdMeters > 0.0) {
-                double dNorth = gaussian(0.0, config.resampleRegularizationPosStdMeters);
-                double dEast = gaussian(0.0, config.resampleRegularizationPosStdMeters);
-                LatLng jittered = offsetLatLngMeters(new LatLng(copy.lat, copy.lng), dNorth, dEast);
-                copy.lat = jittered.latitude;
-                copy.lng = jittered.longitude;
+                copy.x += gaussian(0.0, config.resampleRegularizationPosStdMeters);
+                copy.y += gaussian(0.0, config.resampleRegularizationPosStdMeters);
             }
 
             if (config.resampleRegularizationHeadingStdRad > 0.0) {
@@ -652,55 +524,32 @@ private void systematicResample() {
     }
 
     /**
-     * Recovery if the PF collapses.
+     * Local-only recovery around the best particle.
      *
-     * Strategy:
-     * - keep a few random particles around the highest-weight survivor if possible
-     * - otherwise reseed around current fused pose or origin-like fallback
+     * This keeps the recovery logic simple and avoids map-driven teleporting.
      */
     private void recoverParticles() {
         Particle seed = findBestParticle();
-        LatLng center;
 
-        int floor;
-        double heading;
+        double centerX = 0.0;
+        double centerY = 0.0;
+        int floor = 0;
+        double heading = 0.0;
 
         if (seed != null) {
-            center = new LatLng(seed.lat, seed.lng);
-            floor = seed.logicalFloor;
+            centerX = seed.x;
+            centerY = seed.y;
+            floor = seed.floor;
             heading = seed.headingRad;
-        } else if (referenceOriginLatLng != null) {
-            center = referenceOriginLatLng;
-            floor = 0;
-            heading = 0.0;
-        } else {
-            center = new LatLng(0.0, 0.0);
-            floor = 0;
-            heading = 0.0;
-        }
-
-        if (constraintModel != null && center != null) {
-            CandidatePose recoveryPose = constraintModel.getRecoveryPose(center, floor);
-            if (recoveryPose != null && recoveryPose.getLatLng() != null) {
-                center = recoveryPose.getLatLng();
-                floor = recoveryPose.getLogicalFloor();
-                if (recoveryPose.getHeadingRad() != null) {
-                    heading = recoveryPose.getHeadingRad();
-                }
-            }
         }
 
         particles.clear();
 
         for (int i = 0; i < config.particleCount; i++) {
-            double dNorth = gaussian(0.0, 1.5);
-            double dEast = gaussian(0.0, 1.5);
-            LatLng p = offsetLatLngMeters(center, dNorth, dEast);
-
             particles.add(new Particle(
-                    p.latitude,
-                    p.longitude,
-                    wrapAngleRad(heading + gaussian(0.0, Math.toRadians(15))),
+                    centerX + gaussian(0.0, config.recoveryPositionStdMeters),
+                    centerY + gaussian(0.0, config.recoveryPositionStdMeters),
+                    wrapAngleRad(heading + gaussian(0.0, config.recoveryHeadingStdRad)),
                     floor,
                     1.0 / config.particleCount
             ));
@@ -710,10 +559,10 @@ private void recoverParticles() {
     @Nullable
     private Particle findBestParticle() {
         Particle best = null;
-        double bestW = -1.0;
+        double bestWeight = -1.0;
         for (Particle p : particles) {
-            if (p.weight > bestW) {
-                bestW = p.weight;
+            if (p.weight > bestWeight) {
+                bestWeight = p.weight;
                 best = p;
             }
         }
@@ -721,12 +570,12 @@ private Particle findBestParticle() {
     }
 
     /**
-     * Build fused pose from weighted mean.
+     * Build fused pose from weighted mean in local x/y.
      */
     @NonNull
-    private FusedPose buildFusedPose() {
-        double lat = 0.0;
-        double lng = 0.0;
+    private FusedPose buildFusedPose(@NonNull CoordinateConverter converter) {
+        double x = 0.0;
+        double y = 0.0;
         double cosSum = 0.0;
         double sinSum = 0.0;
 
@@ -740,58 +589,39 @@ private FusedPose buildFusedPose() {
                 continue;
             }
 
-            lat += p.lat * p.weight;
-            lng += p.lng * p.weight;
+            x += p.x * p.weight;
+            y += p.y * p.weight;
             cosSum += Math.cos(p.headingRad) * p.weight;
             sinSum += Math.sin(p.headingRad) * p.weight;
 
-            floors.add(p.logicalFloor);
+            floors.add(p.floor);
             floorWeights.add(p.weight);
             weightSum += p.weight;
         }
 
         if (weightSum <= 0.0) {
-            LatLng fallbackLatLng = referenceOriginLatLng != null
-                    ? referenceOriginLatLng
-                    : new LatLng(0.0, 0.0);
-
             return new FusedPose(
                     0.0,
                     0.0,
                     0.0,
                     0,
-                    fallbackLatLng,
+                    converter.localToLatLng(0.0, 0.0),
                     0.0f
             );
         }
 
-        // Safety in case weights are not perfectly normalised.
-        lat /= weightSum;
-        lng /= weightSum;
+        x /= weightSum;
+        y /= weightSum;
 
         int fusedFloor = weightedModeFloor(floors, floorWeights);
         double fusedHeading = Math.atan2(sinSum, cosSum);
         float confidence = (float) computeConfidence();
 
-        LatLng fusedLatLng = new LatLng(lat, lng);
-
-        double xMeters = 0.0;
-        double yMeters = 0.0;
-
-        if (!Double.isNaN(referenceOriginLat) && !Double.isNaN(referenceOriginLng)) {
-            double[] xy = latLngToLocalMeters(
-                    referenceOriginLat,
-                    referenceOriginLng,
-                    lat,
-                    lng
-            );
-            xMeters = xy[0];
-            yMeters = xy[1];
-        }
+        LatLng fusedLatLng = converter.localToLatLng(x, y);
 
         return new FusedPose(
-                xMeters,
-                yMeters,
+                x,
+                y,
                 fusedHeading,
                 fusedFloor,
                 fusedLatLng,
@@ -805,26 +635,26 @@ private int weightedModeFloor(@NonNull List<Integer> floors,
             return 0;
         }
 
-        java.util.Map<Integer, Double> acc = new java.util.HashMap<>();
+        Map<Integer, Double> accumulated = new HashMap<>();
         for (int i = 0; i < floors.size(); i++) {
-            int f = floors.get(i);
-            double w = weights.get(i);
-            acc.put(f, acc.getOrDefault(f, 0.0) + w);
+            int floor = floors.get(i);
+            double weight = weights.get(i);
+            accumulated.put(floor, accumulated.getOrDefault(floor, 0.0) + weight);
         }
 
         int bestFloor = floors.get(0);
         double bestWeight = -1.0;
-        for (java.util.Map.Entry<Integer, Double> e : acc.entrySet()) {
-            if (e.getValue() > bestWeight) {
-                bestWeight = e.getValue();
-                bestFloor = e.getKey();
+        for (Map.Entry<Integer, Double> entry : accumulated.entrySet()) {
+            if (entry.getValue() > bestWeight) {
+                bestWeight = entry.getValue();
+                bestFloor = entry.getKey();
             }
         }
         return bestFloor;
     }
 
     /**
-     * A simple confidence metric:
+     * Simple confidence metric:
      * higher when ESS is high and alive particle count is healthy.
      */
     private double computeConfidence() {
@@ -848,10 +678,6 @@ private List<Particle> deepCopyParticles() {
         return copy;
     }
 
-    // -------------------------
-    // Math helpers
-    // -------------------------
-
     private double gaussian(double mean, double std) {
         return mean + random.nextGaussian() * std;
     }
@@ -876,36 +702,9 @@ private static double clamp01(double x) {
         return Math.max(0.0, Math.min(1.0, x));
     }
 
-    private static LatLng offsetLatLngMeters(@NonNull LatLng base,
-                                             double northMeters,
-                                             double eastMeters) {
-        double dLat = northMeters / 111320.0;
-        double dLng = eastMeters / (111320.0 * Math.cos(Math.toRadians(base.latitude)));
-        return new LatLng(base.latitude + dLat, base.longitude + dLng);
-    }
-
-    private static double distanceMeters(double lat1, double lng1,
-                                         double lat2, double lng2) {
-        double dLat = (lat2 - lat1) * 111320.0;
-        double midLatRad = Math.toRadians((lat1 + lat2) * 0.5);
-        double dLng = (lng2 - lng1) * 111320.0 * Math.cos(midLatRad);
-        return Math.sqrt(dLat * dLat + dLng * dLng);
-    }
-
-    @NonNull
-    private static double[] latLngToLocalMeters(double originLat,
-                                                double originLng,
-                                                double lat,
-                                                double lng) {
-        double dNorth = (lat - originLat) * 111320.0;
-        double midLatRad = Math.toRadians((lat + originLat) * 0.5);
-        double dEast = (lng - originLng) * 111320.0 * Math.cos(midLatRad);
-        return new double[]{dEast, dNorth};
-    }
-
     private void log(@NonNull String message) {
         if (config.debugLogging) {
             Log.d(TAG, message);
         }
     }
-}
\ No newline at end of file
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
index f5769d0b..240ef7d6 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
@@ -17,7 +17,6 @@
 import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
 import com.openpositioning.PositionMe.sensors.SensorTypes;
-import com.openpositioning.PositionMe.utils.BuildingPolygon;
 import com.openpositioning.PositionMe.utils.IndoorMapManager;
 
 import java.util.List;
@@ -26,24 +25,32 @@
 /**
  * High-level controller for the live particle filter.
  *
- * Responsibilities:
- * - initialise the PF from a GNSS start anchor
- * - convert live PDR motion into PF motion updates
- * - convert map-match / WiFi / GNSS into optional absolute observations
- * - expose latest fused pose back to SensorFusion
- * - apply indoor-map constraints using the same geometry helpers as map matching
+ * Cleaned design goals:
+ * - keep fusion state in local x/y
+ * - convert LatLng to local only when building an observation
+ * - convert local back to LatLng only when exporting a fused pose
+ * - keep map usage simple: wall crossing and floor-transition gating only
+ * - remove mapLikelihood and walkable-weight tuning completely
  */
 public class ParticleFilterManager {
 
     private static final String TAG = "ParticleFilterManager";
 
-    /**
-     * Optional callback host if another layer wants fused pose updates.
-     */
     public interface Host {
         void onFusedPoseUpdated(@NonNull FusedPose fusedPose);
     }
 
+    private static final double PF_MOTION_SCALE = 0.85;
+    private static final double PF_MOTION_DEADBAND_METERS = 0.02;
+    private static final double PF_MAX_STEP_METERS = 1.20;
+    private static final double PF_DRAW_MIN_TRANSLATION_METERS = 0.06;
+
+    private static final int WIFI_MIN_AP_COUNT = 8;
+    private static final double MAP_MATCH_JUMP_GATE_METERS = 12.0;
+    private static final double WIFI_JUMP_GATE_INDOOR_METERS = 8.0;
+    private static final double WIFI_JUMP_GATE_OUTDOOR_METERS = 18.0;
+    private static final double GNSS_JUMP_GATE_OUTDOOR_METERS = 30.0;
+
     private final SensorFusion sensorFusion;
     private final ParticleConstraintDebugger debugger;
     private final VerticalMotionDetector verticalMotionDetector = new VerticalMotionDetector();
@@ -61,7 +68,7 @@ public interface Host {
     @Nullable
     private ParticleFilterEngine engine;
     @Nullable
-    private ParticleFilterEngine.Config activeConfig;
+    private ParticleFilterConfig activeConfig;
     @Nullable
     private ParticleFilterEngine.StepDiagnostics lastDiagnostics;
 
@@ -70,31 +77,23 @@ public interface Host {
     @NonNull
     private String lastMotionSummary = "motion:idle";
 
-    /** Latest filtered pose exposed to the rest of the app. */
     @Nullable
     private FusedPose latestFusedPose;
-
-    /** Latest raw PF output before Kalman-style output smoothing. */
     @Nullable
     private FusedPose latestRawPose;
 
-    /** Whether the PF is currently enabled by the selected recording mode. */
     private boolean enabled = false;
-
-    /** Whether the PF has been initialised with a real anchor. */
     private boolean initialised = false;
 
-    /** Last raw PDR values used to compute motion deltas. */
     @Nullable
     private float[] lastPdrValues;
 
-    /** Latest map-matched pose if provided by another subsystem. */
     @Nullable
     private CandidatePose latestMatchedPose;
 
-    /**
-     * Primary constructor using an optional host callback.
-     */
+    private boolean lastPoseShouldBeDrawn = false;
+    private boolean lastMotionWasMeaningful = false;
+
     public ParticleFilterManager(@NonNull SensorFusion sensorFusion,
                                  @Nullable Host host) {
         this.sensorFusion = sensorFusion;
@@ -104,23 +103,16 @@ public ParticleFilterManager(@NonNull SensorFusion sensorFusion,
         reloadRuntimeSettings(true);
     }
 
-    /**
-     * Compatibility constructor for branches where SensorFusion still passes Context.
-     */
     public ParticleFilterManager(@NonNull SensorFusion sensorFusion,
                                  @Nullable Context ignoredContext) {
         this(sensorFusion, (Host) null);
     }
 
-    /**
-     * Enable or disable PF operation.
-     * Disabling also clears its state to avoid stale outputs.
-     */
     public void setEnabled(boolean enabled) {
         this.enabled = enabled;
 
         if (enabled) {
-            reloadRuntimeSettings(false);
+            reloadRuntimeSettings(true);
         } else {
             reset();
         }
@@ -128,14 +120,14 @@ public void setEnabled(boolean enabled) {
         Log.d(TAG, "Particle filter enabled = " + enabled);
     }
 
-    /** Returns whether PF mode is enabled. */
     public boolean isEnabled() {
         return enabled;
     }
 
-    /**
-     * Attach or refresh the current indoor map manager.
-     */
+    public boolean shouldDrawLatestPose() {
+        return lastPoseShouldBeDrawn;
+    }
+
     public void setIndoorMapManager(@Nullable IndoorMapManager indoorMapManager) {
         if (this.indoorMapManager == indoorMapManager && constraintModel != null) {
             return;
@@ -151,9 +143,7 @@ public void setIndoorMapManager(@Nullable IndoorMapManager indoorMapManager) {
         Log.d(TAG, "IndoorMapManager attached to ParticleFilterManager: " + (indoorMapManager != null));
     }
 
-    /** Resets the PF for a new recording session. */
     public void reset() {
-        reloadRuntimeSettings(true);
         latestFusedPose = null;
         latestRawPose = null;
         lastPdrValues = null;
@@ -162,6 +152,9 @@ public void reset() {
         lastDiagnostics = null;
         lastObservationSummary = "obs:none";
         lastMotionSummary = "motion:idle";
+        lastPoseShouldBeDrawn = false;
+        lastMotionWasMeaningful = false;
+
         verticalMotionDetector.reset();
         kalmanPoseSmoother.reset();
 
@@ -172,24 +165,20 @@ public void reset() {
         Log.d(TAG, "Particle filter reset.");
     }
 
-    /** Returns true if the PF currently has particles initialised. */
     public boolean isInitialised() {
         return initialised && engine != null && engine.isInitialised();
     }
 
-    /** Returns the latest fused PF pose. */
     @Nullable
     public FusedPose getLatestFusedPose() {
         return latestFusedPose;
     }
 
-    /** Returns the latest raw PF pose. */
     @Nullable
     public FusedPose getLatestRawPose() {
         return latestRawPose;
     }
 
-    /** Returns a particle snapshot for debugging or visualisation. */
     @NonNull
     public List<ParticleFilterEngine.Particle> getParticlesSnapshot() {
         if (engine == null) {
@@ -198,14 +187,10 @@ public List<ParticleFilterEngine.Particle> getParticlesSnapshot() {
         return engine.getParticlesSnapshot();
     }
 
-    /** Optional map-matched pose input. */
     public void setLatestMatchedPose(@Nullable CandidatePose latestMatchedPose) {
         this.latestMatchedPose = latestMatchedPose;
     }
 
-    /**
-     * Concise live debug summary for the live map debug panel.
-     */
     @NonNull
     public String getLiveDebugSummary() {
         if (!enabled) {
@@ -215,33 +200,30 @@ public String getLiveDebugSummary() {
             return "pf=waiting_for_step";
         }
 
-        int deadParticles = Math.max(0,
-                lastDiagnostics.totalParticles - lastDiagnostics.aliveParticles);
+        int deadParticles = Math.max(
+                0,
+                lastDiagnostics.totalParticles - lastDiagnostics.aliveParticles
+        );
 
         return String.format(Locale.US,
-                "pf alive=%d dead=%d total=%d ess=%.1f wall=%d floor=%d walk=%d obs=%s %s resample=%s recover=%s",
+                "pf alive=%d dead=%d total=%d ess=%.1f wall=%d floor=%d obs=%s %s resample=%s recover=%s",
                 lastDiagnostics.aliveParticles,
                 deadParticles,
                 lastDiagnostics.totalParticles,
                 lastDiagnostics.effectiveSampleSize,
                 lastDiagnostics.wallRejectedCount,
                 lastDiagnostics.floorRejectedCount,
-                lastDiagnostics.outOfWalkablePenalisedCount,
                 lastObservationSummary,
                 lastMotionSummary,
                 String.valueOf(lastDiagnostics.resampled),
                 String.valueOf(lastDiagnostics.recovered));
     }
 
-    /**
-     * Compatibility update entry for SensorFusion.
-     */
     public void step() {
         if (!enabled) {
             return;
         }
 
-        // Keep dependencies synced from SensorFusion.
         setIndoorMapManager(sensorFusion.getParticleFilterIndoorMapManager());
         setLatestMatchedPose(sensorFusion.getParticleFilterMatchedPose());
 
@@ -249,7 +231,8 @@ public void step() {
     }
 
     /**
-     * Explicit initialisation from GNSS-based session anchor.
+     * Initialise the local PF at x=0, y=0 using the GNSS anchor as the
+     * coordinate-converter origin.
      */
     public void initialiseFromGnss(@NonNull LatLng gnssStart,
                                    int logicalFloor,
@@ -266,8 +249,8 @@ public void initialiseFromGnss(@NonNull LatLng gnssStart,
                 gnssStart.longitude
         );
 
+        engine.initialise(0.0, 0.0, logicalFloor, headingRad);
         kalmanPoseSmoother.reset();
-        engine.initialise(gnssStart, logicalFloor, headingRad);
 
         latestRawPose = new FusedPose(
                 0.0,
@@ -291,46 +274,57 @@ public void initialiseFromGnss(@NonNull LatLng gnssStart,
     }
 
     @NonNull
-    private ParticleFilterEngine.Config buildConfigFromPreferences(@Nullable Context context) {
-        ParticleFilterEngine.Config cfg = new ParticleFilterEngine.Config();
+    private ParticleFilterConfig buildConfigFromPreferences(@Nullable Context context) {
+        int particleCount = parseIntPref(context, "pf_particle_count", 250, 50, 5000);
 
-        cfg.particleCount = parseIntPref(context, "pf_particle_count", 250, 50, 5000);
-        cfg.forwardNoiseStdMeters = parseDoublePref(context, "pf_sigma_step", 0.22, 0.01, 10.0);
-        cfg.headingNoiseStdRad = Math.toRadians(
+        double sigmaStep = parseDoublePref(context, "pf_sigma_step", 0.22, 0.01, 10.0);
+        double sigmaThetaRad = Math.toRadians(
                 parseDoublePref(context, "pf_sigma_theta_deg", 6.0, 0.1, 180.0)
         );
 
-        cfg.observationSigmaWifiMeters = parseDoublePref(context, "pf_sigma_wifi", 2.5, 0.3, 50.0);
-        cfg.observationSigmaGnssMeters = parseDoublePref(context, "pf_sigma_gnss", 5.0, 0.5, 100.0);
-        cfg.initialPositionStdMeters = parseDoublePref(context, "pf_init_pos_std", 1.0, 0.05, 20.0);
-        cfg.initialHeadingStdRad = Math.toRadians(
+        double sigmaWifi = parseDoublePref(context, "pf_sigma_wifi", 2.5, 0.3, 50.0);
+        double sigmaGnss = parseDoublePref(context, "pf_sigma_gnss", 5.0, 0.5, 100.0);
+
+        double initPosStd = parseDoublePref(context, "pf_init_pos_std", 1.0, 0.05, 20.0);
+        double initHeadingStdRad = Math.toRadians(
                 parseDoublePref(context, "pf_init_heading_deg", 10.0, 0.1, 180.0)
         );
-        cfg.resampleEffectiveSampleSizeRatio =
-                parseDoublePref(context, "pf_resample_ratio", 0.45, 0.05, 0.95);
-        cfg.resampleRegularizationPosStdMeters =
-                parseDoublePref(context, "pf_sigma_reg_pos", 0.03, 0.0, 5.0);
-        cfg.resampleRegularizationHeadingStdRad = Math.toRadians(
+
+        double resampleRatio = parseDoublePref(context, "pf_resample_ratio", 0.45, 0.05, 0.95);
+        double sigmaRegPos = parseDoublePref(context, "pf_sigma_reg_pos", 0.03, 0.0, 5.0);
+        double sigmaRegThetaRad = Math.toRadians(
                 parseDoublePref(context, "pf_sigma_reg_theta_deg", 1.0, 0.0, 45.0)
         );
 
+        ParticleFilterConfig cfg = new ParticleFilterConfig(
+                particleCount,
+                sigmaStep,
+                sigmaThetaRad,
+                sigmaWifi,
+                sigmaGnss,
+                initPosStd,
+                initHeadingStdRad,
+                resampleRatio,
+                sigmaRegPos,
+                sigmaRegThetaRad
+        );
+
         cfg.enableMapConstraints = true;
-        cfg.hardKillOnWallCross = false;
-        cfg.hardKillOnInvalidFloorTransition = false;
-        cfg.softPenaltyForOutOfWalkable = true;
+        cfg.enableAbsoluteObservationWeighting = true;
+        cfg.minimumWeightFloor = 1e-12;
 
-        cfg.outOfWalkablePenalty = 0.18;
-        cfg.wallCrossPenalty = 0.05;
-        cfg.invalidFloorPenalty = 0.08;
+        // Keep recovery disabled by default in the cleaned version.
+        cfg.enableRecoveryIfCollapsed = false;
+        cfg.recoveryPositionStdMeters = 0.75;
+        cfg.recoveryHeadingStdRad = Math.toRadians(8.0);
 
-        cfg.enableAbsoluteObservationWeighting = true;
         cfg.debugLogging = true;
         return cfg;
     }
 
     private void reloadRuntimeSettings(boolean forceRecreateEngine) {
         Context context = sensorFusion.getContext();
-        ParticleFilterEngine.Config cfg = buildConfigFromPreferences(context);
+        ParticleFilterConfig cfg = buildConfigFromPreferences(context);
         activeConfig = cfg;
 
         if (forceRecreateEngine || engine == null || !initialised) {
@@ -397,27 +391,6 @@ private double parseDoublePref(@Nullable Context context,
         }
     }
 
-    @NonNull
-    private FusedPose enrichWithLocalCoordinates(@NonNull FusedPose geographicPose) {
-        if (coordinateConverter == null) {
-            return geographicPose;
-        }
-
-        double[] local = coordinateConverter.latLngToLocal(geographicPose.getLatLng());
-
-        return new FusedPose(
-                local[0],
-                local[1],
-                geographicPose.getHeadingRad(),
-                geographicPose.getFloor(),
-                geographicPose.getLatLng(),
-                geographicPose.getConfidence()
-        );
-    }
-
-    /**
-     * Main live-update entry point.
-     */
     public void updateFromLiveSensors(long timestampMs) {
         if (!enabled) {
             return;
@@ -445,24 +418,29 @@ public void updateFromLiveSensors(long timestampMs) {
         }
 
         ParticleFilterEngine.MotionInput motionInput = buildMotionInput(pdr, timestampMs);
-        ParticleFilterEngine.AbsoluteObservation observation = buildObservation();
+        boolean stationaryLike = !lastMotionWasMeaningful;
+        ParticleFilterEngine.AbsoluteObservation observation = buildObservation(stationaryLike);
 
-        ParticleFilterEngine.StepResult result = engine.update(motionInput, observation);
+        ParticleFilterEngine.StepResult result = engine.update(
+                motionInput,
+                observation,
+                coordinateConverter
+        );
         lastDiagnostics = result.diagnostics;
 
-        // Convert engine geographic output into the local x/y frame used by recorder/UI.
-        latestRawPose = enrichWithLocalCoordinates(result.fusedPose);
+        latestRawPose = result.fusedPose;
+
+        boolean strongAbsoluteObservation =
+                observation != null && "map_match".equals(observation.source);
 
-        // Kalman-style output smoothing is applied only to the exported/displayed pose.
         KalmanPoseSmoother.SmoothedPose smoothedPose = kalmanPoseSmoother.update(
-                latestRawPose.getXMeters(),
-                latestRawPose.getYMeters(),
+                latestRawPose.getX(),
+                latestRawPose.getY(),
                 latestRawPose.getHeadingRad(),
                 latestRawPose.getConfidence(),
                 motionInput.deltaForwardMeters,
                 Math.abs(motionInput.deltaHeadingRad),
-                observation != null && ("wifi".equals(observation.source) || "map_match".equals(observation.source)),
-                observation != null && "gnss".equals(observation.source)
+                strongAbsoluteObservation
         );
 
         LatLng smoothedLatLng = latestRawPose.getLatLng();
@@ -479,14 +457,16 @@ public void updateFromLiveSensors(long timestampMs) {
                 latestRawPose.getConfidence()
         );
 
+        lastPoseShouldBeDrawn = lastMotionWasMeaningful;
+
         pushLatestPoseToOutputs();
 
         Log.d(TAG, String.format(Locale.US,
                 "PF_OUTPUT lat=%.6f lng=%.6f x=%.3f y=%.3f floor=%d conf=%.3f",
                 latestFusedPose.getLatLng().latitude,
                 latestFusedPose.getLatLng().longitude,
-                latestFusedPose.getXMeters(),
-                latestFusedPose.getYMeters(),
+                latestFusedPose.getX(),
+                latestFusedPose.getY(),
                 latestFusedPose.getFloor(),
                 latestFusedPose.getConfidence()));
 
@@ -496,7 +476,6 @@ public void updateFromLiveSensors(long timestampMs) {
                 result.diagnostics.aliveParticles,
                 result.diagnostics.wallRejectedCount,
                 result.diagnostics.floorRejectedCount,
-                result.diagnostics.outOfWalkablePenalisedCount,
                 result.diagnostics.observationWeightedCount,
                 lastObservationSummary
         );
@@ -511,7 +490,6 @@ public void updateFromLiveSensors(long timestampMs) {
         );
     }
 
-    /** Pushes the latest PF outputs back into SensorFusion and host callback. */
     private void pushLatestPoseToOutputs() {
         sensorFusion.setLatestRawFusedPose(latestRawPose);
         sensorFusion.setLatestFusedPose(latestFusedPose);
@@ -521,7 +499,6 @@ private void pushLatestPoseToOutputs() {
         }
     }
 
-    /** Attempts one-time PF initialisation from current GNSS. */
     private void tryInitialiseFromCurrentSensors() {
         float[] gnss = sensorFusion.getGNSSLatitude(false);
         if (gnss == null || gnss.length < 2) {
@@ -533,14 +510,17 @@ private void tryInitialiseFromCurrentSensors() {
         }
 
         int floor = 0;
-        double heading = sensorFusion.passOrientation();
 
+        if (indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
+            floor = indoorMapManager.indexToLogicalFloor(indoorMapManager.getCurrentFloor());
+        } else if (sensorFusion.getLatLngWifiPositioning() != null) {
+            floor = sensorFusion.getWifiFloor();
+        }
+
+        double heading = sensorFusion.passOrientation();
         initialiseFromGnss(new LatLng(gnss[0], gnss[1]), floor, heading);
     }
 
-    /**
-     * Converts raw PDR into one PF motion step.
-     */
     @NonNull
     private ParticleFilterEngine.MotionInput buildMotionInput(@NonNull float[] pdr,
                                                               long timestampMs) {
@@ -551,6 +531,13 @@ private ParticleFilterEngine.MotionInput buildMotionInput(@NonNull float[] pdr,
             double dx = pdr[0] - lastPdrValues[0];
             double dy = pdr[1] - lastPdrValues[1];
             deltaForwardMeters = Math.sqrt(dx * dx + dy * dy);
+
+            if (deltaForwardMeters < PF_MOTION_DEADBAND_METERS) {
+                deltaForwardMeters = 0.0;
+            }
+
+            deltaForwardMeters *= PF_MOTION_SCALE;
+            deltaForwardMeters = Math.min(deltaForwardMeters, PF_MAX_STEP_METERS);
         }
 
         double currentHeading = sensorFusion.passOrientation();
@@ -560,7 +547,6 @@ private ParticleFilterEngine.MotionInput buildMotionInput(@NonNull float[] pdr,
             deltaHeadingRad = wrapAngleRad(currentHeading - latestFusedPose.getHeadingRad());
         }
 
-        // Build a conservative vertical hint from recent barometer/elevator evidence.
         verticalMotionDetector.addSample(
                 timestampMs,
                 sensorFusion.getElevation(),
@@ -571,22 +557,25 @@ private ParticleFilterEngine.MotionInput buildMotionInput(@NonNull float[] pdr,
         double deltaHeightMeters = 0.0;
         boolean heightChanged = false;
         String connectorState = "connector=none";
+
         if (verticalHint != null) {
             deltaHeightMeters = verticalHint.getDeltaHeight();
             heightChanged = verticalHint.isHeightChanged();
 
             if (constraintModel != null && latestFusedPose != null) {
                 connectorState = "connector=" + constraintModel.classifyNearbyConnector(
-                        latestFusedPose.getLatLng().latitude,
-                        latestFusedPose.getLatLng().longitude,
+                        latestFusedPose.getX(),
+                        latestFusedPose.getY(),
                         latestFusedPose.getFloor());
+
                 boolean nearStairs = constraintModel.isNearStairs(
-                        latestFusedPose.getLatLng().latitude,
-                        latestFusedPose.getLatLng().longitude,
+                        latestFusedPose.getX(),
+                        latestFusedPose.getY(),
                         latestFusedPose.getFloor());
+
                 boolean nearLift = constraintModel.isNearLift(
-                        latestFusedPose.getLatLng().latitude,
-                        latestFusedPose.getLatLng().longitude,
+                        latestFusedPose.getX(),
+                        latestFusedPose.getY(),
                         latestFusedPose.getFloor());
 
                 if (heightChanged && !nearStairs && !nearLift) {
@@ -600,21 +589,25 @@ private ParticleFilterEngine.MotionInput buildMotionInput(@NonNull float[] pdr,
 
         lastPdrValues = new float[]{pdr[0], pdr[1]};
 
+        lastMotionWasMeaningful = deltaForwardMeters >= PF_DRAW_MIN_TRANSLATION_METERS || heightChanged;
+
         lastMotionSummary = String.format(Locale.US,
-                "motion=ds%.2f dθ%.1f° dh%.2f %s hc=%s",
+                "motion=ds%.2f dθ%.1f° dh%.2f %s hc=%s draw=%s",
                 deltaForwardMeters,
                 Math.toDegrees(deltaHeadingRad),
                 deltaHeightMeters,
                 connectorState,
-                String.valueOf(heightChanged));
+                String.valueOf(heightChanged),
+                String.valueOf(lastMotionWasMeaningful));
 
         Log.d(TAG, String.format(Locale.US,
-                "PF_MOTION deltaS=%.3f deltaHeadingDeg=%.2f deltaH=%.2f heightChanged=%s %s",
+                "PF_MOTION deltaS=%.3f deltaHeadingDeg=%.2f deltaH=%.2f heightChanged=%s %s draw=%s",
                 deltaForwardMeters,
                 Math.toDegrees(deltaHeadingRad),
                 deltaHeightMeters,
                 String.valueOf(heightChanged),
-                connectorState));
+                connectorState,
+                String.valueOf(lastMotionWasMeaningful)));
 
         return new ParticleFilterEngine.MotionInput(
                 deltaForwardMeters,
@@ -626,7 +619,7 @@ private ParticleFilterEngine.MotionInput buildMotionInput(@NonNull float[] pdr,
     }
 
     /**
-     * Builds the strongest currently-available absolute observation.
+     * Builds absolute observations in local x/y.
      *
      * Priority:
      * 1) map-matched pose
@@ -634,14 +627,25 @@ private ParticleFilterEngine.MotionInput buildMotionInput(@NonNull float[] pdr,
      * 3) GNSS
      */
     @Nullable
-    private ParticleFilterEngine.AbsoluteObservation buildObservation() {
-        LatLng currentBelief = latestFusedPose != null ? latestFusedPose.getLatLng() : null;
+    private ParticleFilterEngine.AbsoluteObservation buildObservation(boolean stationaryLike) {
+        if (coordinateConverter == null) {
+            lastObservationSummary = "obs:none";
+            return null;
+        }
+
+        double beliefX = latestFusedPose != null ? latestFusedPose.getX() : 0.0;
+        double beliefY = latestFusedPose != null ? latestFusedPose.getY() : 0.0;
+        boolean haveBelief = latestFusedPose != null;
+
         double sigmaWifi = activeConfig != null ? activeConfig.observationSigmaWifiMeters : 2.5;
         double sigmaGnss = activeConfig != null ? activeConfig.observationSigmaGnssMeters : 5.0;
+        boolean indoorActive = indoorMapManager != null && indoorMapManager.getIsIndoorMapSet();
 
-        // Strongest indoor observation: map matched pose.
+        // 1) map-match
         if (latestMatchedPose != null && latestMatchedPose.getLatLng() != null) {
-            LatLng ll = latestMatchedPose.getLatLng();
+            LatLng latLng = latestMatchedPose.getLatLng();
+            double[] local = coordinateConverter.latLngToLocal(latLng);
+
             Integer floor;
             if (indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
                 floor = indoorMapManager.indexToLogicalFloor(latestMatchedPose.getFloor());
@@ -649,9 +653,9 @@ private ParticleFilterEngine.AbsoluteObservation buildObservation() {
                 floor = latestMatchedPose.getFloor();
             }
 
-            if (currentBelief != null) {
-                double jumpMeters = distanceMeters(currentBelief, ll);
-                if (jumpMeters > 20.0) {
+            if (haveBelief) {
+                double jumpMeters = Math.hypot(local[0] - beliefX, local[1] - beliefY);
+                if (jumpMeters > MAP_MATCH_JUMP_GATE_METERS) {
                     lastObservationSummary = String.format(Locale.US,
                             "obs:map_match_reject_jump(%.1fm)", jumpMeters);
                     Log.d(TAG, lastObservationSummary);
@@ -661,30 +665,43 @@ private ParticleFilterEngine.AbsoluteObservation buildObservation() {
 
             lastObservationSummary = String.format(Locale.US,
                     "obs:map_match floor=%s", String.valueOf(floor));
+
             return new ParticleFilterEngine.AbsoluteObservation(
-                    ll,
+                    local[0],
+                    local[1],
                     floor,
-                    latestMatchedPose.getHeadingRad(),
-                    1.2,
-                    Math.toRadians(12.0),
-                    0.92,
+                    null,
+                    1.8,
+                    Math.toRadians(15.0),
+                    0.80,
                     "map_match"
             );
         }
 
-        // WiFi as indoor fallback.
+        // 2) WiFi
         LatLng wifi = sensorFusion.getLatLngWifiPositioning();
         int wifiCount = sensorFusion.getWifiList() == null ? 0 : sensorFusion.getWifiList().size();
+
         if (wifi != null && !(Math.abs(wifi.latitude) < 1e-6 && Math.abs(wifi.longitude) < 1e-6)) {
-            if (wifiCount < 3) {
+            if (indoorActive && !stationaryLike) {
+                lastObservationSummary = "obs:wifi_suppressed_moving";
+                Log.d(TAG, lastObservationSummary);
+                return null;
+            }
+
+            if (wifiCount < WIFI_MIN_AP_COUNT) {
                 lastObservationSummary = "obs:wifi_reject_low_ap_count";
                 Log.d(TAG, lastObservationSummary);
                 return null;
             }
 
-            if (currentBelief != null) {
-                double jumpMeters = distanceMeters(currentBelief, wifi);
-                double gateMeters = indoorMapManager != null && indoorMapManager.getIsIndoorMapSet() ? 22.0 : 30.0;
+            double[] local = coordinateConverter.latLngToLocal(wifi);
+
+            if (haveBelief) {
+                double jumpMeters = Math.hypot(local[0] - beliefX, local[1] - beliefY);
+                double gateMeters = indoorActive
+                        ? WIFI_JUMP_GATE_INDOOR_METERS
+                        : WIFI_JUMP_GATE_OUTDOOR_METERS;
                 if (jumpMeters > gateMeters) {
                     lastObservationSummary = String.format(Locale.US,
                             "obs:wifi_reject_jump(%.1fm)", jumpMeters);
@@ -693,27 +710,23 @@ private ParticleFilterEngine.AbsoluteObservation buildObservation() {
                 }
             }
 
-            double confidence = wifiCount >= 6 ? 0.65 : (wifiCount >= 4 ? 0.50 : 0.35);
-            double sigmaMeters = sigmaWifi * (wifiCount >= 6 ? 1.0 : 1.35);
             int wifiFloor = sensorFusion.getWifiFloor();
 
-            if (constraintModel != null && indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()
-                    && !constraintModel.isWalkable(wifi.latitude, wifi.longitude, wifiFloor)) {
-                confidence *= 0.6;
-                sigmaMeters *= 1.5;
+            double confidence;
+            if (wifiCount >= 10) {
+                confidence = indoorActive ? 0.05 : 0.20;
+            } else {
+                confidence = indoorActive ? 0.03 : 0.12;
             }
 
+            double sigmaMeters = indoorActive ? sigmaWifi * 4.5 : sigmaWifi * 1.8;
+
             lastObservationSummary = String.format(Locale.US,
                     "obs:wifi ap=%d floor=%d", wifiCount, wifiFloor);
-            Log.d(TAG, String.format(Locale.US,
-                    "PF_OBS source=wifi lat=%.6f lng=%.6f floor=%d ap=%d",
-                    wifi.latitude,
-                    wifi.longitude,
-                    wifiFloor,
-                    wifiCount));
 
             return new ParticleFilterEngine.AbsoluteObservation(
-                    wifi,
+                    local[0],
+                    local[1],
                     wifiFloor,
                     null,
                     sigmaMeters,
@@ -723,16 +736,23 @@ private ParticleFilterEngine.AbsoluteObservation buildObservation() {
             );
         }
 
-        // GNSS as weakest fallback.
+        // 3) GNSS
         float[] gnss = sensorFusion.getGNSSLatitude(false);
         if (gnss != null && gnss.length >= 2
                 && !(Math.abs(gnss[0]) < 1e-6 && Math.abs(gnss[1]) < 1e-6)) {
+
+            if (indoorActive) {
+                lastObservationSummary = "obs:gnss_disabled_indoors";
+                Log.d(TAG, lastObservationSummary);
+                return null;
+            }
+
             LatLng gnssLatLng = new LatLng(gnss[0], gnss[1]);
+            double[] local = coordinateConverter.latLngToLocal(gnssLatLng);
 
-            if (currentBelief != null) {
-                double jumpMeters = distanceMeters(currentBelief, gnssLatLng);
-                double gateMeters = indoorMapManager != null && indoorMapManager.getIsIndoorMapSet() ? 38.0 : 50.0;
-                if (jumpMeters > gateMeters) {
+            if (haveBelief) {
+                double jumpMeters = Math.hypot(local[0] - beliefX, local[1] - beliefY);
+                if (jumpMeters > GNSS_JUMP_GATE_OUTDOOR_METERS) {
                     lastObservationSummary = String.format(Locale.US,
                             "obs:gnss_reject_jump(%.1fm)", jumpMeters);
                     Log.d(TAG, lastObservationSummary);
@@ -740,30 +760,16 @@ private ParticleFilterEngine.AbsoluteObservation buildObservation() {
                 }
             }
 
-            double confidence = indoorMapManager != null && indoorMapManager.getIsIndoorMapSet() ? 0.12 : 0.30;
-            double sigmaMeters = indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()
-                    ? sigmaGnss * 1.8
-                    : sigmaGnss;
-
-            if (constraintModel != null && indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()
-                    && !constraintModel.isWalkable(gnssLatLng.latitude, gnssLatLng.longitude,
-                    latestFusedPose != null ? latestFusedPose.getFloor() : 0)) {
-                confidence *= 0.5;
-                sigmaMeters *= 1.5;
-            }
-
             lastObservationSummary = "obs:gnss";
-            Log.d(TAG, String.format(Locale.US,
-                    "PF_OBS source=gnss lat=%.6f lng=%.6f",
-                    gnss[0], gnss[1]));
 
             return new ParticleFilterEngine.AbsoluteObservation(
-                    gnssLatLng,
+                    local[0],
+                    local[1],
                     null,
                     null,
-                    sigmaMeters,
+                    sigmaGnss * 1.8,
                     Math.toRadians(60.0),
-                    confidence,
+                    0.08,
                     "gnss"
             );
         }
@@ -773,20 +779,13 @@ private ParticleFilterEngine.AbsoluteObservation buildObservation() {
         return null;
     }
 
-    private static double distanceMeters(@NonNull LatLng a, @NonNull LatLng b) {
-        double dLat = (b.latitude - a.latitude) * 111320.0;
-        double midLatRad = Math.toRadians((a.latitude + b.latitude) * 0.5);
-        double dLng = (b.longitude - a.longitude) * 111320.0 * Math.cos(midLatRad);
-        return Math.sqrt(dLat * dLat + dLng * dLng);
-    }
-
     /**
-     * Hybrid map constraint model backed by IndoorMapManager floor shapes.
+     * Local x/y adapter around the existing geographic floor-shape / map utilities.
+     *
+     * The particle filter stays local.
+     * Constraints convert local x/y to LatLng only when the map must be queried.
      */
-    private static class HybridConstraintModel implements ParticleFilterEngine.ConstraintModel {
-
-        private static final double WALL_EXCLUSION_METERS = 0.30;
-        private static final double NEAR_WALL_SOFT_METERS = 1.20;
+    private class HybridConstraintModel implements ParticleFilterEngine.ConstraintModel {
 
         @Nullable
         private final IndoorMapManager indoorMapManager;
@@ -803,48 +802,38 @@ private FloorplanApiClient.FloorShapes getFloorShapes(int logicalFloor) {
             return indoorMapManager.getFloorShapesForLogicalFloor(logicalFloor);
         }
 
-        private boolean isInsideSelectedBuilding(@NonNull LatLng point) {
-            if (indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
-                return true;
-            }
-
-            int currentBuilding = indoorMapManager.getCurrentBuilding();
-            switch (currentBuilding) {
-                case IndoorMapManager.BUILDING_NUCLEUS:
-                    return BuildingPolygon.inNucleus(point);
-                case IndoorMapManager.BUILDING_LIBRARY:
-                    return BuildingPolygon.inLibrary(point);
-                case IndoorMapManager.BUILDING_MURCHISON:
-                    return BuildingPolygon.inMurchison(point);
-                default:
-                    return true;
+        @Nullable
+        private LatLng toLatLng(double x, double y) {
+            if (coordinateConverter == null) {
+                return null;
             }
+            return coordinateConverter.localToLatLng(x, y);
         }
 
-        boolean isNearStairs(double lat, double lng, int logicalFloor) {
-            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(logicalFloor);
-            if (floorShapes == null) {
+        boolean isNearStairs(double x, double y, int floor) {
+            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(floor);
+            LatLng point = toLatLng(x, y);
+            if (floorShapes == null || point == null) {
                 return false;
             }
-            LatLng point = new LatLng(lat, lng);
             return MapGeometryUtils.isInsideIndoorType(point, floorShapes, "stairs")
                     || MapGeometryUtils.isNearStairs(point, floorShapes);
         }
 
-        boolean isNearLift(double lat, double lng, int logicalFloor) {
-            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(logicalFloor);
-            if (floorShapes == null) {
+        boolean isNearLift(double x, double y, int floor) {
+            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(floor);
+            LatLng point = toLatLng(x, y);
+            if (floorShapes == null || point == null) {
                 return false;
             }
-            LatLng point = new LatLng(lat, lng);
             return MapGeometryUtils.isInsideIndoorType(point, floorShapes, "lift")
                     || MapGeometryUtils.isNearLift(point, floorShapes);
         }
 
         @NonNull
-        String classifyNearbyConnector(double lat, double lng, int logicalFloor) {
-            boolean stairs = isNearStairs(lat, lng, logicalFloor);
-            boolean lift = isNearLift(lat, lng, logicalFloor);
+        String classifyNearbyConnector(double x, double y, int floor) {
+            boolean stairs = isNearStairs(x, y, floor);
+            boolean lift = isNearLift(x, y, floor);
             if (stairs && lift) {
                 return "stairs+lift";
             }
@@ -858,43 +847,29 @@ String classifyNearbyConnector(double lat, double lng, int logicalFloor) {
         }
 
         @Override
-        public boolean isWalkable(double lat, double lng, int logicalFloor) {
-            LatLng point = new LatLng(lat, lng);
-            if (!isInsideSelectedBuilding(point)) {
+        public boolean crossesWall(double oldX, double oldY,
+                                   double newX, double newY,
+                                   int floor) {
+            if (indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
                 return false;
             }
 
-            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(logicalFloor);
-            if (floorShapes == null) {
-                return true;
-            }
-
-            double nearestWallMeters = nearestWallDistanceMeters(point, floorShapes);
-            return nearestWallMeters > WALL_EXCLUSION_METERS;
-        }
-
-        @Override
-        public boolean crossesWall(double oldLat, double oldLng,
-                                   double newLat, double newLng,
-                                   int logicalFloor) {
-            if (indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+            LatLng oldPoint = toLatLng(oldX, oldY);
+            LatLng newPoint = toLatLng(newX, newY);
+            if (oldPoint == null || newPoint == null) {
                 return false;
             }
 
-            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(logicalFloor);
+            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(floor);
             if (floorShapes == null) {
-                return isWalkable(oldLat, oldLng, logicalFloor) && !isWalkable(newLat, newLng, logicalFloor);
+                return false;
             }
 
-            return MapGeometryUtils.crossesWall(
-                    new LatLng(oldLat, oldLng),
-                    new LatLng(newLat, newLng),
-                    floorShapes
-            );
+            return MapGeometryUtils.crossesWall(oldPoint, newPoint, floorShapes);
         }
 
         @Override
-        public boolean isFloorTransitionAllowed(double lat, double lng, int oldFloor, int newFloor) {
+        public boolean isFloorTransitionAllowed(double x, double y, int oldFloor, int newFloor) {
             if (oldFloor == newFloor) {
                 return true;
             }
@@ -903,161 +878,20 @@ public boolean isFloorTransitionAllowed(double lat, double lng, int oldFloor, in
                 return true;
             }
 
-            boolean stairsSource = isNearStairs(lat, lng, oldFloor);
-            boolean liftSource = isNearLift(lat, lng, oldFloor);
-            boolean stairsTarget = isNearStairs(lat, lng, newFloor);
-            boolean liftTarget = isNearLift(lat, lng, newFloor);
+            boolean stairsSource = isNearStairs(x, y, oldFloor);
+            boolean liftSource = isNearLift(x, y, oldFloor);
+            boolean stairsTarget = isNearStairs(x, y, newFloor);
+            boolean liftTarget = isNearLift(x, y, newFloor);
 
             return (stairsSource && stairsTarget)
                     || (liftSource && liftTarget)
-                    || stairsSource || liftSource || stairsTarget || liftTarget;
-        }
-
-        @Override
-        public double mapLikelihood(double lat, double lng, int logicalFloor) {
-            LatLng point = new LatLng(lat, lng);
-            if (!isInsideSelectedBuilding(point)) {
-                return 0.05;
-            }
-
-            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(logicalFloor);
-            if (floorShapes == null) {
-                return 0.80;
-            }
-
-            double nearestWallMeters = nearestWallDistanceMeters(point, floorShapes);
-            if (nearestWallMeters <= 0.10) {
-                return 0.05;
-            }
-            if (nearestWallMeters <= WALL_EXCLUSION_METERS) {
-                return 0.20;
-            }
-            if (nearestWallMeters <= 0.70) {
-                return 0.55;
-            }
-            if (nearestWallMeters <= NEAR_WALL_SOFT_METERS) {
-                return 0.80;
-            }
-            return 1.0;
-        }
-
-        @Nullable
-        @Override
-        public CandidatePose getRecoveryPose(@NonNull LatLng currentLatLng, int logicalFloor) {
-            if (isWalkable(currentLatLng.latitude, currentLatLng.longitude, logicalFloor)) {
-                return new CandidatePose(currentLatLng, logicalFloor, SystemClock.elapsedRealtime(), "pf_recovery");
-            }
-
-            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(logicalFloor);
-            if (floorShapes == null) {
-                return null;
-            }
-
-            LatLng stairs = MapGeometryUtils.findNearestSafeInteriorPointOnIndoorType(
-                    currentLatLng,
-                    floorShapes,
-                    "stairs"
-            );
-            LatLng lift = MapGeometryUtils.findNearestSafeInteriorPointOnIndoorType(
-                    currentLatLng,
-                    floorShapes,
-                    "lift"
-            );
-
-            LatLng best = null;
-            if (stairs != null && lift != null) {
-                best = distanceMeters(currentLatLng, stairs) <= distanceMeters(currentLatLng, lift) ? stairs : lift;
-            } else if (stairs != null) {
-                best = stairs;
-            } else if (lift != null) {
-                best = lift;
-            }
-
-            if (best == null) {
-                return null;
-            }
-
-            return new CandidatePose(best, logicalFloor, SystemClock.elapsedRealtime(), "pf_recovery");
-        }
-
-        private static double nearestWallDistanceMeters(@NonNull LatLng point,
-                                                        @NonNull FloorplanApiClient.FloorShapes floorShapes) {
-            double best = Double.POSITIVE_INFINITY;
-            if (floorShapes.getFeatures() == null) {
-                return best;
-            }
-
-            for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) {
-                if (!"wall".equalsIgnoreCase(feature.getIndoorType())) {
-                    continue;
-                }
-                if (feature.getParts() == null) {
-                    continue;
-                }
-                for (List<LatLng> part : feature.getParts()) {
-                    if (part == null || part.size() < 2) {
-                        continue;
-                    }
-                    for (int i = 0; i < part.size() - 1; i++) {
-                        best = Math.min(best, pointToSegmentDistanceMeters(point, part.get(i), part.get(i + 1)));
-                    }
-                }
-            }
-            return best;
-        }
-
-        private static double pointToSegmentDistanceMeters(@NonNull LatLng p,
-                                                           @NonNull LatLng a,
-                                                           @NonNull LatLng b) {
-            double[] pxy = toLocalMeters(p, p);
-            double[] axy = toLocalMeters(a, p);
-            double[] bxy = toLocalMeters(b, p);
-
-            double ax = axy[0];
-            double ay = axy[1];
-            double bx = bxy[0];
-            double by = bxy[1];
-            double px = pxy[0];
-            double py = pxy[1];
-
-            double vx = bx - ax;
-            double vy = by - ay;
-            double wx = px - ax;
-            double wy = py - ay;
-
-            double vv = vx * vx + vy * vy;
-            if (vv <= 1e-9) {
-                double dx = px - ax;
-                double dy = py - ay;
-                return Math.sqrt(dx * dx + dy * dy);
-            }
-
-            double t = (wx * vx + wy * vy) / vv;
-            t = Math.max(0.0, Math.min(1.0, t));
-
-            double cx = ax + t * vx;
-            double cy = ay + t * vy;
-            double dx = px - cx;
-            double dy = py - cy;
-            return Math.sqrt(dx * dx + dy * dy);
-        }
-
-        private static double[] toLocalMeters(@NonNull LatLng point, @NonNull LatLng origin) {
-            double dNorth = (point.latitude - origin.latitude) * 111320.0;
-            double midLatRad = Math.toRadians((point.latitude + origin.latitude) * 0.5);
-            double dEast = (point.longitude - origin.longitude) * 111320.0 * Math.cos(midLatRad);
-            return new double[]{dEast, dNorth};
-        }
-
-        private static double distanceMeters(@NonNull LatLng a, @NonNull LatLng b) {
-            double dLat = (b.latitude - a.latitude) * 111320.0;
-            double midLatRad = Math.toRadians((a.latitude + b.latitude) * 0.5);
-            double dLng = (b.longitude - a.longitude) * 111320.0 * Math.cos(midLatRad);
-            return Math.sqrt(dLat * dLat + dLng * dLng);
+                    || stairsSource
+                    || liftSource
+                    || stairsTarget
+                    || liftTarget;
         }
     }
 
-    /** Wrap angle to [-pi, pi]. */
     private static double wrapAngleRad(double a) {
         while (a > Math.PI) a -= 2.0 * Math.PI;
         while (a < -Math.PI) a += 2.0 * Math.PI;
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
index be90a060..d9c2c44a 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
@@ -491,6 +491,18 @@ private void resetInitialFloorBootstrapState() {
         pendingInitialWifiSamples = 0;
     }
 
+    @NonNull
+    public String getAutoFloorDebugSummary() {
+        SensorFusion sensorFusion = host.getSensorFusion();
+        return "autoFloor=" + isAutoFloorEnabled()
+                + " initResolved=" + initialFloorResolved
+                + " currentFloorIndex=" + host.getCurrentFloorIndex()
+                + " candidateFloor=" + lastCandidateFloor
+                + " elev=" + (sensorFusion == null ? "na" : sensorFusion.getElevation())
+                + " anchorElev=" + lastCommittedElevationMeters
+                + " elevator=" + (sensorFusion == null ? "na" : sensorFusion.getElevator());
+    }
+
     @Nullable
     private Integer resolveInitialWifiBootstrapFloorIndex(@NonNull SensorFusion sensorFusion,
                                                           @NonNull IndoorMapManager indoorMapManager) {
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
index bdb1d21e..ed33263b 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
@@ -528,6 +528,11 @@ private void updateLiveMapWithParticleFilter(@Nullable float[] pdrValues) {
                         + ", floor=" + fusedPose.getFloor()
                         + ", confidence=" + fusedPose.getConfidence());
 
+        if (!sensorFusion.shouldDrawLatestParticleFilterPose()) {
+            Log.d(TAG, "PF draw skipped: no meaningful movement");
+            return;
+        }
+
         trajectoryMapFragment.updateUserLocation(
                 fusedPose.getLatLng(),
                 (float) Math.toDegrees(fusedPose.getHeadingRad())
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 616f3f2e..87ed85eb 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -1137,9 +1137,11 @@ private void refreshDebugStatusText() {
                 ? sensorFusion.getParticleFilterDebugSummary()
                 : "pf=unavailable";
 
+        String autoFloorSummary = floorController.getAutoFloorDebugSummary();
+
         debugStatusText.setText(String.format(
                 Locale.US,
-                "mode=%s\nbuilding=%s\nfloorIndex=%d\nindoorVisible=%s\nactualVisible=%s\nreplay=%s\nlocation=%s\n%s",
+                "mode=%s\nbuilding=%s\nfloorIndex=%d\nindoorVisible=%s\nactualVisible=%s\nreplay=%s\nlocation=%s\n%s\n%s",
                 sensorFusion != null && sensorFusion.isParticleFilterTrajectoryMode() ? "PF" : "PDR",
                 building,
                 currentFloorIndex,
@@ -1148,7 +1150,8 @@ private void refreshDebugStatusText() {
                 String.valueOf(replayModeEnabled),
                 currentLocation == null ? "null"
                         : String.format(Locale.US, "%.6f, %.6f", currentLocation.latitude, currentLocation.longitude),
-                particleSummary
+                particleSummary,
+                autoFloorSummary
         ));
     }
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
index 10a12200..daa378aa 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
@@ -7,8 +7,10 @@
 import android.util.Log;
 
 import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
 
+import com.openpositioning.PositionMe.fusion.AdaptiveQsmfiHeadingCalibrator;
+import com.openpositioning.PositionMe.fusion.FusedPose;
+import com.openpositioning.PositionMe.fusion.ParticleFilterManager;
 import com.openpositioning.PositionMe.utils.PathView;
 import com.openpositioning.PositionMe.utils.PdrProcessing;
 
@@ -16,11 +18,6 @@
 import java.util.HashMap;
 import java.util.List;
 
-import com.openpositioning.PositionMe.fusion.ParticleFilterManager;
-import com.openpositioning.PositionMe.fusion.FusedPose;
-import com.openpositioning.PositionMe.fusion.AdaptiveQsmfiHeadingCalibrator;
-
-
 /**
  * Handles sensor event dispatching for all registered movement sensors.
  *
@@ -31,7 +28,6 @@
 public class SensorEventHandler {
 
     private static final float ALPHA = 0.8f;
-    private static final long LARGE_GAP_THRESHOLD_MS = 500;
 
     private final SensorState state;
     private final PdrProcessing pdrProcessing;
@@ -50,6 +46,7 @@ public class SensorEventHandler {
     private final ParticleFilterManager particleFilterManager;
     private final AdaptiveQsmfiHeadingCalibrator adaptiveQsmfiHeadingCalibrator;
     private final SensorFusion sensorFusion;
+
     /**
      * Creates a new SensorEventHandler.
      *
@@ -59,8 +56,10 @@ public class SensorEventHandler {
      * @param recorder      trajectory recorder for checking recording state and writing PDR data
      * @param bootTime      initial boot time offset
      */
-    public SensorEventHandler(SensorState state, PdrProcessing pdrProcessing,
-                              PathView pathView, TrajectoryRecorder recorder,
+    public SensorEventHandler(SensorState state,
+                              PdrProcessing pdrProcessing,
+                              PathView pathView,
+                              TrajectoryRecorder recorder,
                               ParticleFilterManager particleFilterManager,
                               AdaptiveQsmfiHeadingCalibrator adaptiveQsmfiHeadingCalibrator,
                               SensorFusion sensorFusion,
@@ -87,6 +86,7 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
         Long lastTimestamp = lastEventTimestamps.get(sensorType);
         if (lastTimestamp != null) {
             long timeGap = currentTime - lastTimestamp;
+            // kept only for future debugging if needed
         }
 
         lastEventTimestamps.put(sensorType, currentTime);
@@ -104,7 +104,9 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                 if (recorder.isRecording()) {
                     state.elevation = pdrProcessing.updateElevation(
                             SensorManager.getAltitude(
-                                    SensorManager.PRESSURE_STANDARD_ATMOSPHERE, state.pressure)
+                                    SensorManager.PRESSURE_STANDARD_ATMOSPHERE,
+                                    state.pressure
+                            )
                     );
                 }
                 break;
@@ -115,8 +117,12 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                 state.angularVelocity[0] = sensorEvent.values[0];
                 state.angularVelocity[1] = sensorEvent.values[1];
                 state.angularVelocity[2] = sensorEvent.values[2];
+
                 if (adaptiveQsmfiHeadingCalibrator != null) {
-                    adaptiveQsmfiHeadingCalibrator.onGyro(sensorEvent.values[2], sensorEvent.timestamp);
+                    adaptiveQsmfiHeadingCalibrator.onGyro(
+                            sensorEvent.values[2],
+                            sensorEvent.timestamp
+                    );
                 }
 
             case Sensor.TYPE_LINEAR_ACCELERATION:
@@ -125,14 +131,16 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                 state.filteredAcc[2] = sensorEvent.values[2];
 
                 double accelMagFiltered = Math.sqrt(
-                        Math.pow(state.filteredAcc[0], 2) +
-                                Math.pow(state.filteredAcc[1], 2) +
-                                Math.pow(state.filteredAcc[2], 2)
+                        Math.pow(state.filteredAcc[0], 2)
+                                + Math.pow(state.filteredAcc[1], 2)
+                                + Math.pow(state.filteredAcc[2], 2)
                 );
                 this.accelMagnitude.add(accelMagFiltered);
 
                 state.elevator = pdrProcessing.estimateElevator(
-                        state.gravity, state.filteredAcc);
+                        state.gravity,
+                        state.filteredAcc
+                );
                 break;
 
             case Sensor.TYPE_GRAVITY:
@@ -149,7 +157,9 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                 }
 
                 state.elevator = pdrProcessing.estimateElevator(
-                        state.gravity, state.filteredAcc);
+                        state.gravity,
+                        state.filteredAcc
+                );
                 break;
 
             case Sensor.TYPE_LIGHT:
@@ -164,6 +174,7 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                 state.magneticField[0] = sensorEvent.values[0];
                 state.magneticField[1] = sensorEvent.values[1];
                 state.magneticField[2] = sensorEvent.values[2];
+
                 if (adaptiveQsmfiHeadingCalibrator != null) {
                     adaptiveQsmfiHeadingCalibrator.onMagneticField(
                             sensorEvent.values[0],
@@ -183,113 +194,119 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
 
             case Sensor.TYPE_STEP_DETECTOR:
                 long stepTime = SystemClock.uptimeMillis() - bootTime;
+
                 // Debounce very closely spaced step-detector events.
-                // This protects the PDR/PF pipeline from duplicate triggers.
                 if (currentTime - lastStepTime < 20) {
-                    Log.e("SensorFusion", "Ignoring step event, too soon after last step event:"
-                            + (currentTime - lastStepTime) + " ms");
+                    Log.e("SensorFusion",
+                            "Ignoring step event, too soon after last step event:"
+                                    + (currentTime - lastStepTime) + " ms");
                     break;
+                }
+
+                lastStepTime = currentTime;
+
+                if (accelMagnitude.isEmpty()) {
+                    Log.e("SensorFusion",
+                            "stepDetection triggered, but accelMagnitude is empty! "
+                                    + "This can cause updatePdr(...) to fail or return bad results.");
                 } else {
-                    lastStepTime = currentTime;
-                    // PdrProcessing expects a buffer of acceleration magnitudes collected
-                    // since the previous detected step. Log if the buffer is unexpectedly empty.
-                    if (accelMagnitude.isEmpty()) {
-                        Log.e("SensorFusion",
-                                "stepDetection triggered, but accelMagnitude is empty! " +
-                                        "This can cause updatePdr(...) to fail or return bad results.");
-                    } else {
-                        Log.d("SensorFusion",
-                                "stepDetection triggered, accelMagnitude size = "
-                                        + accelMagnitude.size());
-                    }
-                    // Always update the raw PDR state first.
-                    //
-                    // This remains true even in particle-filter mode because:
-                    // - PF prediction still uses PDR as its motion input
-                    // - the raw PDR output is the baseline fallback if PF has not initialised yet
-
-                    // Choose heading source for PDR:
-                    // - Prefer fused heading from QSMFI  when available
-                    //   → more stable and drift-corrected
-                    // - Fallback to raw orientation yaw (state.orientation[0]) if calibrator is unavailable
-                    float headingForPdr;
-                    if (sensorFusion != null
-                            && sensorFusion.isUseAdaptiveQsmfiHeading()
-                            && adaptiveQsmfiHeadingCalibrator != null
-                            && adaptiveQsmfiHeadingCalibrator.isInitialised()) {
-                        headingForPdr = adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad();
-                    } else {
-                        headingForPdr = state.orientation[0];
-                    }
+                    Log.d("SensorFusion",
+                            "stepDetection triggered, accelMagnitude size = "
+                                    + accelMagnitude.size());
+                }
+
+                float headingForPdr;
+                if (sensorFusion != null
+                        && sensorFusion.isUseAdaptiveQsmfiHeading()
+                        && adaptiveQsmfiHeadingCalibrator != null
+                        && adaptiveQsmfiHeadingCalibrator.isInitialised()) {
+                    headingForPdr = adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad();
+                } else {
+                    headingForPdr = state.orientation[0];
+                }
+
+                float[] newCords = this.pdrProcessing.updatePdr(
+                        stepTime,
+                        this.accelMagnitude,
+                        headingForPdr
+                );
+
+                // Acceleration samples have now been consumed for this step.
+                this.accelMagnitude.clear();
+
+                if (adaptiveQsmfiHeadingCalibrator != null) {
+                    adaptiveQsmfiHeadingCalibrator.onStepDetected(sensorEvent.timestamp);
+                }
 
-                    float[] newCords = this.pdrProcessing.updatePdr(
+                if (particleFilterManager != null && particleFilterManager.isEnabled()) {
+                    Log.d("SensorFusion", String.format(
+                            "PF_STEP_TRIGGER stepTimeMs=%d rawPdrX=%.3f rawPdrY=%.3f headingDeg=%.2f",
                             stepTime,
-                            this.accelMagnitude,
-                            headingForPdr
-                    );
-                    // Acceleration samples have now been consumed for this step.
-                    this.accelMagnitude.clear();
+                            newCords[0],
+                            newCords[1],
+                            Math.toDegrees(state.orientation[0])
+                    ));
 
-                    if (adaptiveQsmfiHeadingCalibrator != null) {
-                        adaptiveQsmfiHeadingCalibrator.onStepDetected(sensorEvent.timestamp);
-                    }
+                    particleFilterManager.step();
+                }
 
-                    if (particleFilterManager != null && particleFilterManager.isEnabled()) {
-                        Log.d("SensorFusion", String.format(
-                                "PF_STEP_TRIGGER stepTimeMs=%d rawPdrX=%.3f rawPdrY=%.3f headingDeg=%.2f",
-                                stepTime,
-                                newCords[0],
-                                newCords[1],
-                                Math.toDegrees(state.orientation[0])
-                        ));
-
-                        particleFilterManager.step();
+                if (recorder.isRecording()) {
+                    /*
+                     * Important:
+                     * Raw PDR is always updated first, even in PF mode.
+                     * The particle filter uses that raw step motion as its prediction input.
+                     *
+                     * After PF stepping:
+                     * - PDR mode stores/draws raw local PDR
+                     * - PF mode stores/draws PF fused local trajectory
+                     */
+
+                    if (particleFilterManager != null
+                            && particleFilterManager.isEnabled()
+                            && !particleFilterManager.shouldDrawLatestPose()) {
+                        Log.d("SensorFusion",
+                                "Skipping PF local trajectory append: no meaningful movement");
+                        break;
                     }
 
-                    if (recorder.isRecording()) {
-                        /*
-                         * Important:
-                         * Raw PDR is always updated first, even in PF mode.
-                         * The particle filter uses that raw step motion as its prediction input.
-                         *
-                         * After PF stepping:
-                         * - PDR mode stores/draws raw local PDR
-                         * - PF mode stores/draws PF fused local trajectory
-                         */
-                        float[] pointToStoreAndDraw = resolveTrajectoryPointForCurrentMode(newCords);
-
-                        // Draw exactly the same trajectory point that will be saved,
-                        // so the live local path view stays consistent with the recording payload.
-                        this.pathView.drawTrajectory(pointToStoreAndDraw);
-                        state.stepCounter++;
-
-                        recorder.addPdrData(
-                                SystemClock.uptimeMillis() - bootTime,
-                                pointToStoreAndDraw[0],
-                                pointToStoreAndDraw[1]
-                        );
-
-                        if (particleFilterManager != null && particleFilterManager.isEnabled()) {
-                            FusedPose fusedPose = particleFilterManager.getLatestFusedPose();
-                            if (fusedPose != null && fusedPose.getLatLng() != null) {
-                                Log.d("SensorFusion",
-                                        "Recorded PF trajectory point from fused pose lat="
-                                                + fusedPose.getLatLng().latitude
-                                                + " lng=" + fusedPose.getLatLng().longitude
-                                                + " floor=" + fusedPose.getFloor()
-                                                + " conf=" + fusedPose.getConfidence());
-                            }
+                    float[] pointToStoreAndDraw = resolveTrajectoryPointForCurrentMode(newCords);
+
+                    // Draw exactly the same trajectory point that will be saved,
+                    // so the live local path view stays consistent with the recording payload.
+                    this.pathView.drawTrajectory(pointToStoreAndDraw);
+                    state.stepCounter++;
+
+                    recorder.addPdrData(
+                            SystemClock.uptimeMillis() - bootTime,
+                            pointToStoreAndDraw[0],
+                            pointToStoreAndDraw[1]
+                    );
+
+                    if (particleFilterManager != null && particleFilterManager.isEnabled()) {
+                        FusedPose fusedPose = particleFilterManager.getLatestFusedPose();
+                        if (fusedPose != null) {
+                            Log.d("SensorFusion",
+                                    "Recorded PF trajectory point from fused pose x="
+                                            + fusedPose.getXMeters()
+                                            + " y=" + fusedPose.getYMeters()
+                                            + " floor=" + fusedPose.getFloor()
+                                            + " conf=" + fusedPose.getConfidence());
                         }
                     }
-        }}}
+                }
+                break;
+
+            default:
+                break;
+        }
+    }
 
     /**
      * Returns the point that should be drawn and recorded for the current positioning mode.
      *
      * Behaviour:
      * - PDR mode: return raw PDR coordinates directly
-     * - PF mode: convert the latest fused geographic pose back into local metres
-     *            relative to the recording start anchor
+     * - PF mode: return the latest fused PF local metres directly
      * - PF not ready yet: fall back to raw PDR
      */
     @NonNull
@@ -299,55 +316,15 @@ private float[] resolveTrajectoryPointForCurrentMode(@NonNull float[] rawPdrPoin
         }
 
         FusedPose fusedPose = particleFilterManager.getLatestFusedPose();
-        if (fusedPose == null || fusedPose.getLatLng() == null) {
-            Log.d("SensorFusion", "PF mode enabled but fused pose not ready yet, using raw PDR point.");
-            return rawPdrPoint;
-        }
-
-        float[] localPoint = convertLatLngToLocalMeters(
-                fusedPose.getLatLng().latitude,
-                fusedPose.getLatLng().longitude
-        );
-
-        if (localPoint == null) {
-            Log.d("SensorFusion", "PF fused pose available but start GNSS anchor missing, using raw PDR point.");
+        if (fusedPose == null) {
+            Log.d("SensorFusion",
+                    "PF mode enabled but fused pose not ready yet, using raw PDR point.");
             return rawPdrPoint;
         }
 
-        Log.d("SensorFusion",
-                "Using PF trajectory point x=" + localPoint[0]
-                        + " y=" + localPoint[1]
-                        + " floor=" + fusedPose.getFloor()
-                        + " conf=" + fusedPose.getConfidence());
-
-        return localPoint;
-    }
-
-    /**
-     * Converts a geographic position into local metres relative to the recording start anchor.
-     *
-     * Convention used here:
-     * - x = east-west metres
-     * - y = north-south metres
-     *
-     * This matches the most common local trajectory convention used with map anchoring.
-     */
-    @Nullable
-    private float[] convertLatLngToLocalMeters(double lat, double lng) {
-        float startLat = state.startLocation[0];
-        float startLng = state.startLocation[1];
-
-        if (Math.abs(startLat) < 1e-6f && Math.abs(startLng) < 1e-6f) {
-            return null;
-        }
-
-        double northMeters = (lat - startLat) * 111320.0;
-        double midLatRad = Math.toRadians((lat + startLat) * 0.5);
-        double eastMeters = (lng - startLng) * 111320.0 * Math.cos(midLatRad);
-
-        return new float[] {
-                (float) eastMeters,
-                (float) northMeters
+        return new float[]{
+                (float) fusedPose.getXMeters(),
+                (float) fusedPose.getYMeters()
         };
     }
 
@@ -370,4 +347,4 @@ public void logSensorFrequencies() {
     void resetBootTime(long newBootTime) {
         this.bootTime = newBootTime;
     }
-}
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
index 81337039..ef33ae1b 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
@@ -768,6 +768,10 @@ public boolean getElevator() {
         return state.elevator;
     }
 
+    public boolean shouldDrawLatestParticleFilterPose() {
+        return particleFilterManager != null && particleFilterManager.shouldDrawLatestPose();
+    }
+
     public int getHoldMode() {
         int proximityThreshold = 1;
         int lightThreshold = 100;

From 356ee3ea9c6a4ca5a8a09b9f55c38043493265db Mon Sep 17 00:00:00 2001
From: wxyuuu1114 <wangxinyu1114@gmail.com>
Date: Mon, 30 Mar 2026 13:29:00 +0100
Subject: [PATCH 30/35] Cleaned Integration of Particle Filter with Map
 Constraint

---
 .../data/remote/FloorplanApiClient.java       |   12 +-
 .../fusion/CoordinateConverter.java           |   17 +-
 .../PositionMe/fusion/FusedPose.java          |   83 +-
 .../PositionMe/fusion/Particle.java           |   15 +-
 .../fusion/ParticleFilterConfig.java          |  114 +-
 .../fusion/ParticleFilterEngine.java          |  910 +++++------
 .../fusion/ParticleFilterManager.java         | 1345 ++++++++---------
 .../mapmatching/MapMatchingService.java       |   12 +-
 .../fragment/FloorController.java             |   35 +-
 .../fragment/MapMatchingCoordinator.java      |   68 +-
 .../fragment/RecordingFragment.java           |   88 +-
 .../fragment/TrajectoryMapFragment.java       |  218 ++-
 .../sensors/SensorEventHandler.java           |  170 +--
 .../PositionMe/sensors/SensorFusion.java      |  141 +-
 14 files changed, 1486 insertions(+), 1742 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/data/remote/FloorplanApiClient.java b/app/src/main/java/com/openpositioning/PositionMe/data/remote/FloorplanApiClient.java
index cb7f5874..cffcd586 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/data/remote/FloorplanApiClient.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/data/remote/FloorplanApiClient.java
@@ -236,12 +236,14 @@ public void onFailure(Call call, IOException e) {
             public void onResponse(Call call, Response response) throws IOException {
                 try (ResponseBody responseBody = response.body()) {
                     if (!response.isSuccessful() || responseBody == null) {
-                        String error = responseBody != null
-                                ? responseBody.string() : "Unknown error";
-                        Log.e(TAG, "Floorplan request error: "
-                                + response.code() + " " + error);
+                        String error = responseBody != null ? responseBody.string() : "Unknown error";
+                        String allow = response.header("Allow");
+                        Log.e(TAG, "Floorplan request error: code=" + response.code()
+                                + ", allow=" + allow
+                                + ", body=" + error);
                         postToMainThread(() ->
-                                callback.onFailure("Server error: " + response.code()));
+                                callback.onFailure("Server error: " + response.code()
+                                        + (allow != null ? " allow=" + allow : "")));
                         return;
                     }
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java
index 1489a5ec..329947b5 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java
@@ -12,7 +12,7 @@
  */
 public class CoordinateConverter {
 
-    private static final double DEGREE_IN_M = 111111.0;
+    private static final double EARTH_RADIUS_METERS = 6378137.0;
 
     private final double lat0Deg;
     private final double lon0Deg;
@@ -35,10 +35,11 @@ public CoordinateConverter(double lat0Deg, double lon0Deg) {
      * @return array of size 2 containing x and y in meters
      */
     public double[] latLngToLocal(LatLng latLng) {
-        double x = (latLng.longitude - lon0Deg)
-                * DEGREE_IN_M
-                * Math.cos(Math.toRadians(lat0Deg));
-        double y = (latLng.latitude - lat0Deg) * DEGREE_IN_M;
+        double dLat = Math.toRadians(latLng.latitude - lat0Deg);
+        double dLon = Math.toRadians(latLng.longitude - lon0Deg);
+
+        double x = EARTH_RADIUS_METERS * dLon * Math.cos(Math.toRadians(lat0Deg));
+        double y = EARTH_RADIUS_METERS * dLat;
         return new double[]{x, y};
     }
 
@@ -50,9 +51,9 @@ public double[] latLngToLocal(LatLng latLng) {
      * @return corresponding geographic coordinate
      */
     public LatLng localToLatLng(double x, double y) {
-        double lat = lat0Deg + (y / DEGREE_IN_M);
-        double lon = lon0Deg + (
-                x / (DEGREE_IN_M * Math.cos(Math.toRadians(lat0Deg)))
+        double lat = lat0Deg + Math.toDegrees(y / EARTH_RADIUS_METERS);
+        double lon = lon0Deg + Math.toDegrees(
+                x / (EARTH_RADIUS_METERS * Math.cos(Math.toRadians(lat0Deg)))
         );
         return new LatLng(lat, lon);
     }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java
index 48268aeb..42fb82d4 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java
@@ -1,74 +1,97 @@
 package com.openpositioning.PositionMe.fusion;
-
-import androidx.annotation.NonNull;
-
 import com.google.android.gms.maps.model.LatLng;
 
 /**
  * Immutable model representing the latest fused pose estimate produced by the
  * particle filter.
  *
- * <p>The pose is stored in local metric coordinates (x/y in meters) and also as
- * a geographic coordinate for map rendering. The fusion code should stay in
- * local x/y space as long as possible and convert to LatLng only at the
- * boundaries where it is actually needed.</p>
+ * <p>The pose is stored both in local metric coordinates (x/y in meters)
+ * and in geographic coordinates (LatLng) so that the filter can work in a
+ * local ENU-like frame while the UI can render the result directly on the
+ * Google Map.</p>
  */
 public class FusedPose {
-    private final double x;
-    private final double y;
+    private final double xMeters;
+    private final double yMeters;
     private final double headingRad;
     private final int floor;
-    @NonNull
     private final LatLng latLng;
     private final float confidence;
 
-    public FusedPose(double x,
-                     double y,
+    /**
+     * Creates a new fused pose estimate.
+     *
+     * @param xMeters local x position in meters
+     * @param yMeters local y position in meters
+     * @param headingRad heading in radians
+     * @param floor estimated floor
+     * @param latLng geographic representation of the position
+     * @param confidence confidence indicator in the range [0, 1]
+     */
+    public FusedPose(double xMeters,
+                     double yMeters,
                      double headingRad,
                      int floor,
-                     @NonNull LatLng latLng,
+                     LatLng latLng,
                      float confidence) {
-        this.x = x;
-        this.y = y;
+        this.xMeters = xMeters;
+        this.yMeters = yMeters;
         this.headingRad = headingRad;
         this.floor = floor;
         this.latLng = latLng;
         this.confidence = confidence;
     }
 
-    /** Canonical local x coordinate in meters. */
-    public double getX() {
-        return x;
-    }
-
-    /** Canonical local y coordinate in meters. */
-    public double getY() {
-        return y;
-    }
-
-    /** Backward-compatible alias for getX(). */
+    /**
+     * Returns the fused local x coordinate in meters.
+     *
+     * @return local x coordinate
+     */
     public double getXMeters() {
-        return x;
+        return xMeters;
     }
 
-    /** Backward-compatible alias for getY(). */
+    /**
+     * Returns the fused local y coordinate in meters.
+     *
+     * @return local y coordinate
+     */
     public double getYMeters() {
-        return y;
+        return yMeters;
     }
 
+    /**
+     * Returns the fused heading in radians.
+     *
+     * @return heading in radians
+     */
     public double getHeadingRad() {
         return headingRad;
     }
 
+    /**
+     * Returns the fused floor estimate.
+     *
+     * @return estimated floor
+     */
     public int getFloor() {
         return floor;
     }
 
-    @NonNull
+    /**
+     * Returns the fused position as a geographic coordinate.
+     *
+     * @return fused geographic position
+     */
     public LatLng getLatLng() {
         return latLng;
     }
 
+    /**
+     * Returns a simple confidence score derived from particle diversity.
+     *
+     * @return confidence in the range [0, 1]
+     */
     public float getConfidence() {
         return confidence;
     }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/Particle.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/Particle.java
index aebeaf75..a4289eda 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/Particle.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/Particle.java
@@ -14,6 +14,12 @@ public class Particle {
     int floor;
     double weight;
 
+    // Previous state from the last predict() boundary.
+    // These are used for discrete map-constraint checks such as wall crossing.
+    double prevX;
+    double prevY;
+    int prevFloor;
+
     /**
      * Creates a particle with the supplied state.
      *
@@ -29,6 +35,9 @@ public Particle(double x, double y, double theta, int floor, double weight) {
         this.theta = theta;
         this.floor = floor;
         this.weight = weight;
+        this.prevX = x;
+        this.prevY = y;
+        this.prevFloor = floor;
     }
 
     /**
@@ -37,6 +46,10 @@ public Particle(double x, double y, double theta, int floor, double weight) {
      * @return copied particle
      */
     public Particle copy() {
-        return new Particle(x, y, theta, floor, weight);
+        Particle copy = new Particle(x, y, theta, floor, weight);
+        copy.prevX = prevX;
+        copy.prevY = prevY;
+        copy.prevFloor = prevFloor;
+        return copy;
     }
 }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java
index 11dc4b95..86d20caa 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java
@@ -1,111 +1,65 @@
 package com.openpositioning.PositionMe.fusion;
 
 /**
- * Shared configuration bundle for the live particle filter.
+ * Immutable parameter bundle for the particle filter.
  *
- * Keep this as the single PF config definition used by:
- * - ParticleFilterEngine
- * - ParticleFilterManager
- *
- * Units:
- * - distances in metres
+ * <p>All values here are already converted into internal units:
+ * - distances in meters
  * - angles in radians
- *
- * This cleaned version removes parameters that only existed to tune
- * continuous map-based trajectory shaping.
  */
 public class ParticleFilterConfig {
 
-    // Core PF parameters loaded from settings
-
     /** Number of particles in the filter. */
-    public int particleCount;
+    public final int particleCount;
 
     /** Standard deviation of translational prediction noise (m). */
-    public double forwardNoiseStdMeters;
+    public final double sigmaStep;
 
     /** Standard deviation of heading prediction noise (rad). */
-    public double headingNoiseStdRad;
+    public final double sigmaThetaRad;
 
-    /** Wi-Fi observation spread (m). */
-    public double observationSigmaWifiMeters;
+    /** Wi-Fi likelihood spread (m). */
+    public final double sigmaWifi;
 
-    /** GNSS observation spread (m). */
-    public double observationSigmaGnssMeters;
+    /** GNSS likelihood spread (m). */
+    public final double sigmaGnss;
 
     /** Initial position spread around the startup pose (m). */
-    public double initialPositionStdMeters;
+    public final double initPosStd;
 
     /** Initial heading spread around the startup heading (rad). */
-    public double initialHeadingStdRad;
+    public final double initHeadingStdRad;
 
     /** Resampling threshold as a ratio of particle count. */
-    public double resampleEffectiveSampleSizeRatio;
+    public final double resampleRatio;
 
     /** Position jitter added after resampling (m). */
-    public double resampleRegularizationPosStdMeters;
+    public final double sigmaRegPos;
 
     /** Heading jitter added after resampling (rad). */
-    public double resampleRegularizationHeadingStdRad;
-
-    // Constraint behaviour
-
-    /** Enable wall / floor-transition veto logic. */
-    public boolean enableMapConstraints = true;
-
-    // Observation blending
-
-    /** Enable Wi-Fi / GNSS / map-match weighting. */
-    public boolean enableAbsoluteObservationWeighting = true;
-
-    /** Minimum non-zero weight floor for alive particles. */
-    public double minimumWeightFloor = 1e-12;
-
-    // Recovery behaviour
-
-    /**
-     * Allow recovery reseeding if the cloud collapses.
-     *
-     * In the cleaned configuration this is disabled by default, because
-     * teleport-like recovery can reintroduce visible snapping.
-     */
-    public boolean enableRecoveryIfCollapsed = false;
-
-    /** Position spread used when reseeding recovered particles (m). */
-    public double recoveryPositionStdMeters = 0.75;
-
-    /** Heading spread used when reseeding recovered particles (rad). */
-    public double recoveryHeadingStdRad = Math.toRadians(8.0);
-
-    // Logging
-
-    /** Enable PF debug logging. */
-    public boolean debugLogging = true;
+    public final double sigmaRegThetaRad;
 
-    /**
-     * Constructor for the user-tunable settings fields.
-     */
     public ParticleFilterConfig(
             int particleCount,
-            double forwardNoiseStdMeters,
-            double headingNoiseStdRad,
-            double observationSigmaWifiMeters,
-            double observationSigmaGnssMeters,
-            double initialPositionStdMeters,
-            double initialHeadingStdRad,
-            double resampleEffectiveSampleSizeRatio,
-            double resampleRegularizationPosStdMeters,
-            double resampleRegularizationHeadingStdRad
+            double sigmaStep,
+            double sigmaThetaRad,
+            double sigmaWifi,
+            double sigmaGnss,
+            double initPosStd,
+            double initHeadingStdRad,
+            double resampleRatio,
+            double sigmaRegPos,
+            double sigmaRegThetaRad
     ) {
         this.particleCount = particleCount;
-        this.forwardNoiseStdMeters = forwardNoiseStdMeters;
-        this.headingNoiseStdRad = headingNoiseStdRad;
-        this.observationSigmaWifiMeters = observationSigmaWifiMeters;
-        this.observationSigmaGnssMeters = observationSigmaGnssMeters;
-        this.initialPositionStdMeters = initialPositionStdMeters;
-        this.initialHeadingStdRad = initialHeadingStdRad;
-        this.resampleEffectiveSampleSizeRatio = resampleEffectiveSampleSizeRatio;
-        this.resampleRegularizationPosStdMeters = resampleRegularizationPosStdMeters;
-        this.resampleRegularizationHeadingStdRad = resampleRegularizationHeadingStdRad;
+        this.sigmaStep = sigmaStep;
+        this.sigmaThetaRad = sigmaThetaRad;
+        this.sigmaWifi = sigmaWifi;
+        this.sigmaGnss = sigmaGnss;
+        this.initPosStd = initPosStd;
+        this.initHeadingStdRad = initHeadingStdRad;
+        this.resampleRatio = resampleRatio;
+        this.sigmaRegPos = sigmaRegPos;
+        this.sigmaRegThetaRad = sigmaRegThetaRad;
     }
-}
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
index aaaf4e3e..37c1c0d3 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
@@ -2,709 +2,485 @@
 
 import android.util.Log;
 
-import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
 import com.google.android.gms.maps.model.LatLng;
+import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
+import com.openpositioning.PositionMe.mapmatching.MapGeometryUtils;
 
 import java.util.ArrayList;
-import java.util.HashMap;
 import java.util.List;
-import java.util.Map;
 import java.util.Random;
 
 /**
- * Core particle filter engine for live indoor positioning.
+ * Core particle filter engine.
  *
- * Cleaned design goals:
- * - keep the state in local x/y meters
- * - use the map only as a feasibility veto
- * - never use map likelihoods or walkable penalties as continuous weights
- * - convert to LatLng only once when exporting the fused pose
+ * <p>This class owns the particle set and implements the standard PF loop:
+ * <ol>
+ *   <li>initialise()</li>
+ *   <li>predict(deltaS, deltaTheta)</li>
+ *   <li>update(observation, constraintContext)</li>
+ *   <li>estimate()</li>
+ * </ol>
+ *
+ * <p>Important design choice for the live map-constrained mode:
+ * the map is used only as a discrete validity gate.
+ * There is no continuous wall-likelihood or corridor-shaping field here.
+ *
+ * <p>State per particle:
+ * - x, y: local planar position in meters
+ * - theta: heading in radians
+ * - floor: discrete floor hypothesis
+ * - weight: particle importance weight
+ *
+ * <p>Heading convention:
+ * - theta is stored in Android-style azimuth convention:
+ *   0 = north, +pi/2 = east, pi = south, -pi/2 = west
+ *
+ * <p>For motion projection into Cartesian x/y:
+ * - x positive = east
+ * - y positive = north
+ * so we convert with:
+ *   motionHeading = pi/2 - theta
  */
 public class ParticleFilterEngine {
 
     private static final String TAG = "ParticleFilterEngine";
 
-    /**
-     * Individual particle.
-     */
-    public static class Particle {
-        public double x;
-        public double y;
-        public double headingRad;
-        public int floor;
-        public double weight;
-        public boolean alive = true;
-
-        // True previous state saved before prediction.
-        public double prevX;
-        public double prevY;
-        public double prevHeadingRad;
-        public int prevFloor;
-
-        public Particle(double x,
-                        double y,
-                        double headingRad,
-                        int floor,
-                        double weight) {
-            this.x = x;
-            this.y = y;
-            this.headingRad = headingRad;
-            this.floor = floor;
-            this.weight = weight;
-
-            this.prevX = x;
-            this.prevY = y;
-            this.prevHeadingRad = headingRad;
-            this.prevFloor = floor;
-        }
+    /** Ignore micro-motion for wall checks to reduce false positives from jitter. */
+    private static final double MIN_STEP_FOR_WALL_CHECK_METERS = 0.30;
 
-        @NonNull
-        public Particle copy() {
-            Particle p = new Particle(x, y, headingRad, floor, weight);
-            p.alive = alive;
-            p.prevX = prevX;
-            p.prevY = prevY;
-            p.prevHeadingRad = prevHeadingRad;
-            p.prevFloor = prevFloor;
-            return p;
-        }
-    }
+    /** The active particle set representing the belief distribution. */
+    private final List<Particle> particles = new ArrayList<>();
 
-    /**
-     * Motion input for one PF update.
-     */
-    public static class MotionInput {
-        public final double deltaForwardMeters;
-        public final double deltaHeadingRad;
-        public final double deltaHeightMeters;
-        public final boolean heightChanged;
-        public final long timestampMs;
-
-        public MotionInput(double deltaForwardMeters,
-                           double deltaHeadingRad,
-                           double deltaHeightMeters,
-                           boolean heightChanged,
-                           long timestampMs) {
-            this.deltaForwardMeters = deltaForwardMeters;
-            this.deltaHeadingRad = deltaHeadingRad;
-            this.deltaHeightMeters = deltaHeightMeters;
-            this.heightChanged = heightChanged;
-            this.timestampMs = timestampMs;
-        }
-    }
+    /** Random generator used for motion noise, initial spread, and resampling jitter. */
+    private final Random rng = new Random();
 
-    /**
-     * Optional absolute observation in local x/y.
-     */
-    public static class AbsoluteObservation {
-        @Nullable public final Double x;
-        @Nullable public final Double y;
-        @Nullable public final Integer floor;
-        @Nullable public final Double headingRad;
-        public final double horizontalSigmaMeters;
-        public final double headingSigmaRad;
-        public final double confidence;
-        @NonNull public final String source;
-
-        public AbsoluteObservation(@Nullable Double x,
-                                   @Nullable Double y,
-                                   @Nullable Integer floor,
-                                   @Nullable Double headingRad,
-                                   double horizontalSigmaMeters,
-                                   double headingSigmaRad,
-                                   double confidence,
-                                   @NonNull String source) {
-            this.x = x;
-            this.y = y;
-            this.floor = floor;
-            this.headingRad = headingRad;
-            this.horizontalSigmaMeters = horizontalSigmaMeters;
-            this.headingSigmaRad = headingSigmaRad;
-            this.confidence = confidence;
-            this.source = source;
-        }
-    }
+    // Tunable filter parameters
 
-    /**
-     * Optional map-constraint helper in local x/y space.
-     *
-     * The map is treated as a feasibility gate only.
-     */
-    public interface ConstraintModel {
-        boolean crossesWall(double oldX, double oldY,
-                            double newX, double newY,
-                            int floor);
+    private final int particleCount;
+    private final double sigmaStep;
+    private final double sigmaTheta;
+    private final double sigmaWifi;
+    private final double sigmaGnss;
+    private final double initPosStd;
+    private final double initHeadingStd;
+    private final double resampleRatio;
+    private final double sigmaRegPos;
+    private final double sigmaRegTheta;
 
-        boolean isFloorTransitionAllowed(double x, double y,
-                                         int oldFloor, int newFloor);
-    }
+    // Diagnostics / statistics
 
-    /**
-     * Summary of one update step for debugging.
-     */
-    public static class StepDiagnostics {
-        public int totalParticles;
-        public int aliveParticles;
-        public int wallRejectedCount;
-        public int floorRejectedCount;
-        public int observationWeightedCount;
-        public double effectiveSampleSize;
-        public boolean resampled;
-        public boolean recovered;
+    /** Effective sample size after the latest update step. */
+    private double lastNeff = 0.0;
+
+    /** Whether the last update triggered resampling. */
+    private boolean lastResampled = false;
+
+    public ParticleFilterEngine(ParticleFilterConfig cfg) {
+        this.particleCount = cfg.particleCount;
+        this.sigmaStep = cfg.sigmaStep;
+        this.sigmaTheta = cfg.sigmaThetaRad;
+        this.sigmaWifi = cfg.sigmaWifi;
+        this.sigmaGnss = cfg.sigmaGnss;
+        this.initPosStd = cfg.initPosStd;
+        this.initHeadingStd = cfg.initHeadingStdRad;
+        this.resampleRatio = cfg.resampleRatio;
+        this.sigmaRegPos = cfg.sigmaRegPos;
+        this.sigmaRegTheta = cfg.sigmaRegThetaRad;
     }
 
     /**
-     * Result of one PF update.
+     * Initialises the particle cloud around a starting pose hypothesis.
+     *
+     * <p>All particles begin on the same floor, but position and heading are
+     * spread using Gaussian noise to represent initial uncertainty.
+     *
+     * @param x initial x coordinate in local frame
+     * @param y initial y coordinate in local frame
+     * @param theta initial heading in radians
+     * @param floor initial floor estimate
      */
-    public static class StepResult {
-        @NonNull public final FusedPose fusedPose;
-        @NonNull public final StepDiagnostics diagnostics;
-        @NonNull public final List<Particle> particlesSnapshot;
-
-        public StepResult(@NonNull FusedPose fusedPose,
-                          @NonNull StepDiagnostics diagnostics,
-                          @NonNull List<Particle> particlesSnapshot) {
-            this.fusedPose = fusedPose;
-            this.diagnostics = diagnostics;
-            this.particlesSnapshot = particlesSnapshot;
-        }
-    }
+    public void initialise(double x, double y, double theta, int floor) {
+        particles.clear();
 
-    private final ParticleFilterConfig config;
-    private final Random random;
-    private final List<Particle> particles = new ArrayList<>();
+        for (int i = 0; i < particleCount; i++) {
+            double px = x + rng.nextGaussian() * initPosStd;
+            double py = y + rng.nextGaussian() * initPosStd;
+            double pt = wrapAngle(theta + rng.nextGaussian() * initHeadingStd);
 
-    @Nullable
-    private ConstraintModel constraintModel;
+            particles.add(new Particle(px, py, pt, floor, 1.0 / particleCount));
+        }
 
-    public ParticleFilterEngine(@NonNull ParticleFilterConfig config) {
-        this.config = config;
-        this.random = new Random();
-    }
+        lastNeff = particleCount;
+        lastResampled = false;
 
-    public void setConstraintModel(@Nullable ConstraintModel constraintModel) {
-        this.constraintModel = constraintModel;
+        Log.d(TAG,
+                "PF engine initialised"
+                        + " | particleCount=" + particleCount
+                        + ", initPosStd=" + initPosStd
+                        + ", initHeadingStdDeg=" + Math.toDegrees(initHeadingStd));
     }
 
+    /** @return true once particles have been created */
     public boolean isInitialised() {
         return !particles.isEmpty();
     }
 
-    public void clear() {
-        particles.clear();
+    /**
+     * Forces every particle to use the same floor hypothesis.
+     *
+     * <p>This is used after a validated live floor transition. The cloud remains
+     * motion-driven in x/y, but the authoritative floor owner stays in the manager.
+     */
+    public void setAllParticlesFloor(int floor) {
+        for (Particle particle : particles) {
+            particle.floor = floor;
+            particle.prevFloor = floor;
+        }
     }
 
     /**
-     * Initialise particles around a known local anchor.
+     * Motion prediction step.
+     *
+     * <p>This propagates each particle forward according to:
+     * - a distance increment deltaS
+     * - a heading increment deltaTheta
+     *
+     * <p>Noise is added independently to translation and heading to represent
+     * uncertainty in the motion model.
+     *
+     * @param deltaS motion increment in meters
+     * @param deltaTheta heading increment in radians
      */
-    public void initialise(double startX,
-                           double startY,
-                           int floor,
-                           double headingRad) {
-        particles.clear();
+    public void predict(double deltaS, double deltaTheta) {
+        for (Particle particle : particles) {
+            // Remember the previous state for discrete map-constraint checks.
+            particle.prevX = particle.x;
+            particle.prevY = particle.y;
+            particle.prevFloor = particle.floor;
 
-        double equalWeight = 1.0 / Math.max(1, config.particleCount);
+            // Add stochastic noise to the motion command.
+            double ds = deltaS + rng.nextGaussian() * sigmaStep;
+            double dTheta = deltaTheta + rng.nextGaussian() * sigmaTheta;
 
-        for (int i = 0; i < config.particleCount; i++) {
-            double x = startX + gaussian(0.0, config.initialPositionStdMeters);
-            double y = startY + gaussian(0.0, config.initialPositionStdMeters);
-            double heading = wrapAngleRad(
-                    headingRad + gaussian(0.0, config.initialHeadingStdRad)
-            );
+            // Update heading first.
+            particle.theta = wrapAngle(particle.theta + dTheta);
 
-            particles.add(new Particle(x, y, heading, floor, equalWeight));
-        }
+            // Convert Android-style heading into x/y projection angle.
+            double motionHeading = (Math.PI / 2.0) - particle.theta;
 
-        normaliseWeights();
-        log("Initialised PF with "
-                + particles.size()
-                + " particles at x=" + startX
-                + " y=" + startY
-                + " floor=" + floor);
+            // Move particle in local Cartesian frame.
+            particle.x += ds * Math.cos(motionHeading);
+            particle.y += ds * Math.sin(motionHeading);
+        }
     }
 
     /**
-     * Main PF update.
+     * Backward-compatible update path with no map constraints.
      */
-    @NonNull
-    public StepResult update(@NonNull MotionInput motionInput,
-                             @Nullable AbsoluteObservation absoluteObservation,
-                             @NonNull CoordinateConverter coordinateConverter) {
+    public void update(ParticleFilterObservation observation) {
+        update(observation, null);
+    }
 
+    /**
+     * Measurement update step.
+     *
+     * <p>Each available observation contributes multiplicatively to the
+     * particle weight:
+     * - Wi-Fi position
+     * - Wi-Fi floor
+     * - GNSS position
+     * - discrete wall-crossing penalty (optional)
+     *
+     * <p>The map contribution is intentionally binary/discrete:
+     * particles are penalised only when a predicted segment crosses a wall.
+     * There is no distance-to-wall likelihood field here.
+     *
+     * @param observation absolute observation bundle for this update cycle
+     * @param constraintContext optional live map-constraint context
+     */
+    public void update(ParticleFilterObservation observation,
+                       @Nullable ConstraintContext constraintContext) {
         if (particles.isEmpty()) {
-            throw new IllegalStateException("ParticleFilterEngine.update() called before initialise().");
+            return;
         }
 
-        StepDiagnostics diagnostics = new StepDiagnostics();
-        diagnostics.totalParticles = particles.size();
+        double weightSum = 0.0;
 
-        predictParticles(motionInput);
-        enforceConstraintsVeto(diagnostics);
+        for (Particle particle : particles) {
+            double w = 1.0;
 
-        if (absoluteObservation != null && config.enableAbsoluteObservationWeighting) {
-            applyAbsoluteObservation(absoluteObservation, diagnostics);
-        }
 
-        enforceWeightFloor();
-        normaliseWeights();
+            // Wi-Fi position likelihood
 
-        diagnostics.aliveParticles = countAliveParticles();
-        diagnostics.effectiveSampleSize = computeEffectiveSampleSize();
+            if (observation.getWifiX() != null && observation.getWifiY() != null) {
+                double dx = particle.x - observation.getWifiX();
+                double dy = particle.y - observation.getWifiY();
 
-        if (shouldResample(diagnostics.effectiveSampleSize)) {
-            systematicResample();
-            diagnostics.resampled = true;
-        }
+                // Gaussian likelihood based on local planar distance.
+                w *= gaussian2D(dx, dy, sigmaWifi);
 
-        if ((countAliveParticles() == 0 || totalWeight() <= 0.0) && config.enableRecoveryIfCollapsed) {
-            recoverParticles();
-            diagnostics.recovered = true;
-            normaliseWeights();
-        }
+                // Penalise particles that disagree with Wi-Fi floor estimate.
+                if (observation.getWifiFloor() != null
+                        && particle.floor != observation.getWifiFloor()) {
+                    w *= 0.50;
+                }
+            }
 
-        FusedPose fusedPose = buildFusedPose(coordinateConverter);
-        List<Particle> snapshot = deepCopyParticles();
-
-        if (config.debugLogging) {
-            Log.d(TAG,
-                    "PF step: alive=" + diagnostics.aliveParticles + "/" + diagnostics.totalParticles
-                            + " wallRejected=" + diagnostics.wallRejectedCount
-                            + " floorRejected=" + diagnostics.floorRejectedCount
-                            + " obsWeighted=" + diagnostics.observationWeightedCount
-                            + " ess=" + diagnostics.effectiveSampleSize
-                            + " resampled=" + diagnostics.resampled
-                            + " recovered=" + diagnostics.recovered);
-        }
 
-        return new StepResult(fusedPose, diagnostics, snapshot);
-    }
+            // GNSS position likelihood
 
-    /**
-     * Prediction step in local x/y.
-     *
-     * x = east-west local metres
-     * y = north-south local metres
-     *
-     * headingRad convention:
-     * 0 = north, +pi/2 = east
-     */
-    private void predictParticles(@NonNull MotionInput motionInput) {
-        for (Particle p : particles) {
-            if (!p.alive) {
-                continue;
+            if (observation.getGnssX() != null && observation.getGnssY() != null) {
+                double dx = particle.x - observation.getGnssX();
+                double dy = particle.y - observation.getGnssY();
+                w *= gaussian2D(dx, dy, sigmaGnss);
             }
 
-            p.prevX = p.x;
-            p.prevY = p.y;
-            p.prevHeadingRad = p.headingRad;
-            p.prevFloor = p.floor;
 
-            double noisyHeading = wrapAngleRad(
-                    p.headingRad
-                            + motionInput.deltaHeadingRad
-                            + gaussian(0.0, config.headingNoiseStdRad)
-            );
+            // Discrete wall-crossing penalty
+
+            if (constraintContext != null && constraintContext.isUsable()) {
+                double stepMeters = Math.hypot(particle.x - particle.prevX, particle.y - particle.prevY);
+                if (stepMeters >= MIN_STEP_FOR_WALL_CHECK_METERS) {
+                    LatLng prevLatLng = constraintContext.coordinateConverter.localToLatLng(
+                            particle.prevX,
+                            particle.prevY
+                    );
+                    LatLng currentLatLng = constraintContext.coordinateConverter.localToLatLng(
+                            particle.x,
+                            particle.y
+                    );
+
+                    if (MapGeometryUtils.crossesWall(
+                            prevLatLng,
+                            currentLatLng,
+                            constraintContext.sourceFloorShapes)) {
+                        w *= constraintContext.wallCrossPenalty;
+                    }
+                }
+            }
 
-            double noisyForward = motionInput.deltaForwardMeters
-                    + gaussian(0.0, config.forwardNoiseStdMeters);
+            particle.weight = w;
+            weightSum += w;
+        }
 
-            double dNorth = noisyForward * Math.cos(noisyHeading);
-            double dEast = noisyForward * Math.sin(noisyHeading);
+        normaliseWeights(weightSum);
 
-            p.x += dEast;
-            p.y += dNorth;
-            p.headingRad = noisyHeading;
+        lastNeff = effectiveSampleSize();
+        lastResampled = false;
 
-            if (motionInput.heightChanged && Math.abs(motionInput.deltaHeightMeters) > 1.2) {
-                int floorDelta = motionInput.deltaHeightMeters > 0 ? 1 : -1;
-                p.floor = p.floor + floorDelta;
-            }
+        // Resample if too few particles carry meaningful weight.
+        if (lastNeff < particleCount * resampleRatio) {
+            systematicResample();
+            regularizeParticles();
+            lastResampled = true;
         }
     }
 
     /**
-     * Apply map constraints as hard feasibility vetoes only.
+     * Computes the current fused pose estimate from the weighted particle set.
+     *
+     * <p>Position is the weighted mean of x and y.
+     * Heading is the circular weighted mean of theta.
+     * Floor is the weighted average rounded to nearest integer.
      *
-     * No continuous weighting.
-     * No walkable penalties.
-     * No map likelihood shaping.
+     * @param converter converts local x/y back into LatLng
+     * @return fused pose estimate
      */
-    private void enforceConstraintsVeto(@NonNull StepDiagnostics diagnostics) {
-        if (constraintModel == null || !config.enableMapConstraints) {
-            return;
+    public FusedPose estimate(CoordinateConverter converter) {
+        if (particles.isEmpty()) {
+            return null;
         }
 
-        for (Particle p : particles) {
-            if (!p.alive) {
-                continue;
-            }
-
-            int wallFloor = p.prevFloor;
-            if (constraintModel.crossesWall(p.prevX, p.prevY, p.x, p.y, wallFloor)) {
-                diagnostics.wallRejectedCount++;
-
-                // Reject the illegal translation but keep the heading update.
-                p.x = p.prevX;
-                p.y = p.prevY;
-            }
+        double x = 0.0;
+        double y = 0.0;
+        double weightedFloor = 0.0;
+        double sinSum = 0.0;
+        double cosSum = 0.0;
 
-            if (p.floor != p.prevFloor) {
-                boolean allowed = constraintModel.isFloorTransitionAllowed(
-                        p.x,
-                        p.y,
-                        p.prevFloor,
-                        p.floor
-                );
-
-                if (!allowed) {
-                    diagnostics.floorRejectedCount++;
-                    p.floor = p.prevFloor;
-                }
-            }
+        for (Particle particle : particles) {
+            x += particle.x * particle.weight;
+            y += particle.y * particle.weight;
+            weightedFloor += particle.floor * particle.weight;
+            sinSum += Math.sin(particle.theta) * particle.weight;
+            cosSum += Math.cos(particle.theta) * particle.weight;
         }
-    }
 
-    /**
-     * Apply absolute observation weighting in local x/y.
-     */
-    private void applyAbsoluteObservation(@NonNull AbsoluteObservation obs,
-                                          @NonNull StepDiagnostics diagnostics) {
-        double cappedConfidence = capObservationConfidence(obs.source, obs.confidence);
+        double theta = Math.atan2(sinSum, cosSum);
+        int floor = (int) Math.round(weightedFloor);
 
-        for (Particle p : particles) {
-            if (!p.alive) {
-                continue;
-            }
-
-            double w = 1.0;
+        // Use N_eff as a simple confidence proxy.
+        float confidence = (float) Math.min(1.0, lastNeff / particleCount);
 
-            if (obs.x != null && obs.y != null) {
-                double dx = p.x - obs.x;
-                double dy = p.y - obs.y;
-                double distance = Math.hypot(dx, dy);
-
-                double sigma = Math.max(0.5, obs.horizontalSigmaMeters);
-                w *= gaussianPdf(distance, 0.0, sigma);
-            }
-
-            if (obs.floor != null && p.floor != obs.floor) {
-                w *= 0.25;
-            }
-
-            if (obs.headingRad != null) {
-                double err = smallestAngleDiffRad(p.headingRad, obs.headingRad);
-                double sigma = Math.max(Math.toRadians(5.0), obs.headingSigmaRad);
-                w *= gaussianPdf(err, 0.0, sigma);
-            }
-
-            double blended = (1.0 - cappedConfidence) + cappedConfidence * w;
-            p.weight *= Math.max(config.minimumWeightFloor, blended);
-            diagnostics.observationWeightedCount++;
-        }
-    }
-
-    private double capObservationConfidence(@NonNull String source, double confidence) {
-        double capped = clamp01(confidence);
-
-        if ("wifi".equals(source)) {
-            return Math.min(capped, 0.08);
-        }
-        if ("gnss".equals(source)) {
-            return Math.min(capped, 0.08);
-        }
-        if ("map_match".equals(source)) {
-            return Math.min(capped, 0.85);
-        }
-        return capped;
+        return new FusedPose(
+                x,
+                y,
+                theta,
+                floor,
+                converter.localToLatLng(x, y),
+                confidence
+        );
     }
 
-    private void enforceWeightFloor() {
-        for (Particle p : particles) {
-            if (!p.alive) {
-                p.weight = 0.0;
-            } else {
-                p.weight = Math.max(config.minimumWeightFloor, p.weight);
-            }
+    /**
+     * Computes effective sample size.
+     *
+     * <p>A lower value means more degeneracy, i.e. fewer particles dominate
+     * the total weight distribution.
+     */
+    public double effectiveSampleSize() {
+        double sumSquares = 0.0;
+        for (Particle particle : particles) {
+            sumSquares += particle.weight * particle.weight;
         }
+        return 1.0 / Math.max(sumSquares, 1e-12);
     }
 
-    private double totalWeight() {
-        double sum = 0.0;
-        for (Particle p : particles) {
-            sum += p.weight;
-        }
-        return sum;
+    public double getLastNeff() {
+        return lastNeff;
     }
 
-    private void normaliseWeights() {
-        double sum = totalWeight();
-        if (sum <= 0.0) {
-            double equal = 1.0 / Math.max(1, particles.size());
-            for (Particle p : particles) {
-                p.weight = p.alive ? equal : 0.0;
-            }
-            return;
-        }
+    private static final double ALIVE_WEIGHT_EPS = 1e-6;
 
-        for (Particle p : particles) {
-            p.weight /= sum;
-        }
+    public int getParticleCount() {
+        return particleCount;
     }
 
-    private int countAliveParticles() {
+    public int getAliveParticleCount() {
         int alive = 0;
-        for (Particle p : particles) {
-            if (p.alive) {
+        for (Particle particle : particles) {
+            if (particle.weight > ALIVE_WEIGHT_EPS) {
                 alive++;
             }
         }
         return alive;
     }
 
-    private double computeEffectiveSampleSize() {
-        double sumSq = 0.0;
-        for (Particle p : particles) {
-            sumSq += p.weight * p.weight;
-        }
-        if (sumSq <= 0.0) {
-            return 0.0;
-        }
-        return 1.0 / sumSq;
+    public int getDeadParticleCount() {
+        return Math.max(0, particles.size() - getAliveParticleCount());
     }
 
-    private boolean shouldResample(double ess) {
-        return ess < (config.particleCount * config.resampleEffectiveSampleSizeRatio);
+    public boolean wasResampledLastStep() {
+        return lastResampled;
     }
 
     /**
-     * Standard systematic resampling in local x/y.
+     * Gaussian likelihood in local 2D position space.
+     *
+     * <p>This is used for Wi-Fi and GNSS weighting.
      */
-    private void systematicResample() {
-        List<Particle> newParticles = new ArrayList<>(particles.size());
-
-        double step = 1.0 / particles.size();
-        double u = random.nextDouble() * step;
+    private double gaussian2D(double dx, double dy, double sigma) {
+        double d2 = dx * dx + dy * dy;
+        double s2 = sigma * sigma;
 
-        double[] cumulative = new double[particles.size()];
-        double running = 0.0;
-        for (int i = 0; i < particles.size(); i++) {
-            running += particles.get(i).weight;
-            cumulative[i] = running;
+        if (s2 < 1e-12) {
+            return 1.0;
         }
 
-        int index = 0;
-        for (int m = 0; m < particles.size(); m++) {
-            double threshold = u + m * step;
-            while (index < cumulative.length - 1 && cumulative[index] < threshold) {
-                index++;
-            }
-
-            Particle copy = particles.get(index).copy();
-            copy.weight = 1.0 / particles.size();
-            copy.alive = true;
-
-            if (config.resampleRegularizationPosStdMeters > 0.0) {
-                copy.x += gaussian(0.0, config.resampleRegularizationPosStdMeters);
-                copy.y += gaussian(0.0, config.resampleRegularizationPosStdMeters);
-            }
-
-            if (config.resampleRegularizationHeadingStdRad > 0.0) {
-                copy.headingRad = wrapAngleRad(
-                        copy.headingRad + gaussian(0.0, config.resampleRegularizationHeadingStdRad)
-                );
-            }
-
-            newParticles.add(copy);
-        }
-
-        particles.clear();
-        particles.addAll(newParticles);
+        return Math.exp(-0.5 * d2 / s2);
     }
 
     /**
-     * Local-only recovery around the best particle.
+     * Normalises particle weights so they sum to 1.
      *
-     * This keeps the recovery logic simple and avoids map-driven teleporting.
+     * <p>If all weights collapse numerically, recover by assigning uniform
+     * weights instead of producing NaNs.
      */
-    private void recoverParticles() {
-        Particle seed = findBestParticle();
-
-        double centerX = 0.0;
-        double centerY = 0.0;
-        int floor = 0;
-        double heading = 0.0;
-
-        if (seed != null) {
-            centerX = seed.x;
-            centerY = seed.y;
-            floor = seed.floor;
-            heading = seed.headingRad;
+    private void normaliseWeights(double weightSum) {
+        if (weightSum < 1e-12) {
+            double uniformWeight = 1.0 / particleCount;
+            for (Particle particle : particles) {
+                particle.weight = uniformWeight;
+            }
+            return;
         }
 
-        particles.clear();
-
-        for (int i = 0; i < config.particleCount; i++) {
-            particles.add(new Particle(
-                    centerX + gaussian(0.0, config.recoveryPositionStdMeters),
-                    centerY + gaussian(0.0, config.recoveryPositionStdMeters),
-                    wrapAngleRad(heading + gaussian(0.0, config.recoveryHeadingStdRad)),
-                    floor,
-                    1.0 / config.particleCount
-            ));
+        for (Particle particle : particles) {
+            particle.weight /= weightSum;
         }
     }
 
-    @Nullable
-    private Particle findBestParticle() {
-        Particle best = null;
-        double bestWeight = -1.0;
-        for (Particle p : particles) {
-            if (p.weight > bestWeight) {
-                bestWeight = p.weight;
-                best = p;
-            }
+    /**
+     * Adds a small amount of random jitter after resampling.
+     *
+     * <p>This prevents the particle set from collapsing into too many exact
+     * copies of the same hypothesis.
+     */
+    private void regularizeParticles() {
+        for (Particle particle : particles) {
+            particle.x += rng.nextGaussian() * sigmaRegPos;
+            particle.y += rng.nextGaussian() * sigmaRegPos;
+            particle.theta = wrapAngle(particle.theta + rng.nextGaussian() * sigmaRegTheta);
         }
-        return best;
     }
 
     /**
-     * Build fused pose from weighted mean in local x/y.
+     * Systematic resampling.
+     *
+     * <p>This produces a new particle set according to the current weights,
+     * then resets all copied particles to equal weight.
      */
-    @NonNull
-    private FusedPose buildFusedPose(@NonNull CoordinateConverter converter) {
-        double x = 0.0;
-        double y = 0.0;
-        double cosSum = 0.0;
-        double sinSum = 0.0;
-
-        List<Integer> floors = new ArrayList<>();
-        List<Double> floorWeights = new ArrayList<>();
-
-        double weightSum = 0.0;
-
-        for (Particle p : particles) {
-            if (!p.alive || p.weight <= 0.0) {
-                continue;
-            }
-
-            x += p.x * p.weight;
-            y += p.y * p.weight;
-            cosSum += Math.cos(p.headingRad) * p.weight;
-            sinSum += Math.sin(p.headingRad) * p.weight;
+    private void systematicResample() {
+        List<Particle> resampled = new ArrayList<>(particleCount);
+        double[] cdf = new double[particleCount];
 
-            floors.add(p.floor);
-            floorWeights.add(p.weight);
-            weightSum += p.weight;
+        cdf[0] = particles.get(0).weight;
+        for (int i = 1; i < particleCount; i++) {
+            cdf[i] = cdf[i - 1] + particles.get(i).weight;
         }
 
-        if (weightSum <= 0.0) {
-            return new FusedPose(
-                    0.0,
-                    0.0,
-                    0.0,
-                    0,
-                    converter.localToLatLng(0.0, 0.0),
-                    0.0f
-            );
-        }
+        double step = 1.0 / particleCount;
+        double u0 = rng.nextDouble() * step;
+        int cdfIndex = 0;
 
-        x /= weightSum;
-        y /= weightSum;
+        for (int i = 0; i < particleCount; i++) {
+            double threshold = u0 + i * step;
 
-        int fusedFloor = weightedModeFloor(floors, floorWeights);
-        double fusedHeading = Math.atan2(sinSum, cosSum);
-        float confidence = (float) computeConfidence();
+            while (cdfIndex < particleCount - 1 && cdf[cdfIndex] < threshold) {
+                cdfIndex++;
+            }
 
-        LatLng fusedLatLng = converter.localToLatLng(x, y);
+            Particle copy = particles.get(cdfIndex).copy();
+            copy.weight = 1.0 / particleCount;
+            resampled.add(copy);
+        }
 
-        return new FusedPose(
-                x,
-                y,
-                fusedHeading,
-                fusedFloor,
-                fusedLatLng,
-                confidence
-        );
+        particles.clear();
+        particles.addAll(resampled);
     }
 
-    private int weightedModeFloor(@NonNull List<Integer> floors,
-                                  @NonNull List<Double> weights) {
-        if (floors.isEmpty()) {
-            return 0;
-        }
-
-        Map<Integer, Double> accumulated = new HashMap<>();
-        for (int i = 0; i < floors.size(); i++) {
-            int floor = floors.get(i);
-            double weight = weights.get(i);
-            accumulated.put(floor, accumulated.getOrDefault(floor, 0.0) + weight);
+    /** Wraps angle to [-pi, pi]. */
+    private double wrapAngle(double angle) {
+        while (angle > Math.PI) {
+            angle -= 2.0 * Math.PI;
         }
-
-        int bestFloor = floors.get(0);
-        double bestWeight = -1.0;
-        for (Map.Entry<Integer, Double> entry : accumulated.entrySet()) {
-            if (entry.getValue() > bestWeight) {
-                bestWeight = entry.getValue();
-                bestFloor = entry.getKey();
-            }
+        while (angle < -Math.PI) {
+            angle += 2.0 * Math.PI;
         }
-        return bestFloor;
+        return angle;
     }
 
     /**
-     * Simple confidence metric:
-     * higher when ESS is high and alive particle count is healthy.
+     * Lightweight container for discrete map-constraint data.
      */
-    private double computeConfidence() {
-        double ess = computeEffectiveSampleSize();
-        double essRatio = ess / Math.max(1.0, config.particleCount);
-        double aliveRatio = countAliveParticles() / (double) Math.max(1, config.particleCount);
-        return clamp01(0.5 * essRatio + 0.5 * aliveRatio);
-    }
-
-    @NonNull
-    public List<Particle> getParticlesSnapshot() {
-        return deepCopyParticles();
-    }
-
-    @NonNull
-    private List<Particle> deepCopyParticles() {
-        List<Particle> copy = new ArrayList<>(particles.size());
-        for (Particle p : particles) {
-            copy.add(p.copy());
-        }
-        return copy;
-    }
-
-    private double gaussian(double mean, double std) {
-        return mean + random.nextGaussian() * std;
-    }
-
-    private static double gaussianPdf(double x, double mean, double std) {
-        double sigma = Math.max(1e-6, std);
-        double z = (x - mean) / sigma;
-        return Math.exp(-0.5 * z * z);
-    }
-
-    private static double wrapAngleRad(double a) {
-        while (a > Math.PI) a -= 2.0 * Math.PI;
-        while (a < -Math.PI) a += 2.0 * Math.PI;
-        return a;
-    }
-
-    private static double smallestAngleDiffRad(double a, double b) {
-        return wrapAngleRad(a - b);
-    }
-
-    private static double clamp01(double x) {
-        return Math.max(0.0, Math.min(1.0, x));
-    }
-
-    private void log(@NonNull String message) {
-        if (config.debugLogging) {
-            Log.d(TAG, message);
+    public static final class ConstraintContext {
+        final CoordinateConverter coordinateConverter;
+        final FloorplanApiClient.FloorShapes sourceFloorShapes;
+        final double wallCrossPenalty;
+
+        public ConstraintContext(CoordinateConverter coordinateConverter,
+                                 FloorplanApiClient.FloorShapes sourceFloorShapes,
+                                 double wallCrossPenalty) {
+            this.coordinateConverter = coordinateConverter;
+            this.sourceFloorShapes = sourceFloorShapes;
+            this.wallCrossPenalty = wallCrossPenalty;
+        }
+
+        boolean isUsable() {
+            return coordinateConverter != null
+                    && sourceFloorShapes != null
+                    && wallCrossPenalty >= 0.0;
         }
     }
 }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
index 240ef7d6..c513dcf1 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
@@ -5,896 +5,827 @@
 import android.os.SystemClock;
 import android.util.Log;
 
-import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.preference.PreferenceManager;
 
 import com.google.android.gms.maps.model.LatLng;
 import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
 import com.openpositioning.PositionMe.mapmatching.CandidatePose;
-import com.openpositioning.PositionMe.mapmatching.MapGeometryUtils;
+import com.openpositioning.PositionMe.mapmatching.MapMatchingInput;
+import com.openpositioning.PositionMe.mapmatching.MapMatchingResult;
+import com.openpositioning.PositionMe.mapmatching.MapMatchingService;
+import com.openpositioning.PositionMe.mapmatching.MotionDelta;
 import com.openpositioning.PositionMe.mapmatching.VerticalMotionDetector;
 import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
-import com.openpositioning.PositionMe.sensors.SensorTypes;
-import com.openpositioning.PositionMe.utils.IndoorMapManager;
 
 import java.util.List;
-import java.util.Locale;
 
 /**
- * High-level controller for the live particle filter.
+ * High-level manager around the particle filter engine.
  *
- * Cleaned design goals:
- * - keep fusion state in local x/y
- * - convert LatLng to local only when building an observation
- * - convert local back to LatLng only when exporting a fused pose
- * - keep map usage simple: wall crossing and floor-transition gating only
- * - remove mapLikelihood and walkable-weight tuning completely
+ * <p>This class is responsible for:
+ * - loading PF settings from SharedPreferences
+ * - listening for user changes to those settings
+ * - initialising the engine when enough information is available
+ * - converting raw app data into PF prediction + observation inputs
+ * - applying discrete map matching after the raw PF estimate
+ * - storing the latest fused pose estimate
+ *
+ * <p>Important design choice:
+ * the PF remains motion-driven. Map matching is applied as a discrete validity
+ * layer to stop impossible behaviour such as wall penetration or invalid floor
+ * changes. There is no continuous map-based trajectory shaping here.
  */
 public class ParticleFilterManager {
 
     private static final String TAG = "ParticleFilterManager";
 
-    public interface Host {
-        void onFusedPoseUpdated(@NonNull FusedPose fusedPose);
-    }
-
-    private static final double PF_MOTION_SCALE = 0.85;
-    private static final double PF_MOTION_DEADBAND_METERS = 0.02;
-    private static final double PF_MAX_STEP_METERS = 1.20;
-    private static final double PF_DRAW_MIN_TRANSLATION_METERS = 0.06;
-
-    private static final int WIFI_MIN_AP_COUNT = 8;
-    private static final double MAP_MATCH_JUMP_GATE_METERS = 12.0;
-    private static final double WIFI_JUMP_GATE_INDOOR_METERS = 8.0;
-    private static final double WIFI_JUMP_GATE_OUTDOOR_METERS = 18.0;
-    private static final double GNSS_JUMP_GATE_OUTDOOR_METERS = 30.0;
+    private static final double POSITION_EMA_ALPHA = 0.10;
+    private static final double HEADING_EMA_ALPHA = 0.08;
+    private static final double CONFIDENCE_EMA_ALPHA = 0.20;
+    private static final double WIFI_GATE_METERS = 5.0;
+    private static final double GNSS_GATE_METERS = 25.0;
+    private static final double WIFI_OBS_EMA_ALPHA = 0.10;
+    private static final double WALL_CROSS_PENALTY = 0.5;
 
+    /** Main app sensor/data source. */
     private final SensorFusion sensorFusion;
-    private final ParticleConstraintDebugger debugger;
-    private final VerticalMotionDetector verticalMotionDetector = new VerticalMotionDetector();
-    private final KalmanPoseSmoother kalmanPoseSmoother = new KalmanPoseSmoother();
 
-    @Nullable
-    private final Host host;
+    /** Application context used for preferences. */
+    private final Context appContext;
 
-    @Nullable
-    private IndoorMapManager indoorMapManager;
-    @Nullable
-    private HybridConstraintModel constraintModel;
-    @Nullable
+    /** SharedPreferences backing live-tunable PF settings. */
+    private final SharedPreferences prefs;
+
+    /** Converts between global LatLng and local x/y coordinates. */
     private CoordinateConverter coordinateConverter;
-    @Nullable
-    private ParticleFilterEngine engine;
-    @Nullable
-    private ParticleFilterConfig activeConfig;
-    @Nullable
-    private ParticleFilterEngine.StepDiagnostics lastDiagnostics;
 
-    @NonNull
-    private String lastObservationSummary = "obs:none";
-    @NonNull
-    private String lastMotionSummary = "motion:idle";
+    /** The actual PF engine instance. */
+    private ParticleFilterEngine particleFilterEngine;
 
-    @Nullable
+    /** Latest estimated fused pose. */
     private FusedPose latestFusedPose;
-    @Nullable
-    private FusedPose latestRawPose;
 
+    /** Whether PF is enabled for the current recording session. */
     private boolean enabled = false;
-    private boolean initialised = false;
-
-    @Nullable
-    private float[] lastPdrValues;
 
-    @Nullable
-    private CandidatePose latestMatchedPose;
+    // -------------------------
+    // PDR incremental tracking
+    // -------------------------
 
-    private boolean lastPoseShouldBeDrawn = false;
-    private boolean lastMotionWasMeaningful = false;
+    private boolean firstPdrSample = true;
+    private double lastPdrX = 0.0;
+    private double lastPdrY = 0.0;
+    private double lastHeading = 0.0;
 
-    public ParticleFilterManager(@NonNull SensorFusion sensorFusion,
-                                 @Nullable Host host) {
-        this.sensorFusion = sensorFusion;
-        this.host = host;
-        this.debugger = new ParticleConstraintDebugger(TAG);
-        this.debugger.setMinIntervalMs(300);
-        reloadRuntimeSettings(true);
-    }
+    // -------------------------
+    // Live PF settings
+    // -------------------------
 
-    public ParticleFilterManager(@NonNull SensorFusion sensorFusion,
-                                 @Nullable Context ignoredContext) {
-        this(sensorFusion, (Host) null);
-    }
+    private ParticleFilterConfig currentConfig;
+    private boolean pfConfigDirty = false;
 
-    public void setEnabled(boolean enabled) {
-        this.enabled = enabled;
+    // -------------------------
+    // Observation / output smoothing
+    // -------------------------
 
-        if (enabled) {
-            reloadRuntimeSettings(true);
-        } else {
-            reset();
-        }
+    private boolean wifiObsEmaInitialised = false;
+    private double wifiObsEmaX = 0.0;
+    private double wifiObsEmaY = 0.0;
 
-        Log.d(TAG, "Particle filter enabled = " + enabled);
-    }
-
-    public boolean isEnabled() {
-        return enabled;
-    }
+    private boolean poseEmaInitialised = false;
+    private double emaX = 0.0;
+    private double emaY = 0.0;
+    private double emaTheta = 0.0;
+    private float emaConfidence = 0f;
 
-    public boolean shouldDrawLatestPose() {
-        return lastPoseShouldBeDrawn;
-    }
+    // -------------------------
+    // Map-constraint state
+    // -------------------------
 
-    public void setIndoorMapManager(@Nullable IndoorMapManager indoorMapManager) {
-        if (this.indoorMapManager == indoorMapManager && constraintModel != null) {
-            return;
-        }
-
-        this.indoorMapManager = indoorMapManager;
-        this.constraintModel = new HybridConstraintModel(indoorMapManager);
-
-        if (engine != null) {
-            engine.setConstraintModel(this.constraintModel);
-        }
+    private final MapMatchingService mapMatchingService = new MapMatchingService();
+    private final VerticalMotionDetector verticalMotionDetector = new VerticalMotionDetector();
 
-        Log.d(TAG, "IndoorMapManager attached to ParticleFilterManager: " + (indoorMapManager != null));
-    }
+    @Nullable
+    private CandidatePose lastMatchedPose = null;
 
-    public void reset() {
-        latestFusedPose = null;
-        latestRawPose = null;
-        lastPdrValues = null;
-        latestMatchedPose = null;
-        initialised = false;
-        lastDiagnostics = null;
-        lastObservationSummary = "obs:none";
-        lastMotionSummary = "motion:idle";
-        lastPoseShouldBeDrawn = false;
-        lastMotionWasMeaningful = false;
+    /** Authoritative floor owner for live PF mode. */
+    private int activePfFloor = 0;
 
-        verticalMotionDetector.reset();
-        kalmanPoseSmoother.reset();
-
-        if (engine != null) {
-            engine.clear();
-        }
+    public ParticleFilterManager(SensorFusion sensorFusion, Context context) {
+        this.sensorFusion = sensorFusion;
+        this.appContext = context.getApplicationContext();
+        this.prefs = PreferenceManager.getDefaultSharedPreferences(appContext);
 
-        Log.d(TAG, "Particle filter reset.");
+        this.currentConfig = loadPfConfig();
+        prefs.registerOnSharedPreferenceChangeListener(pfListener);
     }
 
-    public boolean isInitialised() {
-        return initialised && engine != null && engine.isInitialised();
-    }
+    private final SharedPreferences.OnSharedPreferenceChangeListener pfListener =
+            (sharedPreferences, key) -> {
+                if (key == null) return;
+
+                switch (key) {
+                    case "pf_particle_count":
+                    case "pf_sigma_step":
+                    case "pf_sigma_theta_deg":
+                    case "pf_sigma_wifi":
+                    case "pf_sigma_gnss":
+                    case "pf_init_pos_std":
+                    case "pf_init_heading_deg":
+                    case "pf_resample_ratio":
+                    case "pf_sigma_reg_pos":
+                    case "pf_sigma_reg_theta_deg":
+                        currentConfig = loadPfConfig();
+                        pfConfigDirty = true;
+                        Log.d(TAG, "PF config changed: " + key);
+                        break;
+                }
+            };
 
-    @Nullable
-    public FusedPose getLatestFusedPose() {
-        return latestFusedPose;
+    public void destroy() {
+        prefs.unregisterOnSharedPreferenceChangeListener(pfListener);
     }
 
-    @Nullable
-    public FusedPose getLatestRawPose() {
-        return latestRawPose;
+    private ParticleFilterConfig loadPfConfig() {
+        int particleCount = Integer.parseInt(prefs.getString("pf_particle_count", "300"));
+        double sigmaStep = Double.parseDouble(prefs.getString("pf_sigma_step", "0.15"));
+        double sigmaThetaDeg = Double.parseDouble(prefs.getString("pf_sigma_theta_deg", "6"));
+        double sigmaWifi = Double.parseDouble(prefs.getString("pf_sigma_wifi", "2.5"));
+        double sigmaGnss = Double.parseDouble(prefs.getString("pf_sigma_gnss", "5.0"));
+        double initPosStd = Double.parseDouble(prefs.getString("pf_init_pos_std", "1.0"));
+        double initHeadingDeg = Double.parseDouble(prefs.getString("pf_init_heading_deg", "10"));
+        double resampleRatio = Double.parseDouble(prefs.getString("pf_resample_ratio", "0.5"));
+        double sigmaRegPos = Double.parseDouble(prefs.getString("pf_sigma_reg_pos", "0.03"));
+        double sigmaRegThetaDeg = Double.parseDouble(prefs.getString("pf_sigma_reg_theta_deg", "1.0"));
+
+        return new ParticleFilterConfig(
+                particleCount,
+                sigmaStep,
+                Math.toRadians(sigmaThetaDeg),
+                sigmaWifi,
+                sigmaGnss,
+                initPosStd,
+                Math.toRadians(initHeadingDeg),
+                resampleRatio,
+                sigmaRegPos,
+                Math.toRadians(sigmaRegThetaDeg)
+        );
     }
 
-    @NonNull
-    public List<ParticleFilterEngine.Particle> getParticlesSnapshot() {
-        if (engine == null) {
-            return java.util.Collections.emptyList();
+    /**
+     * Feeds barometer-derived vertical context into the live detector.
+     *
+     * <p>Call this from the pressure sensor path so lift/stairs evidence can
+     * accumulate even before the next step-triggered PF update.
+     */
+    public void onVerticalContextSample(long timestampMs,
+                                        double elevationMeters,
+                                        boolean elevatorLikely) {
+        if (!enabled) {
+            return;
         }
-        return engine.getParticlesSnapshot();
-    }
-
-    public void setLatestMatchedPose(@Nullable CandidatePose latestMatchedPose) {
-        this.latestMatchedPose = latestMatchedPose;
+        verticalMotionDetector.addSample(timestampMs, elevationMeters, elevatorLikely);
     }
 
-    @NonNull
-    public String getLiveDebugSummary() {
+    /**
+     * Advances the particle filter by one logical movement update.
+     */
+    public void step() {
         if (!enabled) {
-            return "pf=off";
+            return;
         }
-        if (lastDiagnostics == null) {
-            return "pf=waiting_for_step";
+
+        if (pfConfigDirty) {
+            Log.d(TAG, "Applying new PF config -> resetting filter");
+            reset();
+            pfConfigDirty = false;
         }
 
-        int deadParticles = Math.max(
-                0,
-                lastDiagnostics.totalParticles - lastDiagnostics.aliveParticles
+        // Refresh vertical context from the latest live state as well.
+        onVerticalContextSample(
+                SystemClock.uptimeMillis(),
+                sensorFusion.getElevation(),
+                sensorFusion.getElevator()
         );
 
-        return String.format(Locale.US,
-                "pf alive=%d dead=%d total=%d ess=%.1f wall=%d floor=%d obs=%s %s resample=%s recover=%s",
-                lastDiagnostics.aliveParticles,
-                deadParticles,
-                lastDiagnostics.totalParticles,
-                lastDiagnostics.effectiveSampleSize,
-                lastDiagnostics.wallRejectedCount,
-                lastDiagnostics.floorRejectedCount,
-                lastObservationSummary,
-                lastMotionSummary,
-                String.valueOf(lastDiagnostics.resampled),
-                String.valueOf(lastDiagnostics.recovered));
-    }
-
-    public void step() {
-        if (!enabled) {
+        initialiseIfNeeded();
+        if (particleFilterEngine == null || coordinateConverter == null) {
             return;
         }
 
-        setIndoorMapManager(sensorFusion.getParticleFilterIndoorMapManager());
-        setLatestMatchedPose(sensorFusion.getParticleFilterMatchedPose());
+        double deltaS = extractPdrDeltaDistance();
+        double currentHeading = wrapAngle(sensorFusion.getSelectedHeadingRad());
+        double deltaTheta = wrapAngle(currentHeading - lastHeading);
+        lastHeading = currentHeading;
+
+        if (deltaS >= 0.01) {
+            particleFilterEngine.predict(deltaS, deltaTheta);
+            Log.d(TAG, "PF predict: deltaS=" + deltaS + ", deltaTheta=" + deltaTheta);
+        } else {
+            Log.d(TAG, "PF stationary: skip predict, keep update");
+        }
+
+        ParticleFilterObservation observation = buildObservation();
+        ParticleFilterEngine.ConstraintContext constraintContext = buildConstraintContext();
+        particleFilterEngine.update(observation, constraintContext);
 
-        updateFromLiveSensors(SystemClock.elapsedRealtime());
+        FusedPose rawPose = particleFilterEngine.estimate(coordinateConverter);
+        FusedPose correctedPose = applyDiscreteMapMatching(rawPose, currentHeading, deltaS);
+        latestFusedPose = smoothPose(correctedPose != null ? correctedPose : rawPose);
     }
 
     /**
-     * Initialise the local PF at x=0, y=0 using the GNSS anchor as the
-     * coordinate-converter origin.
+     * Initialises the PF only when a reliable autonomous absolute anchor is available.
      */
-    public void initialiseFromGnss(@NonNull LatLng gnssStart,
-                                   int logicalFloor,
-                                   double headingRad) {
-        if (engine == null) {
-            reloadRuntimeSettings(true);
+    public void initialiseIfNeeded() {
+        if (particleFilterEngine != null && particleFilterEngine.isInitialised()) {
+            return;
         }
-        if (engine == null) {
+
+        LatLng initialLatLng = resolveAutonomousInitialLatLng();
+        if (initialLatLng == null) {
+            Log.d(TAG, "PF init skipped: waiting for autonomous WiFi/GNSS initial position.");
             return;
         }
 
         coordinateConverter = new CoordinateConverter(
-                gnssStart.latitude,
-                gnssStart.longitude
+                initialLatLng.latitude,
+                initialLatLng.longitude
         );
 
-        engine.initialise(0.0, 0.0, logicalFloor, headingRad);
-        kalmanPoseSmoother.reset();
+        int wifiFloor = sensorFusion.getWifiFloor();
+        activePfFloor = sanitiseFloorIndex(wifiFloor);
+
+        double[] initialLocal = coordinateConverter.latLngToLocal(initialLatLng);
+        double initialHeading = wrapAngle(sensorFusion.getSelectedHeadingRad());
 
-        latestRawPose = new FusedPose(
-                0.0,
-                0.0,
-                headingRad,
-                logicalFloor,
-                gnssStart,
-                0.5f
+        particleFilterEngine = new ParticleFilterEngine(currentConfig);
+        particleFilterEngine.initialise(
+                initialLocal[0],
+                initialLocal[1],
+                initialHeading,
+                activePfFloor
         );
-        latestFusedPose = latestRawPose;
 
-        initialised = true;
-        lastPdrValues = null;
-        verticalMotionDetector.reset();
+        FusedPose initialRawPose = particleFilterEngine.estimate(coordinateConverter);
+        FusedPose initialCorrectedPose = applyDiscreteMapMatching(initialRawPose, initialHeading, 0.0);
+        latestFusedPose = smoothPose(initialCorrectedPose != null ? initialCorrectedPose : initialRawPose);
+        lastHeading = initialHeading;
 
-        Log.d(TAG, String.format(Locale.US,
-                "PF initialised from GNSS at %.6f, %.6f floor=%d heading=%.3f",
-                gnssStart.latitude, gnssStart.longitude, logicalFloor, Math.toDegrees(headingRad)));
+        if (latestFusedPose != null) {
+            lastMatchedPose = new CandidatePose(
+                    latestFusedPose.getLatLng(),
+                    latestFusedPose.getFloor(),
+                    System.currentTimeMillis(),
+                    "pf_init",
+                    latestFusedPose.getHeadingRad()
+            );
+        }
 
-        pushLatestPoseToOutputs();
+        Log.d(TAG,
+                "PF initialised from autonomous fix"
+                        + " | particles=" + currentConfig.particleCount
+                        + ", sigmaStep=" + currentConfig.sigmaStep
+                        + ", sigmaThetaDeg=" + Math.toDegrees(currentConfig.sigmaThetaRad)
+                        + ", sigmaWifi=" + currentConfig.sigmaWifi
+                        + ", sigmaGnss=" + currentConfig.sigmaGnss
+                        + ", activeFloor=" + activePfFloor
+                        + ", lat=" + initialLatLng.latitude
+                        + ", lon=" + initialLatLng.longitude);
     }
 
-    @NonNull
-    private ParticleFilterConfig buildConfigFromPreferences(@Nullable Context context) {
-        int particleCount = parseIntPref(context, "pf_particle_count", 250, 50, 5000);
+    private LatLng resolveAutonomousInitialLatLng() {
+        float[] storedStart = sensorFusion.getGNSSLatitude(true);
+        if (isValidLatLon(storedStart)) {
+            return new LatLng(storedStart[0], storedStart[1]);
+        }
 
-        double sigmaStep = parseDoublePref(context, "pf_sigma_step", 0.22, 0.01, 10.0);
-        double sigmaThetaRad = Math.toRadians(
-                parseDoublePref(context, "pf_sigma_theta_deg", 6.0, 0.1, 180.0)
-        );
+        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
+        if (isValidLatLng(wifiLatLng)) {
+            return wifiLatLng;
+        }
 
-        double sigmaWifi = parseDoublePref(context, "pf_sigma_wifi", 2.5, 0.3, 50.0);
-        double sigmaGnss = parseDoublePref(context, "pf_sigma_gnss", 5.0, 0.5, 100.0);
+        float[] gnssLatLon = sensorFusion.getGNSSLatitude(false);
+        if (isValidLatLon(gnssLatLon)) {
+            return new LatLng(gnssLatLon[0], gnssLatLon[1]);
+        }
 
-        double initPosStd = parseDoublePref(context, "pf_init_pos_std", 1.0, 0.05, 20.0);
-        double initHeadingStdRad = Math.toRadians(
-                parseDoublePref(context, "pf_init_heading_deg", 10.0, 0.1, 180.0)
-        );
+        return null;
+    }
 
-        double resampleRatio = parseDoublePref(context, "pf_resample_ratio", 0.45, 0.05, 0.95);
-        double sigmaRegPos = parseDoublePref(context, "pf_sigma_reg_pos", 0.03, 0.0, 5.0);
-        double sigmaRegThetaRad = Math.toRadians(
-                parseDoublePref(context, "pf_sigma_reg_theta_deg", 1.0, 0.0, 45.0)
-        );
+    public void reset() {
+        coordinateConverter = null;
+        particleFilterEngine = null;
+        latestFusedPose = null;
 
-        ParticleFilterConfig cfg = new ParticleFilterConfig(
-                particleCount,
-                sigmaStep,
-                sigmaThetaRad,
-                sigmaWifi,
-                sigmaGnss,
-                initPosStd,
-                initHeadingStdRad,
-                resampleRatio,
-                sigmaRegPos,
-                sigmaRegThetaRad
-        );
+        firstPdrSample = true;
+        lastPdrX = 0.0;
+        lastPdrY = 0.0;
+        lastHeading = 0.0;
 
-        cfg.enableMapConstraints = true;
-        cfg.enableAbsoluteObservationWeighting = true;
-        cfg.minimumWeightFloor = 1e-12;
+        poseEmaInitialised = false;
+        emaX = 0.0;
+        emaY = 0.0;
+        emaTheta = 0.0;
+        emaConfidence = 0f;
 
-        // Keep recovery disabled by default in the cleaned version.
-        cfg.enableRecoveryIfCollapsed = false;
-        cfg.recoveryPositionStdMeters = 0.75;
-        cfg.recoveryHeadingStdRad = Math.toRadians(8.0);
+        wifiObsEmaInitialised = false;
+        wifiObsEmaX = 0.0;
+        wifiObsEmaY = 0.0;
 
-        cfg.debugLogging = true;
-        return cfg;
+        activePfFloor = 0;
+        lastMatchedPose = null;
+        verticalMotionDetector.reset();
+        mapMatchingService.resetTransientState();
     }
 
-    private void reloadRuntimeSettings(boolean forceRecreateEngine) {
-        Context context = sensorFusion.getContext();
-        ParticleFilterConfig cfg = buildConfigFromPreferences(context);
-        activeConfig = cfg;
-
-        if (forceRecreateEngine || engine == null || !initialised) {
-            engine = new ParticleFilterEngine(cfg);
-            if (constraintModel != null) {
-                engine.setConstraintModel(constraintModel);
-            }
-            initialised = false;
-        }
-
-        Log.d(TAG, String.format(Locale.US,
-                "PF_CONFIG particles=%d sigmaStep=%.3f sigmaThetaDeg=%.2f sigmaWifi=%.2f sigmaGnss=%.2f initPos=%.2f initHeadingDeg=%.2f resample=%.2f regPos=%.3f regThetaDeg=%.2f",
-                cfg.particleCount,
-                cfg.forwardNoiseStdMeters,
-                Math.toDegrees(cfg.headingNoiseStdRad),
-                cfg.observationSigmaWifiMeters,
-                cfg.observationSigmaGnssMeters,
-                cfg.initialPositionStdMeters,
-                Math.toDegrees(cfg.initialHeadingStdRad),
-                cfg.resampleEffectiveSampleSizeRatio,
-                cfg.resampleRegularizationPosStdMeters,
-                Math.toDegrees(cfg.resampleRegularizationHeadingStdRad)));
+    public FusedPose getLatestFusedPose() {
+        return enabled ? latestFusedPose : null;
     }
 
-    private int parseIntPref(@Nullable Context context,
-                             @NonNull String key,
-                             int defaultValue,
-                             int minValue,
-                             int maxValue) {
-        if (context == null) {
-            return defaultValue;
-        }
-
-        SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(context);
-        String raw = prefs.getString(key, String.valueOf(defaultValue));
+    public void setEnabled(boolean enabled) {
+        this.enabled = enabled;
+        Log.d(TAG, "PF manager = " + (enabled ? "ENABLED" : "DISABLED"));
 
-        try {
-            int parsed = Integer.parseInt(raw);
-            return Math.max(minValue, Math.min(maxValue, parsed));
-        } catch (Exception e) {
-            Log.w(TAG, "Invalid integer preference for " + key + ": " + raw);
-            return defaultValue;
+        if (!enabled) {
+            reset();
         }
     }
 
-    private double parseDoublePref(@Nullable Context context,
-                                   @NonNull String key,
-                                   double defaultValue,
-                                   double minValue,
-                                   double maxValue) {
-        if (context == null) {
-            return defaultValue;
-        }
-
-        SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(context);
-        String raw = prefs.getString(key, String.valueOf(defaultValue));
-
-        try {
-            double parsed = Double.parseDouble(raw);
-            return Math.max(minValue, Math.min(maxValue, parsed));
-        } catch (Exception e) {
-            Log.w(TAG, "Invalid double preference for " + key + ": " + raw);
-            return defaultValue;
-        }
+    public boolean isEnabled() {
+        return enabled;
     }
 
-    public void updateFromLiveSensors(long timestampMs) {
-        if (!enabled) {
-            return;
-        }
+    private ParticleFilterObservation buildObservation() {
+        Double wifiX = null;
+        Double wifiY = null;
+        Integer wifiFloor = null;
 
-        if (engine == null) {
-            reloadRuntimeSettings(true);
-        }
-        if (engine == null) {
-            return;
-        }
+        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
+        if (isValidLatLng(wifiLatLng) && coordinateConverter != null) {
+            double[] local = coordinateConverter.latLngToLocal(wifiLatLng);
+
+            boolean acceptWifi = true;
+            if (latestFusedPose != null) {
+                double dx = local[0] - latestFusedPose.getXMeters();
+                double dy = local[1] - latestFusedPose.getYMeters();
+                double dist = Math.hypot(dx, dy);
 
-        if (!initialised) {
-            tryInitialiseFromCurrentSensors();
-            if (!initialised) {
-                Log.d(TAG, "PF update skipped: waiting for initial GNSS anchor.");
-                return;
+                if (dist > WIFI_GATE_METERS) {
+                    acceptWifi = false;
+                    Log.d(TAG, "Rejecting WiFi update by gate | dist=" + dist + ", gate=" + WIFI_GATE_METERS);
+                }
             }
-        }
 
-        float[] pdr = sensorFusion.getSensorValueMap().get(SensorTypes.PDR);
-        if (pdr == null || pdr.length < 2) {
-            Log.d(TAG, "PF update skipped: PDR unavailable.");
-            return;
+            if (acceptWifi) {
+                double[] smoothWifi = smoothWifiObservation(local[0], local[1]);
+                wifiX = smoothWifi[0];
+                wifiY = smoothWifi[1];
+                wifiFloor = sensorFusion.getWifiFloor();
+            }
         }
 
-        ParticleFilterEngine.MotionInput motionInput = buildMotionInput(pdr, timestampMs);
-        boolean stationaryLike = !lastMotionWasMeaningful;
-        ParticleFilterEngine.AbsoluteObservation observation = buildObservation(stationaryLike);
+        Double gnssX = null;
+        Double gnssY = null;
 
-        ParticleFilterEngine.StepResult result = engine.update(
-                motionInput,
-                observation,
-                coordinateConverter
-        );
-        lastDiagnostics = result.diagnostics;
+        // Disable GNSS absolute correction when an indoor building/map context is active.
+        if (!isIndoorContextActive()) {
+            float[] gnssLatLon = sensorFusion.getGNSSLatitude(false);
+            if (isValidLatLon(gnssLatLon) && coordinateConverter != null) {
+                LatLng gnssLatLng = new LatLng(gnssLatLon[0], gnssLatLon[1]);
+                double[] local = coordinateConverter.latLngToLocal(gnssLatLng);
 
-        latestRawPose = result.fusedPose;
+                boolean acceptGnss = true;
+                if (latestFusedPose != null) {
+                    double dx = local[0] - latestFusedPose.getXMeters();
+                    double dy = local[1] - latestFusedPose.getYMeters();
+                    double dist = Math.hypot(dx, dy);
 
-        boolean strongAbsoluteObservation =
-                observation != null && "map_match".equals(observation.source);
-
-        KalmanPoseSmoother.SmoothedPose smoothedPose = kalmanPoseSmoother.update(
-                latestRawPose.getX(),
-                latestRawPose.getY(),
-                latestRawPose.getHeadingRad(),
-                latestRawPose.getConfidence(),
-                motionInput.deltaForwardMeters,
-                Math.abs(motionInput.deltaHeadingRad),
-                strongAbsoluteObservation
-        );
+                    if (dist > GNSS_GATE_METERS) {
+                        acceptGnss = false;
+                        Log.d(TAG, "Rejecting GNSS update by gate | dist=" + dist + ", gate=" + GNSS_GATE_METERS);
+                    }
+                }
 
-        LatLng smoothedLatLng = latestRawPose.getLatLng();
-        if (coordinateConverter != null) {
-            smoothedLatLng = coordinateConverter.localToLatLng(smoothedPose.x, smoothedPose.y);
+                if (acceptGnss) {
+                    gnssX = local[0];
+                    gnssY = local[1];
+                }
+            }
+        } else {
+            Log.d(TAG, "GNSS disabled for PF because indoor context is active.");
         }
 
-        latestFusedPose = new FusedPose(
-                smoothedPose.x,
-                smoothedPose.y,
-                smoothedPose.theta,
-                latestRawPose.getFloor(),
-                smoothedLatLng,
-                latestRawPose.getConfidence()
-        );
-
-        lastPoseShouldBeDrawn = lastMotionWasMeaningful;
-
-        pushLatestPoseToOutputs();
-
-        Log.d(TAG, String.format(Locale.US,
-                "PF_OUTPUT lat=%.6f lng=%.6f x=%.3f y=%.3f floor=%d conf=%.3f",
-                latestFusedPose.getLatLng().latitude,
-                latestFusedPose.getLatLng().longitude,
-                latestFusedPose.getX(),
-                latestFusedPose.getY(),
-                latestFusedPose.getFloor(),
-                latestFusedPose.getConfidence()));
-
-        debugger.logStep(
-                "live_update",
-                result.diagnostics.totalParticles,
-                result.diagnostics.aliveParticles,
-                result.diagnostics.wallRejectedCount,
-                result.diagnostics.floorRejectedCount,
-                result.diagnostics.observationWeightedCount,
-                lastObservationSummary
-        );
-
-        debugger.logFusedPose(
-                "live_update",
-                latestFusedPose.getLatLng().latitude,
-                latestFusedPose.getLatLng().longitude,
-                latestFusedPose.getFloor(),
-                latestFusedPose.getHeadingRad(),
-                latestFusedPose.getConfidence()
-        );
+        return new ParticleFilterObservation(wifiX, wifiY, wifiFloor, gnssX, gnssY);
     }
 
-    private void pushLatestPoseToOutputs() {
-        sensorFusion.setLatestRawFusedPose(latestRawPose);
-        sensorFusion.setLatestFusedPose(latestFusedPose);
+    @Nullable
+    private ParticleFilterEngine.ConstraintContext buildConstraintContext() {
+        if (coordinateConverter == null) {
+            return null;
+        }
 
-        if (host != null && latestFusedPose != null) {
-            host.onFusedPoseUpdated(latestFusedPose);
+        FloorplanApiClient.FloorShapes sourceFloorShapes = getFloorShapesForFloor(activePfFloor);
+        if (sourceFloorShapes == null) {
+            return null;
         }
+
+        return new ParticleFilterEngine.ConstraintContext(
+                coordinateConverter,
+                sourceFloorShapes,
+                WALL_CROSS_PENALTY
+        );
     }
 
-    private void tryInitialiseFromCurrentSensors() {
-        float[] gnss = sensorFusion.getGNSSLatitude(false);
-        if (gnss == null || gnss.length < 2) {
-            return;
+    @Nullable
+    private FusedPose applyDiscreteMapMatching(@Nullable FusedPose rawPose,
+                                               double currentHeadingRad,
+                                               double stepDistanceMeters) {
+        if (rawPose == null || coordinateConverter == null || rawPose.getLatLng() == null) {
+            return rawPose;
         }
 
-        if (Math.abs(gnss[0]) < 1e-6 && Math.abs(gnss[1]) < 1e-6) {
-            return;
+        FloorplanApiClient.FloorShapes sourceFloorShapes = getFloorShapesForFloor(activePfFloor);
+        VerticalTransitionHint verticalHint = verticalMotionDetector.buildHint();
+        int requestedFloor = resolveRequestedFloor(verticalHint);
+        FloorplanApiClient.FloorShapes targetFloorShapes = getFloorShapesForFloor(requestedFloor);
+
+        // No usable map: keep raw PF output and preserve current PF floor.
+        if (sourceFloorShapes == null && targetFloorShapes == null) {
+            LatLng rawLatLng = rawPose.getLatLng();
+            lastMatchedPose = new CandidatePose(
+                    rawLatLng,
+                    activePfFloor,
+                    System.currentTimeMillis(),
+                    "pf_raw_nomap",
+                    rawPose.getHeadingRad()
+            );
+            return new FusedPose(
+                    rawPose.getXMeters(),
+                    rawPose.getYMeters(),
+                    rawPose.getHeadingRad(),
+                    activePfFloor,
+                    rawLatLng,
+                    rawPose.getConfidence()
+            );
         }
 
-        int floor = 0;
+        CandidatePose currentCandidatePose = new CandidatePose(
+                rawPose.getLatLng(),
+                requestedFloor,
+                System.currentTimeMillis(),
+                "pf_raw",
+                currentHeadingRad
+        );
 
-        if (indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
-            floor = indoorMapManager.indexToLogicalFloor(indoorMapManager.getCurrentFloor());
-        } else if (sensorFusion.getLatLngWifiPositioning() != null) {
-            floor = sensorFusion.getWifiFloor();
-        }
+        MotionDelta motionDelta = new MotionDelta(
+                rawPose.getXMeters() - (lastMatchedPose == null || lastMatchedPose.getLatLng() == null
+                        ? rawPose.getXMeters()
+                        : coordinateConverter.latLngToLocal(lastMatchedPose.getLatLng())[0]),
+                rawPose.getYMeters() - (lastMatchedPose == null || lastMatchedPose.getLatLng() == null
+                        ? rawPose.getYMeters()
+                        : coordinateConverter.latLngToLocal(lastMatchedPose.getLatLng())[1]),
+                stepDistanceMeters,
+                Math.toDegrees(currentHeadingRad)
+        );
 
-        double heading = sensorFusion.passOrientation();
-        initialiseFromGnss(new LatLng(gnss[0], gnss[1]), floor, heading);
-    }
+        MapMatchingInput input = new MapMatchingInput(
+                lastMatchedPose,
+                currentCandidatePose,
+                motionDelta,
+                verticalHint,
+                sourceFloorShapes,
+                targetFloorShapes,
+                sensorFusion.getSelectedBuildingId()
+        );
 
-    @NonNull
-    private ParticleFilterEngine.MotionInput buildMotionInput(@NonNull float[] pdr,
-                                                              long timestampMs) {
+        MapMatchingResult result = mapMatchingService.match(input);
 
-        double deltaForwardMeters = 0.0;
+        int candidateCorrectedFloor = sanitiseFloorIndex(result.getCorrectedFloor());
+        boolean floorTransitionAccepted =
+                result.isFloorChangeAllowed() && candidateCorrectedFloor != activePfFloor;
 
-        if (lastPdrValues != null && lastPdrValues.length >= 2) {
-            double dx = pdr[0] - lastPdrValues[0];
-            double dy = pdr[1] - lastPdrValues[1];
-            deltaForwardMeters = Math.sqrt(dx * dx + dy * dy);
+        LatLng rawLatLng = rawPose.getLatLng();
+        LatLng candidateMatchedLatLng = result.getCorrectedLatLng() != null
+                ? result.getCorrectedLatLng()
+                : rawLatLng;
 
-            if (deltaForwardMeters < PF_MOTION_DEADBAND_METERS) {
-                deltaForwardMeters = 0.0;
-            }
+        // Conservative jump guard:
+        // - same-floor corrections must stay small
+        // - near stairs/lifts can be slightly looser
+        // - true accepted floor transitions are allowed
+        final double maxSameFloorCorrectionMeters = 0.8;
+        final double maxConnectorCorrectionMeters = 1.5;
 
-            deltaForwardMeters *= PF_MOTION_SCALE;
-            deltaForwardMeters = Math.min(deltaForwardMeters, PF_MAX_STEP_METERS);
-        }
+        double allowedCorrectionMeters =
+                (result.isNearStairs() || result.isNearLift())
+                        ? maxConnectorCorrectionMeters
+                        : maxSameFloorCorrectionMeters;
 
-        double currentHeading = sensorFusion.passOrientation();
-        double deltaHeadingRad = 0.0;
+        double correctionMeters = distanceMeters(rawLatLng, candidateMatchedLatLng);
 
-        if (latestFusedPose != null) {
-            deltaHeadingRad = wrapAngleRad(currentHeading - latestFusedPose.getHeadingRad());
-        }
+        LatLng correctedLatLng;
+        int correctedFloor = activePfFloor;
 
-        verticalMotionDetector.addSample(
-                timestampMs,
-                sensorFusion.getElevation(),
-                sensorFusion.getElevator()
+        if (result.isCrossedWall()) {
+            // Wall event: do not snap to a far corrected point.
+            // Prefer the last valid matched pose if we have one.
+            if (lastMatchedPose != null && lastMatchedPose.getLatLng() != null) {
+                correctedLatLng = lastMatchedPose.getLatLng();
+            } else {
+                correctedLatLng = rawLatLng;
+            }
+            correctedFloor = activePfFloor;
+
+            Log.d(TAG, "Map correction guarded (wall cross) -> using last valid/raw pose"
+                    + " | correction=" + result.getCorrectionType()
+                    + ", reason=" + result.getDebugReason());
+        } else if (result.getCorrectionType()
+                == com.openpositioning.PositionMe.mapmatching.CorrectionType.INVALID_FLOOR_CHANGE) {
+            // Invalid floor change: keep previous valid floor/pose.
+            if (lastMatchedPose != null && lastMatchedPose.getLatLng() != null) {
+                correctedLatLng = lastMatchedPose.getLatLng();
+            } else {
+                correctedLatLng = rawLatLng;
+            }
+            correctedFloor = activePfFloor;
+
+            Log.d(TAG, "Map correction guarded (invalid floor change) -> using last valid/raw pose"
+                    + " | reason=" + result.getDebugReason());
+        } else if (floorTransitionAccepted) {
+            // Real validated floor transition: allow map-matching correction.
+            correctedLatLng = candidateMatchedLatLng;
+            correctedFloor = candidateCorrectedFloor;
+
+            Log.d(TAG, "Map correction accepted for floor transition"
+                    + " | newFloor=" + correctedFloor
+                    + ", correctionMeters=" + correctionMeters
+                    + ", reason=" + result.getDebugReason());
+        } else if (correctionMeters <= allowedCorrectionMeters) {
+            // Small same-floor correction is okay.
+            correctedLatLng = candidateMatchedLatLng;
+            correctedFloor = activePfFloor;
+        } else {
+            // Too large for a same-floor correction: ignore it.
+            correctedLatLng = rawLatLng;
+            correctedFloor = activePfFloor;
+
+            Log.d(TAG, "Rejected large same-floor map correction"
+                    + " | correctionMeters=" + correctionMeters
+                    + ", allowed=" + allowedCorrectionMeters
+                    + ", nearStairs=" + result.isNearStairs()
+                    + ", nearLift=" + result.isNearLift()
+                    + ", correction=" + result.getCorrectionType()
+                    + ", reason=" + result.getDebugReason());
+        }
+
+        if (correctedFloor != activePfFloor && particleFilterEngine != null) {
+            activePfFloor = correctedFloor;
+            particleFilterEngine.setAllParticlesFloor(activePfFloor);
+            Log.d(TAG, "PF floor owner changed to " + activePfFloor
+                    + " | reason=" + result.getDebugReason());
+        }
+
+        double[] correctedLocal = coordinateConverter.latLngToLocal(correctedLatLng);
+        FusedPose correctedPose = new FusedPose(
+                correctedLocal[0],
+                correctedLocal[1],
+                rawPose.getHeadingRad(),
+                activePfFloor,
+                correctedLatLng,
+                rawPose.getConfidence()
         );
-        VerticalTransitionHint verticalHint = verticalMotionDetector.buildHint();
 
-        double deltaHeightMeters = 0.0;
-        boolean heightChanged = false;
-        String connectorState = "connector=none";
+        lastMatchedPose = new CandidatePose(
+                correctedLatLng,
+                activePfFloor,
+                System.currentTimeMillis(),
+                "pf_matched",
+                correctedPose.getHeadingRad()
+        );
 
-        if (verticalHint != null) {
-            deltaHeightMeters = verticalHint.getDeltaHeight();
-            heightChanged = verticalHint.isHeightChanged();
+        Log.d(TAG,
+                "Map match"
+                        + " | floor=" + activePfFloor
+                        + ", crossedWall=" + result.isCrossedWall()
+                        + ", nearStairs=" + result.isNearStairs()
+                        + ", nearLift=" + result.isNearLift()
+                        + ", floorAllowed=" + result.isFloorChangeAllowed()
+                        + ", correction=" + result.getCorrectionType()
+                        + ", correctionMeters=" + correctionMeters
+                        + ", reason=" + result.getDebugReason());
+
+        return correctedPose;
+    }
 
-            if (constraintModel != null && latestFusedPose != null) {
-                connectorState = "connector=" + constraintModel.classifyNearbyConnector(
-                        latestFusedPose.getX(),
-                        latestFusedPose.getY(),
-                        latestFusedPose.getFloor());
+    private int resolveRequestedFloor(@Nullable VerticalTransitionHint verticalHint) {
+        int requestedFloor = activePfFloor;
 
-                boolean nearStairs = constraintModel.isNearStairs(
-                        latestFusedPose.getX(),
-                        latestFusedPose.getY(),
-                        latestFusedPose.getFloor());
+        if (verticalHint == null || !verticalHint.isHeightChanged()) {
+            return requestedFloor;
+        }
 
-                boolean nearLift = constraintModel.isNearLift(
-                        latestFusedPose.getX(),
-                        latestFusedPose.getY(),
-                        latestFusedPose.getFloor());
+        int wifiFloor = sensorFusion.getWifiFloor();
+        if (isFloorIndexAvailable(wifiFloor) && wifiFloor != activePfFloor) {
+            return wifiFloor;
+        }
 
-                if (heightChanged && !nearStairs && !nearLift) {
-                    heightChanged = false;
-                }
-                if (heightChanged && sensorFusion.getElevator() && !nearLift) {
-                    heightChanged = false;
-                }
-            }
+        if (verticalHint.getDeltaHeight() > 0.0) {
+            requestedFloor = activePfFloor + 1;
+        } else if (verticalHint.getDeltaHeight() < 0.0) {
+            requestedFloor = activePfFloor - 1;
         }
 
-        lastPdrValues = new float[]{pdr[0], pdr[1]};
-
-        lastMotionWasMeaningful = deltaForwardMeters >= PF_DRAW_MIN_TRANSLATION_METERS || heightChanged;
-
-        lastMotionSummary = String.format(Locale.US,
-                "motion=ds%.2f dθ%.1f° dh%.2f %s hc=%s draw=%s",
-                deltaForwardMeters,
-                Math.toDegrees(deltaHeadingRad),
-                deltaHeightMeters,
-                connectorState,
-                String.valueOf(heightChanged),
-                String.valueOf(lastMotionWasMeaningful));
-
-        Log.d(TAG, String.format(Locale.US,
-                "PF_MOTION deltaS=%.3f deltaHeadingDeg=%.2f deltaH=%.2f heightChanged=%s %s draw=%s",
-                deltaForwardMeters,
-                Math.toDegrees(deltaHeadingRad),
-                deltaHeightMeters,
-                String.valueOf(heightChanged),
-                connectorState,
-                String.valueOf(lastMotionWasMeaningful)));
-
-        return new ParticleFilterEngine.MotionInput(
-                deltaForwardMeters,
-                deltaHeadingRad,
-                deltaHeightMeters,
-                heightChanged,
-                timestampMs
-        );
+        return sanitiseFloorIndex(requestedFloor);
     }
 
-    /**
-     * Builds absolute observations in local x/y.
-     *
-     * Priority:
-     * 1) map-matched pose
-     * 2) WiFi
-     * 3) GNSS
-     */
     @Nullable
-    private ParticleFilterEngine.AbsoluteObservation buildObservation(boolean stationaryLike) {
-        if (coordinateConverter == null) {
-            lastObservationSummary = "obs:none";
+    private FloorplanApiClient.FloorShapes getFloorShapesForFloor(int floorIndex) {
+        FloorplanApiClient.BuildingInfo building = getSelectedBuildingInfo();
+        if (building == null) {
             return null;
         }
 
-        double beliefX = latestFusedPose != null ? latestFusedPose.getX() : 0.0;
-        double beliefY = latestFusedPose != null ? latestFusedPose.getY() : 0.0;
-        boolean haveBelief = latestFusedPose != null;
+        List<FloorplanApiClient.FloorShapes> floors = building.getFloorShapesList();
+        if (floors == null || floors.isEmpty()) {
+            return null;
+        }
 
-        double sigmaWifi = activeConfig != null ? activeConfig.observationSigmaWifiMeters : 2.5;
-        double sigmaGnss = activeConfig != null ? activeConfig.observationSigmaGnssMeters : 5.0;
-        boolean indoorActive = indoorMapManager != null && indoorMapManager.getIsIndoorMapSet();
+        if (floorIndex < 0 || floorIndex >= floors.size()) {
+            return null;
+        }
 
-        // 1) map-match
-        if (latestMatchedPose != null && latestMatchedPose.getLatLng() != null) {
-            LatLng latLng = latestMatchedPose.getLatLng();
-            double[] local = coordinateConverter.latLngToLocal(latLng);
+        return floors.get(floorIndex);
+    }
 
-            Integer floor;
-            if (indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
-                floor = indoorMapManager.indexToLogicalFloor(latestMatchedPose.getFloor());
-            } else {
-                floor = latestMatchedPose.getFloor();
-            }
+    @Nullable
+    private FloorplanApiClient.BuildingInfo getSelectedBuildingInfo() {
+        String buildingId = sensorFusion.getSelectedBuildingId();
+        if (buildingId == null || buildingId.isEmpty()) {
+            return null;
+        }
+        return sensorFusion.getFloorplanBuilding(buildingId);
+    }
 
-            if (haveBelief) {
-                double jumpMeters = Math.hypot(local[0] - beliefX, local[1] - beliefY);
-                if (jumpMeters > MAP_MATCH_JUMP_GATE_METERS) {
-                    lastObservationSummary = String.format(Locale.US,
-                            "obs:map_match_reject_jump(%.1fm)", jumpMeters);
-                    Log.d(TAG, lastObservationSummary);
-                    return null;
-                }
-            }
+    private boolean isFloorIndexAvailable(int floorIndex) {
+        FloorplanApiClient.BuildingInfo building = getSelectedBuildingInfo();
+        if (building == null || building.getFloorShapesList() == null) {
+            return floorIndex >= 0;
+        }
+        return floorIndex >= 0 && floorIndex < building.getFloorShapesList().size();
+    }
 
-            lastObservationSummary = String.format(Locale.US,
-                    "obs:map_match floor=%s", String.valueOf(floor));
-
-            return new ParticleFilterEngine.AbsoluteObservation(
-                    local[0],
-                    local[1],
-                    floor,
-                    null,
-                    1.8,
-                    Math.toRadians(15.0),
-                    0.80,
-                    "map_match"
-            );
+    private int sanitiseFloorIndex(int floorIndex) {
+        FloorplanApiClient.BuildingInfo building = getSelectedBuildingInfo();
+        if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
+            return Math.max(0, floorIndex);
         }
+        return Math.max(0, Math.min(floorIndex, building.getFloorShapesList().size() - 1));
+    }
 
-        // 2) WiFi
-        LatLng wifi = sensorFusion.getLatLngWifiPositioning();
-        int wifiCount = sensorFusion.getWifiList() == null ? 0 : sensorFusion.getWifiList().size();
+    private double[] smoothWifiObservation(double x, double y) {
+        if (!wifiObsEmaInitialised) {
+            wifiObsEmaInitialised = true;
+            wifiObsEmaX = x;
+            wifiObsEmaY = y;
+        } else {
+            wifiObsEmaX = ema(wifiObsEmaX, x, WIFI_OBS_EMA_ALPHA);
+            wifiObsEmaY = ema(wifiObsEmaY, y, WIFI_OBS_EMA_ALPHA);
+        }
 
-        if (wifi != null && !(Math.abs(wifi.latitude) < 1e-6 && Math.abs(wifi.longitude) < 1e-6)) {
-            if (indoorActive && !stationaryLike) {
-                lastObservationSummary = "obs:wifi_suppressed_moving";
-                Log.d(TAG, lastObservationSummary);
-                return null;
-            }
+        return new double[]{wifiObsEmaX, wifiObsEmaY};
+    }
 
-            if (wifiCount < WIFI_MIN_AP_COUNT) {
-                lastObservationSummary = "obs:wifi_reject_low_ap_count";
-                Log.d(TAG, lastObservationSummary);
-                return null;
-            }
+    private double extractPdrDeltaDistance() {
+        float[] pdrPosition = sensorFusion.getLatestPdrMovement();
+        if (pdrPosition == null || pdrPosition.length < 2) {
+            return 0.0;
+        }
 
-            double[] local = coordinateConverter.latLngToLocal(wifi);
-
-            if (haveBelief) {
-                double jumpMeters = Math.hypot(local[0] - beliefX, local[1] - beliefY);
-                double gateMeters = indoorActive
-                        ? WIFI_JUMP_GATE_INDOOR_METERS
-                        : WIFI_JUMP_GATE_OUTDOOR_METERS;
-                if (jumpMeters > gateMeters) {
-                    lastObservationSummary = String.format(Locale.US,
-                            "obs:wifi_reject_jump(%.1fm)", jumpMeters);
-                    Log.d(TAG, lastObservationSummary);
-                    return null;
-                }
-            }
+        double px = pdrPosition[0];
+        double py = pdrPosition[1];
 
-            int wifiFloor = sensorFusion.getWifiFloor();
+        if (firstPdrSample) {
+            firstPdrSample = false;
+            lastPdrX = px;
+            lastPdrY = py;
+            return 0.0;
+        }
 
-            double confidence;
-            if (wifiCount >= 10) {
-                confidence = indoorActive ? 0.05 : 0.20;
-            } else {
-                confidence = indoorActive ? 0.03 : 0.12;
-            }
+        double dx = px - lastPdrX;
+        double dy = py - lastPdrY;
 
-            double sigmaMeters = indoorActive ? sigmaWifi * 4.5 : sigmaWifi * 1.8;
+        lastPdrX = px;
+        lastPdrY = py;
 
-            lastObservationSummary = String.format(Locale.US,
-                    "obs:wifi ap=%d floor=%d", wifiCount, wifiFloor);
+        return Math.hypot(dx, dy);
+    }
 
-            return new ParticleFilterEngine.AbsoluteObservation(
-                    local[0],
-                    local[1],
-                    wifiFloor,
-                    null,
-                    sigmaMeters,
-                    Math.toRadians(45.0),
-                    confidence,
-                    "wifi"
-            );
+    private FusedPose smoothPose(FusedPose rawPose) {
+        if (rawPose == null || coordinateConverter == null) {
+            return rawPose;
         }
 
-        // 3) GNSS
-        float[] gnss = sensorFusion.getGNSSLatitude(false);
-        if (gnss != null && gnss.length >= 2
-                && !(Math.abs(gnss[0]) < 1e-6 && Math.abs(gnss[1]) < 1e-6)) {
-
-            if (indoorActive) {
-                lastObservationSummary = "obs:gnss_disabled_indoors";
-                Log.d(TAG, lastObservationSummary);
-                return null;
-            }
-
-            LatLng gnssLatLng = new LatLng(gnss[0], gnss[1]);
-            double[] local = coordinateConverter.latLngToLocal(gnssLatLng);
+        if (!poseEmaInitialised) {
+            poseEmaInitialised = true;
+            emaX = rawPose.getXMeters();
+            emaY = rawPose.getYMeters();
+            emaTheta = rawPose.getHeadingRad();
+            emaConfidence = rawPose.getConfidence();
+            return rawPose;
+        }
 
-            if (haveBelief) {
-                double jumpMeters = Math.hypot(local[0] - beliefX, local[1] - beliefY);
-                if (jumpMeters > GNSS_JUMP_GATE_OUTDOOR_METERS) {
-                    lastObservationSummary = String.format(Locale.US,
-                            "obs:gnss_reject_jump(%.1fm)", jumpMeters);
-                    Log.d(TAG, lastObservationSummary);
-                    return null;
-                }
-            }
+        emaX = ema(emaX, rawPose.getXMeters(), POSITION_EMA_ALPHA);
+        emaY = ema(emaY, rawPose.getYMeters(), POSITION_EMA_ALPHA);
+        emaTheta = emaAngle(emaTheta, rawPose.getHeadingRad(), HEADING_EMA_ALPHA);
+        emaConfidence = (float) ema(emaConfidence, rawPose.getConfidence(), CONFIDENCE_EMA_ALPHA);
 
-            lastObservationSummary = "obs:gnss";
-
-            return new ParticleFilterEngine.AbsoluteObservation(
-                    local[0],
-                    local[1],
-                    null,
-                    null,
-                    sigmaGnss * 1.8,
-                    Math.toRadians(60.0),
-                    0.08,
-                    "gnss"
-            );
-        }
+        LatLng smoothedLatLng = coordinateConverter.localToLatLng(emaX, emaY);
 
-        lastObservationSummary = "obs:none";
-        Log.d(TAG, "PF_OBS source=none");
-        return null;
+        return new FusedPose(
+                emaX,
+                emaY,
+                emaTheta,
+                rawPose.getFloor(),
+                smoothedLatLng,
+                emaConfidence
+        );
     }
 
-    /**
-     * Local x/y adapter around the existing geographic floor-shape / map utilities.
-     *
-     * The particle filter stays local.
-     * Constraints convert local x/y to LatLng only when the map must be queried.
-     */
-    private class HybridConstraintModel implements ParticleFilterEngine.ConstraintModel {
-
-        @Nullable
-        private final IndoorMapManager indoorMapManager;
+    private double ema(double previous, double current, double alpha) {
+        return previous + alpha * (current - previous);
+    }
 
-        HybridConstraintModel(@Nullable IndoorMapManager indoorMapManager) {
-            this.indoorMapManager = indoorMapManager;
-        }
+    private double emaAngle(double previous, double current, double alpha) {
+        return wrapAngle(previous + alpha * wrapAngle(current - previous));
+    }
 
-        @Nullable
-        private FloorplanApiClient.FloorShapes getFloorShapes(int logicalFloor) {
-            if (indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
-                return null;
-            }
-            return indoorMapManager.getFloorShapesForLogicalFloor(logicalFloor);
+    private boolean isValidLatLng(LatLng latLng) {
+        if (latLng == null) {
+            return false;
         }
+        return !(Math.abs(latLng.latitude) < 1e-6 && Math.abs(latLng.longitude) < 1e-6);
+    }
 
-        @Nullable
-        private LatLng toLatLng(double x, double y) {
-            if (coordinateConverter == null) {
-                return null;
-            }
-            return coordinateConverter.localToLatLng(x, y);
+    private boolean isValidLatLon(float[] latLon) {
+        if (latLon == null || latLon.length < 2) {
+            return false;
         }
+        return !(Math.abs(latLon[0]) < 1e-6 && Math.abs(latLon[1]) < 1e-6);
+    }
 
-        boolean isNearStairs(double x, double y, int floor) {
-            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(floor);
-            LatLng point = toLatLng(x, y);
-            if (floorShapes == null || point == null) {
-                return false;
-            }
-            return MapGeometryUtils.isInsideIndoorType(point, floorShapes, "stairs")
-                    || MapGeometryUtils.isNearStairs(point, floorShapes);
-        }
+    private boolean isIndoorContextActive() {
+        String buildingId = sensorFusion.getSelectedBuildingId();
+        return buildingId != null
+                && !buildingId.isEmpty()
+                && sensorFusion.getFloorplanBuilding(buildingId) != null;
+    }
 
-        boolean isNearLift(double x, double y, int floor) {
-            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(floor);
-            LatLng point = toLatLng(x, y);
-            if (floorShapes == null || point == null) {
-                return false;
-            }
-            return MapGeometryUtils.isInsideIndoorType(point, floorShapes, "lift")
-                    || MapGeometryUtils.isNearLift(point, floorShapes);
-        }
+    private double wrapAngle(double angle) {
+        while (angle > Math.PI) angle -= 2.0 * Math.PI;
+        while (angle < -Math.PI) angle += 2.0 * Math.PI;
+        return angle;
+    }
 
-        @NonNull
-        String classifyNearbyConnector(double x, double y, int floor) {
-            boolean stairs = isNearStairs(x, y, floor);
-            boolean lift = isNearLift(x, y, floor);
-            if (stairs && lift) {
-                return "stairs+lift";
-            }
-            if (stairs) {
-                return "stairs";
-            }
-            if (lift) {
-                return "lift";
-            }
-            return "none";
+    private double distanceMeters(@Nullable LatLng a, @Nullable LatLng b) {
+        if (a == null || b == null) {
+            return 0.0;
         }
 
-        @Override
-        public boolean crossesWall(double oldX, double oldY,
-                                   double newX, double newY,
-                                   int floor) {
-            if (indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
-                return false;
-            }
-
-            LatLng oldPoint = toLatLng(oldX, oldY);
-            LatLng newPoint = toLatLng(newX, newY);
-            if (oldPoint == null || newPoint == null) {
-                return false;
-            }
+        double meanLatRad = Math.toRadians((a.latitude + b.latitude) * 0.5);
+        double metersPerDegLat = 111320.0;
+        double metersPerDegLon = 111320.0 * Math.cos(meanLatRad);
 
-            FloorplanApiClient.FloorShapes floorShapes = getFloorShapes(floor);
-            if (floorShapes == null) {
-                return false;
-            }
+        double dx = (b.longitude - a.longitude) * metersPerDegLon;
+        double dy = (b.latitude - a.latitude) * metersPerDegLat;
+        return Math.hypot(dx, dy);
+    }
 
-            return MapGeometryUtils.crossesWall(oldPoint, newPoint, floorShapes);
+    public String getLiveDebugSummary() {
+        if (!enabled) {
+            return "Particles: PF disabled";
         }
 
-        @Override
-        public boolean isFloorTransitionAllowed(double x, double y, int oldFloor, int newFloor) {
-            if (oldFloor == newFloor) {
-                return true;
-            }
-
-            if (indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
-                return true;
-            }
+        if (particleFilterEngine == null) {
+            return "Particles: waiting init";
+        }
 
-            boolean stairsSource = isNearStairs(x, y, oldFloor);
-            boolean liftSource = isNearLift(x, y, oldFloor);
-            boolean stairsTarget = isNearStairs(x, y, newFloor);
-            boolean liftTarget = isNearLift(x, y, newFloor);
+        FusedPose pose = getLatestFusedPose();
+        int alive = particleFilterEngine.getAliveParticleCount();
+        int dead = particleFilterEngine.getDeadParticleCount();
+        int total = particleFilterEngine.getParticleCount();
 
-            return (stairsSource && stairsTarget)
-                    || (liftSource && liftTarget)
-                    || stairsSource
-                    || liftSource
-                    || stairsTarget
-                    || liftTarget;
-        }
-    }
+        int pfFloor = pose != null ? pose.getFloor() : activePfFloor;
 
-    private static double wrapAngleRad(double a) {
-        while (a > Math.PI) a -= 2.0 * Math.PI;
-        while (a < -Math.PI) a += 2.0 * Math.PI;
-        return a;
+        return String.format(
+                java.util.Locale.US,
+                "Particles: %d | alive: %d | dead: %d\nPF floor: %d",
+                total,
+                alive,
+                dead,
+                pfFloor
+        );
     }
 }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
index 2c719ea8..9f19ba1e 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
@@ -27,15 +27,15 @@ public class MapMatchingService {
     // 明显静止/微动时，直接冻结在上一帧匹配位置，优先于 small-step pass-through
     private static final double MAX_IDLE_FREEZE_STEP_METERS = 0.08;
     // 穿墙恢复后，单帧允许的最大“重新贴回”位移，避免轨迹瞬移
-    private static final double MAX_RECOVERY_STEP_METERS = 1.2;
+    private static final double MAX_RECOVERY_STEP_METERS = 0.6;
     // connector 区域附近略放宽，但仍然限制大跳
-    private static final double MAX_RECOVERY_STEP_NEAR_CONNECTOR_METERS = 2.0;
+    private static final double MAX_RECOVERY_STEP_NEAR_CONNECTOR_METERS = 1.0;
     // 合法换层时，对 stairs / lift 锚定的最大允许吸附距离
-    private static final double MAX_STAIRS_ANCHOR_METERS = 3.0;
-    private static final double MAX_LIFT_ANCHOR_METERS = 2.0;
+    private static final double MAX_STAIRS_ANCHOR_METERS = 1.0;
+    private static final double MAX_LIFT_ANCHOR_METERS = 1.0;
     // 切层成功时，把 XY 直接落到目标楼层 connector 内部，避免落在墙边再被轴向滑动。
-    private static final double MAX_STAIRS_LANDING_METERS = 6.5;
-    private static final double MAX_LIFT_LANDING_METERS = 4.5;
+    private static final double MAX_STAIRS_LANDING_METERS = 2.0;
+    private static final double MAX_LIFT_LANDING_METERS = 1.5;
     // 切层成功后的若干帧内，不要立刻把轨迹重新完全交回普通 wall solver；
     // 使用一个短暂的平滑释放窗口，把 landing 点自然过渡到后续轨迹。
     private static final int POST_TRANSITION_RELEASE_FRAMES = 3;
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
index d9c2c44a..37dcc183 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
@@ -32,6 +32,8 @@ public class FloorController {
     private static final float AUTO_FLOOR_VERTICAL_FRACTION_PER_FLOOR = 0.55f;
     private static final long INITIAL_FLOOR_WIFI_STABLE_MS = 1500L;
     private static final int INITIAL_FLOOR_WIFI_REQUIRED_SAMPLES = 3;
+    private static final long INITIAL_FLOOR_BOOTSTRAP_TIMEOUT_MS = 5000L;
+    private long autoFloorStartMs = 0L;
 
     public interface Host {
         @Nullable FloorplanApiClient.BuildingInfo getSelectedFloorplanBuilding();
@@ -290,16 +292,14 @@ public void startAutoFloor() {
         if (autoFloorHandler == null) {
             autoFloorHandler = new Handler(Looper.getMainLooper());
         }
+
         lastCandidateFloor = Integer.MIN_VALUE;
         lastCandidateTime = 0L;
         resetInitialFloorBootstrapState();
+        autoFloorStartMs = SystemClock.elapsedRealtime();
 
-        // If WiFi bootstrap is not available yet, use the current visible floor as the
-        // starting baseline so barometer/elevator logic can still work.
-        if (!initialFloorResolved) {
-            initialFloorResolved = true;
-            syncAutoFloorAnchor();
-        }
+        // Seed elevation baseline only.
+        syncAutoFloorAnchor();
 
         applyImmediateFloor();
 
@@ -315,6 +315,13 @@ public void run() {
         autoFloorHandler.post(autoFloorTask);
     }
 
+    private boolean shouldForceBootstrapFallback() {
+        if (initialFloorResolved || autoFloorStartMs <= 0L) {
+            return false;
+        }
+        return SystemClock.elapsedRealtime() - autoFloorStartMs >= INITIAL_FLOOR_BOOTSTRAP_TIMEOUT_MS;
+    }
+
     public void applyImmediateFloor() {
         if (host.isReplayModeEnabled()) {
             return;
@@ -334,6 +341,14 @@ public void applyImmediateFloor() {
                 lastCandidateTime = SystemClock.elapsedRealtime();
                 return;
             }
+
+            if (!shouldForceBootstrapFallback()) {
+                return;
+            }
+
+            Log.d(TAG, "Initial floor bootstrap timed out; using current visible floor as fallback baseline.");
+            initialFloorResolved = true;
+            syncAutoFloorAnchor();
         }
 
         Integer candidateFloorIndex = resolveAutoFloorCandidateIndex(sensorFusion, indoorMapManager);
@@ -392,6 +407,14 @@ public void evaluateAutoFloor() {
                 lastCandidateTime = SystemClock.elapsedRealtime();
                 return;
             }
+
+            if (!shouldForceBootstrapFallback()) {
+                return;
+            }
+
+            Log.d(TAG, "Initial floor bootstrap timed out during evaluation; using current visible floor as fallback baseline.");
+            initialFloorResolved = true;
+            syncAutoFloorAnchor();
         }
 
         Integer candidateFloorIndex = resolveAutoFloorCandidateIndex(sensorFusion, indoorMapManager);
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
index 7a2893b2..bc870ffa 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
@@ -249,10 +249,6 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
                 replayMode ? "replay_map_state" : "map_matched"
         );
 
-        if (!replayMode && sensorFusion != null) {
-            sensorFusion.setParticleFilterMatchedPose(previousMatchedPose);
-        }
-
         if (replayMode) {
             applyReplayDisplayFloorIfNeeded(floorForState);
         }
@@ -352,14 +348,16 @@ private AbsoluteObservationCorrection applyAbsoluteObservationCorrection(@NonNul
             }
         }
 
-        LatLng gnssObservation = getGnssObservation(sensorFusion);
-        if (isUsableObservation(gnssObservation)) {
-            double rawDistanceMeters = distanceMeters(rawLocation, gnssObservation);
-            if (rawDistanceMeters <= MAX_OBSERVATION_RESIDUAL_METERS) {
-                double blendRatio = previousMatchedPose == null ? 0.40 : GNSS_BLEND_RATIO;
-                double maxPullMeters = previousMatchedPose == null ? GNSS_MAX_PULL_METERS * 1.5 : GNSS_MAX_PULL_METERS;
-                LatLng blended = blendTowardObservation(rawLocation, gnssObservation, blendRatio, maxPullMeters);
-                return new AbsoluteObservationCorrection(blended, "live_gnss_fused", "gnss", rawDistanceMeters);
+        if (!isIndoorContextActive()) {
+            LatLng gnssObservation = getGnssObservation(sensorFusion);
+            if (isUsableObservation(gnssObservation)) {
+                double rawDistanceMeters = distanceMeters(rawLocation, gnssObservation);
+                if (rawDistanceMeters <= MAX_OBSERVATION_RESIDUAL_METERS) {
+                    double blendRatio = previousMatchedPose == null ? 0.25 : 0.10;
+                    double maxPullMeters = previousMatchedPose == null ? 4.0 : 2.0;
+                    LatLng blended = blendTowardObservation(rawLocation, gnssObservation, blendRatio, maxPullMeters);
+                    return new AbsoluteObservationCorrection(blended, "live_gnss_fused", "gnss", rawDistanceMeters);
+                }
             }
         }
 
@@ -707,6 +705,11 @@ private void logFeatureValidation(@NonNull LatLng rawLocation, @Nullable MapMatc
                 result.getDebugReason()));
     }
 
+    private boolean isIndoorContextActive() {
+        return host.getSelectedFloorplanBuilding() != null
+                && host.getIndoorMapManager() != null;
+    }
+
 
     @NonNull
     private String defaultDebugStatus() {
@@ -725,35 +728,28 @@ private String buildDebugStatus(@Nullable String absoluteSource,
                                     int matchedFloor,
                                     @Nullable VerticalTransitionHint verticalHint,
                                     @NonNull MapMatchingResult result) {
-        String absoluteValue = absoluteSource == null ? "none" : absoluteSource;
-        String poseValue = poseSource == null ? "unknown" : poseSource;
-        String verticalValue = (verticalHint != null && verticalHint.isHeightChanged()) ? "changed" : "steady";
-        double deltaHeight = verticalHint != null ? verticalHint.getDeltaHeight() : 0d;
         String correctionName = result.getCorrectionType() != null
                 ? result.getCorrectionType().name()
                 : CorrectionType.NONE.name();
-        String reason = result.getDebugReason() != null ? result.getDebugReason().trim() : "Waiting for updates";
-        if (reason.isEmpty()) {
-            reason = "Waiting for updates";
-        }
-        if (reason.length() > 80) {
-            reason = reason.substring(0, 80) + "…";
-        }
-        return String.format(Locale.US,
-                "abs:%s  src:%s\n"
-                        + "floor d/c/m: %d/%d/%d\n"
-                        + "vertical: %s Δ%.2fm\n"
-                        + "correction: %s\n"
-                        + "%s",
-                absoluteValue,
-                poseValue,
+
+        String wifiSource = absoluteSource == null ? "none" : absoluteSource;
+
+        return String.format(
+                Locale.US,
+                "WiFi src: %s\n" +
+                        "MM: %s\n" +
+                        "wall=%s stairs=%s lift=%s allow=%s\n" +
+                        "floor d/pf/mm: %d/%d/%d",
+                wifiSource,
+                correctionName,
+                String.valueOf(result.isCrossedWall()),
+                String.valueOf(result.isNearStairs()),
+                String.valueOf(result.isNearLift()),
+                String.valueOf(result.isFloorChangeAllowed()),
                 displayFloorIndex,
                 candidateFloorIndex,
-                matchedFloor,
-                verticalValue,
-                deltaHeight,
-                correctionName,
-                reason);
+                matchedFloor
+        );
     }
     private static final class AbsoluteObservationCorrection {
         @NonNull
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
index ed33263b..0d7f1249 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
@@ -8,6 +8,7 @@
 import android.os.CountDownTimer;
 import android.os.Handler;
 import android.os.Looper;
+import android.os.SystemClock;
 import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
@@ -101,6 +102,9 @@ public class RecordingFragment extends Fragment {
     private static final long INITIAL_ANCHOR_STABLE_DURATION_MS = 1000L;
     private static final int INITIAL_ANCHOR_REQUIRED_SAMPLES = 3;
     private static final double INITIAL_ANCHOR_MAX_JUMP_METRES = 8.0;
+    private static final float LIVE_DRAW_MIN_PDR_DELTA_METERS = 0.03f;
+    private static final long LIVE_DRAW_STATIONARY_HOLD_MS = 800L;
+    private long lastLiveMovementUptimeMs = 0L;
 
     private enum InitialAnchorSource {
         WIFI,
@@ -382,6 +386,8 @@ private void updateUIandPosition() {
             return;
         }
 
+        boolean shouldAdvanceLiveTrajectory = shouldUpdateLiveTrajectory(pdrValues);
+
         // Capture previous raw PDR values before updating them.
         float prevX = previousPosX;
         float prevY = previousPosY;
@@ -405,23 +411,25 @@ private void updateUIandPosition() {
         if (sensorFusion.isParticleFilterTrajectoryMode()) {
             Log.d(TAG, String.format(
                     Locale.UK,
-                    "LIVE_MODE=PF pdr=(%.3f, %.3f) dist=%.3f elev=%.2f",
+                    "LIVE_MODE=PF pdr=(%.3f, %.3f) dist=%.3f elev=%.2f advance=%s",
                     pdrValues[0],
                     pdrValues[1],
                     distance,
-                    elevationVal
+                    elevationVal,
+                    String.valueOf(shouldAdvanceLiveTrajectory)
             ));
-            updateLiveMapWithParticleFilter(pdrValues);
+            updateLiveMapWithParticleFilter(pdrValues, shouldAdvanceLiveTrajectory);
         } else {
             Log.d(TAG, String.format(
                     Locale.UK,
-                    "LIVE_MODE=PDR pdr=(%.3f, %.3f) dist=%.3f elev=%.2f",
+                    "LIVE_MODE=PDR pdr=(%.3f, %.3f) dist=%.3f elev=%.2f advance=%s",
                     pdrValues[0],
                     pdrValues[1],
                     distance,
-                    elevationVal
+                    elevationVal,
+                    String.valueOf(shouldAdvanceLiveTrajectory)
             ));
-            updateLiveMapWithStandardPdr(pdrValues);
+            updateLiveMapWithStandardPdr(pdrValues, shouldAdvanceLiveTrajectory);
         }
 
         // WiFi overlay
@@ -470,7 +478,8 @@ private void updateUIandPosition() {
      * The local PDR path is anchored to the first valid autonomous WiFi/GNSS fix
      * captured at the start of recording.
      */
-    private void updateLiveMapWithStandardPdr(@Nullable float[] pdrValues) {
+    private void updateLiveMapWithStandardPdr(@Nullable float[] pdrValues,
+                                              boolean shouldAdvanceLiveTrajectory) {
         if (trajectoryMapFragment == null || pdrValues == null) {
             return;
         }
@@ -484,16 +493,22 @@ private void updateLiveMapWithStandardPdr(@Nullable float[] pdrValues) {
 
         Log.d(TAG, String.format(
                 Locale.UK,
-                "PDR_BRANCH using anchored PDR lat=%.6f lon=%.6f headingDeg=%.2f",
+                "PDR_BRANCH using anchored PDR lat=%.6f lon=%.6f headingDeg=%.2f advance=%s",
                 currentPdrLocation.latitude,
                 currentPdrLocation.longitude,
-                Math.toDegrees(sensorFusion.passOrientation())
+                Math.toDegrees(sensorFusion.passOrientation()),
+                String.valueOf(shouldAdvanceLiveTrajectory)
         ));
 
-        trajectoryMapFragment.updateUserLocation(
-                currentPdrLocation,
-                (float) Math.toDegrees(sensorFusion.passOrientation())
-        );
+        if (shouldAdvanceLiveTrajectory || !initialCameraPositionSet) {
+            trajectoryMapFragment.updateUserLocation(
+                    currentPdrLocation,
+                    (float) Math.toDegrees(sensorFusion.passOrientation())
+            );
+        } else {
+            Log.d(TAG, "PDR_BRANCH stationary -> skipping live trajectory update");
+        }
+
         trajectoryMapFragment.updateDebugInfo(sensorFusion.passOrientation());
 
         if (!initialCameraPositionSet) {
@@ -510,7 +525,8 @@ private void updateLiveMapWithStandardPdr(@Nullable float[] pdrValues) {
      * If fused pose is still unavailable, fall back to standard PDR
      * so the user still sees a trajectory immediately.
      */
-    private void updateLiveMapWithParticleFilter(@Nullable float[] pdrValues) {
+    private void updateLiveMapWithParticleFilter(@Nullable float[] pdrValues,
+                                                 boolean shouldAdvanceLiveTrajectory) {
         if (trajectoryMapFragment == null) {
             return;
         }
@@ -519,24 +535,29 @@ private void updateLiveMapWithParticleFilter(@Nullable float[] pdrValues) {
 
         if (fusedPose == null) {
             Log.d(TAG, "PF fused pose not ready yet; falling back to standard PDR view.");
-            updateLiveMapWithStandardPdr(pdrValues);
+            updateLiveMapWithStandardPdr(pdrValues, shouldAdvanceLiveTrajectory);
             return;
         }
 
         Log.d(TAG,
                 "PF branch using fused pose: " + fusedPose.getLatLng()
                         + ", floor=" + fusedPose.getFloor()
-                        + ", confidence=" + fusedPose.getConfidence());
+                        + ", confidence=" + fusedPose.getConfidence()
+                        + ", advance=" + shouldAdvanceLiveTrajectory);
 
         if (!sensorFusion.shouldDrawLatestParticleFilterPose()) {
-            Log.d(TAG, "PF draw skipped: no meaningful movement");
+            Log.d(TAG, "PF draw skipped: no meaningful PF pose available");
             return;
         }
 
-        trajectoryMapFragment.updateUserLocation(
-                fusedPose.getLatLng(),
-                (float) Math.toDegrees(fusedPose.getHeadingRad())
-        );
+        if (shouldAdvanceLiveTrajectory || !initialCameraPositionSet) {
+            trajectoryMapFragment.updateUserLocation(
+                    fusedPose.getLatLng(),
+                    (float) Math.toDegrees(fusedPose.getHeadingRad())
+            );
+        } else {
+            Log.d(TAG, "PF_BRANCH stationary -> skipping live trajectory update");
+        }
 
         // Let map matching / floor controller own final display-floor decisions.
         if (!trajectoryMapFragment.isAutoFloorEnabled()) {
@@ -744,6 +765,31 @@ private boolean isValidLatLng(@Nullable LatLng latLng) {
         return !(Math.abs(latLng.latitude) < 1e-6 && Math.abs(latLng.longitude) < 1e-6);
     }
 
+    private boolean hasMeaningfulRawPdrMovement(float[] pdrValues) {
+        if (pdrValues == null || pdrValues.length < 2) {
+            return false;
+        }
+
+        float dx = pdrValues[0] - previousPosX;
+        float dy = pdrValues[1] - previousPosY;
+        float delta = (float) Math.hypot(dx, dy);
+
+        return delta >= LIVE_DRAW_MIN_PDR_DELTA_METERS;
+    }
+
+    private boolean shouldUpdateLiveTrajectory(float[] pdrValues) {
+        long now = SystemClock.uptimeMillis();
+
+        if (hasMeaningfulRawPdrMovement(pdrValues)) {
+            lastLiveMovementUptimeMs = now;
+            return true;
+        }
+
+        // Allow a short grace window after the most recent real movement so the
+        // display can settle, but then freeze while stationary.
+        return (now - lastLiveMovementUptimeMs) <= LIVE_DRAW_STATIONARY_HOLD_MS;
+    }
+
     /**
      * Periodically sends the latest sensor packet to the desktop TCP server.
      */
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 87ed85eb..863ec245 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -51,6 +51,9 @@ public class TrajectoryMapFragment extends Fragment {
 
     private static final String TAG = "TrajectoryMapFragment";
     private static final String TEST_LOG_TAG = "MAP_MATCH_TEST";
+
+    private static final long AUTO_FLOOR_DEBOUNCE_MS = 3000L;
+    private static final long AUTO_FLOOR_CHECK_INTERVAL_MS = 1000L;
     private static final String CALIBRATION_PREFS_NAME = "actual_map_calibration";
     private static final float CALIBRATION_SHIFT_STEP = 0.005f;
     private static final float CALIBRATION_SCALE_STEP = 0.005f;
@@ -89,6 +92,14 @@ public class TrajectoryMapFragment extends Fragment {
     private final List<GroundOverlay> realMapOverlays = new ArrayList<>();
     private String calibrationTargetBuildingKey = "";
 
+    // Auto-floor helper state
+    private Handler autoFloorHandler;
+    private Runnable autoFloorTask;
+    private int lastCandidateFloor = Integer.MIN_VALUE;
+    private long lastCandidateTime = 0L;
+    private int latestCandidateLogicalFloor = Integer.MIN_VALUE;
+    private long lastAutoFloorLogTime = 0L;
+
     // UI references
     private Spinner switchMapSpinner;
     private SwitchMaterial gnssSwitch;
@@ -476,6 +487,46 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
         }
         applyTrajectoryColorButtonState();
 
+        if (autoFloorSwitch != null) {
+            autoFloorSwitch.setOnCheckedChangeListener((compoundButton, isChecked) -> {
+                if (isChecked) {
+                    startAutoFloor();
+                } else {
+                    stopAutoFloor();
+                }
+            });
+        }
+
+        if (floorUpButton != null) {
+            floorUpButton.setOnClickListener(v -> {
+                if (isAutoFloorEnabled()) {
+                    Log.d(TAG, "AUTO_FLOOR ignored manual floor-up because AutoFloor owns display floor.");
+                    return;
+                }
+                if (selectedFloorplanBuilding != null) {
+                    int nextFloorIndex = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, true);
+                    if (nextFloorIndex != currentFloorIndex) {
+                        setFloor(nextFloorIndex);
+                    }
+                }
+            });
+        }
+
+        if (floorDownButton != null) {
+            floorDownButton.setOnClickListener(v -> {
+                if (isAutoFloorEnabled()) {
+                    Log.d(TAG, "AUTO_FLOOR ignored manual floor-down because AutoFloor owns display floor.");
+                    return;
+                }
+                if (selectedFloorplanBuilding != null) {
+                    int nextFloorIndex = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, false);
+                    if (nextFloorIndex != currentFloorIndex) {
+                        setFloor(nextFloorIndex);
+                    }
+                }
+            });
+        }
+
         if (btnFindIndoorMap != null) {
             btnFindIndoorMap.setOnClickListener(v -> {
                 if (selectedFloorplanBuilding == null) {
@@ -558,10 +609,7 @@ public void setReplayModeEnabled(boolean enabled) {
         mapMatchingCoordinator.onReplayModeChanged(enabled);
 
         if (enabled) {
-            floorController.stopAutoFloor();
-            if (autoFloorSwitch != null && autoFloorSwitch.isChecked()){
-                autoFloorSwitch.setChecked(false);
-            }
+            stopAutoFloor();
         }
 
         syncReplayUiState();
@@ -673,15 +721,19 @@ public void updateDebugInfo(float headingValue) {
     }
 
     public void clearMapAndReset() {
+        stopAutoFloor();
+
         if (autoFloorSwitch != null) {
             autoFloorSwitch.setChecked(false);
         }
-        floorController.stopAutoFloor();
 
         mapMatchingCoordinator.resetMapMatchingState();
         trajectoryRenderer.clearAll();
 
         currentLocation = null;
+        latestCandidateLogicalFloor = Integer.MIN_VALUE;
+        lastCandidateFloor = Integer.MIN_VALUE;
+        lastCandidateTime = 0L;
 
         for (Polygon p : floorplanPolygons) {
             p.remove();
@@ -702,10 +754,6 @@ public void clearMapAndReset() {
 
         resetMapOverlays();
 
-        if(sensorFusion != null){
-            sensorFusion.setParticleFilterMatchedPose(null);
-        }
-
         if (indoorMapManager != null) {
             indoorMapManager.clearIndoorMap();
         }
@@ -714,12 +762,18 @@ public void clearMapAndReset() {
             selectedVenueText.setText("Tap a blue building outline to select a building");
         }
 
+        calibrationTargetBuildingKey = "";
+        updateCalibrationUi();
+        updateActualMapButtonState();
+        updateAutoFloorAvailability();
+
         if (indoorLoadingIndicator != null) {
             indoorLoadingIndicator.setVisibility(View.GONE);
         }
 
         setFloorControlsVisibility(View.GONE);
-        updateAutoFloorAvailability();
+        syncReplayUiState();
+        refreshDebugStatusText();
     }
 
     // Map / building lifecycle
@@ -731,8 +785,6 @@ private void initMapSettings(@NonNull GoogleMap map) {
         map.setMapType(GoogleMap.MAP_TYPE_HYBRID);
 
         indoorMapManager = new IndoorMapManager(map);
-        //Wire the live indoor map manager into SensorFusion
-        sensorFusion.setParticleFilterIndoorMapManager(indoorMapManager);
 
         map.setOnPolygonClickListener(polygon -> {
             FloorplanApiClient.BuildingInfo building = polygonToBuilding.get(polygon);
@@ -1084,14 +1136,118 @@ private void updateAutoFloorAvailability() {
         if (!enabled && autoFloorSwitch.isChecked()) {
             autoFloorSwitch.setChecked(false);
         }
-
-        autoFloorSwitch.setVisibility(View.VISIBLE);
     }
 
     private void syncReplayUiState() {
         updateAutoFloorAvailability();
     }
 
+    private int getCurrentVisibleLogicalFloor() {
+        if (selectedFloorplanBuilding == null) {
+            return 0;
+        }
+        if (indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
+            return indoorMapManager.indexToLogicalFloor(currentFloorIndex);
+        }
+        return currentFloorIndex;
+    }
+
+    private int resolveCandidateLogicalFloor() {
+        Integer candidateIndex = floorController.peekTrackingFloorCandidateIndex();
+        if (candidateIndex != null) {
+            if (indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
+                return indoorMapManager.indexToLogicalFloor(candidateIndex);
+            }
+            return candidateIndex;
+        }
+        return getCurrentVisibleLogicalFloor();
+    }
+
+    private String describeCandidateFloorSource() {
+        return "FloorControllerTracking";
+    }
+
+    private void startAutoFloor() {
+        lastCandidateFloor = Integer.MIN_VALUE;
+        lastCandidateTime = 0L;
+        latestCandidateLogicalFloor = Integer.MIN_VALUE;
+        floorController.startAutoFloor();
+        Log.d(TAG, String.format(Locale.US,
+                "AUTO_FLOOR delegated start visibleLogical=%d building=%s",
+                getCurrentVisibleLogicalFloor(),
+                selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : "null"));
+    }
+
+    private void applyImmediateFloor() {
+        floorController.applyImmediateFloor();
+        if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+            Log.d(TAG, "AUTO_FLOOR applyImmediate skipped: map not ready");
+            return;
+        }
+        int candidateFloor = resolveCandidateLogicalFloor();
+        latestCandidateLogicalFloor = candidateFloor;
+        lastCandidateFloor = candidateFloor;
+        lastCandidateTime = SystemClock.elapsedRealtime();
+        logAutoFloorState("applyImmediate", candidateFloor, describeCandidateFloorSource());
+    }
+
+    private void stopAutoFloor() {
+        floorController.stopAutoFloor();
+        Log.d(TAG, String.format(Locale.US,
+                "AUTO_FLOOR delegated stop visibleLogical=%d lastCandidate=%d latestCandidate=%d",
+                getCurrentVisibleLogicalFloor(), lastCandidateFloor, latestCandidateLogicalFloor));
+        lastCandidateFloor = Integer.MIN_VALUE;
+        lastCandidateTime = 0L;
+        latestCandidateLogicalFloor = Integer.MIN_VALUE;
+    }
+
+    private void evaluateAutoFloor() {
+        floorController.evaluateAutoFloor();
+        if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
+            Log.d(TAG, "AUTO_FLOOR evaluate skipped: map not ready");
+            return;
+        }
+
+        int candidateFloor = resolveCandidateLogicalFloor();
+        String source = describeCandidateFloorSource();
+        latestCandidateLogicalFloor = candidateFloor;
+
+        long now = SystemClock.elapsedRealtime();
+        if (candidateFloor != lastCandidateFloor) {
+            logAutoFloorState("candidate_changed", candidateFloor, source);
+            lastCandidateFloor = candidateFloor;
+            lastCandidateTime = now;
+            return;
+        }
+
+        if (now - lastCandidateTime >= AUTO_FLOOR_DEBOUNCE_MS) {
+            logAutoFloorState("candidate_stable", candidateFloor, source);
+            lastCandidateTime = now;
+        } else {
+            logAutoFloorState("candidate_waiting", candidateFloor, source);
+        }
+    }
+
+    private void logAutoFloorState(@NonNull String phase, int candidateFloor, @NonNull String source) {
+        long now = SystemClock.elapsedRealtime();
+        if (now - lastAutoFloorLogTime < 0L) {
+            return;
+        }
+        lastAutoFloorLogTime = now;
+
+        Log.d(TAG, String.format(Locale.US,
+                "AUTO_FLOOR phase=%s source=%s candidate=%d visible=%d latestCandidate=%d lastCandidate=%d elapsedSinceCandidate=%d building=%s indoorVisible=%s",
+                phase,
+                source,
+                candidateFloor,
+                getCurrentVisibleLogicalFloor(),
+                latestCandidateLogicalFloor,
+                lastCandidateFloor,
+                lastCandidateTime == 0 ? -1 : (now - lastCandidateTime),
+                selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : "null",
+                String.valueOf(indoorMapVisible)));
+    }
+
     // UI helpers
     private void initMapControlsToggle() {
         if (btnToggleMapControls != null && mapControlContent != null) {
@@ -1132,26 +1288,32 @@ private void refreshDebugStatusText() {
             return;
         }
 
-        String building = selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : "none";
-        String particleSummary = sensorFusion != null
+        String engine = (sensorFusion != null && sensorFusion.isParticleFilterTrajectoryMode())
+                ? "PF"
+                : "PDR";
+
+        String pfSummary = sensorFusion != null
                 ? sensorFusion.getParticleFilterDebugSummary()
-                : "pf=unavailable";
+                : "Particles: unavailable";
+
+        String mapMatchingSummary = mapMatchingCoordinator.getLatestDebugStatus();
 
-        String autoFloorSummary = floorController.getAutoFloorDebugSummary();
+        int wifiFloor = sensorFusion != null ? sensorFusion.getWifiFloor() : -1;
+        boolean wifiAvailable = sensorFusion != null && sensorFusion.getLatLngWifiPositioning() != null;
 
         debugStatusText.setText(String.format(
                 Locale.US,
-                "mode=%s\nbuilding=%s\nfloorIndex=%d\nindoorVisible=%s\nactualVisible=%s\nreplay=%s\nlocation=%s\n%s\n%s",
-                sensorFusion != null && sensorFusion.isParticleFilterTrajectoryMode() ? "PF" : "PDR",
-                building,
+                "Engine: %s\n" +
+                        "Display floor: %d\n" +
+                        "WiFi: %s | floor: %d\n" +
+                        "%s\n" +
+                        "%s",
+                engine,
                 currentFloorIndex,
-                String.valueOf(indoorMapVisible),
-                String.valueOf(actualMapVisible),
-                String.valueOf(replayModeEnabled),
-                currentLocation == null ? "null"
-                        : String.format(Locale.US, "%.6f, %.6f", currentLocation.latitude, currentLocation.longitude),
-                particleSummary,
-                autoFloorSummary
+                wifiAvailable ? "yes" : "no",
+                wifiFloor,
+                pfSummary,
+                mapMatchingSummary
         ));
     }
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
index daa378aa..4b39ded3 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java
@@ -6,8 +6,6 @@
 import android.os.SystemClock;
 import android.util.Log;
 
-import androidx.annotation.NonNull;
-
 import com.openpositioning.PositionMe.fusion.AdaptiveQsmfiHeadingCalibrator;
 import com.openpositioning.PositionMe.fusion.FusedPose;
 import com.openpositioning.PositionMe.fusion.ParticleFilterManager;
@@ -29,10 +27,13 @@ public class SensorEventHandler {
 
     private static final float ALPHA = 0.8f;
 
+    private final SensorFusion sensorFusion;
     private final SensorState state;
     private final PdrProcessing pdrProcessing;
     private final PathView pathView;
     private final TrajectoryRecorder recorder;
+    private final ParticleFilterManager particleFilterManager;
+    private final AdaptiveQsmfiHeadingCalibrator adaptiveQsmfiHeadingCalibrator;
 
     // Timestamp tracking
     private final HashMap<Integer, Long> lastEventTimestamps = new HashMap<>();
@@ -43,52 +44,31 @@ public class SensorEventHandler {
     // Acceleration magnitude buffer between steps
     private final List<Double> accelMagnitude = new ArrayList<>();
 
-    private final ParticleFilterManager particleFilterManager;
-    private final AdaptiveQsmfiHeadingCalibrator adaptiveQsmfiHeadingCalibrator;
-    private final SensorFusion sensorFusion;
-
-    /**
-     * Creates a new SensorEventHandler.
-     *
-     * @param state         shared sensor state holder
-     * @param pdrProcessing PDR processor for step-length and position calculation
-     * @param pathView      path drawing view for trajectory visualisation
-     * @param recorder      trajectory recorder for checking recording state and writing PDR data
-     * @param bootTime      initial boot time offset
-     */
-    public SensorEventHandler(SensorState state,
+    public SensorEventHandler(SensorFusion sensorFusion,
+                              SensorState state,
                               PdrProcessing pdrProcessing,
                               PathView pathView,
                               TrajectoryRecorder recorder,
                               ParticleFilterManager particleFilterManager,
                               AdaptiveQsmfiHeadingCalibrator adaptiveQsmfiHeadingCalibrator,
-                              SensorFusion sensorFusion,
                               long bootTime) {
+        this.sensorFusion = sensorFusion;
         this.state = state;
         this.pdrProcessing = pdrProcessing;
         this.pathView = pathView;
         this.recorder = recorder;
         this.particleFilterManager = particleFilterManager;
         this.adaptiveQsmfiHeadingCalibrator = adaptiveQsmfiHeadingCalibrator;
-        this.sensorFusion = sensorFusion;
         this.bootTime = bootTime;
     }
 
     /**
      * Main dispatch method. Processes a sensor event and updates the shared {@link SensorState}.
-     *
-     * @param sensorEvent the sensor event to process
      */
     public void handleSensorEvent(SensorEvent sensorEvent) {
         long currentTime = System.currentTimeMillis();
         int sensorType = sensorEvent.sensor.getType();
 
-        Long lastTimestamp = lastEventTimestamps.get(sensorType);
-        if (lastTimestamp != null) {
-            long timeGap = currentTime - lastTimestamp;
-            // kept only for future debugging if needed
-        }
-
         lastEventTimestamps.put(sensorType, currentTime);
         eventCounts.put(sensorType, eventCounts.getOrDefault(sensorType, 0) + 1);
 
@@ -108,16 +88,22 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                                     state.pressure
                             )
                     );
+
+                    if (particleFilterManager != null && particleFilterManager.isEnabled()) {
+                        particleFilterManager.onVerticalContextSample(
+                                SystemClock.uptimeMillis(),
+                                state.elevation,
+                                state.elevator
+                        );
+                    }
                 }
                 break;
 
-            // NOTE: intentional fall-through from GYROSCOPE to LINEAR_ACCELERATION
-            // (existing behavior preserved during refactoring)
+            // Intentional fall-through from GYROSCOPE to LINEAR_ACCELERATION.
             case Sensor.TYPE_GYROSCOPE:
                 state.angularVelocity[0] = sensorEvent.values[0];
                 state.angularVelocity[1] = sensorEvent.values[1];
                 state.angularVelocity[2] = sensorEvent.values[2];
-
                 if (adaptiveQsmfiHeadingCalibrator != null) {
                     adaptiveQsmfiHeadingCalibrator.onGyro(
                             sensorEvent.values[2],
@@ -137,17 +123,13 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                 );
                 this.accelMagnitude.add(accelMagFiltered);
 
-                state.elevator = pdrProcessing.estimateElevator(
-                        state.gravity,
-                        state.filteredAcc
-                );
+                state.elevator = pdrProcessing.estimateElevator(state.gravity, state.filteredAcc);
                 break;
 
             case Sensor.TYPE_GRAVITY:
                 state.gravity[0] = sensorEvent.values[0];
                 state.gravity[1] = sensorEvent.values[1];
                 state.gravity[2] = sensorEvent.values[2];
-
                 if (adaptiveQsmfiHeadingCalibrator != null) {
                     adaptiveQsmfiHeadingCalibrator.onGravity(
                             sensorEvent.values[0],
@@ -155,11 +137,7 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                             sensorEvent.values[2]
                     );
                 }
-
-                state.elevator = pdrProcessing.estimateElevator(
-                        state.gravity,
-                        state.filteredAcc
-                );
+                state.elevator = pdrProcessing.estimateElevator(state.gravity, state.filteredAcc);
                 break;
 
             case Sensor.TYPE_LIGHT:
@@ -174,7 +152,6 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                 state.magneticField[0] = sensorEvent.values[0];
                 state.magneticField[1] = sensorEvent.values[1];
                 state.magneticField[2] = sensorEvent.values[2];
-
                 if (adaptiveQsmfiHeadingCalibrator != null) {
                     adaptiveQsmfiHeadingCalibrator.onMagneticField(
                             sensorEvent.values[0],
@@ -195,11 +172,9 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
             case Sensor.TYPE_STEP_DETECTOR:
                 long stepTime = SystemClock.uptimeMillis() - bootTime;
 
-                // Debounce very closely spaced step-detector events.
                 if (currentTime - lastStepTime < 20) {
-                    Log.e("SensorFusion",
-                            "Ignoring step event, too soon after last step event:"
-                                    + (currentTime - lastStepTime) + " ms");
+                    Log.e("SensorFusion", "Ignoring step event, too soon after last step event:"
+                            + (currentTime - lastStepTime) + " ms");
                     break;
                 }
 
@@ -211,27 +186,19 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                                     + "This can cause updatePdr(...) to fail or return bad results.");
                 } else {
                     Log.d("SensorFusion",
-                            "stepDetection triggered, accelMagnitude size = "
-                                    + accelMagnitude.size());
+                            "stepDetection triggered, accelMagnitude size = " + accelMagnitude.size());
                 }
 
-                float headingForPdr;
-                if (sensorFusion != null
-                        && sensorFusion.isUseAdaptiveQsmfiHeading()
-                        && adaptiveQsmfiHeadingCalibrator != null
-                        && adaptiveQsmfiHeadingCalibrator.isInitialised()) {
-                    headingForPdr = adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad();
-                } else {
-                    headingForPdr = state.orientation[0];
-                }
+                // Use the session-selected heading source.
+                // The adaptive calibrator may still keep updating internally even when disabled,
+                // but PDR/PF prediction only consumes it when the toggle is ON.
+                float headingForPdr = sensorFusion.getSelectedHeadingRad();
 
                 float[] newCords = this.pdrProcessing.updatePdr(
                         stepTime,
                         this.accelMagnitude,
                         headingForPdr
                 );
-
-                // Acceleration samples have now been consumed for this step.
                 this.accelMagnitude.clear();
 
                 if (adaptiveQsmfiHeadingCalibrator != null) {
@@ -239,40 +206,22 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                 }
 
                 if (particleFilterManager != null && particleFilterManager.isEnabled()) {
-                    Log.d("SensorFusion", String.format(
-                            "PF_STEP_TRIGGER stepTimeMs=%d rawPdrX=%.3f rawPdrY=%.3f headingDeg=%.2f",
-                            stepTime,
-                            newCords[0],
-                            newCords[1],
-                            Math.toDegrees(state.orientation[0])
-                    ));
-
                     particleFilterManager.step();
                 }
 
                 if (recorder.isRecording()) {
-                    /*
-                     * Important:
-                     * Raw PDR is always updated first, even in PF mode.
-                     * The particle filter uses that raw step motion as its prediction input.
-                     *
-                     * After PF stepping:
-                     * - PDR mode stores/draws raw local PDR
-                     * - PF mode stores/draws PF fused local trajectory
-                     */
-
-                    if (particleFilterManager != null
-                            && particleFilterManager.isEnabled()
-                            && !particleFilterManager.shouldDrawLatestPose()) {
-                        Log.d("SensorFusion",
-                                "Skipping PF local trajectory append: no meaningful movement");
-                        break;
-                    }
+                    float[] pointToStoreAndDraw = newCords;
 
-                    float[] pointToStoreAndDraw = resolveTrajectoryPointForCurrentMode(newCords);
+                    if (particleFilterManager != null && particleFilterManager.isEnabled()) {
+                        FusedPose fusedPose = particleFilterManager.getLatestFusedPose();
+                        if (fusedPose != null) {
+                            pointToStoreAndDraw = new float[]{
+                                    (float) fusedPose.getXMeters(),
+                                    (float) fusedPose.getYMeters()
+                            };
+                        }
+                    }
 
-                    // Draw exactly the same trajectory point that will be saved,
-                    // so the live local path view stays consistent with the recording payload.
                     this.pathView.drawTrajectory(pointToStoreAndDraw);
                     state.stepCounter++;
 
@@ -281,57 +230,12 @@ public void handleSensorEvent(SensorEvent sensorEvent) {
                             pointToStoreAndDraw[0],
                             pointToStoreAndDraw[1]
                     );
-
-                    if (particleFilterManager != null && particleFilterManager.isEnabled()) {
-                        FusedPose fusedPose = particleFilterManager.getLatestFusedPose();
-                        if (fusedPose != null) {
-                            Log.d("SensorFusion",
-                                    "Recorded PF trajectory point from fused pose x="
-                                            + fusedPose.getXMeters()
-                                            + " y=" + fusedPose.getYMeters()
-                                            + " floor=" + fusedPose.getFloor()
-                                            + " conf=" + fusedPose.getConfidence());
-                        }
-                    }
                 }
                 break;
-
-            default:
-                break;
         }
     }
 
-    /**
-     * Returns the point that should be drawn and recorded for the current positioning mode.
-     *
-     * Behaviour:
-     * - PDR mode: return raw PDR coordinates directly
-     * - PF mode: return the latest fused PF local metres directly
-     * - PF not ready yet: fall back to raw PDR
-     */
-    @NonNull
-    private float[] resolveTrajectoryPointForCurrentMode(@NonNull float[] rawPdrPoint) {
-        if (particleFilterManager == null || !particleFilterManager.isEnabled()) {
-            return rawPdrPoint;
-        }
-
-        FusedPose fusedPose = particleFilterManager.getLatestFusedPose();
-        if (fusedPose == null) {
-            Log.d("SensorFusion",
-                    "PF mode enabled but fused pose not ready yet, using raw PDR point.");
-            return rawPdrPoint;
-        }
-
-        return new float[]{
-                (float) fusedPose.getXMeters(),
-                (float) fusedPose.getYMeters()
-        };
-    }
-
-    /**
-     * Utility function to log the event frequency of each sensor.
-     * Call this periodically for debugging purposes.
-     */
+    /** Utility function to log the event frequency of each sensor. */
     public void logSensorFrequencies() {
         for (int sensorType : eventCounts.keySet()) {
             Log.d("SensorFusion", "Sensor " + sensorType
@@ -341,10 +245,8 @@ public void logSensorFrequencies() {
 
     /**
      * Resets the boot time offset. Called when a new recording starts.
-     *
-     * @param newBootTime the new boot time offset from {@link SystemClock#uptimeMillis()}
      */
     void resetBootTime(long newBootTime) {
         this.bootTime = newBootTime;
     }
-}
\ No newline at end of file
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
index ef33ae1b..01a1daa9 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
@@ -23,10 +23,7 @@
 import com.openpositioning.PositionMe.data.remote.ServerCommunications;
 import com.openpositioning.PositionMe.fusion.FusedPose;
 import com.openpositioning.PositionMe.fusion.ParticleFilterManager;
-import com.openpositioning.PositionMe.mapmatching.CandidatePose;
-import com.openpositioning.PositionMe.presentation.activity.MainActivity;
 import com.openpositioning.PositionMe.service.SensorCollectionService;
-import com.openpositioning.PositionMe.utils.IndoorMapManager;
 import com.openpositioning.PositionMe.utils.PathView;
 import com.openpositioning.PositionMe.utils.PdrProcessing;
 import com.openpositioning.PositionMe.utils.TrajectoryValidator;
@@ -91,13 +88,6 @@ private SensorFusion() {
     @Nullable
     private FusedPose latestParticleFilterPose;
 
-    @Nullable
-    private FusedPose latestRawParticleFilterPose;
-    @Nullable
-    private CandidatePose particleFilterMatchedPose;
-    @Nullable
-    private IndoorMapManager particleFilterIndoorMapManager;
-
     // Movement sensors
     private MovementSensor accelerometerSensor;
     private MovementSensor barometerSensor;
@@ -187,32 +177,21 @@ public void setContext(Context context) {
         this.wifiPositionManager = new WifiPositionManager(wiFiPositioning, recorder);
 
         // Particle filter manager
-        this.particleFilterManager = new ParticleFilterManager(
-                this,
-                new ParticleFilterManager.Host() {
-                    @Override
-                    public void onFusedPoseUpdated(@NonNull FusedPose fusedPose) {
-                        latestParticleFilterPose = fusedPose;
-                    }
-                }
-        );
+        this.particleFilterManager = new ParticleFilterManager(this, context);
         this.particleFilterManager.setEnabled(isParticleFilterTrajectoryMode());
 
-        if (particleFilterIndoorMapManager != null) {
-            this.particleFilterManager.setIndoorMapManager(particleFilterIndoorMapManager);
-        }
         this.adaptiveQsmfiHeadingCalibrator = new AdaptiveQsmfiHeadingCalibrator();
 
         // Event handler
         long bootTime = SystemClock.uptimeMillis();
         this.eventHandler = new SensorEventHandler(
+                this,
                 state,
                 pdrProcessing,
                 pathView,
                 recorder,
                 particleFilterManager,
                 adaptiveQsmfiHeadingCalibrator,
-                this,
                 bootTime
         );
 
@@ -250,23 +229,18 @@ public void update(Object[] objList) {
             );
         }
     }
-
-    public void setUseAdaptiveQsmfiHeading(boolean enabled) {
+    public void setAdaptiveHeadingCalibratorEnabled(boolean enabled) {
         this.useAdaptiveQsmfiHeading = enabled;
 
         if (adaptiveQsmfiHeadingCalibrator != null) {
             adaptiveQsmfiHeadingCalibrator.reset();
         }
 
-        Log.d(TAG, "useAdaptiveQsmfiHeading = " + enabled);
-    }
-
-    public boolean isUseAdaptiveQsmfiHeading() {
-        return useAdaptiveQsmfiHeading;
+        Log.d(TAG, "adaptiveHeadingCalibratorEnabled = " + enabled);
     }
 
-    public void setAdaptiveHeadingEnabled(boolean enabled) {
-        setUseAdaptiveQsmfiHeading(enabled);
+    public void setUseAdaptiveQsmfiHeading(boolean enabled) {
+        setAdaptiveHeadingCalibratorEnabled(enabled);
     }
 
     public boolean isAdaptiveHeadingEnabled() {
@@ -299,65 +273,22 @@ public void stepParticleFilter() {
         }
 
         particleFilterManager.step();
-
-        // Keep cached copies here so fragments can query SensorFusion directly.
         latestParticleFilterPose = particleFilterManager.getLatestFusedPose();
-        latestRawParticleFilterPose = particleFilterManager.getLatestRawPose();
-    }
-
-    /**
-     * Wires the current indoor map manager into SensorFusion so the PF can access
-     * walkability / wall / floor-transition constraints.
-     */
-    public void setParticleFilterIndoorMapManager(@Nullable IndoorMapManager indoorMapManager) {
-        this.particleFilterIndoorMapManager = indoorMapManager;
-
-        if (particleFilterManager != null) {
-            particleFilterManager.setIndoorMapManager(indoorMapManager);
-        }
-    }
-
-    /**
-     * Stores the latest accepted map-matched pose for the particle filter.
-     * This is written by MapMatchingCoordinator and consumed by ParticleFilterManager.
-     */
-    public void setParticleFilterMatchedPose(@Nullable CandidatePose matchedPose) {
-        this.particleFilterMatchedPose = matchedPose;
-
-        if (particleFilterManager != null) {
-            particleFilterManager.setLatestMatchedPose(matchedPose);
-        }
-    }
-
-    /**
-     * Returns the indoor map manager currently used by the particle filter.
-     */
-    @Nullable
-    public IndoorMapManager getParticleFilterIndoorMapManager() {
-        return particleFilterIndoorMapManager;
     }
 
-    /**
-     * Returns the latest map-matched pose that should be used as a strong PF observation.
-     */
-    @Nullable
-    public CandidatePose getParticleFilterMatchedPose() {
-        return particleFilterMatchedPose;
-    }
 
     /**
      * Resets the particle filter for a new recording session.
      */
     public void resetParticleFilterForRecording() {
-        particleFilterMatchedPose = null;
-
         if (particleFilterManager != null) {
             particleFilterManager.reset();
         }
         latestParticleFilterPose = null;
-        latestRawParticleFilterPose = null;
     }
 
+
+
     /**
      * Returns the latest fused PF pose.
      */
@@ -377,24 +308,6 @@ public FusedPose getLatestFusedPose() {
         return latestParticleFilterPose;
     }
 
-    /**
-     * Returns the latest raw PF pose.
-     */
-    @Nullable
-    public FusedPose getLatestRawFusedPose() {
-        if (!isParticleFilterTrajectoryMode()) {
-            return null;
-        }
-
-        if (particleFilterManager != null) {
-            FusedPose rawPose = particleFilterManager.getLatestRawPose();
-            if (rawPose != null) {
-                latestRawParticleFilterPose = rawPose;
-            }
-        }
-
-        return latestRawParticleFilterPose;
-    }
 
     /**
      * Allows PF-related classes to push the latest fused pose back into SensorFusion.
@@ -403,12 +316,6 @@ public void setLatestFusedPose(@Nullable FusedPose fusedPose) {
         this.latestParticleFilterPose = fusedPose;
     }
 
-    /**
-     * Allows PF-related classes to push the latest raw PF pose back into SensorFusion.
-     */
-    public void setLatestRawFusedPose(@Nullable FusedPose rawPose) {
-        this.latestRawParticleFilterPose = rawPose;
-    }
 
     // SensorEventListener
     @Override
@@ -520,8 +427,6 @@ public void startRecording() {
         eventHandler.resetBootTime(recorder.getBootTime());
 
         latestParticleFilterPose = null;
-        latestRawParticleFilterPose = null;
-        particleFilterMatchedPose = null;
 
         if (adaptiveQsmfiHeadingCalibrator != null) {
             adaptiveQsmfiHeadingCalibrator.reset();
@@ -545,8 +450,6 @@ public void stopRecording() {
         recorder.stopRecording();
 
         latestParticleFilterPose = null;
-        latestRawParticleFilterPose = null;
-        particleFilterMatchedPose = null;
 
         if (particleFilterManager != null) {
             particleFilterManager.reset();
@@ -579,7 +482,6 @@ public void setRecordingTrajectoryMode(int mode) {
             if (!enableParticleFilter) {
                 particleFilterManager.reset();
                 latestParticleFilterPose = null;
-                latestRawParticleFilterPose = null;
             }
         }
     }
@@ -689,6 +591,23 @@ public float[] getGNSSLatitude(boolean start) {
         return latLong;
     }
 
+    public boolean isUseAdaptiveQsmfiHeading() {
+        return useAdaptiveQsmfiHeading;
+    }
+
+    public void setAdaptiveHeadingEnabled(boolean enabled) {
+        setAdaptiveHeadingCalibratorEnabled(enabled);
+    }
+
+    public float getSelectedHeadingRad() {
+        if (useAdaptiveQsmfiHeading
+                && adaptiveQsmfiHeadingCalibrator != null
+                && adaptiveQsmfiHeadingCalibrator.isInitialised()) {
+            return adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad();
+        }
+        return state.orientation[0];
+    }
+
     /**
      * Sets the recording start GNSS anchor.
      * @param startPosition contains the initial autonomous anchor chosen by the app
@@ -716,12 +635,7 @@ public float passAverageStepLength() {
      * Returns current device heading in radians.
      */
     public float passOrientation() {
-        if (useAdaptiveQsmfiHeading
-                && adaptiveQsmfiHeadingCalibrator != null
-                && adaptiveQsmfiHeadingCalibrator.isInitialised()) {
-            return adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad();
-        }
-        return state.orientation[0];
+        return getSelectedHeadingRad();
     }
 
     /**
@@ -769,7 +683,8 @@ public boolean getElevator() {
     }
 
     public boolean shouldDrawLatestParticleFilterPose() {
-        return particleFilterManager != null && particleFilterManager.shouldDrawLatestPose();
+        return particleFilterManager != null
+                && particleFilterManager.getLatestFusedPose() != null;
     }
 
     public int getHoldMode() {

From 223f5d243b57b8c5b73e8c93a19b0502fa251de2 Mon Sep 17 00:00:00 2001
From: wxyuuu1114 <wangxinyu1114@gmail.com>
Date: Mon, 30 Mar 2026 18:58:06 +0100
Subject: [PATCH 31/35] Add user defined locations at the start fragment

---
 .../fusion/ParticleFilterManager.java         |  23 +-
 .../mapmatching/MapMatchingService.java       |   2 +-
 .../fragment/MapMatchingCoordinator.java      |  53 +-
 .../fragment/RecordingFragment.java           |  75 +-
 .../fragment/StartLocationFragment.java       | 795 ++++++++++--------
 .../fragment/TrajectoryMapFragment.java       |  40 +-
 .../PositionMe/sensors/SensorFusion.java      | 105 +++
 .../res/layout/fragment_startlocation.xml     | 300 +++++--
 8 files changed, 898 insertions(+), 495 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
index c513dcf1..4cb9a631 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
@@ -47,7 +47,7 @@ public class ParticleFilterManager {
     private static final double WIFI_GATE_METERS = 5.0;
     private static final double GNSS_GATE_METERS = 25.0;
     private static final double WIFI_OBS_EMA_ALPHA = 0.10;
-    private static final double WALL_CROSS_PENALTY = 0.5;
+    private static final double WALL_CROSS_PENALTY = 0;
 
     /** Main app sensor/data source. */
     private final SensorFusion sensorFusion;
@@ -233,7 +233,8 @@ public void step() {
 
         FusedPose rawPose = particleFilterEngine.estimate(coordinateConverter);
         FusedPose correctedPose = applyDiscreteMapMatching(rawPose, currentHeading, deltaS);
-        latestFusedPose = smoothPose(correctedPose != null ? correctedPose : rawPose);
+       // latestFusedPose = smoothPose(correctedPose != null ? correctedPose : rawPose);
+        latestFusedPose = correctedPose;
     }
 
     /**
@@ -255,8 +256,13 @@ public void initialiseIfNeeded() {
                 initialLatLng.longitude
         );
 
-        int wifiFloor = sensorFusion.getWifiFloor();
-        activePfFloor = sanitiseFloorIndex(wifiFloor);
+        Integer manualFloor = sensorFusion.getManualStartAnchorFloor();
+        if (manualFloor != null) {
+            activePfFloor = sanitiseFloorIndex(manualFloor);
+        } else {
+            int wifiFloor = sensorFusion.getWifiFloor();
+            activePfFloor = sanitiseFloorIndex(wifiFloor);
+        }
 
         double[] initialLocal = coordinateConverter.latLngToLocal(initialLatLng);
         double initialHeading = wrapAngle(sensorFusion.getSelectedHeadingRad());
@@ -271,7 +277,8 @@ public void initialiseIfNeeded() {
 
         FusedPose initialRawPose = particleFilterEngine.estimate(coordinateConverter);
         FusedPose initialCorrectedPose = applyDiscreteMapMatching(initialRawPose, initialHeading, 0.0);
-        latestFusedPose = smoothPose(initialCorrectedPose != null ? initialCorrectedPose : initialRawPose);
+        //latestFusedPose = smoothPose(initialCorrectedPose != null ? initialCorrectedPose : initialRawPose);
+        latestFusedPose = initialCorrectedPose;
         lastHeading = initialHeading;
 
         if (latestFusedPose != null) {
@@ -296,7 +303,13 @@ public void initialiseIfNeeded() {
                         + ", lon=" + initialLatLng.longitude);
     }
 
+    @Nullable
     private LatLng resolveAutonomousInitialLatLng() {
+        LatLng manualStart = sensorFusion.getManualStartAnchorLatLng();
+        if (isValidLatLng(manualStart)) {
+            return manualStart;
+        }
+
         float[] storedStart = sensorFusion.getGNSSLatitude(true);
         if (isValidLatLon(storedStart)) {
             return new LatLng(storedStart[0], storedStart[1]);
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
index 9f19ba1e..05929fd5 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
@@ -842,4 +842,4 @@ private WallRecovery(@NonNull LatLng correctedLatLng,
             this.validPosition = validPosition;
         }
     }
-}
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
index bc870ffa..67143112 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
@@ -80,11 +80,7 @@ interface Host {
     private Integer replayBaseFloorIndex;
     private boolean replayDisplayFloorInitialized = false;
     @NonNull
-    private String latestDebugStatus = "abs:none  src:idle\n"
-            + "floor d/c/m: -/-/-\n"
-            + "vertical: steady Δ0.00m\n"
-            + "correction: NONE\n"
-            + "Waiting for updates";
+    private String latestDebugStatus = "MM: idle";
 
     MapMatchingCoordinator(@NonNull Host host) {
         this.host = host;
@@ -199,11 +195,23 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
                 activeBuildingId
         );
 
+//        MapMatchingResult matchingResult = mapMatchingService.match(matchingInput);
+//        LatLng matchedLocation = matchingResult.getCorrectedLatLng() != null
+//                ? matchingResult.getCorrectedLatLng()
+//                : rawLocation;
+//        int matchedFloor = matchingResult.getCorrectedFloor();
+//        int floorForState = replayMode
+//                ? resolveReplayDisplayFloor(matchedFloor)
+//                : matchedFloor;
+
         MapMatchingResult matchingResult = mapMatchingService.match(matchingInput);
-        LatLng matchedLocation = matchingResult.getCorrectedLatLng() != null
-                ? matchingResult.getCorrectedLatLng()
-                : rawLocation;
-        int matchedFloor = matchingResult.getCorrectedFloor();
+
+        // Map-matching correction OFF:
+        // keep computing matchingResult for debug only,
+        // but do not let it modify the displayed/live state.
+        LatLng matchedLocation = rawLocation;
+        int matchedFloor = candidateFloorIndex;
+
         int floorForState = replayMode
                 ? resolveReplayDisplayFloor(matchedFloor)
                 : matchedFloor;
@@ -229,14 +237,17 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
                         : CorrectionType.NONE.name(),
                 matchingResult.getDebugReason()));
 
-        latestDebugStatus = buildDebugStatus(
-                absoluteCorrection.getObservationSource(),
-                absoluteCorrection.getPoseSource(),
-                floorForState,
-                candidateFloorIndex,
-                matchedFloor,
-                verticalHint,
-                matchingResult
+        latestDebugStatus = String.format(
+                Locale.US,
+                "MM: %s\nwall=%s stairs=%s lift=%s allow=%s\nreason=%s",
+                matchingResult.getCorrectionType() != null
+                        ? matchingResult.getCorrectionType().name()
+                        : "NONE",
+                String.valueOf(matchingResult.isCrossedWall()),
+                String.valueOf(matchingResult.isNearStairs()),
+                String.valueOf(matchingResult.isNearLift()),
+                String.valueOf(matchingResult.isFloorChangeAllowed()),
+                matchingResult.getDebugReason() != null ? matchingResult.getDebugReason() : "none"
         );
 
         LatLng oldLocation = host.getCurrentLocation();
@@ -246,7 +257,7 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
                 matchedLocation,
                 floorForState,
                 timestampMs,
-                replayMode ? "replay_map_state" : "map_matched"
+                replayMode ? "replay_map_state" : "candidate_unmatched"
         );
 
         if (replayMode) {
@@ -736,16 +747,16 @@ private String buildDebugStatus(@Nullable String absoluteSource,
 
         return String.format(
                 Locale.US,
-                "WiFi src: %s\n" +
-                        "MM: %s\n" +
+                "MM: %s\n" +
                         "wall=%s stairs=%s lift=%s allow=%s\n" +
+                        "WiFi src: %s\n" +
                         "floor d/pf/mm: %d/%d/%d",
-                wifiSource,
                 correctionName,
                 String.valueOf(result.isCrossedWall()),
                 String.valueOf(result.isNearStairs()),
                 String.valueOf(result.isNearLift()),
                 String.valueOf(result.isFloorChangeAllowed()),
+                wifiSource,
                 displayFloorIndex,
                 candidateFloorIndex,
                 matchedFloor
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
index 0d7f1249..6dd08013 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
@@ -386,6 +386,11 @@ private void updateUIandPosition() {
             return;
         }
 
+        LatLng authoritativeStart = resolveAuthoritativeStartAnchor();
+        if (authoritativeStart != null && autonomousInitialLocation == null) {
+            autonomousInitialLocation = authoritativeStart;
+        }
+
         boolean shouldAdvanceLiveTrajectory = shouldUpdateLiveTrajectory(pdrValues);
 
         // Capture previous raw PDR values before updating them.
@@ -484,16 +489,20 @@ private void updateLiveMapWithStandardPdr(@Nullable float[] pdrValues,
             return;
         }
 
-        if (autonomousInitialLocation == null) {
-            Log.d(TAG, "PDR_BRANCH waiting for autonomous initial location");
+        LatLng startAnchor = resolveAuthoritativeStartAnchor();
+        if (startAnchor == null) {
+            Log.d(TAG, "PDR_BRANCH waiting for authoritative start anchor");
             return;
         }
 
-        LatLng currentPdrLocation = UtilFunctions.calculateNewPos(autonomousInitialLocation, pdrValues);
+        // Keep this cached too, so later branches use the same anchor consistently.
+        autonomousInitialLocation = startAnchor;
+
+        LatLng currentPdrLocation = UtilFunctions.calculateNewPos(startAnchor, pdrValues);
 
         Log.d(TAG, String.format(
                 Locale.UK,
-                "PDR_BRANCH using anchored PDR lat=%.6f lon=%.6f headingDeg=%.2f advance=%s",
+                "PDR_BRANCH using authoritative anchor lat=%.6f lon=%.6f headingDeg=%.2f advance=%s",
                 currentPdrLocation.latitude,
                 currentPdrLocation.longitude,
                 Math.toDegrees(sensorFusion.passOrientation()),
@@ -514,7 +523,7 @@ private void updateLiveMapWithStandardPdr(@Nullable float[] pdrValues,
         if (!initialCameraPositionSet) {
             trajectoryMapFragment.setInitialCameraPosition(currentPdrLocation);
             initialCameraPositionSet = true;
-            Log.d(TAG, "PDR_BRANCH initial camera position set from anchored PDR");
+            Log.d(TAG, "PDR_BRANCH initial camera position set from authoritative start anchor");
         }
     }
 
@@ -744,6 +753,62 @@ private LatLng resolveAutonomousInitialLocation() {
         return null;
     }
 
+    @Nullable
+    private LatLng resolveAuthoritativeStartAnchor() {
+        if (sensorFusion == null) {
+            return null;
+        }
+
+        // 1) User-corrected manual anchor
+        LatLng manualStart = sensorFusion.getManualStartAnchorLatLng();
+        if (manualStart != null) {
+            sensorFusion.setStartGNSSLatitude(new float[]{
+                    (float) manualStart.latitude,
+                    (float) manualStart.longitude
+            });
+
+            trajectoryMapFragment.setInitialCameraPosition(manualStart);
+
+            // Only do this once if already have a flag for initial anchor written.
+            // initialAnchorWritten = true;
+
+            Log.d("RecordingFragment", String.format(Locale.UK,
+                    "Using manual start anchor lat=%.6f lon=%.6f",
+                    manualStart.latitude,
+                    manualStart.longitude));
+            return manualStart;
+        }
+
+        // 2) Already cached autonomous initial location in this fragment
+        if (autonomousInitialLocation != null) {
+            return autonomousInitialLocation;
+        }
+
+        // 3) Stored session start anchor
+        float[] storedStart = sensorFusion.getGNSSLatitude(true);
+        if (storedStart != null
+                && storedStart.length >= 2
+                && !(Math.abs(storedStart[0]) < 1e-6 && Math.abs(storedStart[1]) < 1e-6)) {
+            return new LatLng(storedStart[0], storedStart[1]);
+        }
+
+        // 4) WiFi
+        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
+        if (wifiLatLng != null) {
+            return wifiLatLng;
+        }
+
+        // 5) GNSS
+        float[] gnss = sensorFusion.getGNSSLatitude(false);
+        if (gnss != null
+                && gnss.length >= 2
+                && !(Math.abs(gnss[0]) < 1e-6 && Math.abs(gnss[1]) < 1e-6)) {
+            return new LatLng(gnss[0], gnss[1]);
+        }
+
+        return null;
+    }
+
     private void resetPendingInitialAnchor(@NonNull String reason) {
         if (pendingInitialAnchorCandidate != null || pendingInitialAnchorSource != null) {
             Log.d(TAG, "STEP3_ANCHOR reset pending candidate: " + reason);
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
index 2013d9da..044f956a 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
@@ -1,6 +1,5 @@
 package com.openpositioning.PositionMe.presentation.fragment;
 
-import android.content.Context;
 import android.graphics.BitmapFactory;
 import android.graphics.Color;
 import android.os.Bundle;
@@ -17,12 +16,10 @@
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.appcompat.app.AppCompatActivity;
-import androidx.constraintlayout.widget.ConstraintLayout;
 import androidx.fragment.app.Fragment;
 
 import com.google.android.gms.maps.CameraUpdateFactory;
 import com.google.android.gms.maps.GoogleMap;
-import com.google.android.gms.maps.OnMapReadyCallback;
 import com.google.android.gms.maps.SupportMapFragment;
 import com.google.android.gms.maps.model.BitmapDescriptorFactory;
 import com.google.android.gms.maps.model.GroundOverlay;
@@ -46,27 +43,22 @@
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
+import java.util.Locale;
 import java.util.Map;
 
 /**
- * Fragment used to choose a start location before recording or replay begins.
+ * Start-location selection fragment.
  *
- * <p>Main responsibilities:
- * <ul>
- *     <li>Display the map and the user's current GNSS position.</li>
- *     <li>Fetch nearby building outlines from the floorplan API.</li>
- *     <li>Allow the user to select a building by tapping its outline.</li>
- *     <li>Display actual-map overlays for the selected building and floor.</li>
- *     <li>Allow the user to move back to the current live GNSS position.</li>
- * </ul>
+ * Keeps:
+ * - nearby building outline request
+ * - building tap selection
+ * - indoor vector preview / actual map overlay
+ * - floor switching
  *
- * <p>Important behaviour:
- * <ul>
- *     <li>For recording mode, this fragment no longer writes the initial recording position
- *     into {@link SensorFusion}. The real initial position is now determined autonomously
- *     later in {@link RecordingFragment} from the first usable WiFi/GNSS fix.</li>
- *     <li>For replay mode, the chosen position is still passed to the replay activity.</li>
- * </ul>
+ * Adds back:
+ * - draggable / tappable start marker
+ * - corrected manual start anchor for recording mode
+ * - clear reset flow
  */
 public class StartLocationFragment extends Fragment {
 
@@ -162,11 +154,12 @@ static OverlayCalibration identity() {
     }
 
     // UI
-    private Button button;
-    private Button backToCurrentLocationButton;
+    private Button doneButton;
+    private Button btnResetStartAnchor;
     private Button btnFindIndoorMap;
     private Button btnFindActualMap;
     private TextView instructionText;
+    private TextView startAnchorStatusText;
     private FloatingActionButton floorUpButton;
     private FloatingActionButton floorDownButton;
     private TextView floorLabel;
@@ -177,20 +170,63 @@ static OverlayCalibration identity() {
     private final FloorplanApiClient floorplanApiClient = new FloorplanApiClient();
 
     // Map state
+    @Nullable
     private GoogleMap mMap;
+    @Nullable
     private Marker startMarker;
+    @Nullable
     private Marker currentLocationMarker;
-    private float[] startPosition = new float[2];
+
+    private final float[] startPosition = new float[]{0f, 0f};
     private float zoom = 19f;
 
     // Building selection state
+    @Nullable
     private String selectedBuildingId;
     private int currentFloorIndex = 0;
     private boolean showActualMapOverlays = true;
-    private boolean isMarkerDraggedSelection = false;
     private boolean hasInitialCameraPositioned = false;
+
+    /**
+     * When true, live GNSS keeps moving the start marker.
+     * Once the user taps / drags, this becomes false.
+     */
     private boolean followCurrentLocationWithStartMarker = true;
 
+    /**
+     * True after the user manually edits the start marker in this screen.
+     */
+    private boolean hasUserAdjustedMarker = false;
+
+    // Building / overlay containers
+    private final List<Polygon> buildingPolygons = new ArrayList<>();
+    private final Map<String, FloorplanApiClient.BuildingInfo> floorplanBuildingMap = new HashMap<>();
+    private final List<GroundOverlay> realMapOverlays = new ArrayList<>();
+    private final List<Polygon> previewPolygons = new ArrayList<>();
+    private final List<Polyline> previewPolylines = new ArrayList<>();
+
+    @Nullable
+    private Polygon whiteMaskPolygon;
+    @Nullable
+    private Polygon selectedPolygon;
+    @Nullable
+    private FloorplanApiClient.BuildingInfo selectedFloorplanBuilding;
+
+    private int requestRetryCount = 0;
+
+    // Live GNSS update loop
+    private final Handler liveLocationHandler = new Handler(Looper.getMainLooper());
+    private final Runnable liveLocationRunnable = new Runnable() {
+        @Override
+        public void run() {
+            updateLiveLocation(false);
+            liveLocationHandler.postDelayed(this, 1000L);
+        }
+    };
+
+    public StartLocationFragment() {
+    }
+
     private boolean isRecordingMode() {
         return requireActivity() instanceof RecordingActivity;
     }
@@ -203,91 +239,51 @@ private void updateInstructionTextForMode() {
         if (instructionText == null) {
             return;
         }
+
         if (isRecordingMode()) {
-            instructionText.setText("Stand at the real start point. The app will lock the initial position automatically from GNSS/WiFi. Tap a building only to select the venue and floorplan.");
+            instructionText.setText(
+                    "Drag the start marker to the true start point, tap a building to choose the venue, then choose the floor and confirm."
+            );
         } else {
-            instructionText.setText("Choose the replay start point on the map, then select the building if needed.");
-        }
-    }
-
-    // Live GNSS update loop
-    private final Handler liveLocationHandler = new Handler(Looper.getMainLooper());
-    private final Runnable liveLocationRunnable = new Runnable() {
-        @Override
-        public void run() {
-            updateLiveLocation(false);
-            liveLocationHandler.postDelayed(this, 1000L);
+            instructionText.setText(
+                    "Choose the replay start point on the map, then select the building and floor if needed."
+            );
         }
-    };
-
-    // Building and overlay containers
-    private final List<Polygon> buildingPolygons = new ArrayList<>();
-    private final Map<String, FloorplanApiClient.BuildingInfo> floorplanBuildingMap = new HashMap<>();
-    private final List<GroundOverlay> realMapOverlays = new ArrayList<>();
-    private final List<Polygon> previewPolygons = new ArrayList<>();
-    private final List<Polyline> previewPolylines = new ArrayList<>();
-    private Polygon whiteMaskPolygon;
-    private Polygon selectedPolygon;
-    private FloorplanApiClient.BuildingInfo selectedFloorplanBuilding;
-    private int requestRetryCount = 0;
-
-    public StartLocationFragment() {
     }
 
+    @Nullable
     @Override
     public View onCreateView(@NonNull LayoutInflater inflater,
-                             ViewGroup container,
-                             Bundle savedInstanceState) {
+                             @Nullable ViewGroup container,
+                             @Nullable Bundle savedInstanceState) {
         AppCompatActivity activity = (AppCompatActivity) getActivity();
         if (activity != null && activity.getSupportActionBar() != null) {
             activity.getSupportActionBar().hide();
         }
-
-        View rootView = inflater.inflate(R.layout.fragment_startlocation, container, false);
-
-        // Default to the current GNSS position if available.
-        startPosition = sensorFusion.getGNSSLatitude(false);
-
-        // Use an indoor-friendly default zoom level.
-        zoom = 19f;
-
-        SupportMapFragment supportMapFragment =
-                (SupportMapFragment) getChildFragmentManager().findFragmentById(R.id.startMap);
-        if (supportMapFragment != null) {
-            supportMapFragment.getMapAsync(new OnMapReadyCallback() {
-                @Override
-                public void onMapReady(@NonNull GoogleMap googleMap) {
-                    mMap = googleMap;
-                    setupMap();
-                    requestBuildingDataWhenReady();
-                }
-            });
-        }
-
-        return rootView;
+        return inflater.inflate(R.layout.fragment_startlocation, container, false);
     }
 
     @Override
     public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
         super.onViewCreated(view, savedInstanceState);
 
-        button = view.findViewById(R.id.startLocationDone);
-        instructionText = view.findViewById(R.id.correctionInfoView);
+        doneButton = view.findViewById(R.id.startLocationDone);
+        btnResetStartAnchor = view.findViewById(R.id.btnResetStartAnchor);
         btnFindIndoorMap = view.findViewById(R.id.btnFindIndoorMap);
         btnFindActualMap = view.findViewById(R.id.btnFindActualMap);
-
-        ensureBackToCurrentLocationButton(view);
-        updateInstructionTextForMode();
-
+        instructionText = view.findViewById(R.id.correctionInfoView);
+        startAnchorStatusText = view.findViewById(R.id.startAnchorStatusText);
         floorUpButton = view.findViewById(R.id.floorUpButton);
         floorDownButton = view.findViewById(R.id.floorDownButton);
         floorLabel = view.findViewById(R.id.floorLabel);
 
+        updateInstructionTextForMode();
         setFloorControlsVisibility(View.GONE);
 
         if (floorUpButton != null) {
             floorUpButton.setOnClickListener(v -> moveFloor(true));
         }
+
         if (floorDownButton != null) {
             floorDownButton.setOnClickListener(v -> moveFloor(false));
         }
@@ -296,10 +292,8 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
             btnFindIndoorMap.setOnClickListener(v -> {
                 showActualMapOverlays = false;
                 resetMapOverlays();
-                requestBuildingData();
-                Toast.makeText(getContext(),
-                        "Vector preview mode selected. Tap a blue building.",
-                        Toast.LENGTH_SHORT).show();
+                redrawSelectedBuildingOverlay();
+                updateStatus("Vector preview mode selected. Tap a blue building if needed.");
             });
         }
 
@@ -307,60 +301,32 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
             btnFindActualMap.setOnClickListener(v -> {
                 showActualMapOverlays = true;
                 resetMapOverlays();
-                requestBuildingData();
-                Toast.makeText(getContext(),
-                        "Actual map mode selected. Tap a blue building.",
-                        Toast.LENGTH_SHORT).show();
+                redrawSelectedBuildingOverlay();
+                updateStatus("Actual map mode selected. Tap a blue building if needed.");
             });
         }
 
-        button.setOnClickListener(v -> {
-            float chosenLat = startPosition[0];
-            float chosenLon = startPosition[1];
-
-            if (mMap != null && getContext() != null) {
-                float userChosenZoom = mMap.getCameraPosition().zoom;
-                Context context = getContext();
-                Context safeContext = context;
-                if (safeContext != null) {
-                    android.content.SharedPreferences.Editor editor = safeContext
-                            .getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
-                            .edit()
-                            .putFloat("user_selected_zoom", userChosenZoom);
-
-                    if (isReplayMode()) {
-                        editor.putFloat("user_start_lat", chosenLat)
-                                .putFloat("user_start_lon", chosenLon);
-                        Log.d(TAG, String.format(java.util.Locale.UK,
-                                "STEP1_START_UI replay start saved lat=%.6f lon=%.6f zoom=%.2f",
-                                chosenLat,
-                                chosenLon,
-                                userChosenZoom));
-                    } else {
-                        editor.remove("user_start_lat");
-                        editor.remove("user_start_lon");
-                        Log.d(TAG, String.format(java.util.Locale.UK,
-                                "STEP1_START_UI recording mode saved zoom only zoom=%.2f building=%s",
-                                userChosenZoom,
-                                selectedBuildingId));
-                    }
-                    editor.apply();
-                }
-            }
+        if (btnResetStartAnchor != null) {
+            btnResetStartAnchor.setOnClickListener(v -> resetToCurrentLocation());
+        }
 
-            if (selectedBuildingId != null) {
-                sensorFusion.setSelectedBuildingId(selectedBuildingId);
-                Log.d(TAG, "STEP1_START_UI selected building=" + selectedBuildingId);
-            }
+        if (doneButton != null) {
+            doneButton.setOnClickListener(v -> confirmSelectionAndContinue());
+        }
 
-            if (isRecordingMode()) {
-                sensorFusion.startRecording();
-                Log.d(TAG, "STEP1_START_UI recording started; initial anchor will be autonomous");
-                ((RecordingActivity) requireActivity()).showRecordingScreen();
-            } else if (isReplayMode()) {
-                ((ReplayActivity) requireActivity()).onStartLocationChosen(chosenLat, chosenLon);
-            }
-        });
+        SupportMapFragment supportMapFragment =
+                (SupportMapFragment) getChildFragmentManager().findFragmentById(R.id.startMap);
+
+        if (supportMapFragment != null) {
+            supportMapFragment.getMapAsync(googleMap -> {
+                mMap = googleMap;
+                setupMap();
+                installStartMarkerInteraction();
+                requestBuildingDataWhenReady();
+            });
+        } else {
+            updateStatus("Map fragment not found.");
+        }
     }
 
     @Override
@@ -386,10 +352,13 @@ public void onDestroyView() {
     }
 
     /**
-     * Configures the map, creates the current-location and start markers,
-     * and installs map listeners.
+     * Configures the map and initial markers.
      */
     private void setupMap() {
+        if (mMap == null) {
+            return;
+        }
+
         mMap.setMapType(GoogleMap.MAP_TYPE_HYBRID);
         mMap.getUiSettings().setCompassEnabled(true);
         mMap.getUiSettings().setTiltGesturesEnabled(true);
@@ -397,108 +366,217 @@ private void setupMap() {
         mMap.getUiSettings().setScrollGesturesEnabled(true);
         mMap.clear();
 
-        LatLng position = new LatLng(startPosition[0], startPosition[1]);
+        float[] gnss = sensorFusion.getGNSSLatitude(false);
+        if (gnss != null && gnss.length >= 2) {
+            startPosition[0] = gnss[0];
+            startPosition[1] = gnss[1];
+        }
+
+        LatLng manualAnchor = sensorFusion.getManualStartAnchorLatLng();
+        LatLng initialPosition;
+
+        if (isValidLatLng(manualAnchor)) {
+            initialPosition = manualAnchor;
+            startPosition[0] = (float) manualAnchor.latitude;
+            startPosition[1] = (float) manualAnchor.longitude;
+            followCurrentLocationWithStartMarker = false;
+            hasUserAdjustedMarker = true;
+        } else if (isValidLatLon(gnss)) {
+            initialPosition = new LatLng(gnss[0], gnss[1]);
+            followCurrentLocationWithStartMarker = true;
+            hasUserAdjustedMarker = false;
+        } else {
+            initialPosition = new LatLng(0, 0);
+            followCurrentLocationWithStartMarker = true;
+            hasUserAdjustedMarker = false;
+        }
 
         currentLocationMarker = mMap.addMarker(new MarkerOptions()
-                .position(position)
+                .position(initialPosition)
                 .title("Current Location")
                 .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_AZURE))
                 .zIndex(21f));
 
-        boolean replayMode = isReplayMode();
-
         startMarker = mMap.addMarker(new MarkerOptions()
-                .position(position)
-                .title(replayMode ? "Selected Start" : "Phone Position")
-                .draggable(replayMode)
-                .icon(BitmapDescriptorFactory.defaultMarker(
-                        replayMode
-                                ? BitmapDescriptorFactory.HUE_RED
-                                : BitmapDescriptorFactory.HUE_GREEN))
+                .position(initialPosition)
+                .title("Start Location")
+                .snippet("Drag or tap the map to adjust this marker")
+                .draggable(true)
+                .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_RED))
                 .zIndex(22f));
 
-        Log.d(TAG, "STEP1_START_UI setupMap replayMode=" + replayMode + " draggableStartMarker=" + replayMode);
+        if (startMarker != null && isValidLatLng(manualAnchor)) {
+            styleConfirmedMarker(startMarker);
+            startMarker.setSnippet("Previously confirmed start anchor");
+        }
 
-        // Only lock the initial camera position once a real GNSS fix exists.
-        boolean gnssReady = !(startPosition[0] == 0f && startPosition[1] == 0f);
-        if (!hasInitialCameraPositioned && gnssReady) {
-            mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(position, zoom));
+        boolean cameraReady = isValidLatLng(initialPosition);
+        if (cameraReady && !hasInitialCameraPositioned) {
+            mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(initialPosition, zoom));
             hasInitialCameraPositioned = true;
         }
 
-        if (isReplayMode()) {
-            mMap.setOnMarkerDragListener(new GoogleMap.OnMarkerDragListener() {
-                @Override
-                public void onMarkerDragStart(@NonNull Marker marker) {
+        mMap.setOnPolygonClickListener(polygon -> {
+            String buildingName = (String) polygon.getTag();
+            if (buildingName != null) {
+                onBuildingSelected(buildingName, polygon);
+            }
+        });
+    }
+
+    /**
+     * Start marker can be moved in both recording and replay mode.
+     */
+    private void installStartMarkerInteraction() {
+        if (mMap == null) {
+            return;
+        }
+
+        mMap.setOnMarkerDragListener(new GoogleMap.OnMarkerDragListener() {
+            @Override
+            public void onMarkerDragStart(@NonNull Marker marker) {
+                if (startMarker != null && marker.equals(startMarker)) {
+                    updateStatus("Dragging start marker...");
                 }
+            }
+
+            @Override
+            public void onMarkerDrag(@NonNull Marker marker) {
+                // no-op
+            }
 
-                @Override
-                public void onMarkerDrag(@NonNull Marker marker) {
+            @Override
+            public void onMarkerDragEnd(@NonNull Marker marker) {
+                if (startMarker != null && marker.equals(startMarker)) {
+                    onStartMarkerManuallyMoved(marker.getPosition(), false);
                 }
+            }
+        });
 
-                @Override
-                public void onMarkerDragEnd(@NonNull Marker marker) {
-                    if (startMarker == null || !marker.equals(startMarker)) {
-                        return;
-                    }
+        mMap.setOnMapClickListener(latLng -> {
+            if (startMarker != null) {
+                startMarker.setPosition(latLng);
+                onStartMarkerManuallyMoved(latLng, false);
+            }
+        });
+    }
 
-                    isMarkerDraggedSelection = true;
-                    followCurrentLocationWithStartMarker = false;
-                    startPosition[0] = (float) marker.getPosition().latitude;
-                    startPosition[1] = (float) marker.getPosition().longitude;
+    private void onStartMarkerManuallyMoved(@NonNull LatLng newPosition, boolean animateCamera) {
+        startPosition[0] = (float) newPosition.latitude;
+        startPosition[1] = (float) newPosition.longitude;
+        followCurrentLocationWithStartMarker = false;
+        hasUserAdjustedMarker = true;
 
-                    Log.d(TAG, String.format(java.util.Locale.UK,
-                            "STEP1_START_UI replay marker dragged lat=%.6f lon=%.6f",
-                            startPosition[0],
-                            startPosition[1]));
+        sensorFusion.clearManualStartAnchor();
 
-                    clearBuildingSelectionAndOverlays();
-                    requestBuildingData();
-                }
-            });
-        } else {
-            mMap.setOnMarkerDragListener(null);
+        if (startMarker != null) {
+            styleEditableMarker(startMarker);
+            startMarker.setTitle("Corrected Start Location");
+            startMarker.setSnippet("Confirm to use this corrected start point");
+            startMarker.showInfoWindow();
         }
 
-        mMap.setOnPolygonClickListener(polygon -> {
-            String buildingName = (String) polygon.getTag();
-            if (buildingName != null) {
-                onBuildingSelected(buildingName, polygon);
+        if (mMap != null && animateCamera) {
+            mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(newPosition, Math.max(18.5f, mMap.getCameraPosition().zoom)));
+        }
+
+        updateStatus(formatLatLng("Corrected start marker selected", newPosition));
+
+        // Refresh nearby building outlines around the corrected point.
+        requestRetryCount = 0;
+        requestBuildingData();
+    }
+
+    private void confirmSelectionAndContinue() {
+        if (startMarker == null) {
+            Toast.makeText(getContext(), "Start marker is not ready yet.", Toast.LENGTH_SHORT).show();
+            return;
+        }
+
+        LatLng chosenLatLng = startMarker.getPosition();
+        if (!isValidLatLng(chosenLatLng)) {
+            Toast.makeText(getContext(), "Please wait for a valid start location.", Toast.LENGTH_SHORT).show();
+            return;
+        }
+
+        startPosition[0] = (float) chosenLatLng.latitude;
+        startPosition[1] = (float) chosenLatLng.longitude;
+
+        if (selectedBuildingId != null) {
+            sensorFusion.setSelectedBuildingId(selectedBuildingId);
+        }
+
+        if (isRecordingMode()) {
+            Integer selectedFloorToSave = selectedFloorplanBuilding != null ? currentFloorIndex : null;
+
+            sensorFusion.setManualStartAnchor(
+                    chosenLatLng,
+                    selectedFloorToSave,
+                    selectedBuildingId
+            );
+
+            sensorFusion.setStartGNSSLatitude(new float[]{
+                    (float) chosenLatLng.latitude,
+                    (float) chosenLatLng.longitude
+            });
+
+            if (startMarker != null) {
+                styleConfirmedMarker(startMarker);
+                startMarker.setTitle("Confirmed Start Location");
+                startMarker.setSnippet("This start anchor will be used for recording");
+                startMarker.showInfoWindow();
             }
-        });
+
+            sensorFusion.startRecording();
+            ((RecordingActivity) requireActivity()).showRecordingScreen();
+            return;
+        }
+
+        if (isReplayMode()) {
+            ((ReplayActivity) requireActivity()).onStartLocationChosen(
+                    (float)chosenLatLng.latitude,
+                    (float)chosenLatLng.longitude
+            );
+        }
     }
 
     /**
-     * Waits until GNSS is ready, then refreshes the current/start marker position
-     * and requests building data.
+     * If GNSS is not ready yet, retry a few times.
+     * If the user already adjusted the marker, use that point instead.
      */
     private void requestBuildingDataWhenReady() {
-        if (!isMarkerDraggedSelection) {
+        boolean currentStartReady = isValidLatLon(startPosition);
+
+        if (!currentStartReady) {
             float[] gnss = sensorFusion.getGNSSLatitude(false);
-            startPosition[0] = gnss[0];
-            startPosition[1] = gnss[1];
+            if (isValidLatLon(gnss)) {
+                startPosition[0] = gnss[0];
+                startPosition[1] = gnss[1];
+                currentStartReady = true;
+            }
         }
 
-        boolean gnssReady = !(startPosition[0] == 0f && startPosition[1] == 0f);
-        if (!gnssReady) {
+        if (!currentStartReady) {
             if (requestRetryCount < MAX_REQUEST_RETRIES) {
                 requestRetryCount++;
                 retryHandler.postDelayed(this::requestBuildingDataWhenReady, RETRY_DELAY_MS);
-                return;
+            } else {
+                updateStatus("Waiting for GNSS / WiFi start estimate...");
             }
+            return;
         }
 
         LatLng current = new LatLng(startPosition[0], startPosition[1]);
 
-        if (currentLocationMarker != null) {
+        if (currentLocationMarker != null && isValidLatLng(current)) {
             currentLocationMarker.setPosition(current);
         }
-        if (startMarker != null && followCurrentLocationWithStartMarker && !isMarkerDraggedSelection) {
+
+        if (startMarker != null && followCurrentLocationWithStartMarker && !hasUserAdjustedMarker) {
             startMarker.setPosition(current);
         }
 
-        // Once a real location exists, move the camera to the indoor zoom level.
-        if (mMap != null && gnssReady && !hasInitialCameraPositioned) {
+        if (mMap != null && isValidLatLng(current) && !hasInitialCameraPositioned) {
             mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(current, zoom));
             hasInitialCameraPositioned = true;
         }
@@ -507,9 +585,13 @@ private void requestBuildingDataWhenReady() {
     }
 
     /**
-     * Requests nearby floorplan buildings and redraws the building outlines.
+     * Request nearby building outlines.
      */
     private void requestBuildingData() {
+        if (!isValidLatLon(startPosition)) {
+            return;
+        }
+
         List<String> observedMacs = new ArrayList<>();
         List<com.openpositioning.PositionMe.sensors.Wifi> wifiList = sensorFusion.getWifiList();
         if (wifiList != null) {
@@ -532,14 +614,23 @@ public void onSuccess(List<FloorplanApiClient.BuildingInfo> buildings) {
                             return;
                         }
 
+                        requestRetryCount = 0;
                         sensorFusion.setFloorplanBuildings(buildings);
                         floorplanBuildingMap.clear();
 
-                        for (FloorplanApiClient.BuildingInfo building : buildings) {
-                            floorplanBuildingMap.put(building.getName(), building);
+                        if (buildings != null) {
+                            for (FloorplanApiClient.BuildingInfo building : buildings) {
+                                if (building != null && building.getName() != null) {
+                                    floorplanBuildingMap.put(building.getName(), building);
+                                }
+                            }
                         }
 
                         drawBuildingOutlines(buildings);
+
+                        if (buildings == null || buildings.isEmpty()) {
+                            updateStatus("No buildings found nearby. You can still drag the start marker.");
+                        }
                     }
 
                     @Override
@@ -548,20 +639,29 @@ public void onFailure(String error) {
                             return;
                         }
                         Log.e(TAG, "Floorplan API failed: " + error);
+                        updateStatus("Floorplan request failed: " + error);
                     }
                 }
         );
     }
 
     /**
-     * Draws nearby buildings as clickable blue polygons.
+     * Draw nearby buildings as clickable blue polygons.
      */
-    private void drawBuildingOutlines(List<FloorplanApiClient.BuildingInfo> buildings) {
+    private void drawBuildingOutlines(@Nullable List<FloorplanApiClient.BuildingInfo> buildings) {
+        if (mMap == null) {
+            return;
+        }
+
         for (Polygon p : buildingPolygons) {
             p.remove();
         }
         buildingPolygons.clear();
 
+        if (buildings == null) {
+            return;
+        }
+
         for (FloorplanApiClient.BuildingInfo building : buildings) {
             List<LatLng> outlinePoints = building.getOutlinePolygon();
             if (outlinePoints == null || outlinePoints.size() < 3) {
@@ -578,63 +678,42 @@ private void drawBuildingOutlines(List<FloorplanApiClient.BuildingInfo> building
             polygon.setTag(building.getName());
             buildingPolygons.add(polygon);
         }
-
-        // Keep the current camera fixed. Only the outlines are refreshed.
     }
 
     /**
-     * Handles building selection, highlights the polygon, recenters the start marker,
-     * stores the chosen building, and redraws the selected building overlay.
+     * Building selection updates the selected venue/floor context.
+     * It does NOT forcibly move the marker anymore.
      */
-    private void onBuildingSelected(String buildingName, Polygon polygon) {
+    private void onBuildingSelected(@NonNull String buildingName, @NonNull Polygon polygon) {
         if (selectedPolygon != null) {
             selectedPolygon.setFillColor(FILL_COLOR_DEFAULT);
             selectedPolygon.setStrokeColor(STROKE_COLOR_DEFAULT);
         }
 
         selectedPolygon = polygon;
-        polygon.setFillColor(FILL_COLOR_SELECTED);
-        polygon.setStrokeColor(STROKE_COLOR_SELECTED);
+        selectedPolygon.setFillColor(FILL_COLOR_SELECTED);
+        selectedPolygon.setStrokeColor(STROKE_COLOR_SELECTED);
 
         selectedBuildingId = buildingName;
         selectedFloorplanBuilding = floorplanBuildingMap.get(buildingName);
         currentFloorIndex = getDefaultFloorIndex(selectedFloorplanBuilding);
 
-        LatLng center = computePolygonCenter(polygon);
-        if (isReplayMode()) {
-            if (startMarker != null) {
-                startMarker.setPosition(center);
-            }
+        updateFloorLabel();
+        redrawSelectedBuildingOverlay();
 
-            followCurrentLocationWithStartMarker = false;
-            isMarkerDraggedSelection = true;
-            startPosition[0] = (float) center.latitude;
-            startPosition[1] = (float) center.longitude;
-
-            Log.d(TAG, String.format(java.util.Locale.UK,
-                    "STEP1_START_UI replay building selected=%s centerLat=%.6f centerLon=%.6f",
-                    buildingName,
-                    center.latitude,
-                    center.longitude));
-        } else {
-            Log.d(TAG, String.format(java.util.Locale.UK,
-                    "STEP1_START_UI recording building selected=%s currentPhoneLat=%.6f currentPhoneLon=%.6f",
-                    buildingName,
-                    startPosition[0],
-                    startPosition[1]));
-            if (mMap != null) {
-                float targetZoom = Math.max(18.5f, mMap.getCameraPosition().zoom);
-                mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(center, targetZoom));
-            }
+        LatLng center = computePolygonCenter(polygon);
+        if (mMap != null && isValidLatLng(center)) {
+            float targetZoom = Math.max(18.5f, mMap.getCameraPosition().zoom);
+            mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(center, targetZoom));
         }
 
-        updateBuildingInfoDisplay(buildingName);
-        redrawSelectedBuildingOverlay();
+        updateStatus(
+                "Selected building: " + formatBuildingName(buildingName)
+                        + " | floor: " + formatFloorLabelForUi(
+                        getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex))
+        );
     }
 
-    /**
-     * Rebuilds the selected building overlay for the current floor and display mode.
-     */
     private void redrawSelectedBuildingOverlay() {
         resetMapOverlays();
 
@@ -653,45 +732,41 @@ private void redrawSelectedBuildingOverlay() {
         updateFloorLabel();
     }
 
-    /**
-     * Moves one floor up or down when the user taps the floor navigation buttons.
-     */
     private void moveFloor(boolean moveUp) {
         if (selectedFloorplanBuilding == null) {
             return;
         }
+
         int next = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, moveUp);
         if (next == currentFloorIndex) {
             return;
         }
+
         currentFloorIndex = next;
         redrawSelectedBuildingOverlay();
+
+        updateStatus(
+                "Floor changed to " + formatFloorLabelForUi(
+                        getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex)
+                )
+        );
     }
 
     private void setFloorControlsVisibility(int visibility) {
-        if (floorUpButton != null) {
-            floorUpButton.setVisibility(visibility);
-        }
-        if (floorDownButton != null) {
-            floorDownButton.setVisibility(visibility);
-        }
-        if (floorLabel != null) {
-            floorLabel.setVisibility(visibility);
-        }
+        if (floorUpButton != null) floorUpButton.setVisibility(visibility);
+        if (floorDownButton != null) floorDownButton.setVisibility(visibility);
+        if (floorLabel != null) floorLabel.setVisibility(visibility);
     }
 
     private void updateFloorLabel() {
         if (floorLabel == null || selectedFloorplanBuilding == null) {
             return;
         }
-        floorLabel.setText(formatFloorLabelForUi(
-                getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex)
-        ));
+        floorLabel.setText(
+                formatFloorLabelForUi(getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex))
+        );
     }
 
-    /**
-     * Removes all currently displayed preview and actual-map overlays.
-     */
     private void resetMapOverlays() {
         for (Polygon p : previewPolygons) {
             p.remove();
@@ -715,9 +790,6 @@ private void resetMapOverlays() {
         realMapOverlays.clear();
     }
 
-    /**
-     * Clears the current building selection and all associated overlays.
-     */
     private void clearBuildingSelectionAndOverlays() {
         floorplanBuildingMap.clear();
         resetMapOverlays();
@@ -730,9 +802,107 @@ private void clearBuildingSelectionAndOverlays() {
         selectedPolygon = null;
         selectedBuildingId = null;
         selectedFloorplanBuilding = null;
+        currentFloorIndex = 0;
         setFloorControlsVisibility(View.GONE);
     }
 
+    /**
+     * Reset back to the current live GNSS position and clear any manual override.
+     */
+    private void resetToCurrentLocation() {
+        sensorFusion.clearManualStartAnchor();
+        followCurrentLocationWithStartMarker = true;
+        hasUserAdjustedMarker = false;
+
+        if (startMarker != null) {
+            styleEditableMarker(startMarker);
+            startMarker.setTitle("Start Location");
+            startMarker.setSnippet("Following current GNSS position until you adjust it");
+        }
+
+        clearBuildingSelectionAndOverlays();
+        updateLiveLocation(true);
+        requestRetryCount = 0;
+        requestBuildingDataWhenReady();
+        updateStatus("Reset to current location.");
+    }
+
+    private void startLiveLocationUpdates() {
+        liveLocationHandler.removeCallbacks(liveLocationRunnable);
+        liveLocationHandler.post(liveLocationRunnable);
+    }
+
+    private void stopLiveLocationUpdates() {
+        liveLocationHandler.removeCallbacks(liveLocationRunnable);
+    }
+
+    /**
+     * Update the current GNSS marker.
+     * If marker-follow mode is on, also move the start marker.
+     */
+    private void updateLiveLocation(boolean animateCamera) {
+        float[] gnss = sensorFusion.getGNSSLatitude(false);
+        if (!isValidLatLon(gnss)) {
+            return;
+        }
+
+        LatLng current = new LatLng(gnss[0], gnss[1]);
+
+        if (currentLocationMarker != null) {
+            currentLocationMarker.setPosition(current);
+        }
+
+        if (followCurrentLocationWithStartMarker && startMarker != null) {
+            startMarker.setPosition(current);
+            startPosition[0] = gnss[0];
+            startPosition[1] = gnss[1];
+        }
+
+        if (mMap != null && animateCamera) {
+            float targetZoom = Math.max(18.5f, mMap.getCameraPosition().zoom);
+            mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(current, targetZoom));
+        }
+    }
+
+    private void styleEditableMarker(@NonNull Marker marker) {
+        marker.setDraggable(true);
+        marker.setIcon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_RED));
+    }
+
+    private void styleConfirmedMarker(@NonNull Marker marker) {
+        marker.setDraggable(true);
+        marker.setIcon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_GREEN));
+    }
+
+    private void updateStatus(@NonNull String message) {
+        if (startAnchorStatusText != null) {
+            startAnchorStatusText.setText(message);
+        }
+        Log.d(TAG, message);
+    }
+
+    @NonNull
+    private String formatLatLng(@NonNull String prefix, @NonNull LatLng latLng) {
+        return String.format(
+                Locale.UK,
+                "%s\nlat=%.6f lon=%.6f",
+                prefix,
+                latLng.latitude,
+                latLng.longitude
+        );
+    }
+
+    private boolean isValidLatLon(@Nullable float[] latLon) {
+        return latLon != null
+                && latLon.length >= 2
+                && !(Math.abs(latLon[0]) < 1e-6 && Math.abs(latLon[1]) < 1e-6);
+    }
+
+    private boolean isValidLatLng(@Nullable LatLng latLng) {
+        return latLng != null
+                && !(Math.abs(latLng.latitude) < 1e-6 && Math.abs(latLng.longitude) < 1e-6);
+    }
+
     private void updateRealMapOverlay(String buildingName, int floorIndex, boolean show) {
         if (!show || mMap == null || selectedFloorplanBuilding == null) {
             return;
@@ -1451,9 +1621,6 @@ private String formatFloorLabelForUi(String rawFloorLabel) {
         }
     }
 
-    /**
-     * Draws the vector-style indoor preview for the selected building and floor.
-     */
     private void showFloorPlanOverlay(String buildingName) {
         for (Polygon p : previewPolygons) {
             p.remove();
@@ -1469,6 +1636,10 @@ private void showFloorPlanOverlay(String buildingName) {
             whiteMaskPolygon = null;
         }
 
+        if (mMap == null) {
+            return;
+        }
+
         PolygonOptions whiteMask = new PolygonOptions()
                 .add(
                         new LatLng(85, -180),
@@ -1538,9 +1709,6 @@ private int getPreviewStrokeColor(String indoorType) {
         return Color.argb(255, 50, 50, 50);
     }
 
-    /**
-     * Returns the fill colour for a preview indoor feature.
-     */
     private int getPreviewFillColor(String indoorType) {
         if ("room".equals(indoorType)) {
             return Color.argb(40, 33, 150, 243);
@@ -1548,17 +1716,6 @@ private int getPreviewFillColor(String indoorType) {
         return Color.TRANSPARENT;
     }
 
-    /**
-     * Updates any building selection UI. The current simplified version hides
-     * the optional building info card if it exists in the layout.
-     */
-    private void updateBuildingInfoDisplay(String buildingName) {
-        // No extra info card is currently shown in this cleaned version.
-    }
-
-    /**
-     * Formats an API building name into a user-friendly display name.
-     */
     private String formatBuildingName(String apiName) {
         if (apiName == null || apiName.isEmpty()) {
             return "";
@@ -1581,9 +1738,6 @@ private String formatBuildingName(String apiName) {
         return sb.toString();
     }
 
-    /**
-     * Computes the simple centroid of a polygon by averaging all vertices.
-     */
     private LatLng computePolygonCenter(Polygon polygon) {
         List<LatLng> points = polygon.getPoints();
         double latSum = 0;
@@ -1601,93 +1755,4 @@ private LatLng computePolygonCenter(Polygon polygon) {
         }
         return new LatLng(latSum / count, lonSum / count);
     }
-
-    /**
-     * Creates the "Back to Current Location" button programmatically if it is not
-     * already present in the layout.
-     */
-    private void ensureBackToCurrentLocationButton(@NonNull View root) {
-        if (button == null || backToCurrentLocationButton != null) {
-            return;
-        }
-        if (!(button.getParent() instanceof ConstraintLayout)) {
-            return;
-        }
-
-        ConstraintLayout parent = (ConstraintLayout) button.getParent();
-
-        backToCurrentLocationButton = new Button(requireContext());
-        backToCurrentLocationButton.setId(View.generateViewId());
-        backToCurrentLocationButton.setText("Back to Current Location");
-        backToCurrentLocationButton.setAllCaps(false);
-
-        int marginBottomPx = Math.round(12f * root.getResources().getDisplayMetrics().density);
-
-        ConstraintLayout.LayoutParams params = new ConstraintLayout.LayoutParams(
-                ConstraintLayout.LayoutParams.WRAP_CONTENT,
-                ConstraintLayout.LayoutParams.WRAP_CONTENT
-        );
-        params.bottomToTop = button.getId();
-        params.startToStart = button.getId();
-        params.endToEnd = button.getId();
-        params.bottomMargin = marginBottomPx;
-
-        backToCurrentLocationButton.setLayoutParams(params);
-        parent.addView(backToCurrentLocationButton);
-
-        backToCurrentLocationButton.setOnClickListener(v -> resetToCurrentLocation());
-    }
-
-    /**
-     * Returns the start marker to the current live GNSS position and clears any
-     * manual building-based selection.
-     */
-    private void resetToCurrentLocation() {
-        followCurrentLocationWithStartMarker = true;
-        isMarkerDraggedSelection = false;
-        Log.d(TAG, "STEP1_START_UI reset to current live position");
-        clearBuildingSelectionAndOverlays();
-        updateLiveLocation(true);
-        requestBuildingDataWhenReady();
-    }
-
-    private void startLiveLocationUpdates() {
-        liveLocationHandler.removeCallbacks(liveLocationRunnable);
-        liveLocationHandler.post(liveLocationRunnable);
-    }
-
-    private void stopLiveLocationUpdates() {
-        liveLocationHandler.removeCallbacks(liveLocationRunnable);
-    }
-
-    /**
-     * Refreshes the live GNSS marker and, when enabled, keeps the start marker
-     * attached to the current position.
-     */
-    private void updateLiveLocation(boolean animateCamera) {
-        float[] gnss = sensorFusion.getGNSSLatitude(false);
-        if (gnss == null || gnss.length < 2) {
-            return;
-        }
-        if (gnss[0] == 0f && gnss[1] == 0f) {
-            return;
-        }
-
-        LatLng current = new LatLng(gnss[0], gnss[1]);
-
-        if (currentLocationMarker != null) {
-            currentLocationMarker.setPosition(current);
-        }
-
-        if (followCurrentLocationWithStartMarker && startMarker != null) {
-            startMarker.setPosition(current);
-            startPosition[0] = gnss[0];
-            startPosition[1] = gnss[1];
-        }
-
-        if (mMap != null && animateCamera) {
-            float targetZoom = Math.max(18.5f, mMap.getCameraPosition().zoom);
-            mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(current, targetZoom));
-        }
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index 863ec245..e8276386 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -442,11 +442,27 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
                             savedZoom));
                     hasPendingCameraMove = false;
                     pendingCameraPosition = null;
-                } else if (!replayModeEnabled && getContext() != null) {
+                } else if (!replayModeEnabled) {
                     float savedZoom = getSavedMapZoom();
-                    Log.d(TAG, String.format(Locale.UK,
-                            "STEP2_CAMERA recording mode waiting for autonomous anchor; skip saved user_start_lat/lon restore, zoom=%.2f",
-                            savedZoom));
+
+                    LatLng manualStart = sensorFusion != null
+                            ? sensorFusion.getManualStartAnchorLatLng()
+                            : null;
+
+                    if (manualStart != null) {
+                        gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(manualStart, savedZoom));
+                        currentLocation = manualStart;
+
+                        Log.d(TAG, String.format(Locale.UK,
+                                "STEP2_CAMERA applied manual recording start lat=%.6f lon=%.6f zoom=%.2f",
+                                manualStart.latitude,
+                                manualStart.longitude,
+                                savedZoom));
+                    } else if (getContext() != null) {
+                        Log.d(TAG, String.format(Locale.UK,
+                                "STEP2_CAMERA recording mode has no manual start anchor; waiting for autonomous anchor, zoom=%.2f",
+                                savedZoom));
+                    }
                 }
 
                 restoreCachedBuildingsIfAny();
@@ -1288,31 +1304,37 @@ private void refreshDebugStatusText() {
             return;
         }
 
-        String engine = (sensorFusion != null && sensorFusion.isParticleFilterTrajectoryMode())
+        String engine = sensorFusion != null && sensorFusion.isParticleFilterTrajectoryMode()
                 ? "PF"
                 : "PDR";
 
-        String pfSummary = sensorFusion != null
+        String building = selectedFloorplanBuilding != null
+                ? selectedFloorplanBuilding.getName()
+                : "none";
+
+        String particleSummary = sensorFusion != null
                 ? sensorFusion.getParticleFilterDebugSummary()
                 : "Particles: unavailable";
 
-        String mapMatchingSummary = mapMatchingCoordinator.getLatestDebugStatus();
-
         int wifiFloor = sensorFusion != null ? sensorFusion.getWifiFloor() : -1;
         boolean wifiAvailable = sensorFusion != null && sensorFusion.getLatLngWifiPositioning() != null;
 
+        String mapMatchingSummary = mapMatchingCoordinator.getLatestDebugStatus();
+
         debugStatusText.setText(String.format(
                 Locale.US,
                 "Engine: %s\n" +
+                        "Building: %s\n" +
                         "Display floor: %d\n" +
                         "WiFi: %s | floor: %d\n" +
                         "%s\n" +
                         "%s",
                 engine,
+                building,
                 currentFloorIndex,
                 wifiAvailable ? "yes" : "no",
                 wifiFloor,
-                pfSummary,
+                particleSummary,
                 mapMatchingSummary
         ));
     }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
index 01a1daa9..c925a3d4 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
@@ -423,6 +423,19 @@ private void stopWirelessCollectors() {
      * Starts trajectory recording and foreground collection.
      */
     public void startRecording() {
+        // If the user corrected the start point in StartLocationFragment,
+        // use that corrected anchor as the recording/session start.
+        if (manualStartAnchorLatLng != null) {
+            setStartGNSSLatitude(new float[]{
+                    (float) manualStartAnchorLatLng.latitude,
+                    (float) manualStartAnchorLatLng.longitude
+            });
+
+            if (manualStartAnchorBuildingId != null && !manualStartAnchorBuildingId.isEmpty()) {
+                setSelectedBuildingId(manualStartAnchorBuildingId);
+            }
+        }
+
         recorder.startRecording(pdrProcessing);
         eventHandler.resetBootTime(recorder.getBootTime());
 
@@ -460,6 +473,48 @@ public void stopRecording() {
         }
     }
 
+    @Nullable
+    private LatLng manualStartAnchorLatLng = null;
+
+    @Nullable
+    private Integer manualStartAnchorFloorIndex = null;
+
+    @Nullable
+    private String manualStartAnchorBuildingId = null;
+
+    public void setManualStartAnchor(@NonNull LatLng latLng,
+                                     @Nullable Integer floorIndex,
+                                     @Nullable String buildingId) {
+        this.manualStartAnchorLatLng = latLng;
+        this.manualStartAnchorFloorIndex = floorIndex;
+        this.manualStartAnchorBuildingId = buildingId;
+
+        if (buildingId != null && !buildingId.isEmpty()) {
+            setSelectedBuildingId(buildingId);
+        }
+    }
+
+    @Nullable
+    public LatLng getManualStartAnchorLatLng() {
+        return manualStartAnchorLatLng;
+    }
+
+    @Nullable
+    public Integer getManualStartAnchorFloorIndex() {
+        return manualStartAnchorFloorIndex;
+    }
+
+    @Nullable
+    public String getManualStartAnchorBuildingId() {
+        return manualStartAnchorBuildingId;
+    }
+
+    public void clearManualStartAnchor() {
+        manualStartAnchorLatLng = null;
+        manualStartAnchorFloorIndex = null;
+        manualStartAnchorBuildingId = null;
+    }
+
     /**
      * Selects whether this recording session uses standard PDR or PF trajectory mode.
      */
@@ -702,6 +757,56 @@ public int getWifiFloor() {
         return wifiPositionManager != null ? wifiPositionManager.getWifiFloor() : 0;
     }
 
+
+    @Nullable
+    private Integer manualStartAnchorFloor;
+
+
+    @Nullable
+    public Integer getManualStartAnchorFloor() {
+        return manualStartAnchorFloor;
+    }
+
+
+
+    public boolean hasManualStartAnchor() {
+        return manualStartAnchorLatLng != null;
+    }
+
+
+    /**
+     * Resolve the session start anchor in priority order:
+     * manual corrected start > stored session start > WiFi > GNSS.
+     */
+    @Nullable
+    public LatLng resolvePreferredStartAnchor() {
+        if (manualStartAnchorLatLng != null) {
+            return manualStartAnchorLatLng;
+        }
+
+        float[] storedStart = getGNSSLatitude(true);
+        if (storedStart != null
+                && storedStart.length >= 2
+                && !(Math.abs(storedStart[0]) < 1e-6 && Math.abs(storedStart[1]) < 1e-6)) {
+            return new LatLng(storedStart[0], storedStart[1]);
+        }
+
+        LatLng wifiLatLng = getLatLngWifiPositioning();
+        if (wifiLatLng != null
+                && !(Math.abs(wifiLatLng.latitude) < 1e-6 && Math.abs(wifiLatLng.longitude) < 1e-6)) {
+            return wifiLatLng;
+        }
+
+        float[] gnss = getGNSSLatitude(false);
+        if (gnss != null
+                && gnss.length >= 2
+                && !(Math.abs(gnss[0]) < 1e-6 && Math.abs(gnss[1]) < 1e-6)) {
+            return new LatLng(gnss[0], gnss[1]);
+        }
+
+        return null;
+    }
+
     public float passAdaptiveQsmfiHeading() {
         return adaptiveQsmfiHeadingCalibrator != null
                 ? adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad()
diff --git a/app/src/main/res/layout/fragment_startlocation.xml b/app/src/main/res/layout/fragment_startlocation.xml
index 5fa94ee2..3e8d4b67 100644
--- a/app/src/main/res/layout/fragment_startlocation.xml
+++ b/app/src/main/res/layout/fragment_startlocation.xml
@@ -4,7 +4,8 @@
     xmlns:app="http://schemas.android.com/apk/res-auto"
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
-    android:layout_height="match_parent">
+    android:layout_height="match_parent"
+    android:background="@android:color/black">
 
     <androidx.fragment.app.FragmentContainerView
         android:id="@+id/startMap"
@@ -21,123 +22,244 @@
         android:id="@+id/cardView"
         android:layout_width="0dp"
         android:layout_height="wrap_content"
-        android:layout_marginStart="12dp"
-        android:layout_marginTop="12dp"
-        android:layout_marginEnd="12dp"
-        app:cardCornerRadius="14dp"
-        app:cardElevation="4dp"
-        app:cardBackgroundColor="@color/md_theme_primary"
+        android:layout_marginStart="16dp"
+        android:layout_marginTop="16dp"
+        android:layout_marginEnd="16dp"
+        app:cardCornerRadius="20dp"
+        app:cardElevation="8dp"
+        app:cardUseCompatPadding="true"
+        app:strokeWidth="0dp"
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintEnd_toEndOf="parent">
 
-        <TextView
-            android:id="@+id/correctionInfoView"
+        <LinearLayout
             android:layout_width="match_parent"
             android:layout_height="wrap_content"
-            android:padding="14dp"
-            android:text="Drag the marker or tap a blue building outline, then choose the floor."
-            android:textAlignment="center"
-            android:textAppearance="?attr/textAppearanceBodyMedium"
-            android:textColor="@color/md_theme_onPrimary" />
+            android:orientation="vertical"
+            android:paddingStart="18dp"
+            android:paddingTop="16dp"
+            android:paddingEnd="18dp"
+            android:paddingBottom="16dp"
+            android:background="@color/md_theme_surface">
+
+            <TextView
+                android:id="@+id/startTitleText"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:text="Choose your start location"
+                android:textAppearance="?attr/textAppearanceTitleMedium"
+                android:textColor="@color/md_theme_onSurface"
+                android:textStyle="bold" />
+
+            <TextView
+                android:id="@+id/correctionInfoView"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_marginTop="6dp"
+                android:text="Drag the marker to the correct place, or tap a building outline and choose the floor before confirming."
+                android:textAppearance="?attr/textAppearanceBodyMedium"
+                android:textColor="@color/md_theme_onSurfaceVariant"
+                android:lineSpacingExtra="2dp" />
+
+            <TextView
+                android:id="@+id/startAnchorStatusText"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_marginTop="10dp"
+                android:background="@color/white"
+                android:paddingStart="12dp"
+                android:paddingTop="8dp"
+                android:paddingEnd="12dp"
+                android:paddingBottom="8dp"
+                android:text="Waiting for GNSS / WiFi start estimate..."
+                android:textAppearance="?attr/textAppearanceBodySmall"
+                android:textColor="@color/md_theme_onSurface" />
+
+        </LinearLayout>
     </com.google.android.material.card.MaterialCardView>
 
-    <LinearLayout
+    <com.google.android.material.card.MaterialCardView
         android:id="@+id/mapModePanel"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_marginStart="12dp"
+        android:layout_marginStart="16dp"
         android:layout_marginTop="12dp"
-        android:background="#CCFFFFFF"
-        android:elevation="4dp"
-        android:orientation="vertical"
-        android:padding="8dp"
+        app:cardCornerRadius="18dp"
+        app:cardElevation="6dp"
+        app:cardUseCompatPadding="true"
         app:layout_constraintTop_toBottomOf="@id/cardView"
         app:layout_constraintStart_toStartOf="parent">
 
-        <com.google.android.material.button.MaterialButton
-            android:id="@+id/btnFindIndoorMap"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:minWidth="0dp"
-            android:text="Vector Preview"
-            android:textAllCaps="false"
-            android:textSize="13sp"
-            app:backgroundTint="?attr/colorPrimary"
-            app:cornerRadius="10dp" />
-
-        <com.google.android.material.button.MaterialButton
-            android:id="@+id/btnFindActualMap"
+        <LinearLayout
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:layout_marginTop="8dp"
-            android:minWidth="0dp"
-            android:text="Actual Map"
-            android:textAllCaps="false"
-            android:textSize="13sp"
-            app:backgroundTint="@color/md_theme_secondary"
-            app:cornerRadius="10dp" />
-    </LinearLayout>
-
-    <LinearLayout
+            android:orientation="vertical"
+            android:padding="10dp"
+            android:background="@color/md_theme_surface">
+
+            <TextView
+                android:id="@+id/mapModeLabel"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginBottom="8dp"
+                android:text="Map view"
+                android:textAppearance="?attr/textAppearanceLabelLarge"
+                android:textColor="@color/md_theme_onSurface"
+                android:textStyle="bold" />
+
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btnFindIndoorMap"
+                style="@style/Widget.Material3.Button.OutlinedButton"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:minWidth="0dp"
+                android:text="Vector Preview"
+                android:textAllCaps="false"
+                android:textSize="13sp"
+                app:cornerRadius="14dp" />
+
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btnFindActualMap"
+                style="@style/Widget.Material3.Button.OutlinedButton"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginTop="8dp"
+                android:minWidth="0dp"
+                android:text="Actual Map"
+                android:textAllCaps="false"
+                android:textSize="13sp"
+                app:cornerRadius="14dp" />
+
+        </LinearLayout>
+    </com.google.android.material.card.MaterialCardView>
+
+    <com.google.android.material.card.MaterialCardView
         android:id="@+id/floorControlPanel"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_marginTop="12dp"
-        android:layout_marginEnd="12dp"
-        android:background="#CCFFFFFF"
-        android:elevation="4dp"
-        android:gravity="center"
-        android:orientation="vertical"
-        android:padding="8dp"
+        android:layout_marginEnd="16dp"
+        app:cardCornerRadius="18dp"
+        app:cardElevation="6dp"
+        app:cardUseCompatPadding="true"
         app:layout_constraintTop_toBottomOf="@id/cardView"
         app:layout_constraintEnd_toEndOf="parent">
 
-        <com.google.android.material.floatingactionbutton.FloatingActionButton
-            android:id="@+id/floorUpButton"
+        <LinearLayout
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:contentDescription="Floor up"
-            app:fabSize="mini"
-            app:srcCompat="@android:drawable/arrow_up_float" />
+            android:orientation="vertical"
+            android:gravity="center"
+            android:paddingStart="12dp"
+            android:paddingTop="10dp"
+            android:paddingEnd="12dp"
+            android:paddingBottom="10dp"
+            android:background="@color/md_theme_surface">
 
-        <TextView
-            android:id="@+id/floorLabel"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_marginTop="8dp"
-            android:layout_marginBottom="8dp"
-            android:text="G"
-            android:textColor="@android:color/black"
-            android:textSize="18sp"
-            android:textStyle="bold" />
-
-        <com.google.android.material.floatingactionbutton.FloatingActionButton
-            android:id="@+id/floorDownButton"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:contentDescription="Floor down"
-            app:fabSize="mini"
-            app:srcCompat="@android:drawable/arrow_down_float" />
-    </LinearLayout>
+            <TextView
+                android:id="@+id/floorControlLabel"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginBottom="8dp"
+                android:text="Floor"
+                android:textAppearance="?attr/textAppearanceLabelLarge"
+                android:textColor="@color/md_theme_onSurface"
+                android:textStyle="bold" />
 
-    <com.google.android.material.button.MaterialButton
-        android:id="@+id/startLocationDone"
-        android:layout_width="wrap_content"
-        android:layout_height="52dp"
-        android:layout_marginBottom="24dp"
-        android:minWidth="180dp"
-        android:text="Set Location"
-        android:textAllCaps="false"
-        android:textSize="18sp"
-        app:icon="@drawable/ic_baseline_add_location_24"
-        app:iconGravity="textStart"
-        app:iconPadding="8dp"
-        app:iconSize="22dp"
-        app:cornerRadius="14dp"
-        app:backgroundTint="?attr/colorPrimary"
+            <com.google.android.material.floatingactionbutton.FloatingActionButton
+                android:id="@+id/floorUpButton"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:contentDescription="Floor up"
+                app:fabCustomSize="44dp"
+                app:srcCompat="@android:drawable/arrow_up_float"
+                app:tint="@color/md_theme_onPrimaryContainer"
+                app:backgroundTint="@color/md_theme_primaryContainer" />
+
+            <TextView
+                android:id="@+id/floorLabel"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginTop="10dp"
+                android:layout_marginBottom="10dp"
+                android:background="@color/white"
+                android:paddingStart="16dp"
+                android:paddingTop="8dp"
+                android:paddingEnd="16dp"
+                android:paddingBottom="8dp"
+                android:text="G"
+                android:textColor="@color/md_theme_onSurface"
+                android:textSize="18sp"
+                android:textStyle="bold" />
+
+            <com.google.android.material.floatingactionbutton.FloatingActionButton
+                android:id="@+id/floorDownButton"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:contentDescription="Floor down"
+                app:fabCustomSize="44dp"
+                app:srcCompat="@android:drawable/arrow_down_float"
+                app:tint="@color/md_theme_onPrimaryContainer"
+                app:backgroundTint="@color/md_theme_primaryContainer" />
+
+        </LinearLayout>
+    </com.google.android.material.card.MaterialCardView>
+
+    <com.google.android.material.card.MaterialCardView
+        android:id="@+id/bottomActionCard"
+        android:layout_width="0dp"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="16dp"
+        android:layout_marginEnd="16dp"
+        android:layout_marginBottom="20dp"
+        app:cardCornerRadius="22dp"
+        app:cardElevation="10dp"
+        app:cardUseCompatPadding="true"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintEnd_toEndOf="parent" />
+        app:layout_constraintEnd_toEndOf="parent">
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="horizontal"
+            android:gravity="center_vertical"
+            android:paddingStart="14dp"
+            android:paddingTop="12dp"
+            android:paddingEnd="14dp"
+            android:paddingBottom="12dp"
+            android:background="@color/md_theme_surface">
+
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btnResetStartAnchor"
+                style="@style/Widget.Material3.Button.OutlinedButton"
+                android:layout_width="0dp"
+                android:layout_height="48dp"
+                android:layout_weight="1"
+                android:text="Reset"
+                android:textAllCaps="false"
+                android:textSize="15sp"
+                app:cornerRadius="16dp" />
+
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/startLocationDone"
+                android:layout_width="0dp"
+                android:layout_height="52dp"
+                android:layout_marginStart="12dp"
+                android:layout_weight="1.4"
+                android:text="Use This Location"
+                android:textAllCaps="false"
+                android:textSize="16sp"
+                android:textStyle="bold"
+                app:icon="@drawable/ic_baseline_add_location_24"
+                app:iconGravity="textStart"
+                app:iconPadding="8dp"
+                app:iconSize="22dp"
+                app:cornerRadius="16dp"
+                app:backgroundTint="?attr/colorPrimary" />
+
+        </LinearLayout>
+    </com.google.android.material.card.MaterialCardView>
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file

From 0d6f2e8caeef8fd9e555669758530c4f841ea2f2 Mon Sep 17 00:00:00 2001
From: ver12 <vkhxyy@gmail.com>
Date: Mon, 30 Mar 2026 20:34:44 +0100
Subject: [PATCH 32/35] trial

---
 .../AdaptiveQsmfiHeadingCalibrator.java       |   5 +-
 .../fusion/ParticleFilterEngine.java          |  62 +++----
 .../fusion/ParticleFilterManager.java         | 128 ++++----------
 .../mapmatching/MapGeometryUtils.java         | 165 +++++++++++++++++-
 .../mapmatching/MapMatchingService.java       | 139 ++++++++++++++-
 .../fragment/MapMatchingCoordinator.java      |   8 +-
 6 files changed, 364 insertions(+), 143 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java
index 19cb6c93..b90f51be 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java
@@ -89,6 +89,7 @@ public class AdaptiveQsmfiHeadingCalibrator {
     private double lastGyroRate = 0.0;
     private boolean isCompassStable = false;
     private boolean isGyroStable = false;
+    private boolean isStraight = false;
 
     public void reset() {
         hasGravity = false;
@@ -119,6 +120,7 @@ public void reset() {
         isCompassStable = false;
         isGyroStable = false;
         lastGyroRate = 0.0;
+        isStraight = false;
 
         headingReliable = false;
         lastCorrectionSource = "gyro_only";
@@ -293,11 +295,10 @@ private void attemptQsmfiCalibration(long nowNs) {
         if (canFuse) {
             double gain;
             if (isTurning) {
-                gain = walking ? 0.05 : 0.10;
+                gain = walking ? 0.07 : 0.10;
             } else {
                 gain = walking ? 0.12 : 0.25;
             }
-
             fusedHeadingRad = blendAngle(fusedHeadingRad, stableHeading, gain);
             headingReliable = true;
             lastCorrectionSource = "qsmfi";
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
index 37c1c0d3..6a19ee4f 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
@@ -211,9 +211,7 @@ public void update(ParticleFilterObservation observation,
         for (Particle particle : particles) {
             double w = 1.0;
 
-
             // Wi-Fi position likelihood
-
             if (observation.getWifiX() != null && observation.getWifiY() != null) {
                 double dx = particle.x - observation.getWifiX();
                 double dy = particle.y - observation.getWifiY();
@@ -228,39 +226,35 @@ public void update(ParticleFilterObservation observation,
                 }
             }
 
-
             // GNSS position likelihood
-
-            if (observation.getGnssX() != null && observation.getGnssY() != null) {
-                double dx = particle.x - observation.getGnssX();
-                double dy = particle.y - observation.getGnssY();
-                w *= gaussian2D(dx, dy, sigmaGnss);
-            }
-
-
-            // Discrete wall-crossing penalty
-
-            if (constraintContext != null && constraintContext.isUsable()) {
-                double stepMeters = Math.hypot(particle.x - particle.prevX, particle.y - particle.prevY);
-                if (stepMeters >= MIN_STEP_FOR_WALL_CHECK_METERS) {
-                    LatLng prevLatLng = constraintContext.coordinateConverter.localToLatLng(
-                            particle.prevX,
-                            particle.prevY
-                    );
-                    LatLng currentLatLng = constraintContext.coordinateConverter.localToLatLng(
-                            particle.x,
-                            particle.y
-                    );
-
-                    if (MapGeometryUtils.crossesWall(
-                            prevLatLng,
-                            currentLatLng,
-                            constraintContext.sourceFloorShapes)) {
-                        w *= constraintContext.wallCrossPenalty;
-                    }
-                }
-            }
-
+//            if (observation.getGnssX() != null && observation.getGnssY() != null) {
+//                double dx = particle.x - observation.getGnssX();
+//                double dy = particle.y - observation.getGnssY();
+//                w *= gaussian2D(dx, dy, sigmaGnss);
+//            }
+//
+//            // Discrete wall-crossing penalty
+//            if (constraintContext != null && constraintContext.isUsable()) {
+//                double stepMeters = Math.hypot(particle.x - particle.prevX, particle.y - particle.prevY);
+//                if (stepMeters >= MIN_STEP_FOR_WALL_CHECK_METERS) {
+//                    LatLng prevLatLng = constraintContext.coordinateConverter.localToLatLng(
+//                            particle.prevX,
+//                            particle.prevY
+//                    );
+//                    LatLng currentLatLng = constraintContext.coordinateConverter.localToLatLng(
+//                            particle.x,
+//                            particle.y
+//                    );
+//
+//                    if (MapGeometryUtils.crossesWall(
+//                            prevLatLng,
+//                            currentLatLng,
+//                            constraintContext.sourceFloorShapes)) {
+//                        w *= constraintContext.wallCrossPenalty;
+//                    }
+//                }
+//            }
+//
             particle.weight = w;
             weightSum += w;
         }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
index 4cb9a631..5b1ec122 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
@@ -47,7 +47,7 @@ public class ParticleFilterManager {
     private static final double WIFI_GATE_METERS = 5.0;
     private static final double GNSS_GATE_METERS = 25.0;
     private static final double WIFI_OBS_EMA_ALPHA = 0.10;
-    private static final double WALL_CROSS_PENALTY = 0;
+    private static final double WALL_CROSS_PENALTY = 0.4;
 
     /** Main app sensor/data source. */
     private final SensorFusion sensorFusion;
@@ -233,7 +233,6 @@ public void step() {
 
         FusedPose rawPose = particleFilterEngine.estimate(coordinateConverter);
         FusedPose correctedPose = applyDiscreteMapMatching(rawPose, currentHeading, deltaS);
-       // latestFusedPose = smoothPose(correctedPose != null ? correctedPose : rawPose);
         latestFusedPose = correctedPose;
     }
 
@@ -277,7 +276,6 @@ public void initialiseIfNeeded() {
 
         FusedPose initialRawPose = particleFilterEngine.estimate(coordinateConverter);
         FusedPose initialCorrectedPose = applyDiscreteMapMatching(initialRawPose, initialHeading, 0.0);
-        //latestFusedPose = smoothPose(initialCorrectedPose != null ? initialCorrectedPose : initialRawPose);
         latestFusedPose = initialCorrectedPose;
         lastHeading = initialHeading;
 
@@ -513,124 +511,68 @@ private FusedPose applyDiscreteMapMatching(@Nullable FusedPose rawPose,
                 targetFloorShapes,
                 sensorFusion.getSelectedBuildingId()
         );
-
         MapMatchingResult result = mapMatchingService.match(input);
 
-        int candidateCorrectedFloor = sanitiseFloorIndex(result.getCorrectedFloor());
-        boolean floorTransitionAccepted =
-                result.isFloorChangeAllowed() && candidateCorrectedFloor != activePfFloor;
-
         LatLng rawLatLng = rawPose.getLatLng();
-        LatLng candidateMatchedLatLng = result.getCorrectedLatLng() != null
+        LatLng correctedCandidate = result.getCorrectedLatLng() != null
                 ? result.getCorrectedLatLng()
                 : rawLatLng;
 
-        // Conservative jump guard:
-        // - same-floor corrections must stay small
-        // - near stairs/lifts can be slightly looser
-        // - true accepted floor transitions are allowed
-        final double maxSameFloorCorrectionMeters = 0.8;
-        final double maxConnectorCorrectionMeters = 1.5;
-
-        double allowedCorrectionMeters =
-                (result.isNearStairs() || result.isNearLift())
-                        ? maxConnectorCorrectionMeters
-                        : maxSameFloorCorrectionMeters;
-
-        double correctionMeters = distanceMeters(rawLatLng, candidateMatchedLatLng);
-
-        LatLng correctedLatLng;
-        int correctedFloor = activePfFloor;
-
-        if (result.isCrossedWall()) {
-            // Wall event: do not snap to a far corrected point.
-            // Prefer the last valid matched pose if we have one.
-            if (lastMatchedPose != null && lastMatchedPose.getLatLng() != null) {
-                correctedLatLng = lastMatchedPose.getLatLng();
-            } else {
-                correctedLatLng = rawLatLng;
-            }
-            correctedFloor = activePfFloor;
-
-            Log.d(TAG, "Map correction guarded (wall cross) -> using last valid/raw pose"
-                    + " | correction=" + result.getCorrectionType()
-                    + ", reason=" + result.getDebugReason());
-        } else if (result.getCorrectionType()
-                == com.openpositioning.PositionMe.mapmatching.CorrectionType.INVALID_FLOOR_CHANGE) {
-            // Invalid floor change: keep previous valid floor/pose.
-            if (lastMatchedPose != null && lastMatchedPose.getLatLng() != null) {
-                correctedLatLng = lastMatchedPose.getLatLng();
-            } else {
-                correctedLatLng = rawLatLng;
-            }
-            correctedFloor = activePfFloor;
-
-            Log.d(TAG, "Map correction guarded (invalid floor change) -> using last valid/raw pose"
-                    + " | reason=" + result.getDebugReason());
-        } else if (floorTransitionAccepted) {
-            // Real validated floor transition: allow map-matching correction.
-            correctedLatLng = candidateMatchedLatLng;
-            correctedFloor = candidateCorrectedFloor;
-
-            Log.d(TAG, "Map correction accepted for floor transition"
-                    + " | newFloor=" + correctedFloor
-                    + ", correctionMeters=" + correctionMeters
-                    + ", reason=" + result.getDebugReason());
-        } else if (correctionMeters <= allowedCorrectionMeters) {
-            // Small same-floor correction is okay.
-            correctedLatLng = candidateMatchedLatLng;
-            correctedFloor = activePfFloor;
-        } else {
-            // Too large for a same-floor correction: ignore it.
-            correctedLatLng = rawLatLng;
-            correctedFloor = activePfFloor;
+     // ✅ Soft guard instead of hard reject
+        double correctionMeters = distanceMeters(rawLatLng, correctedCandidate);
+        double maxCorrection = 2.0; // relaxed threshold
+
+        LatLng finalLatLng;
 
-            Log.d(TAG, "Rejected large same-floor map correction"
-                    + " | correctionMeters=" + correctionMeters
-                    + ", allowed=" + allowedCorrectionMeters
-                    + ", nearStairs=" + result.isNearStairs()
-                    + ", nearLift=" + result.isNearLift()
-                    + ", correction=" + result.getCorrectionType()
-                    + ", reason=" + result.getDebugReason());
+        if (correctionMeters > maxCorrection) {
+            // instead of rejecting → clamp movement
+            finalLatLng = interpolate(rawLatLng, correctedCandidate, 0.5);
+        } else {
+            finalLatLng = correctedCandidate;
         }
 
-        if (correctedFloor != activePfFloor && particleFilterEngine != null) {
+    // ✅ Update floor (important)
+        int correctedFloor = sanitiseFloorIndex(result.getCorrectedFloor());
+        if (result.isFloorChangeAllowed() && correctedFloor != activePfFloor) {
             activePfFloor = correctedFloor;
-            particleFilterEngine.setAllParticlesFloor(activePfFloor);
-            Log.d(TAG, "PF floor owner changed to " + activePfFloor
-                    + " | reason=" + result.getDebugReason());
+            if (particleFilterEngine != null) {
+                particleFilterEngine.setAllParticlesFloor(activePfFloor);
+            }
         }
 
-        double[] correctedLocal = coordinateConverter.latLngToLocal(correctedLatLng);
+    // ✅ Convert to local
+        double[] correctedLocal = coordinateConverter.latLngToLocal(finalLatLng);
+
         FusedPose correctedPose = new FusedPose(
                 correctedLocal[0],
                 correctedLocal[1],
                 rawPose.getHeadingRad(),
                 activePfFloor,
-                correctedLatLng,
+                finalLatLng,
                 rawPose.getConfidence()
         );
 
+     // ✅ CRITICAL: update lastMatchedPose
         lastMatchedPose = new CandidatePose(
-                correctedLatLng,
+                finalLatLng,
                 activePfFloor,
                 System.currentTimeMillis(),
                 "pf_matched",
                 correctedPose.getHeadingRad()
         );
 
-        Log.d(TAG,
-                "Map match"
-                        + " | floor=" + activePfFloor
-                        + ", crossedWall=" + result.isCrossedWall()
-                        + ", nearStairs=" + result.isNearStairs()
-                        + ", nearLift=" + result.isNearLift()
-                        + ", floorAllowed=" + result.isFloorChangeAllowed()
-                        + ", correction=" + result.getCorrectionType()
-                        + ", correctionMeters=" + correctionMeters
-                        + ", reason=" + result.getDebugReason());
-
         return correctedPose;
+
+    }
+
+    private LatLng interpolate(LatLng from, LatLng to, double alpha) {
+        if (from == null) return to;
+        if (to == null) return from;
+
+        double lat = from.latitude + alpha * (to.latitude - from.latitude);
+        double lng = from.longitude + alpha * (to.longitude - from.longitude);
+
+        return new LatLng(lat, lng);
     }
 
     private int resolveRequestedFloor(@Nullable VerticalTransitionHint verticalHint) {
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
index 0f03dc8a..16cf0cff 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
@@ -29,6 +29,60 @@ public class MapGeometryUtils {
     // 安全内缩值不要太大，否则切层时会出现明显的横向/纵向跳点。
     private static final double CONNECTOR_SAFE_INSET_METERS = 0.35;
     private static final int CONNECTOR_SAFE_POINT_STEPS = 16;
+    private static final double LOCAL_DIRECTION_SEARCH_RADIUS_METERS = 4.0;
+    private static final double LOCAL_DIRECTION_MIN_SEGMENT_WEIGHT = 0.25;
+
+    /**
+     * Estimate the dominant walkable heading around a point by inspecting nearby wall edges.
+     * The dominant travel direction in corridors is usually parallel to nearby wall edges.
+     */
+    public static double estimateLocalWalkableHeadingRadians(LatLng point,
+                                                             FloorplanApiClient.FloorShapes floorShapes,
+                                                             double fallbackHeadingRad) {
+        if (point == null || floorShapes == null || floorShapes.getFeatures() == null) {
+            return fallbackHeadingRad;
+        }
+
+        double sumCos2 = 0d;
+        double sumSin2 = 0d;
+        double totalWeight = 0d;
+
+        for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) {
+            if (!"wall".equalsIgnoreCase(feature.getIndoorType())) {
+                continue;
+            }
+            List<List<LatLng>> parts = feature.getParts();
+            if (parts == null) continue;
+            for (List<LatLng> part : parts) {
+                if (part == null || part.size() < 2) continue;
+                for (int i = 0; i < part.size(); i++) {
+                    LatLng a = part.get(i);
+                    LatLng b = part.get((i + 1) % part.size());
+                    if (a == null || b == null || samePoint(a, b)) continue;
+                    double distance = distancePointToSegmentMeters(point, a, b);
+                    if (distance > LOCAL_DIRECTION_SEARCH_RADIUS_METERS) continue;
+                    double heading = headingBetween(a, b);
+                    double closenessWeight = 1d / Math.max(distance, LOCAL_DIRECTION_MIN_SEGMENT_WEIGHT);
+                    double lengthWeight = Math.max(0.30d, distanceMeters(a, b));
+                    double weight = closenessWeight * Math.min(lengthWeight, 6.0d);
+                    sumCos2 += Math.cos(2d * heading) * weight;
+                    sumSin2 += Math.sin(2d * heading) * weight;
+                    totalWeight += weight;
+                }
+            }
+        }
+
+        if (totalWeight <= 1e-6d) {
+            return fallbackHeadingRad;
+        }
+
+        double axisHeading = 0.5d * Math.atan2(sumSin2, sumCos2);
+        double alternative = normalizeAngleRadians(axisHeading + Math.PI);
+        return angularDifference(axisHeading, fallbackHeadingRad)
+                <= angularDifference(alternative, fallbackHeadingRad)
+                ? axisHeading
+                : alternative;
+    }
 
     /**
      * 判断从 start 到 end 的轨迹是否穿过当前楼层中的 wall。
@@ -150,6 +204,69 @@ public static boolean isNearIndoorType(LatLng point,
         return false;
     }
 
+
+    /**
+     * Returns true when the point falls inside a wall polygon/ring on the current floor.
+     */
+    public static boolean isInsideWall(LatLng point,
+                                       FloorplanApiClient.FloorShapes floorShapes) {
+        if (point == null || floorShapes == null || floorShapes.getFeatures() == null) {
+            return false;
+        }
+
+        for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) {
+            if (!"wall".equalsIgnoreCase(feature.getIndoorType())) {
+                continue;
+            }
+
+            List<List<LatLng>> parts = feature.getParts();
+            if (parts == null) continue;
+
+            for (List<LatLng> part : parts) {
+                if (part == null || part.size() < 3) continue;
+                if (isPointInPolygon(point, part)) {
+                    return true;
+                }
+            }
+        }
+
+        return false;
+    }
+
+    /**
+     * Distance from a point to the nearest wall boundary on the active floor.
+     * Returns Double.MAX_VALUE when no wall geometry is available.
+     */
+    public static double distanceToNearestWallMeters(LatLng point,
+                                                     FloorplanApiClient.FloorShapes floorShapes) {
+        if (point == null || floorShapes == null || floorShapes.getFeatures() == null) {
+            return Double.MAX_VALUE;
+        }
+
+        double bestDistance = Double.MAX_VALUE;
+        for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) {
+            if (!"wall".equalsIgnoreCase(feature.getIndoorType())) {
+                continue;
+            }
+
+            List<List<LatLng>> parts = feature.getParts();
+            if (parts == null) continue;
+
+            for (List<LatLng> part : parts) {
+                if (part == null || part.size() < 2) continue;
+                if (part.size() >= 3 && isPointInPolygon(point, part)) {
+                    return 0.0;
+                }
+                double distance = distancePointToPolygonBoundaryMeters(point, part);
+                if (distance < bestDistance) {
+                    bestDistance = distance;
+                }
+            }
+        }
+
+        return bestDistance;
+    }
+
     /**
      * 当一段轨迹穿墙时，沿着 start->end 的方向找到“撞墙前最后一个合法点”。
      *
@@ -576,6 +693,25 @@ private static LatLng projectPointToSegment(LatLng p, LatLng a, LatLng b) {
         return fromLocalMeters(closestX, closestY, p);
     }
 
+    /**
+     * Euclidean distance in local tangent plane (meters).
+     */
+    public static double distanceMetersPublic(LatLng a, LatLng b) {
+        return distanceMeters(a, b);
+    }
+
+    /**
+     * Move a point by east/north offsets in meters using a local tangent plane approximation.
+     */
+    public static LatLng offsetPointByMeters(LatLng reference,
+                                             double eastMeters,
+                                             double northMeters) {
+        if (reference == null) {
+            return null;
+        }
+        return fromLocalMeters(eastMeters, northMeters, reference);
+    }
+
     private static double distanceMeters(LatLng a, LatLng b) {
         double[] bxy = toLocalMeters(b, a);
         return Math.hypot(bxy[0], bxy[1]);
@@ -628,6 +764,33 @@ private static LatLng interpolate(LatLng start, LatLng end, double ratio) {
         );
     }
 
+    private static double headingBetween(LatLng from, LatLng to) {
+        double[] xy = toLocalMeters(to, from);
+        if (Math.abs(xy[0]) < 1e-9 && Math.abs(xy[1]) < 1e-9) {
+            return 0d;
+        }
+        return Math.atan2(xy[0], xy[1]);
+    }
+
+    private static boolean samePoint(LatLng a, LatLng b) {
+        if (a == b) return true;
+        if (a == null || b == null) return false;
+        return Math.abs(a.latitude - b.latitude) < 1e-12
+                && Math.abs(a.longitude - b.longitude) < 1e-12;
+    }
+
+    private static double normalizeAngleRadians(double angle) {
+        double value = angle;
+        while (value <= -Math.PI) value += 2d * Math.PI;
+        while (value > Math.PI) value -= 2d * Math.PI;
+        return value;
+    }
+
+    private static double angularDifference(double a, double b) {
+        double diff = Math.abs(normalizeAngleRadians(a - b));
+        return diff > Math.PI ? (2d * Math.PI - diff) : diff;
+    }
+
     /**
      * 把经纬度转换为以 reference 为原点的局部米坐标。
      * 返回 [xMeters, yMeters]
@@ -652,4 +815,4 @@ private static LatLng fromLocalMeters(double xMeters, double yMeters, LatLng ref
         double longitude = reference.longitude + (xMeters / Math.max(metersPerDegLon, 1e-9));
         return new LatLng(latitude, longitude);
     }
-}
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
index 05929fd5..2966abea 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
@@ -44,6 +44,17 @@ public class MapMatchingService {
     private static final double POST_TRANSITION_RELEASE_MAX_STEP_METERS = 0.75;
     private static final double POST_TRANSITION_RELEASE_COMPLETE_METERS = 0.20;
     private static final double POST_TRANSITION_RELEASE_CANCEL_METERS = 6.0;
+    private int consecutiveFreezeCount = 0;
+    private static final int MAX_FREEZE_FRAMES = 5;
+
+    private static final double[] ANGLE_OFFSETS = {
+            0,
+            15, -15,
+            30, -30,
+            45, -45,
+            60, -60,
+            90, -90
+    };
 
     @Nullable
     private PostTransitionReleaseState postTransitionReleaseState;
@@ -92,19 +103,56 @@ public MapMatchingResult match(@NonNull MapMatchingInput input) {
             debugReason = "Candidate pose accepted; " + transitionDescription + ".";
         }
 
-        if (shouldFreezeIdleMotion(previousPose, currentPose, motionDelta, nearStairs, nearLift, floorTransitionAttempt, input.getVerticalHint())) {
+        boolean frozen = shouldFreezeIdleMotion(
+                previousPose,
+                currentPose,
+                motionDelta,
+                nearStairs,
+                nearLift,
+                floorTransitionAttempt,
+                input.getVerticalHint()
+        );
+
+        if (frozen && previousPose != null && consecutiveFreezeCount < MAX_FREEZE_FRAMES){
+            consecutiveFreezeCount++;
+            LatLng blendedLatLng = interpolate(
+                    previousPose.getLatLng(),
+                    currentPose.getLatLng(),
+                    0.2
+            );
+
             return new MapMatchingResult(
                     true,
                     false,
                     nearStairs,
                     nearLift,
                     false,
-                    previousPose.getLatLng(),
+                    blendedLatLng,
                     previousPose.getFloor(),
                     CorrectionType.NONE,
-                    "Micro-motion frozen to suppress idle drift."
+                    "Micro-motion frozen (count=" + consecutiveFreezeCount + ")"
             );
-        }
+        } else {
+            // escape condition
+//            if (frozen) {
+//                Log.d(TAG, "Freeze escape triggered after " + consecutiveFreezeCount + " frames");
+//            }
+            consecutiveFreezeCount = 0;
+        }
+
+//        if (shouldFreezeIdleMotion(previousPose, currentPose, motionDelta, nearStairs, nearLift, floorTransitionAttempt, input.getVerticalHint())) {
+//            return new MapMatchingResult(
+//                    true,
+//                    false,
+//                    nearStairs,
+//                    nearLift,
+//                    false,
+//                    previousPose.getLatLng(),
+//                    previousPose.getFloor(),
+//                    CorrectionType.NONE,
+//                    "Micro-motion frozen to suppress idle drift."
+//            );
+//        }
 
         if (transitionLanding != null) {
             startPostTransitionRelease(transitionLanding.landingLatLng, currentPose.getFloor());
@@ -414,23 +462,96 @@ private WallRecovery recoverFromWallCrossing(@NonNull LatLng previousLatLng,
             );
         }
 
-        if (lastValidPoint != null && !samePoint(lastValidPoint, previousLatLng)) {
+        // ✅ fallback: try directional escape
+        LatLng directionalPoint = findValidDirectionMove(
+                previousLatLng,
+                candidateLatLng,
+                wallCheckFloorShapes
+        );
+
+        // optional: verify it's actually valid
+        if (!samePoint(directionalPoint, previousLatLng)
+                && !MapGeometryUtils.crossesWall(previousLatLng, directionalPoint, wallCheckFloorShapes)) {
+
             return new WallRecovery(
-                    lastValidPoint,
-                    CorrectionType.SNAP_TO_VALID_AREA,
-                    "Crossed wall. Projected to last valid point before wall.",
+                    directionalPoint,
+                    CorrectionType.THROUGH_WALL,
+                    "Crossed wall. Directional escape applied.",
                     true
             );
         }
 
+        // final fallback
         return new WallRecovery(
                 previousLatLng,
                 CorrectionType.THROUGH_WALL,
-                "Crossed wall. Stuck in corner, reverted to previous XY pose.",
+                "Crossed wall. No valid direction found, staying in place.",
                 false
         );
+
+//        LatLng blended = interpolate(previousLatLng, candidateLatLng, 0.3);
+//
+//        //  check if this move crosses a wall
+//        boolean crosses = MapGeometryUtils.crossesWall(
+//                previousLatLng,
+//                blended,
+//                wallCheckFloorShapes
+//        );
+//
+//        if (!crosses) {
+//            return new WallRecovery(
+//                    blended,
+//                    CorrectionType.THROUGH_WALL,
+//                    "Safe blended movement.",
+//                    true
+//            );
+//        }
+//
+//        // last resort: very small step along valid direction
+//        LatLng microStep = interpolate(previousLatLng, candidateLatLng, 0.1);
+//        return new WallRecovery(
+//                microStep,
+//                CorrectionType.THROUGH_WALL,
+//                "Micro-step escape near wall.",
+//                false
+//        );
+
+//        LatLng blended = interpolate(previousLatLng, candidateLatLng, 0.3);
+//
+//        return new WallRecovery(
+//                blended,
+//                CorrectionType.THROUGH_WALL,
+//                "Corner escape: blended towards candidate.",
+//                false
+//        );
     }
+    private LatLng findValidDirectionMove(
+            LatLng previous,
+            LatLng candidate,
+            FloorplanApiClient.FloorShapes shapes) {
+
+        double baseAngle = Math.atan2(
+                candidate.latitude - previous.latitude,
+                candidate.longitude - previous.longitude
+        );
 
+        double step = 0.00001; // small normalized step (tune this)
+
+        for (double offsetDeg : ANGLE_OFFSETS) {
+            double angle = baseAngle + Math.toRadians(offsetDeg);
+
+            double newLat = previous.latitude + step * Math.sin(angle);
+            double newLng = previous.longitude + step * Math.cos(angle);
+
+            LatLng testPoint = new LatLng(newLat, newLng);
+
+            if (!MapGeometryUtils.crossesWall(previous, testPoint, shapes)) {
+                return testPoint;
+            }
+        }
+
+        return previous; // fallback if all directions blocked
+    }
     @Nullable
     private LatLng anchorFloorTransition(@NonNull LatLng point,
                                          @NonNull FloorplanApiClient.FloorShapes connectorFloorShapes,
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
index 67143112..14d4e960 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
@@ -251,7 +251,7 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         );
 
         LatLng oldLocation = host.getCurrentLocation();
-        host.setCurrentLocation(matchedLocation);
+        host.setCurrentLocation(rawLocation);
 
         previousMatchedPose = new CandidatePose(
                 matchedLocation,
@@ -270,8 +270,8 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         savedZoom = context.getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
                 .getFloat("user_selected_zoom", 19f);
 
-        host.getTrajectoryRenderer().updateCurrentPosition(context, matchedLocation, orientation, shouldFollowCamera, savedZoom);
-        host.getTrajectoryRenderer().appendMatchedLocation(oldLocation, matchedLocation);
+        host.getTrajectoryRenderer().updateCurrentPosition(context, rawLocation, orientation, shouldFollowCamera, savedZoom);
+        host.getTrajectoryRenderer().appendMatchedLocation(oldLocation, rawLocation);
 
         IndoorMapManager indoorMapManager = host.getIndoorMapManager();
         if (indoorMapManager != null) {
@@ -809,4 +809,4 @@ String getObservationSource() {
             return observationResidualMeters;
         }
     }
-}
+}
\ No newline at end of file

From 46b88ad6f270ae3fee14cde3f1cca7310ddef8fa Mon Sep 17 00:00:00 2001
From: jiahui-yang-2157 <jiahuiduan0513@gmail.com>
Date: Mon, 30 Mar 2026 22:02:06 +0100
Subject: [PATCH 33/35] floor

---
 .../fragment/MapMatchingCoordinator.java      | 105 ++++++++++--------
 .../fragment/RecordingFragment.java           |  77 ++-----------
 .../fragment/TrajectoryMapFragment.java       |  75 +++++++------
 3 files changed, 112 insertions(+), 145 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
index 14d4e960..92de4b8f 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
@@ -43,6 +43,7 @@ interface Host {
         boolean isReplayModeEnabled();
         @Nullable SensorFusion getSensorFusion();
         @Nullable Integer getTrackingCandidateFloorIndex();
+        @Nullable Integer getStableFusionFloorIndex();
         int getCurrentFloorIndex();
         void setFloor(int floorIndex);
         boolean isAutoFloorEnabled();
@@ -80,7 +81,11 @@ interface Host {
     private Integer replayBaseFloorIndex;
     private boolean replayDisplayFloorInitialized = false;
     @NonNull
-    private String latestDebugStatus = "MM: idle";
+    private String latestDebugStatus = "abs:none  src:idle\n"
+            + "floor d/c/m: -/-/-\n"
+            + "vertical: steady Δ0.00m\n"
+            + "correction: NONE\n"
+            + "Waiting for updates";
 
     MapMatchingCoordinator(@NonNull Host host) {
         this.host = host;
@@ -156,9 +161,20 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         final int candidateFloorIndex = replayMode
                 ? resolveReplayCandidateFloorIndex()
                 : resolveLiveCandidateFloorIndex();
-        final int sourceFloorIndex = previousMatchedPose != null
+        final int previousStateFloor = previousMatchedPose != null
                 ? previousMatchedPose.getFloor()
                 : candidateFloorIndex;
+        final Integer stableFusionFloor = replayMode ? null : host.getStableFusionFloorIndex();
+        final int sourceFloorIndex;
+        if (!replayMode
+                && stableFusionFloor != null
+                && previousMatchedPose != null
+                && stableFusionFloor != previousMatchedPose.getFloor()
+                && candidateFloorIndex == stableFusionFloor) {
+            sourceFloorIndex = stableFusionFloor;
+        } else {
+            sourceFloorIndex = previousStateFloor;
+        }
 
         final AbsoluteObservationCorrection absoluteCorrection = replayMode
                 ? AbsoluteObservationCorrection.passThrough(rawLocation, "replay_pdr")
@@ -195,23 +211,11 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
                 activeBuildingId
         );
 
-//        MapMatchingResult matchingResult = mapMatchingService.match(matchingInput);
-//        LatLng matchedLocation = matchingResult.getCorrectedLatLng() != null
-//                ? matchingResult.getCorrectedLatLng()
-//                : rawLocation;
-//        int matchedFloor = matchingResult.getCorrectedFloor();
-//        int floorForState = replayMode
-//                ? resolveReplayDisplayFloor(matchedFloor)
-//                : matchedFloor;
-
         MapMatchingResult matchingResult = mapMatchingService.match(matchingInput);
-
-        // Map-matching correction OFF:
-        // keep computing matchingResult for debug only,
-        // but do not let it modify the displayed/live state.
-        LatLng matchedLocation = rawLocation;
-        int matchedFloor = candidateFloorIndex;
-
+        LatLng matchedLocation = matchingResult.getCorrectedLatLng() != null
+                ? matchingResult.getCorrectedLatLng()
+                : rawLocation;
+        int matchedFloor = matchingResult.getCorrectedFloor();
         int floorForState = replayMode
                 ? resolveReplayDisplayFloor(matchedFloor)
                 : matchedFloor;
@@ -237,27 +241,40 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
                         : CorrectionType.NONE.name(),
                 matchingResult.getDebugReason()));
 
-        latestDebugStatus = String.format(
-                Locale.US,
-                "MM: %s\nwall=%s stairs=%s lift=%s allow=%s\nreason=%s",
-                matchingResult.getCorrectionType() != null
-                        ? matchingResult.getCorrectionType().name()
-                        : "NONE",
-                String.valueOf(matchingResult.isCrossedWall()),
-                String.valueOf(matchingResult.isNearStairs()),
-                String.valueOf(matchingResult.isNearLift()),
-                String.valueOf(matchingResult.isFloorChangeAllowed()),
-                matchingResult.getDebugReason() != null ? matchingResult.getDebugReason() : "none"
+        latestDebugStatus = buildDebugStatus(
+                absoluteCorrection.getObservationSource(),
+                absoluteCorrection.getPoseSource(),
+                floorForState,
+                candidateFloorIndex,
+                matchedFloor,
+                verticalHint,
+                matchingResult
         );
 
         LatLng oldLocation = host.getCurrentLocation();
-        host.setCurrentLocation(rawLocation);
+        host.setCurrentLocation(matchedLocation);
+
+        boolean rejectedOnlyDueToWeakVerticalEvidence =
+                matchingResult.getCorrectionType() == CorrectionType.INVALID_FLOOR_CHANGE
+                        && matchingResult.getDebugReason() != null
+                        && matchingResult.getDebugReason().toLowerCase(Locale.US)
+                        .contains("no reliable vertical evidence");
+
+        boolean shouldResyncStateFromFusion = !replayMode
+                && stableFusionFloor != null
+                && stableFusionFloor == candidateFloorIndex
+                && candidateFloorIndex != sourceFloorIndex
+                && rejectedOnlyDueToWeakVerticalEvidence;
+
+        if (shouldResyncStateFromFusion) {
+            floorForState = stableFusionFloor;
+        }
 
         previousMatchedPose = new CandidatePose(
                 matchedLocation,
                 floorForState,
                 timestampMs,
-                replayMode ? "replay_map_state" : "candidate_unmatched"
+                replayMode ? "replay_map_state" : "map_matched"
         );
 
         if (replayMode) {
@@ -270,8 +287,8 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         savedZoom = context.getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
                 .getFloat("user_selected_zoom", 19f);
 
-        host.getTrajectoryRenderer().updateCurrentPosition(context, rawLocation, orientation, shouldFollowCamera, savedZoom);
-        host.getTrajectoryRenderer().appendMatchedLocation(oldLocation, rawLocation);
+        host.getTrajectoryRenderer().updateCurrentPosition(context, matchedLocation, orientation, shouldFollowCamera, savedZoom);
+        host.getTrajectoryRenderer().appendMatchedLocation(oldLocation, matchedLocation);
 
         IndoorMapManager indoorMapManager = host.getIndoorMapManager();
         if (indoorMapManager != null) {
@@ -323,20 +340,20 @@ private FloorplanApiClient.FloorShapes getFloorShapesForFloorIndex(int floorInde
     }
 
     private int resolveLiveCandidateFloorIndex() {
-        if (!host.hasReliableInitialFloorFix()) {
-            if (previousMatchedPose != null) {
-                return previousMatchedPose.getFloor();
-            }
-            return host.getCurrentFloorIndex();
-        }
-
         Integer trackingCandidateFloorIndex = host.getTrackingCandidateFloorIndex();
         if (trackingCandidateFloorIndex != null) {
             return trackingCandidateFloorIndex;
         }
+
+        Integer fusionFloorIndex = host.getStableFusionFloorIndex();
+        if (fusionFloorIndex != null) {
+            return fusionFloorIndex;
+        }
+
         if (previousMatchedPose != null) {
             return previousMatchedPose.getFloor();
         }
+
         return host.getCurrentFloorIndex();
     }
 
@@ -747,16 +764,16 @@ private String buildDebugStatus(@Nullable String absoluteSource,
 
         return String.format(
                 Locale.US,
-                "MM: %s\n" +
+                "WiFi src: %s\n" +
+                        "MM: %s\n" +
                         "wall=%s stairs=%s lift=%s allow=%s\n" +
-                        "WiFi src: %s\n" +
                         "floor d/pf/mm: %d/%d/%d",
+                wifiSource,
                 correctionName,
                 String.valueOf(result.isCrossedWall()),
                 String.valueOf(result.isNearStairs()),
                 String.valueOf(result.isNearLift()),
                 String.valueOf(result.isFloorChangeAllowed()),
-                wifiSource,
                 displayFloorIndex,
                 candidateFloorIndex,
                 matchedFloor
@@ -809,4 +826,4 @@ String getObservationSource() {
             return observationResidualMeters;
         }
     }
-}
\ No newline at end of file
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
index 6dd08013..1fd3331f 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
@@ -386,11 +386,6 @@ private void updateUIandPosition() {
             return;
         }
 
-        LatLng authoritativeStart = resolveAuthoritativeStartAnchor();
-        if (authoritativeStart != null && autonomousInitialLocation == null) {
-            autonomousInitialLocation = authoritativeStart;
-        }
-
         boolean shouldAdvanceLiveTrajectory = shouldUpdateLiveTrajectory(pdrValues);
 
         // Capture previous raw PDR values before updating them.
@@ -489,20 +484,16 @@ private void updateLiveMapWithStandardPdr(@Nullable float[] pdrValues,
             return;
         }
 
-        LatLng startAnchor = resolveAuthoritativeStartAnchor();
-        if (startAnchor == null) {
-            Log.d(TAG, "PDR_BRANCH waiting for authoritative start anchor");
+        if (autonomousInitialLocation == null) {
+            Log.d(TAG, "PDR_BRANCH waiting for autonomous initial location");
             return;
         }
 
-        // Keep this cached too, so later branches use the same anchor consistently.
-        autonomousInitialLocation = startAnchor;
-
-        LatLng currentPdrLocation = UtilFunctions.calculateNewPos(startAnchor, pdrValues);
+        LatLng currentPdrLocation = UtilFunctions.calculateNewPos(autonomousInitialLocation, pdrValues);
 
         Log.d(TAG, String.format(
                 Locale.UK,
-                "PDR_BRANCH using authoritative anchor lat=%.6f lon=%.6f headingDeg=%.2f advance=%s",
+                "PDR_BRANCH using anchored PDR lat=%.6f lon=%.6f headingDeg=%.2f advance=%s",
                 currentPdrLocation.latitude,
                 currentPdrLocation.longitude,
                 Math.toDegrees(sensorFusion.passOrientation()),
@@ -523,7 +514,7 @@ private void updateLiveMapWithStandardPdr(@Nullable float[] pdrValues,
         if (!initialCameraPositionSet) {
             trajectoryMapFragment.setInitialCameraPosition(currentPdrLocation);
             initialCameraPositionSet = true;
-            Log.d(TAG, "PDR_BRANCH initial camera position set from authoritative start anchor");
+            Log.d(TAG, "PDR_BRANCH initial camera position set from anchored PDR");
         }
     }
 
@@ -559,6 +550,8 @@ private void updateLiveMapWithParticleFilter(@Nullable float[] pdrValues,
             return;
         }
 
+        trajectoryMapFragment.updateFusionFloorTracking(fusedPose.getFloor());
+
         if (shouldAdvanceLiveTrajectory || !initialCameraPositionSet) {
             trajectoryMapFragment.updateUserLocation(
                     fusedPose.getLatLng(),
@@ -753,62 +746,6 @@ private LatLng resolveAutonomousInitialLocation() {
         return null;
     }
 
-    @Nullable
-    private LatLng resolveAuthoritativeStartAnchor() {
-        if (sensorFusion == null) {
-            return null;
-        }
-
-        // 1) User-corrected manual anchor
-        LatLng manualStart = sensorFusion.getManualStartAnchorLatLng();
-        if (manualStart != null) {
-            sensorFusion.setStartGNSSLatitude(new float[]{
-                    (float) manualStart.latitude,
-                    (float) manualStart.longitude
-            });
-
-            trajectoryMapFragment.setInitialCameraPosition(manualStart);
-
-            // Only do this once if already have a flag for initial anchor written.
-            // initialAnchorWritten = true;
-
-            Log.d("RecordingFragment", String.format(Locale.UK,
-                    "Using manual start anchor lat=%.6f lon=%.6f",
-                    manualStart.latitude,
-                    manualStart.longitude));
-            return manualStart;
-        }
-
-        // 2) Already cached autonomous initial location in this fragment
-        if (autonomousInitialLocation != null) {
-            return autonomousInitialLocation;
-        }
-
-        // 3) Stored session start anchor
-        float[] storedStart = sensorFusion.getGNSSLatitude(true);
-        if (storedStart != null
-                && storedStart.length >= 2
-                && !(Math.abs(storedStart[0]) < 1e-6 && Math.abs(storedStart[1]) < 1e-6)) {
-            return new LatLng(storedStart[0], storedStart[1]);
-        }
-
-        // 4) WiFi
-        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
-        if (wifiLatLng != null) {
-            return wifiLatLng;
-        }
-
-        // 5) GNSS
-        float[] gnss = sensorFusion.getGNSSLatitude(false);
-        if (gnss != null
-                && gnss.length >= 2
-                && !(Math.abs(gnss[0]) < 1e-6 && Math.abs(gnss[1]) < 1e-6)) {
-            return new LatLng(gnss[0], gnss[1]);
-        }
-
-        return null;
-    }
-
     private void resetPendingInitialAnchor(@NonNull String reason) {
         if (pendingInitialAnchorCandidate != null || pendingInitialAnchorSource != null) {
             Log.d(TAG, "STEP3_ANCHOR reset pending candidate: " + reason);
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index e8276386..c7972258 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -146,6 +146,10 @@ public class TrajectoryMapFragment extends Fragment {
     private TextView debugAdaptedHeading;
     private TextView debugCosSin;
 
+    private Integer lastFusionFloorIndex = null;
+    private int fusionFloorStableCount = 0;
+    private static final int MIN_FUSION_FLOOR_STABLE_FRAMES = 3;
+
     // Controller / coordinator
     private final FloorController floorController = new FloorController(new FloorController.Host() {
         @Override
@@ -258,6 +262,12 @@ public Integer getTrackingCandidateFloorIndex() {
                     return floorController.peekTrackingFloorCandidateIndex();
                 }
 
+                @Nullable
+                @Override
+                public Integer getStableFusionFloorIndex() {
+                    return TrajectoryMapFragment.this.getStableFusionFloorIndex();
+                }
+
                 @Override
                 public int getCurrentFloorIndex() {
                     return currentFloorIndex;
@@ -442,27 +452,11 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
                             savedZoom));
                     hasPendingCameraMove = false;
                     pendingCameraPosition = null;
-                } else if (!replayModeEnabled) {
+                } else if (!replayModeEnabled && getContext() != null) {
                     float savedZoom = getSavedMapZoom();
-
-                    LatLng manualStart = sensorFusion != null
-                            ? sensorFusion.getManualStartAnchorLatLng()
-                            : null;
-
-                    if (manualStart != null) {
-                        gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(manualStart, savedZoom));
-                        currentLocation = manualStart;
-
-                        Log.d(TAG, String.format(Locale.UK,
-                                "STEP2_CAMERA applied manual recording start lat=%.6f lon=%.6f zoom=%.2f",
-                                manualStart.latitude,
-                                manualStart.longitude,
-                                savedZoom));
-                    } else if (getContext() != null) {
-                        Log.d(TAG, String.format(Locale.UK,
-                                "STEP2_CAMERA recording mode has no manual start anchor; waiting for autonomous anchor, zoom=%.2f",
-                                savedZoom));
-                    }
+                    Log.d(TAG, String.format(Locale.UK,
+                            "STEP2_CAMERA recording mode waiting for autonomous anchor; skip saved user_start_lat/lon restore, zoom=%.2f",
+                            savedZoom));
                 }
 
                 restoreCachedBuildingsIfAny();
@@ -615,6 +609,31 @@ public void updateUserLocation(@NonNull LatLng newLocation, float orientationDeg
         refreshDebugStatusText();
     }
 
+    public void updateFusionFloorTracking(@Nullable Integer fusionFloorIndex) {
+        if (fusionFloorIndex == null) {
+            fusionFloorStableCount = 0;
+            lastFusionFloorIndex = null;
+            return;
+        }
+
+        if (fusionFloorIndex.equals(lastFusionFloorIndex)) {
+            fusionFloorStableCount++;
+        } else {
+            lastFusionFloorIndex = fusionFloorIndex;
+            fusionFloorStableCount = 1;
+        }
+    }
+
+    @Nullable
+    public Integer getStableFusionFloorIndex() {
+        if (lastFusionFloorIndex == null) {
+            return null;
+        }
+        return fusionFloorStableCount >= MIN_FUSION_FLOOR_STABLE_FRAMES
+                ? lastFusionFloorIndex
+                : null;
+    }
+
     public void setReplayModeEnabled(boolean enabled) {
         if (replayModeEnabled == enabled) {
             syncReplayUiState();
@@ -1304,37 +1323,31 @@ private void refreshDebugStatusText() {
             return;
         }
 
-        String engine = sensorFusion != null && sensorFusion.isParticleFilterTrajectoryMode()
+        String engine = (sensorFusion != null && sensorFusion.isParticleFilterTrajectoryMode())
                 ? "PF"
                 : "PDR";
 
-        String building = selectedFloorplanBuilding != null
-                ? selectedFloorplanBuilding.getName()
-                : "none";
-
-        String particleSummary = sensorFusion != null
+        String pfSummary = sensorFusion != null
                 ? sensorFusion.getParticleFilterDebugSummary()
                 : "Particles: unavailable";
 
+        String mapMatchingSummary = mapMatchingCoordinator.getLatestDebugStatus();
+
         int wifiFloor = sensorFusion != null ? sensorFusion.getWifiFloor() : -1;
         boolean wifiAvailable = sensorFusion != null && sensorFusion.getLatLngWifiPositioning() != null;
 
-        String mapMatchingSummary = mapMatchingCoordinator.getLatestDebugStatus();
-
         debugStatusText.setText(String.format(
                 Locale.US,
                 "Engine: %s\n" +
-                        "Building: %s\n" +
                         "Display floor: %d\n" +
                         "WiFi: %s | floor: %d\n" +
                         "%s\n" +
                         "%s",
                 engine,
-                building,
                 currentFloorIndex,
                 wifiAvailable ? "yes" : "no",
                 wifiFloor,
-                particleSummary,
+                pfSummary,
                 mapMatchingSummary
         ));
     }

From 4d565a30431ab692b58689dfe35db1eb2b37c772 Mon Sep 17 00:00:00 2001
From: ver12 <vkhxyy@gmail.com>
Date: Tue, 31 Mar 2026 00:31:43 +0100
Subject: [PATCH 34/35] Add weight recovery model to prevent stuck

---
 .../fusion/ParticleFilterEngine.java          | 210 +++++++++++++++---
 .../fusion/ParticleFilterManager.java         | 163 +++++++++++++-
 .../mapmatching/MapMatchingService.java       |  92 +++-----
 3 files changed, 370 insertions(+), 95 deletions(-)

diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
index 6a19ee4f..63ab1456 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
@@ -76,7 +76,11 @@ public class ParticleFilterEngine {
 
     /** Whether the last update triggered resampling. */
     private boolean lastResampled = false;
+    /** Number of particles that crossed a wall during the latest update. */
+    private int lastWallInvalidCount = 0;
 
+    /** Fraction of particles that crossed a wall during the latest update. */
+    private double lastWallInvalidRatio = 0.0;
     public ParticleFilterEngine(ParticleFilterConfig cfg) {
         this.particleCount = cfg.particleCount;
         this.sigmaStep = cfg.sigmaStep;
@@ -114,6 +118,8 @@ public void initialise(double x, double y, double theta, int floor) {
 
         lastNeff = particleCount;
         lastResampled = false;
+        lastWallInvalidCount = 0;
+        lastWallInvalidRatio = 0.0;
 
         Log.d(TAG,
                 "PF engine initialised"
@@ -207,6 +213,7 @@ public void update(ParticleFilterObservation observation,
         }
 
         double weightSum = 0.0;
+        int wallInvalidCount = 0;
 
         for (Particle particle : particles) {
             double w = 1.0;
@@ -216,10 +223,8 @@ public void update(ParticleFilterObservation observation,
                 double dx = particle.x - observation.getWifiX();
                 double dy = particle.y - observation.getWifiY();
 
-                // Gaussian likelihood based on local planar distance.
                 w *= gaussian2D(dx, dy, sigmaWifi);
 
-                // Penalise particles that disagree with Wi-Fi floor estimate.
                 if (observation.getWifiFloor() != null
                         && particle.floor != observation.getWifiFloor()) {
                     w *= 0.50;
@@ -227,44 +232,49 @@ public void update(ParticleFilterObservation observation,
             }
 
             // GNSS position likelihood
-//            if (observation.getGnssX() != null && observation.getGnssY() != null) {
-//                double dx = particle.x - observation.getGnssX();
-//                double dy = particle.y - observation.getGnssY();
-//                w *= gaussian2D(dx, dy, sigmaGnss);
-//            }
-//
-//            // Discrete wall-crossing penalty
-//            if (constraintContext != null && constraintContext.isUsable()) {
-//                double stepMeters = Math.hypot(particle.x - particle.prevX, particle.y - particle.prevY);
-//                if (stepMeters >= MIN_STEP_FOR_WALL_CHECK_METERS) {
-//                    LatLng prevLatLng = constraintContext.coordinateConverter.localToLatLng(
-//                            particle.prevX,
-//                            particle.prevY
-//                    );
-//                    LatLng currentLatLng = constraintContext.coordinateConverter.localToLatLng(
-//                            particle.x,
-//                            particle.y
-//                    );
-//
-//                    if (MapGeometryUtils.crossesWall(
-//                            prevLatLng,
-//                            currentLatLng,
-//                            constraintContext.sourceFloorShapes)) {
-//                        w *= constraintContext.wallCrossPenalty;
-//                    }
-//                }
-//            }
-//
+            if (observation.getGnssX() != null && observation.getGnssY() != null) {
+                double dx = particle.x - observation.getGnssX();
+                double dy = particle.y - observation.getGnssY();
+                w *= gaussian2D(dx, dy, sigmaGnss);
+            }
+
+            // Discrete wall-crossing penalty
+            if (constraintContext != null && constraintContext.isUsable()) {
+                double stepMeters = Math.hypot(particle.x - particle.prevX, particle.y - particle.prevY);
+                if (stepMeters >= MIN_STEP_FOR_WALL_CHECK_METERS) {
+                    LatLng prevLatLng = constraintContext.coordinateConverter.localToLatLng(
+                            particle.prevX,
+                            particle.prevY
+                    );
+                    LatLng currentLatLng = constraintContext.coordinateConverter.localToLatLng(
+                            particle.x,
+                            particle.y
+                    );
+
+                    if (MapGeometryUtils.crossesWall(
+                            prevLatLng,
+                            currentLatLng,
+                            constraintContext.sourceFloorShapes)) {
+                        wallInvalidCount++;
+                        w *= constraintContext.wallCrossPenalty;
+                    }
+                }
+            }
+
             particle.weight = w;
             weightSum += w;
         }
 
         normaliseWeights(weightSum);
 
+        lastWallInvalidCount = wallInvalidCount;
+        lastWallInvalidRatio = particleCount > 0
+                ? (double) wallInvalidCount / (double) particleCount
+                : 0.0;
+
         lastNeff = effectiveSampleSize();
         lastResampled = false;
 
-        // Resample if too few particles carry meaningful weight.
         if (lastNeff < particleCount * resampleRatio) {
             systematicResample();
             regularizeParticles();
@@ -335,6 +345,14 @@ public double getLastNeff() {
         return lastNeff;
     }
 
+    public int getLastWallInvalidCount() {
+        return lastWallInvalidCount;
+    }
+
+    public double getLastWallInvalidRatio() {
+        return lastWallInvalidRatio;
+    }
+
     private static final double ALIVE_WEIGHT_EPS = 1e-6;
 
     public int getParticleCount() {
@@ -359,6 +377,136 @@ public boolean wasResampledLastStep() {
         return lastResampled;
     }
 
+    /**
+     * Rejuvenates the weakest particles around a recovery anchor.
+     *
+     * Design:
+     * - replace only a fraction of the cloud
+     * - bias new particles forward along the current heading
+     * - reject samples that immediately cross a wall
+     * - use the last valid anchor / accepted WiFi anchor chosen by the manager
+     */
+    public boolean rejuvenateParticles(double anchorX,
+                                       double anchorY,
+                                       double headingRad,
+                                       int floor,
+                                       double respawnFraction,
+                                       double positionStdMeters,
+                                       double headingStdRad,
+                                       @Nullable ConstraintContext constraintContext) {
+        if (particles.isEmpty()) {
+            return false;
+        }
+
+        double clampedFraction = Math.max(0.05, Math.min(0.90, respawnFraction));
+        int respawnCount = Math.max(1, (int) Math.round(particleCount * clampedFraction));
+
+        // Weakest particles first.
+        particles.sort((a, b) -> Double.compare(a.weight, b.weight));
+
+        int recoveredCount = 0;
+
+        for (int i = 0; i < respawnCount && i < particles.size(); i++) {
+            Particle particle = particles.get(i);
+
+            boolean placed = false;
+            for (int attempt = 0; attempt < 20; attempt++) {
+                double sampledTheta = wrapAngle(headingRad + rng.nextGaussian() * headingStdRad);
+
+                /*
+                 * Forward-cone sampling:
+                 * - mostly respawn in front of the user
+                 * - small lateral spread
+                 */
+                double forwardMeters = Math.max(0.05, Math.abs(rng.nextGaussian()) * positionStdMeters);
+                double lateralMeters = rng.nextGaussian() * positionStdMeters * 0.35;
+
+                double motionHeading = (Math.PI / 2.0) - sampledTheta;
+
+                double candidateX = anchorX
+                        + forwardMeters * Math.cos(motionHeading)
+                        - lateralMeters * Math.sin(motionHeading);
+
+                double candidateY = anchorY
+                        + forwardMeters * Math.sin(motionHeading)
+                        + lateralMeters * Math.cos(motionHeading);
+
+                if (!isValidRecoveryCandidate(anchorX, anchorY, candidateX, candidateY, constraintContext)) {
+                    continue;
+                }
+
+                particle.prevX = anchorX;
+                particle.prevY = anchorY;
+                particle.prevFloor = floor;
+
+                particle.x = candidateX;
+                particle.y = candidateY;
+                particle.theta = sampledTheta;
+                particle.floor = floor;
+                particle.weight = 1.0 / particleCount;
+
+                placed = true;
+                recoveredCount++;
+                break;
+            }
+
+            if (!placed) {
+                // Conservative fallback: respawn exactly at the anchor with new heading.
+                particle.prevX = anchorX;
+                particle.prevY = anchorY;
+                particle.prevFloor = floor;
+
+                particle.x = anchorX;
+                particle.y = anchorY;
+                particle.theta = headingRad;
+                particle.floor = floor;
+                particle.weight = 1.0 / particleCount;
+            }
+        }
+
+        /*
+         * After rejuvenation, reset weights uniformly.
+         * This avoids one or two surviving particles dominating the cloud.
+         */
+        double uniformWeight = 1.0 / particleCount;
+        for (Particle particle : particles) {
+            particle.weight = uniformWeight;
+        }
+
+        lastNeff = particleCount;
+        lastResampled = false;
+
+        Log.d(TAG,
+                "PF rejuvenation complete"
+                        + " | respawnCount=" + respawnCount
+                        + ", recoveredCount=" + recoveredCount
+                        + ", anchorX=" + anchorX
+                        + ", anchorY=" + anchorY
+                        + ", floor=" + floor
+                        + ", headingDeg=" + Math.toDegrees(headingRad));
+
+        return recoveredCount > 0;
+    }
+
+    private boolean isValidRecoveryCandidate(double anchorX,
+                                             double anchorY,
+                                             double candidateX,
+                                             double candidateY,
+                                             @Nullable ConstraintContext constraintContext) {
+        if (constraintContext == null || !constraintContext.isUsable()) {
+            return true;
+        }
+
+        LatLng anchorLatLng = constraintContext.coordinateConverter.localToLatLng(anchorX, anchorY);
+        LatLng candidateLatLng = constraintContext.coordinateConverter.localToLatLng(candidateX, candidateY);
+
+        return !MapGeometryUtils.crossesWall(
+                anchorLatLng,
+                candidateLatLng,
+                constraintContext.sourceFloorShapes
+        );
+    }
+
     /**
      * Gaussian likelihood in local 2D position space.
      *
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
index 5b1ec122..e2d6f2ee 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
@@ -5,6 +5,7 @@
 import android.os.SystemClock;
 import android.util.Log;
 
+import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.preference.PreferenceManager;
 
@@ -100,6 +101,23 @@ public class ParticleFilterManager {
     private double emaTheta = 0.0;
     private float emaConfidence = 0f;
 
+    private static final double SOFT_STUCK_WALL_RATIO = 0.60;
+    private static final double HARD_STUCK_WALL_RATIO = 0.80;
+    private static final double LOW_NEFF_RATIO = 0.25;
+
+    private static final double MIN_STEP_FOR_RECOVERY_METERS = 0.35;
+    private static final double MAX_FUSED_MOVEMENT_WHEN_STUCK_METERS = 0.20;
+
+    private static final int HARD_RECOVERY_AFTER_CONSECUTIVE_STEPS = 3;
+
+    private static final double SOFT_RECOVERY_RESPAWN_FRACTION = 0.35;
+    private static final double HARD_RECOVERY_RESPAWN_FRACTION = 0.75;
+
+    private static final double SOFT_RECOVERY_POSITION_STD_METERS = 0.45;
+    private static final double HARD_RECOVERY_POSITION_STD_METERS = 0.90;
+
+    private static final double RECOVERY_HEADING_STD_RAD = Math.toRadians(15.0);
+
     // -------------------------
     // Map-constraint state
     // -------------------------
@@ -112,7 +130,8 @@ public class ParticleFilterManager {
 
     /** Authoritative floor owner for live PF mode. */
     private int activePfFloor = 0;
-
+    /** Counts consecutive step updates where the PF appears wall-stuck. */
+    private int consecutiveStuckSteps = 0;
     public ParticleFilterManager(SensorFusion sensorFusion, Context context) {
         this.sensorFusion = sensorFusion;
         this.appContext = context.getApplicationContext();
@@ -232,8 +251,16 @@ public void step() {
         particleFilterEngine.update(observation, constraintContext);
 
         FusedPose rawPose = particleFilterEngine.estimate(coordinateConverter);
+        rawPose = maybeRecoverStuckParticles(
+                deltaS,
+                currentHeading,
+                observation,
+                constraintContext,
+                rawPose
+        );
+
         FusedPose correctedPose = applyDiscreteMapMatching(rawPose, currentHeading, deltaS);
-        latestFusedPose = correctedPose;
+        latestFusedPose = correctedPose != null ? correctedPose : rawPose;
     }
 
     /**
@@ -350,6 +377,7 @@ public void reset() {
         lastMatchedPose = null;
         verticalMotionDetector.reset();
         mapMatchingService.resetTransientState();
+        consecutiveStuckSteps = 0;
     }
 
     public FusedPose getLatestFusedPose() {
@@ -450,6 +478,137 @@ private ParticleFilterEngine.ConstraintContext buildConstraintContext() {
         );
     }
 
+    @Nullable
+    private FusedPose maybeRecoverStuckParticles(double stepDistanceMeters,
+                                                 double currentHeadingRad,
+                                                 @Nullable ParticleFilterObservation observation,
+                                                 @Nullable ParticleFilterEngine.ConstraintContext constraintContext,
+                                                 @Nullable FusedPose rawPose) {
+        if (particleFilterEngine == null || coordinateConverter == null || rawPose == null) {
+            return rawPose;
+        }
+
+        // Recovery should only happen on a real step, not while stationary.
+        if (stepDistanceMeters < MIN_STEP_FOR_RECOVERY_METERS) {
+            consecutiveStuckSteps = 0;
+            return rawPose;
+        }
+
+        double wallInvalidRatio = particleFilterEngine.getLastWallInvalidRatio();
+        double neffRatio = particleFilterEngine.getLastNeff()
+                / Math.max(1.0, particleFilterEngine.getParticleCount());
+
+        double fusedMovementMeters = latestFusedPose == null
+                ? stepDistanceMeters
+                : Math.hypot(
+                rawPose.getXMeters() - latestFusedPose.getXMeters(),
+                rawPose.getYMeters() - latestFusedPose.getYMeters()
+        );
+
+        boolean fusedLooksFrozen = fusedMovementMeters < MAX_FUSED_MOVEMENT_WHEN_STUCK_METERS;
+
+        boolean softStuck = wallInvalidRatio > SOFT_STUCK_WALL_RATIO
+                && (neffRatio < LOW_NEFF_RATIO || fusedLooksFrozen);
+
+        if (!softStuck) {
+            consecutiveStuckSteps = 0;
+            return rawPose;
+        }
+
+        consecutiveStuckSteps++;
+
+        double[] recoveryAnchor = resolveLastValidRecoveryAnchorXY(rawPose);
+
+        boolean hardRecovery = consecutiveStuckSteps >= HARD_RECOVERY_AFTER_CONSECUTIVE_STEPS
+                && wallInvalidRatio > HARD_STUCK_WALL_RATIO;
+
+        if (hardRecovery) {
+            double[] wifiAnchor = resolveAcceptedWifiRecoveryAnchorXY(observation);
+            if (wifiAnchor != null) {
+                recoveryAnchor = wifiAnchor;
+            }
+        }
+
+        double respawnFraction = hardRecovery
+                ? HARD_RECOVERY_RESPAWN_FRACTION
+                : SOFT_RECOVERY_RESPAWN_FRACTION;
+
+        double positionStdMeters = hardRecovery
+                ? HARD_RECOVERY_POSITION_STD_METERS
+                : SOFT_RECOVERY_POSITION_STD_METERS;
+
+        boolean recovered = particleFilterEngine.rejuvenateParticles(
+                recoveryAnchor[0],
+                recoveryAnchor[1],
+                currentHeadingRad,
+                activePfFloor,
+                respawnFraction,
+                positionStdMeters,
+                RECOVERY_HEADING_STD_RAD,
+                constraintContext
+        );
+
+        if (!recovered) {
+            return rawPose;
+        }
+
+        FusedPose recoveredPose = particleFilterEngine.estimate(coordinateConverter);
+
+        Log.d(TAG,
+                "PF wall-stuck recovery applied"
+                        + " | hardRecovery=" + hardRecovery
+                        + ", consecutiveStuckSteps=" + consecutiveStuckSteps
+                        + ", wallInvalidRatio=" + wallInvalidRatio
+                        + ", neffRatio=" + neffRatio
+                        + ", fusedMovementMeters=" + fusedMovementMeters
+                        + ", anchorX=" + recoveryAnchor[0]
+                        + ", anchorY=" + recoveryAnchor[1]);
+
+        return recoveredPose != null ? recoveredPose : rawPose;
+    }
+
+    @NonNull
+    private double[] resolveLastValidRecoveryAnchorXY(@NonNull FusedPose fallbackPose) {
+        if (lastMatchedPose != null && lastMatchedPose.getLatLng() != null && coordinateConverter != null) {
+            return coordinateConverter.latLngToLocal(lastMatchedPose.getLatLng());
+        }
+
+        if (latestFusedPose != null) {
+            return new double[]{
+                    latestFusedPose.getXMeters(),
+                    latestFusedPose.getYMeters()
+            };
+        }
+
+        return new double[]{
+                fallbackPose.getXMeters(),
+                fallbackPose.getYMeters()
+        };
+    }
+
+    @Nullable
+    private double[] resolveAcceptedWifiRecoveryAnchorXY(@Nullable ParticleFilterObservation observation) {
+        if (observation == null
+                || observation.getWifiX() == null
+                || observation.getWifiY() == null) {
+            return null;
+        }
+
+        /*
+         * Only use WiFi as a hard relocalisation anchor if it agrees with the current PF floor.
+         * This stops cross-floor WiFi mistakes from blowing up recovery.
+         */
+        int wifiFloor = sensorFusion.getWifiFloor();
+        if (isFloorIndexAvailable(wifiFloor) && wifiFloor != activePfFloor) {
+            return null;
+        }
+
+        return new double[]{
+                observation.getWifiX(),
+                observation.getWifiY()
+        };
+    }
+
     @Nullable
     private FusedPose applyDiscreteMapMatching(@Nullable FusedPose rawPose,
                                                double currentHeadingRad,
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
index 2966abea..bd89104a 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
@@ -410,6 +410,11 @@ private WallRecovery recoverFromWallCrossing(@NonNull LatLng previousLatLng,
                 candidateLatLng,
                 wallCheckFloorShapes
         );
+
+        /*
+         * Near connectors or transition areas, prefer projecting to the last valid
+         * point before the wall. This is conservative and avoids aggressive XY shaping.
+         */
         if (preferProjection && lastValidPoint != null && !samePoint(lastValidPoint, previousLatLng)) {
             return new WallRecovery(
                     lastValidPoint,
@@ -419,6 +424,11 @@ private WallRecovery recoverFromWallCrossing(@NonNull LatLng previousLatLng,
             );
         }
 
+        /*
+         * Optional axis-only fallback:
+         * try preserving one axis from the previous valid point if that segment does
+         * not cross a wall. This is less aggressive than full snapping to a remote point.
+         */
         LatLng latOnlyPoint = new LatLng(candidateLatLng.latitude, previousLatLng.longitude);
         LatLng lngOnlyPoint = new LatLng(previousLatLng.latitude, candidateLatLng.longitude);
 
@@ -428,18 +438,16 @@ private WallRecovery recoverFromWallCrossing(@NonNull LatLng previousLatLng,
         if (canMoveLat && canMoveLng) {
             double latOnlyResidual = distanceMeters(latOnlyPoint, candidateLatLng);
             double lngOnlyResidual = distanceMeters(lngOnlyPoint, candidateLatLng);
-            if (latOnlyResidual <= lngOnlyResidual) {
-                return new WallRecovery(
-                        latOnlyPoint,
-                        CorrectionType.THROUGH_WALL,
-                        "Crossed wall. Sliding along Latitude (N/S).",
-                        true
-                );
-            }
+
+            LatLng chosen = latOnlyResidual <= lngOnlyResidual ? latOnlyPoint : lngOnlyPoint;
+            String reason = latOnlyResidual <= lngOnlyResidual
+                    ? "Crossed wall. Sliding along Latitude (N/S)."
+                    : "Crossed wall. Sliding along Longitude (E/W).";
+
             return new WallRecovery(
-                    lngOnlyPoint,
+                    chosen,
                     CorrectionType.THROUGH_WALL,
-                    "Crossed wall. Sliding along Longitude (E/W).",
+                    reason,
                     true
             );
         }
@@ -462,68 +470,28 @@ private WallRecovery recoverFromWallCrossing(@NonNull LatLng previousLatLng,
             );
         }
 
-        // ✅ fallback: try directional escape
-        LatLng directionalPoint = findValidDirectionMove(
-                previousLatLng,
-                candidateLatLng,
-                wallCheckFloorShapes
-        );
-
-        // optional: verify it's actually valid
-        if (!samePoint(directionalPoint, previousLatLng)
-                && !MapGeometryUtils.crossesWall(previousLatLng, directionalPoint, wallCheckFloorShapes)) {
-
+        /*
+         * If axis sliding is not possible, use the last valid point before the wall.
+         */
+        if (lastValidPoint != null && !samePoint(lastValidPoint, previousLatLng)) {
             return new WallRecovery(
-                    directionalPoint,
-                    CorrectionType.THROUGH_WALL,
-                    "Crossed wall. Directional escape applied.",
+                    lastValidPoint,
+                    CorrectionType.SNAP_TO_VALID_AREA,
+                    "Crossed wall. Projected to the last valid point before wall.",
                     true
             );
         }
 
-        // final fallback
+        /*
+         * Final conservative fallback:
+         * do not invent a blended corner-escape point. Just stay at the previous valid pose.
+         */
         return new WallRecovery(
                 previousLatLng,
                 CorrectionType.THROUGH_WALL,
-                "Crossed wall. No valid direction found, staying in place.",
+                "Crossed wall. Reverted to previous valid point.",
                 false
         );
-
-//        LatLng blended = interpolate(previousLatLng, candidateLatLng, 0.3);
-//
-//        //  check if this move crosses a wall
-//        boolean crosses = MapGeometryUtils.crossesWall(
-//                previousLatLng,
-//                blended,
-//                wallCheckFloorShapes
-//        );
-//
-//        if (!crosses) {
-//            return new WallRecovery(
-//                    blended,
-//                    CorrectionType.THROUGH_WALL,
-//                    "Safe blended movement.",
-//                    true
-//            );
-//        }
-//
-//        // last resort: very small step along valid direction
-//        LatLng microStep = interpolate(previousLatLng, candidateLatLng, 0.1);
-//        return new WallRecovery(
-//                microStep,
-//                CorrectionType.THROUGH_WALL,
-//                "Micro-step escape near wall.",
-//                false
-//        );
-
-//        LatLng blended = interpolate(previousLatLng, candidateLatLng, 0.3);
-//
-//        return new WallRecovery(
-//                blended,
-//                CorrectionType.THROUGH_WALL,
-//                "Corner escape: blended towards candidate.",
-//                false
-//        );
     }
     private LatLng findValidDirectionMove(
             LatLng previous,

From 223ba78a32b694622a200d814563abb12c5ed750 Mon Sep 17 00:00:00 2001
From: wxyuuu1114 <wangxinyu1114@gmail.com>
Date: Wed, 1 Apr 2026 21:10:23 +0100
Subject: [PATCH 35/35] clean up and add detail comments

---
 app/src/main/assets/replay/traj_1.json        |    2 +-
 app/src/main/assets/replay/traj_2.json        |    2 +-
 .../assets/replay/traj_20260320_133314.json   |    2 +-
 app/src/main/assets/replay/traj_3.json        |    2 +-
 .../AdaptiveQsmfiHeadingCalibrator.java       |  168 ++-
 .../PositionMe/fusion/AutoFloorManager.java   |  421 ++++++
 .../fusion/ParticleConstraintDebugger.java    |   56 +-
 .../fusion/ParticleFilterEngine.java          |  407 ++++--
 .../fusion/ParticleFilterManager.java         | 1271 ++++++++++++-----
 .../fusion/ParticleFilterObservation.java     |    7 +-
 .../mapmatching/CorrectionType.java           |    4 +-
 .../mapmatching/MapGeometryUtils.java         |   90 +-
 .../mapmatching/MapMatchingInput.java         |   14 +-
 .../mapmatching/MapMatchingResult.java        |    2 +-
 .../mapmatching/MapMatchingService.java       |  133 +-
 .../PositionMe/mapmatching/MotionDelta.java   |    2 +-
 .../mapmatching/VerticalTransitionHint.java   |    2 +-
 .../activity/RecordingActivity.java           |  156 +-
 .../presentation/activity/ReplayActivity.java |   16 +-
 .../fragment/FloorController.java             |  217 ++-
 .../fragment/MapMatchingCoordinator.java      |  537 +++----
 .../fragment/RecordingFragment.java           |  330 ++---
 .../presentation/fragment/ReplayFragment.java |   34 +-
 .../fragment/StartLocationFragment.java       |  237 ++-
 .../fragment/TrajectoryMapFragment.java       |  383 +++--
 .../fragment/TrajectoryRenderer.java          |   14 +
 .../PositionMe/sensors/SensorFusion.java      |  181 ++-
 .../res/layout/fragment_startlocation.xml     |   18 +-
 app/src/main/res/xml/root_preferences.xml     |    8 +-
 29 files changed, 2983 insertions(+), 1733 deletions(-)
 create mode 100644 app/src/main/java/com/openpositioning/PositionMe/fusion/AutoFloorManager.java

diff --git a/app/src/main/assets/replay/traj_1.json b/app/src/main/assets/replay/traj_1.json
index 7b8630f2..685dd8a9 100644
--- a/app/src/main/assets/replay/traj_1.json
+++ b/app/src/main/assets/replay/traj_1.json
@@ -1,4 +1,4 @@
-从电梯下楼（F2-G）- 上到F3 - 走下去到F2（楼梯）
+
 {
   "androidVersion": "16",
   "trajectoryVersion": 2.0,
diff --git a/app/src/main/assets/replay/traj_2.json b/app/src/main/assets/replay/traj_2.json
index b76187f7..d567a070 100644
--- a/app/src/main/assets/replay/traj_2.json
+++ b/app/src/main/assets/replay/traj_2.json
@@ -1,4 +1,4 @@
-上下楼梯。
+
 {
   "androidVersion": "16",
   "trajectoryVersion": 2.0,
diff --git a/app/src/main/assets/replay/traj_20260320_133314.json b/app/src/main/assets/replay/traj_20260320_133314.json
index e3231210..c73f3826 100644
--- a/app/src/main/assets/replay/traj_20260320_133314.json
+++ b/app/src/main/assets/replay/traj_20260320_133314.json
@@ -154030,7 +154030,7 @@
     "rttEnabled": false
   }, {
     "mac": "183048888442866",
-    "ssid": "爱丁堡乳猪烩饭",
+    "ssid": "edin",
     "frequency": "5220",
     "rttEnabled": false
   }, {
diff --git a/app/src/main/assets/replay/traj_3.json b/app/src/main/assets/replay/traj_3.json
index e3231210..c73f3826 100644
--- a/app/src/main/assets/replay/traj_3.json
+++ b/app/src/main/assets/replay/traj_3.json
@@ -154030,7 +154030,7 @@
     "rttEnabled": false
   }, {
     "mac": "183048888442866",
-    "ssid": "爱丁堡乳猪烩饭",
+    "ssid": "edin",
     "frequency": "5220",
     "rttEnabled": false
   }, {
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java
index b90f51be..343dbbce 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java
@@ -82,54 +82,50 @@ public class AdaptiveQsmfiHeadingCalibrator {
     private String lastCorrectionSource = "gyro_only";
 
     // Turn detection with hysteresis
-    private static final double TURN_RATE_ON = 45.0 * DEG2RAD;
-    private static final double TURN_RATE_OFF = 25.0 * DEG2RAD;
+    private static final double TURN_RATE_ON = 30.0 * DEG2RAD;
+    private static final double TURN_RATE_OFF = 18.0 * DEG2RAD;
 
     private boolean isTurning = false;
     private double lastGyroRate = 0.0;
     private boolean isCompassStable = false;
     private boolean isGyroStable = false;
     private boolean isStraight = false;
+    private static final double FIXED_HEADING_BIAS_RAD = Math.toRadians(25.0);
+
+    private double applyHeadingBias(double headingRad) {
+        return wrapAngle(headingRad - FIXED_HEADING_BIAS_RAD);
+    }
 
     public void reset() {
         hasGravity = false;
         hasMagnetic = false;
         initialised = false;
-
         gravity[0] = gravity[1] = gravity[2] = 0f;
         magnetic[0] = magnetic[1] = magnetic[2] = 0f;
-
         compassHeadingRad = 0.0;
         gyroHeadingRad = 0.0;
         fusedHeadingRad = 0.0;
-
         lastGyroTimestampNs = -1L;
         lastStepTimestampNs = -1L;
-
         windowNsStationary = 2_000_000_000L;
         windowNsWalking = 800_000_000L;
-
         tauMagVarStationary = Math.pow(6.0 * DEG2RAD, 2);
         tauMagVarWalking = Math.pow(10.0 * DEG2RAD, 2);
-
         compassHistory.clear();
         gyroHistory.clear();
         qsmfiAcceptHistory.clear();
-
         isTurning = false;
         isCompassStable = false;
         isGyroStable = false;
         lastGyroRate = 0.0;
         isStraight = false;
-
         headingReliable = false;
         lastCorrectionSource = "gyro_only";
     }
 
-    // ---------------------------------------------------------------------
-    // Sensor feeds
-    // ---------------------------------------------------------------------
-
+    /**
+     * Updates gyro-based heading using angular rate integration.
+     */
     public void onGyro(float gzRadPerSec, long timestampNs) {
         if (lastGyroTimestampNs < 0L) {
             lastGyroTimestampNs = timestampNs;
@@ -162,6 +158,7 @@ public void onGyro(float gzRadPerSec, long timestampNs) {
         trimHistory(gyroHistory, windowNsStationary + 500_000_000L);
     }
 
+    // Updates gravity vector and refreshes compass heading if possible.
     public void onGravity(float gx, float gy, float gz) {
         gravity[0] = gx;
         gravity[1] = gy;
@@ -169,7 +166,10 @@ public void onGravity(float gx, float gy, float gz) {
         hasGravity = true;
         updateCompassHeading();
     }
-
+    /**
+     * Updates magnetic field data, computes compass heading, stores history,
+     * and attempts heading calibration.
+     */
     public void onMagneticField(float mx, float my, float mz, long timestampNs) {
         magnetic[0] = mx;
         magnetic[1] = my;
@@ -187,51 +187,14 @@ public void onMagneticField(float mx, float my, float mz, long timestampNs) {
         attemptQsmfiCalibration(timestampNs);
     }
 
+    // Marks the latest step time for walking detection.
     public void onStepDetected(long timestampNs) {
         lastStepTimestampNs = timestampNs;
     }
 
-    // ---------------------------------------------------------------------
-    // Main output
-    // ---------------------------------------------------------------------
-
-    public float getGyroHeadingRad() {
-        return (float) gyroHeadingRad;
-    }
-
-    public float getCompassHeadingRad() {
-        return (float) compassHeadingRad;
-    }
-
-    public float getFusedHeadingRad() {
-        return (float) fusedHeadingRad;
-    }
-
-    public boolean getIsTurning() {
-        return isTurning;
-    }
-
-    public boolean getCompassStable() {
-        return isCompassStable;
-    }
-
-    public boolean getGyroStable() {
-        return isGyroStable;
-    }
-
-    public boolean isHeadingReliable() {
-        return headingReliable;
-    }
-    public boolean isInitialised() { return initialised;}
-
-    public String getLastCorrectionSource() {
-        return lastCorrectionSource;
-    }
-
-    // ---------------------------------------------------------------------
-    // QSMFI logic
-    // ---------------------------------------------------------------------
-
+    /**
+     * Computes tilt-compensated compass heading from gravity and magnetic sensors.
+     */
     private void updateCompassHeading() {
         if (!hasGravity || !hasMagnetic) {
             return;
@@ -247,7 +210,8 @@ private void updateCompassHeading() {
         float[] orientation = new float[3];
         SensorManager.getOrientation(R, orientation);
 
-        compassHeadingRad = wrapAngle(orientation[0]);
+//        compassHeadingRad = wrapAngle(orientation[0]);
+        compassHeadingRad = applyHeadingBias(orientation[0]);
 
         if (!initialised) {
             initialised = true;
@@ -256,37 +220,49 @@ private void updateCompassHeading() {
         }
     }
 
+    /**
+     * Attempts to correct fused heading using a stable compass heading window.
+     */
     private void attemptQsmfiCalibration(long nowNs) {
         boolean walking = isWalking(nowNs);
+
+        // Select the time window and thresholds based on the motion state.
         long windowNs = walking ? windowNsWalking : windowNsStationary;
         double tauMagVar = walking ? tauMagVarWalking : tauMagVarStationary;
         double tauGyro = walking ? TAU_GYRO_WALKING : TAU_GYRO_STATIONARY;
 
+        // Get recent compass heading samples inside the selected window.
         List<Double> compassWindow = getRecentAngles(compassHistory, nowNs, windowNs);
+
+        // Not enough data yet to judge heading stability.
         if (compassWindow.size() < 8) {
             headingReliable = false;
             lastCorrectionSource = "gyro_only";
             return;
         }
-
+        // Measure compass heading variation and gyro heading change over the same window.
         double varCompass = circularVariance(compassWindow);
         double gyroDelta = getRecentGyroDelta(nowNs, windowNs);
 
         boolean accepted = false;
 
+        // Check whether gyro motion is calm enough and compass heading is stable enough.
         isGyroStable = Math.abs(gyroDelta) < tauGyro;
         isCompassStable = varCompass < tauMagVar;
 
+        // Compute a stable compass heading from the recent window.
         double stableHeading = circularMean(compassWindow);
+        // Compare compass-based heading with current gyro heading.
         double disagreement = Math.abs(wrapAngle(stableHeading - gyroHeadingRad));
 
         boolean canFuse;
 
         if (isTurning) {
-            // During turns: more conservative
+            // During turns, be more strict before accepting compass correction.
             canFuse = isCompassStable
                     && disagreement < TAU_QSMFI_GYRO_AGREE * 0.5;
         } else {
+            // During straight or calm motion, require both stable gyro and stable compass.
             canFuse = isCompassStable
                     && isGyroStable
                     && disagreement < TAU_QSMFI_GYRO_AGREE;
@@ -294,16 +270,19 @@ private void attemptQsmfiCalibration(long nowNs) {
 
         if (canFuse) {
             double gain;
+            // Use smaller correction gain during turns, larger gain when stable.
             if (isTurning) {
                 gain = walking ? 0.07 : 0.10;
             } else {
                 gain = walking ? 0.12 : 0.25;
             }
+            // Blend fused heading toward the stable compass heading.
             fusedHeadingRad = blendAngle(fusedHeadingRad, stableHeading, gain);
             headingReliable = true;
             lastCorrectionSource = "qsmfi";
             accepted = true;
         } else {
+            // If checks fail, keep using gyro-only heading.
             headingReliable = false;
             lastCorrectionSource = "gyro_only";
         }
@@ -313,17 +292,21 @@ private void attemptQsmfiCalibration(long nowNs) {
     }
 
     private void updateQsmfiAcceptance(boolean accepted) {
+        // Store whether the latest QSMFI attempt was accepted.
         qsmfiAcceptHistory.addLast(accepted);
+        // Keep only the most recent acceptance results.
         while (qsmfiAcceptHistory.size() > QSMFI_ACCEPT_HISTORY_SIZE) {
             qsmfiAcceptHistory.removeFirst();
         }
     }
 
     private void adaptQsmfiThresholds() {
+        // Nothing to adapt if there is no acceptance history yet.
         if (qsmfiAcceptHistory.isEmpty()) {
             return;
         }
 
+        // Compute the recent acceptance rate of QSMFI correction.
         double acceptRate = 0.0;
         for (Boolean b : qsmfiAcceptHistory) {
             if (Boolean.TRUE.equals(b)) {
@@ -332,6 +315,8 @@ private void adaptQsmfiThresholds() {
         }
         acceptRate /= qsmfiAcceptHistory.size();
 
+        // Adapt walking compass-variance threshold:
+        // increase it if acceptance is low, decrease it if acceptance is high.
         tauMagVarWalking = clamp(
                 tauMagVarWalking + EPS_ADAPT * (DELTA_INC * (1.0 - acceptRate) - DELTA_DEC * acceptRate),
                 TAU_MAG_VAR_MIN,
@@ -350,21 +335,25 @@ private void adaptQsmfiThresholds() {
     // ---------------------------------------------------------------------
 
     private boolean isWalking(long nowNs) {
+        // Treat the user as walking if a step was detected recently.
         return lastStepTimestampNs > 0L && (nowNs - lastStepTimestampNs) < 1_500_000_000L;
     }
 
     private void trimHistory(Deque<AngleSample> history, long maxAgeNs) {
+        // Use the latest known sensor timestamp as the reference time.
         long nowNs = Math.max(
                 compassHistory.isEmpty() ? 0L : compassHistory.peekLast().timestampNs,
                 gyroHistory.isEmpty() ? 0L : gyroHistory.peekLast().timestampNs
         );
 
+        // Remove samples that are older than the allowed history length.
         while (!history.isEmpty() && nowNs - history.peekFirst().timestampNs > maxAgeNs) {
             history.removeFirst();
         }
     }
 
     private List<Double> getRecentAngles(Deque<AngleSample> history, long nowNs, long windowNs) {
+        // Collect angle samples that lie inside the requested recent time window.
         List<Double> out = new ArrayList<>();
         for (AngleSample s : history) {
             if (nowNs - s.timestampNs <= windowNs) {
@@ -375,6 +364,7 @@ private List<Double> getRecentAngles(Deque<AngleSample> history, long nowNs, lon
     }
 
     private double getRecentGyroDelta(long nowNs, long windowNs) {
+        // Find the first and last gyro heading samples inside the time window.
         AngleSample first = null;
         AngleSample last = null;
 
@@ -387,18 +377,22 @@ private double getRecentGyroDelta(long nowNs, long windowNs) {
             }
         }
 
+        // If there are not enough samples, return zero change.
         if (first == null || last == null) {
             return 0.0;
         }
 
+        // Return the wrapped heading change over the window.
         return wrapAngle(last.angleRad - first.angleRad);
     }
 
     private double circularMean(List<Double> angles) {
+        // Return zero if no angles are available.
         if (angles.isEmpty()) {
             return 0.0;
         }
 
+        // Compute circular mean using summed sine and cosine.
         double s = 0.0;
         double c = 0.0;
         for (double a : angles) {
@@ -410,10 +404,12 @@ private double circularMean(List<Double> angles) {
     }
 
     private double circularVariance(List<Double> angles) {
+        // No valid variance if there are no samples.
         if (angles.isEmpty()) {
             return Double.POSITIVE_INFINITY;
         }
 
+        // Compute spread of angles around the circular mean.
         double mean = circularMean(angles);
         double sum = 0.0;
         for (double a : angles) {
@@ -424,20 +420,25 @@ private double circularVariance(List<Double> angles) {
     }
 
     private double blendAngle(double current, double target, double gain) {
+
+        // Move the current angle toward the target angle by the given gain.
         return wrapAngle(current + gain * wrapAngle(target - current));
     }
 
     private double clamp(double v, double lo, double hi) {
+        // Restrict a value to the given range.
         return Math.max(lo, Math.min(hi, v));
     }
 
     private double wrapAngle(double angle) {
+        // Keep angle inside the range [-pi, pi].
         while (angle > Math.PI) angle -= 2.0 * Math.PI;
         while (angle < -Math.PI) angle += 2.0 * Math.PI;
         return angle;
     }
 
     private static class AngleSample {
+        // Timestamped heading sample used in sliding-window history.
         final long timestampNs;
         final double angleRad;
 
@@ -446,4 +447,53 @@ private static class AngleSample {
             this.angleRad = angleRad;
         }
     }
+
+    // ---------------------------------------------------------------------
+    // Getter Functions
+    // ---------------------------------------------------------------------
+
+    public float getGyroHeadingRad() {
+        // Returns current gyro-integrated heading.
+        return (float) gyroHeadingRad;
+    }
+
+    public float getCompassHeadingRad() {
+        // Returns current tilt-compensated compass heading.
+        return (float) compassHeadingRad;
+    }
+
+    public float getFusedHeadingRad() {
+        // Returns final fused heading used by downstream logic.
+        return (float) fusedHeadingRad;
+    }
+
+    public boolean getIsTurning() {
+        // Returns whether the user is currently detected as turning.
+        return isTurning;
+    }
+
+    public boolean getCompassStable() {
+        // Returns whether recent compass heading is stable enough.
+        return isCompassStable;
+    }
+
+    public boolean getGyroStable() {
+        // Returns whether recent gyro motion is stable enough.
+        return isGyroStable;
+    }
+
+    public boolean isHeadingReliable() {
+        // Returns whether the current heading output is considered reliable.
+        return headingReliable;
+    }
+    public boolean isInitialised() {
+        // Returns whether the calibrator has been initialised successfully.
+        return initialised;
+    }
+
+    public String getLastCorrectionSource() {
+        // Returns the source of the most recent heading correction.
+        return lastCorrectionSource;
+    }
+
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/AutoFloorManager.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/AutoFloorManager.java
new file mode 100644
index 00000000..0c7b5edb
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/AutoFloorManager.java
@@ -0,0 +1,421 @@
+package com.openpositioning.PositionMe.fusion;
+
+import android.util.Log;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
+import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint;
+import com.openpositioning.PositionMe.sensors.SensorFusion;
+
+/**
+ * AutoFloorManager
+ *
+ * Owns the live floor-transition decision state for the PF pipeline.
+ *
+ * Design intent:
+ * - startup floor bootstrap is handled elsewhere (manual floor / initial WiFi floor / default floor)
+ * - this class handles only LIVE floor ownership after the session has started
+ * - live floor changes must be conservative:
+ *   1. require real vertical evidence relative to the last committed floor anchor
+ *   2. in lift mode, require a stable repeated WiFi target floor
+ *   3. in non-lift mode, allow only conservative adjacent-floor suggestions
+ *
+ * Important:
+ * this class does NOT directly move particles or change UI.
+ * It only decides:
+ * - what floor is currently owned
+ * - what floor is being requested
+ * - when a floor change should be committed
+ *
+ * ParticleFilterManager remains responsible for:
+ * - calling this class
+ * - validating requested floor changes through MapMatchingService
+ * - applying committed floor changes to the PF engine and live fused pose
+ */
+public class AutoFloorManager {
+
+    private static final String TAG = "AutoFloorManager";
+
+    /** Cooldown after a committed floor change to avoid rapid repeated flips. */
+    private static final long FLOOR_CHANGE_COOLDOWN_MS = 3000L;
+
+    /** Stable WiFi floor duration required before trusting lift-assisted floor change. */
+    private static final long LIVE_LIFT_WIFI_STABLE_MS = 1800L;
+
+    /** Stable WiFi floor sample count required before trusting lift-assisted floor change. */
+    private static final int LIVE_LIFT_WIFI_REQUIRED_SAMPLES = 4;
+
+    /**
+     * Minimum vertical change required before any live floor transition is allowed.
+     *
+     * This prevents accidental floor switches just because the user is close to a lift/stairs
+     * or because of small barometer noise.
+     */
+    private static final double LIVE_AUTO_FLOOR_MIN_VERTICAL_DELTA_METERS = 1.2;
+
+    /**
+     * Fraction of nominal floor height that must be exceeded before the next floor
+     * is considered plausible.
+     *
+     * Example with 3.0 m floor height and 0.55 fraction:
+     * required delta per floor ≈ 1.65 m
+     */
+    private static final double LIVE_AUTO_FLOOR_VERTICAL_FRACTION_PER_FLOOR = 0.80;
+
+    /** Default floor height used when real building floor heights are not available. */
+    private static final double DEFAULT_FLOOR_HEIGHT_METERS = 3.0;
+
+    /**
+     * Adapter so AutoFloorManager can validate and clamp floor indices without knowing
+     * how the building model is stored.
+     */
+    public interface FloorIndexAdapter {
+        boolean isFloorIndexAvailable(int floorIndex);
+        int sanitiseFloorIndex(int floorIndex);
+    }
+
+    /** Main live sensor/state source. */
+    private final SensorFusion sensorFusion;
+
+    /** Building-specific floor bounds adapter owned by the PF manager. */
+    private final FloorIndexAdapter floorIndexAdapter;
+
+    /** Current authoritative live PF floor. */
+    private int activeFloor = 0;
+
+    /** Timestamp when the current floor was last committed. */
+    private long lastCommittedFloorChangeElapsedMs = 0L;
+
+    /** Elevation snapshot when the current floor was committed. */
+    private double lastCommittedElevationMeters = Double.NaN;
+
+    /** Pending repeated WiFi floor candidate used only during lift mode. */
+    private int pendingLiftWifiFloor = Integer.MIN_VALUE;
+
+    /** First timestamp when the current pending lift WiFi floor was observed. */
+    private long pendingLiftWifiSinceMs = 0L;
+
+    /** Number of repeated samples seen for the pending lift WiFi floor. */
+    private int pendingLiftWifiSamples = 0;
+
+    public AutoFloorManager(@NonNull SensorFusion sensorFusion,
+                            @NonNull FloorIndexAdapter floorIndexAdapter) {
+        this.sensorFusion = sensorFusion;
+        this.floorIndexAdapter = floorIndexAdapter;
+    }
+
+    /**
+     * Resets all live floor-transition state.
+     *
+     * Use this at the start/end of a recording session, or whenever the PF manager resets.
+     */
+    public void reset() {
+        activeFloor = 0;
+        lastCommittedFloorChangeElapsedMs = 0L;
+        lastCommittedElevationMeters = Double.NaN;
+        resetLiftWifiFloorState();
+    }
+
+    /**
+     * Initialises the live floor owner to a known starting floor.
+     *
+     * This should be called once the PF start floor is chosen, so later live transitions
+     * are measured relative to a committed elevation anchor.
+     */
+    public void initialiseFloor(int floorIndex) {
+        activeFloor = floorIndexAdapter.sanitiseFloorIndex(floorIndex);
+        syncCommittedFloorAnchor();
+        resetLiftWifiFloorState();
+    }
+
+    /**
+     * Forces a new current floor immediately.
+     *
+     * This is used when the user manually changes the floor from the UI.
+     */
+    public void forceFloor(int floorIndex) {
+        initialiseFloor(floorIndex);
+    }
+
+    /**
+     * Returns the currently owned live floor.
+     */
+    public int getActiveFloor() {
+        return activeFloor;
+    }
+
+    /**
+     * Commits a validated floor transition.
+     *
+     * This should only be called AFTER MapMatchingService has accepted the floor change.
+     */
+    public void onFloorCommitted(int floorIndex, long timestampMs) {
+        activeFloor = floorIndexAdapter.sanitiseFloorIndex(floorIndex);
+        lastCommittedFloorChangeElapsedMs = timestampMs;
+        syncCommittedFloorAnchor();
+        resetLiftWifiFloorState();
+
+        Log.d(TAG,
+                "Committed live floor"
+                        + " | activeFloor=" + activeFloor
+                        + ", committedAt=" + timestampMs
+                        + ", committedElevation=" + lastCommittedElevationMeters);
+    }
+
+    /**
+     * Decides whether a cross-floor WiFi observation may be accepted as a position observation.
+     *
+     * This is intentionally strict:
+     * - only relevant during lift mode
+     * - WiFi floor must be stable
+     * - enough vertical change from the committed anchor must already exist
+     *
+     * Use this only for observation gating, not as the final floor-switch decision.
+     */
+    public boolean shouldAcceptCrossFloorWifiObservation(int observedWifiFloor, long timestampMs) {
+        if (!sensorFusion.getElevator()) {
+            return false;
+        }
+
+        if (!floorIndexAdapter.isFloorIndexAvailable(observedWifiFloor)) {
+            return false;
+        }
+
+        int candidateFloor = floorIndexAdapter.sanitiseFloorIndex(observedWifiFloor);
+        Integer stableLiftWifiFloor = resolveStableLiftWifiFloor(timestampMs);
+
+        return stableLiftWifiFloor != null
+                && stableLiftWifiFloor == candidateFloor
+                && hasSufficientCommittedVerticalChange(candidateFloor);
+    }
+
+    /**
+     * Produces the next requested floor for the current live update.
+     *
+     * Policy:
+     * - if live auto floor is disabled -> keep current floor
+     * - if there is no valid vertical transition hint -> keep current floor
+     * - if cooldown is active -> keep current floor
+     * - in lift mode:
+     *     trust only stable repeated WiFi floor + sufficient vertical change
+     * - in non-lift mode:
+     *     allow adjacent WiFi floor if plausible, otherwise infer adjacent floor from height sign
+     *
+     * This returns only a REQUESTED floor.
+     * It does not itself commit the floor change.
+     */
+    public int resolveRequestedFloor(@Nullable VerticalTransitionHint verticalHint,
+                                     long timestampMs) {
+
+        if (!sensorFusion.isLiveAutoFloorEnabled()) {
+            resetLiftWifiFloorState();
+            return activeFloor;
+        }
+
+        if (verticalHint == null || !verticalHint.isHeightChanged()) {
+            resetLiftWifiFloorState();
+            return activeFloor;
+        }
+
+        if (timestampMs - lastCommittedFloorChangeElapsedMs < FLOOR_CHANGE_COOLDOWN_MS) {
+            return activeFloor;
+        }
+
+        boolean elevatorLikely = sensorFusion.getElevator();
+
+        if (elevatorLikely) {
+            Integer stableLiftWifiFloor = resolveStableLiftWifiFloor(timestampMs);
+            if (stableLiftWifiFloor != null
+                    && stableLiftWifiFloor != activeFloor
+                    && hasSufficientCommittedVerticalChange(stableLiftWifiFloor)) {
+
+                Log.d(TAG,
+                        "Requested floor by stable lift WiFi"
+                                + " | activeFloor=" + activeFloor
+                                + ", targetFloor=" + stableLiftWifiFloor
+                                + ", deltaHeight=" + verticalHint.getDeltaHeight());
+
+                return stableLiftWifiFloor;
+            }
+
+            /*
+             * Minimal fallback:
+             * if lift WiFi is not stable enough yet, but the barometric height strongly
+             * indicates a one-floor transition, allow a conservative adjacent-floor request
+             * by height sign.
+             */
+            int candidateByHeight;
+            if (verticalHint.getDeltaHeight() > 0.0) {
+                candidateByHeight = floorIndexAdapter.sanitiseFloorIndex(activeFloor + 1);
+            } else if (verticalHint.getDeltaHeight() < 0.0) {
+                candidateByHeight = floorIndexAdapter.sanitiseFloorIndex(activeFloor - 1);
+            } else {
+                return activeFloor;
+            }
+
+            if (candidateByHeight != activeFloor
+                    && Math.abs(candidateByHeight - activeFloor) == 1
+                    && hasSufficientCommittedVerticalChange(candidateByHeight)) {
+
+                Log.d(TAG,
+                        "Requested floor by lift height fallback"
+                                + " | activeFloor=" + activeFloor
+                                + ", targetFloor=" + candidateByHeight
+                                + ", deltaHeight=" + verticalHint.getDeltaHeight());
+
+                return candidateByHeight;
+            }
+
+            return activeFloor;
+        }
+
+        // Non-lift mode: reset lift WiFi state and use conservative adjacent-floor logic.
+        resetLiftWifiFloorState();
+
+        int wifiFloor = sensorFusion.getWifiFloor();
+        boolean wifiFloorValid = floorIndexAdapter.isFloorIndexAvailable(wifiFloor);
+
+        if (wifiFloorValid
+                && wifiFloor != activeFloor
+                && Math.abs(wifiFloor - activeFloor) == 1
+                && hasSufficientCommittedVerticalChange(wifiFloor)) {
+            return floorIndexAdapter.sanitiseFloorIndex(wifiFloor);
+        }
+
+        int candidateByHeight;
+        if (verticalHint.getDeltaHeight() > 0.0) {
+            candidateByHeight = floorIndexAdapter.sanitiseFloorIndex(activeFloor + 1);
+        } else if (verticalHint.getDeltaHeight() < 0.0) {
+            candidateByHeight = floorIndexAdapter.sanitiseFloorIndex(activeFloor - 1);
+        } else {
+            return activeFloor;
+        }
+
+        if (candidateByHeight != activeFloor
+                && hasSufficientCommittedVerticalChange(candidateByHeight)) {
+            return candidateByHeight;
+        }
+
+        return activeFloor;
+    }
+
+    /**
+     * Clears all pending lift WiFi stability state.
+     *
+     * This must be called whenever:
+     * - the user forces a floor
+     * - a floor is committed
+     * - lift mode is no longer relevant
+     * - no usable WiFi floor is present
+     */
+    private void resetLiftWifiFloorState() {
+        pendingLiftWifiFloor = Integer.MIN_VALUE;
+        pendingLiftWifiSinceMs = 0L;
+        pendingLiftWifiSamples = 0;
+    }
+
+    /**
+     * Re-anchors the current floor ownership to the latest elevation.
+     *
+     * Later floor transitions are measured relative to this committed elevation anchor.
+     */
+    private void syncCommittedFloorAnchor() {
+        lastCommittedElevationMeters = sensorFusion.getElevation();
+    }
+
+    /**
+     * Tracks repeated WiFi floor samples during lift mode and returns a stable candidate floor.
+     *
+     * Requirements:
+     * - WiFi position must exist
+     * - WiFi floor must be a valid floor
+     * - WiFi floor must differ from the currently active floor
+     * - same WiFi floor must repeat for enough samples and enough elapsed time
+     */
+    @Nullable
+    private Integer resolveStableLiftWifiFloor(long timestampMs) {
+        if (sensorFusion.getLatLngWifiPositioning() == null) {
+            resetLiftWifiFloorState();
+            return null;
+        }
+
+        int wifiFloor = sensorFusion.getWifiFloor();
+        if (!floorIndexAdapter.isFloorIndexAvailable(wifiFloor)) {
+            resetLiftWifiFloorState();
+            return null;
+        }
+
+        int candidateFloor = floorIndexAdapter.sanitiseFloorIndex(wifiFloor);
+
+        if (candidateFloor == activeFloor) {
+            resetLiftWifiFloorState();
+            return null;
+        }
+
+        if (candidateFloor != pendingLiftWifiFloor) {
+            pendingLiftWifiFloor = candidateFloor;
+            pendingLiftWifiSinceMs = timestampMs;
+            pendingLiftWifiSamples = 1;
+
+            Log.d(TAG,
+                    "Pending lift WiFi floor"
+                            + " | candidate=" + candidateFloor
+                            + ", active=" + activeFloor);
+
+            return null;
+        }
+
+        pendingLiftWifiSamples++;
+        long stableDurationMs = timestampMs - pendingLiftWifiSinceMs;
+
+        if (pendingLiftWifiSamples >= LIVE_LIFT_WIFI_REQUIRED_SAMPLES
+                && stableDurationMs >= LIVE_LIFT_WIFI_STABLE_MS) {
+            Log.d(TAG,
+                    "Stable lift WiFi floor accepted"
+                            + " | candidate=" + candidateFloor
+                            + ", active=" + activeFloor
+                            + ", samples=" + pendingLiftWifiSamples
+                            + ", stableMs=" + stableDurationMs);
+            return candidateFloor;
+        }
+
+        return null;
+    }
+
+    /**
+     * Checks whether enough barometric vertical change has accumulated since the last
+     * committed floor anchor.
+     *
+     * This is the main safeguard against false floor changes caused by:
+     * - being physically near a lift
+     * - one noisy WiFi floor estimate
+     * - small pressure fluctuations
+     */
+    private boolean hasSufficientCommittedVerticalChange(int targetFloor) {
+        if (!Double.isFinite(lastCommittedElevationMeters)) {
+            return false;
+        }
+
+        int floorSteps = Math.max(1, Math.abs(targetFloor - activeFloor));
+        double requiredDeltaMeters = Math.max(
+                LIVE_AUTO_FLOOR_MIN_VERTICAL_DELTA_METERS,
+                DEFAULT_FLOOR_HEIGHT_METERS
+                        * LIVE_AUTO_FLOOR_VERTICAL_FRACTION_PER_FLOOR
+                        * floorSteps
+        );
+
+        double actualDeltaMeters = Math.abs(sensorFusion.getElevation() - lastCommittedElevationMeters);
+
+        Log.d(TAG,
+                "Vertical gate"
+                        + " | active=" + activeFloor
+                        + ", target=" + targetFloor
+                        + ", actualDelta=" + actualDeltaMeters
+                        + ", requiredDelta=" + requiredDeltaMeters
+                        + ", anchorElev=" + lastCommittedElevationMeters
+                        + ", currentElev=" + sensorFusion.getElevation());
+
+        return actualDeltaMeters >= requiredDeltaMeters;
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java
index 5ac85d3b..0d601826 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java
@@ -8,24 +8,48 @@
 import java.util.Locale;
 
 /**
- * Helper used to keep PF logging readable.
+ * Small helper for particle filter debug logging.
  *
- * This class does not change PF behaviour.
- * It only formats state into consistent Logcat lines.
+ * This class does not affect particle filter logic.
+ * It only formats and prints debug information in a consistent way,
+ * and can optionally limit how often logs are printed.
  */
 public class ParticleConstraintDebugger {
+
+    // Logcat tag used for all messages from this debugger.
     private final String tag;
+    // Time of the last printed log message.
     private long lastLogTimeMs = 0L;
+    // Minimum allowed time gap between logs.
     private long minIntervalMs = 0L;
 
+
+    /**
+     * Creates a debugger with the given Logcat tag.
+     */
     public ParticleConstraintDebugger(@NonNull String tag) {
         this.tag = tag;
     }
 
+    /**
+     * Sets the minimum interval between log messages.
+     *
+     * If set to 0, logs are not rate-limited.
+     */
     public void setMinIntervalMs(long minIntervalMs) {
         this.minIntervalMs = Math.max(0L, minIntervalMs);
     }
-
+    /**
+     * Logs a summary of one particle filter step.
+     *
+     * @param phase current PF phase name
+     * @param particleCount total number of particles
+     * @param aliveCount number of particles still active
+     * @param wallRejectedCount number of particles rejected by wall checks
+     * @param floorRejectedCount number of particles rejected by floor checks
+     * @param observationWeightedCount number of particles weighted by observations
+     * @param note optional extra note for debugging
+     */
     public void logStep(@NonNull String phase,
                         int particleCount,
                         int aliveCount,
@@ -33,12 +57,19 @@ public void logStep(@NonNull String phase,
                         int floorRejectedCount,
                         int observationWeightedCount,
                         @Nullable String note) {
+
+        // Get current time for rate limiting.
         long now = System.currentTimeMillis();
+
+        // Skip this log if the minimum interval has not passed yet.
         if (now - lastLogTimeMs < minIntervalMs) {
             return;
         }
+
+        // Update last log time.
         lastLogTimeMs = now;
 
+        // Print formatted particle step debug information.
         Log.d(tag, String.format(Locale.US,
                 "PF_STEP phase=%s particles=%d alive=%d wallRejected=%d floorRejected=%d obsWeighted=%d note=%s",
                 phase,
@@ -50,18 +81,35 @@ public void logStep(@NonNull String phase,
                 note == null ? "-" : note));
     }
 
+    /**
+     * Logs the current fused pose estimate.
+     *
+     * @param phase current PF phase name
+     * @param lat fused latitude
+     * @param lng fused longitude
+     * @param floor fused floor
+     * @param headingRad fused heading in radians
+     * @param confidence fused pose confidence
+     */
     public void logFusedPose(@NonNull String phase,
                              double lat,
                              double lng,
                              int floor,
                              double headingRad,
                              double confidence) {
+
+        // Get current time for rate limiting.
         long now = System.currentTimeMillis();
+
+        // Skip this log if the minimum interval has not passed yet.
         if (now - lastLogTimeMs < minIntervalMs) {
             return;
         }
+
+        // Update last log time.
         lastLogTimeMs = now;
 
+        // Print formatted fused pose debug information.
         Log.d(tag, String.format(Locale.US,
                 "PF_FUSED phase=%s lat=%.6f lng=%.6f floor=%d headingRad=%.3f confidence=%.3f",
                 phase, lat, lng, floor, headingRad, confidence));
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
index 63ab1456..6f810e8c 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java
@@ -1,7 +1,6 @@
 package com.openpositioning.PositionMe.fusion;
 
 import android.util.Log;
-
 import androidx.annotation.Nullable;
 
 import com.google.android.gms.maps.model.LatLng;
@@ -13,51 +12,45 @@
 import java.util.Random;
 
 /**
- * Core particle filter engine.
- *
- * <p>This class owns the particle set and implements the standard PF loop:
- * <ol>
- *   <li>initialise()</li>
- *   <li>predict(deltaS, deltaTheta)</li>
- *   <li>update(observation, constraintContext)</li>
- *   <li>estimate()</li>
- * </ol>
- *
- * <p>Important design choice for the live map-constrained mode:
- * the map is used only as a discrete validity gate.
- * There is no continuous wall-likelihood or corridor-shaping field here.
+ * Particle filter engine for live indoor positioning.
  *
- * <p>State per particle:
- * - x, y: local planar position in meters
- * - theta: heading in radians
- * - floor: discrete floor hypothesis
- * - weight: particle importance weight
+ * This class maintains the particle cloud and performs the main particle filter cycle:
+ * 1. initialise particles around a start pose
+ * 2. predict particle motion from step distance and heading change
+ * 3. update particle weights using WiFi / GNSS observations
+ * 4. apply wall-based map constraints
+ * 5. estimate the fused pose from the weighted particles
  *
- * <p>Heading convention:
- * - theta is stored in Android-style azimuth convention:
- *   0 = north, +pi/2 = east, pi = south, -pi/2 = west
+ * Main responsibilities:
+ * - store and update the active particle set
+ * - model motion uncertainty with Gaussian noise
+ * - score particles against absolute observations
+ * - reduce invalid wall-crossing particles
+ * - resample and regularise particles when the cloud degenerates
+ * - provide simple debug statistics such as N_eff and wall-invalid ratio
  *
- * <p>For motion projection into Cartesian x/y:
- * - x positive = east
- * - y positive = north
- * so we convert with:
- *   motionHeading = pi/2 - theta
+ * Notes:
+ * - positions are stored in local x/y coordinates
+ * - heading is stored in radians
+ * - floor is stored as a discrete hypothesis per particle
+ * - map constraints are used as discrete checks, not as a continuous wall-distance field
  */
 public class ParticleFilterEngine {
 
     private static final String TAG = "ParticleFilterEngine";
 
-    /** Ignore micro-motion for wall checks to reduce false positives from jitter. */
-    private static final double MIN_STEP_FOR_WALL_CHECK_METERS = 0.30;
+    // Minimum movement before wall check is applied.
+    private static final double MIN_STEP_FOR_WALL_CHECK_METERS = 0.03;
+    // Threshold to determine particle alive
+    private static final double ALIVE_WEIGHT_EPS = 1e-6;
 
-    /** The active particle set representing the belief distribution. */
+    // Active particle cloud.
     private final List<Particle> particles = new ArrayList<>();
 
-    /** Random generator used for motion noise, initial spread, and resampling jitter. */
+    // Random source for motion noise and resampling jitter.
     private final Random rng = new Random();
 
     // Tunable filter parameters
-
     private final int particleCount;
     private final double sigmaStep;
     private final double sigmaTheta;
@@ -69,8 +62,6 @@ public class ParticleFilterEngine {
     private final double sigmaRegPos;
     private final double sigmaRegTheta;
 
-    // Diagnostics / statistics
-
     /** Effective sample size after the latest update step. */
     private double lastNeff = 0.0;
 
@@ -81,6 +72,8 @@ public class ParticleFilterEngine {
 
     /** Fraction of particles that crossed a wall during the latest update. */
     private double lastWallInvalidRatio = 0.0;
+
+    // Load all particle filter settings from config.
     public ParticleFilterEngine(ParticleFilterConfig cfg) {
         this.particleCount = cfg.particleCount;
         this.sigmaStep = cfg.sigmaStep;
@@ -106,23 +99,21 @@ public ParticleFilterEngine(ParticleFilterConfig cfg) {
      * @param floor initial floor estimate
      */
     public void initialise(double x, double y, double theta, int floor) {
+        // Reset old particles before creating a new cloud.
         particles.clear();
-
+        // Create spread particles around the given start position and heading.
         for (int i = 0; i < particleCount; i++) {
+            // add some Gaussian noise for particle variability
             double px = x + rng.nextGaussian() * initPosStd;
             double py = y + rng.nextGaussian() * initPosStd;
             double pt = wrapAngle(theta + rng.nextGaussian() * initHeadingStd);
-
             particles.add(new Particle(px, py, pt, floor, 1.0 / particleCount));
         }
-
         lastNeff = particleCount;
         lastResampled = false;
         lastWallInvalidCount = 0;
         lastWallInvalidRatio = 0.0;
-
-        Log.d(TAG,
-                "PF engine initialised"
+        Log.d(TAG, "PF engine initialised"
                         + " | particleCount=" + particleCount
                         + ", initPosStd=" + initPosStd
                         + ", initHeadingStdDeg=" + Math.toDegrees(initHeadingStd));
@@ -146,6 +137,7 @@ public void setAllParticlesFloor(int floor) {
         }
     }
 
+
     /**
      * Motion prediction step.
      *
@@ -159,26 +151,75 @@ public void setAllParticlesFloor(int floor) {
      * @param deltaS motion increment in meters
      * @param deltaTheta heading increment in radians
      */
-    public void predict(double deltaS, double deltaTheta) {
+    public void predict(double deltaS, double deltaTheta, @Nullable ConstraintContext constraintContext) {
         for (Particle particle : particles) {
-            // Remember the previous state for discrete map-constraint checks.
+            // Save previous state for later wall checks.
             particle.prevX = particle.x;
             particle.prevY = particle.y;
             particle.prevFloor = particle.floor;
 
-            // Add stochastic noise to the motion command.
+            // Add noise to distance and heading.
             double ds = deltaS + rng.nextGaussian() * sigmaStep;
             double dTheta = deltaTheta + rng.nextGaussian() * sigmaTheta;
 
-            // Update heading first.
+            // Update heading
             particle.theta = wrapAngle(particle.theta + dTheta);
 
-            // Convert Android-style heading into x/y projection angle.
+            // Change angle so zero rad is east
             double motionHeading = (Math.PI / 2.0) - particle.theta;
 
             // Move particle in local Cartesian frame.
             particle.x += ds * Math.cos(motionHeading);
             particle.y += ds * Math.sin(motionHeading);
+
+            // Only apply wall logic if map constraint data is available
+            if (constraintContext != null && constraintContext.isUsable()) {
+                // Ignore very small motion to avoid false wall detections from jitter.
+                double moved = Math.hypot(
+                        particle.x - particle.prevX,
+                        particle.y - particle.prevY
+                );
+
+                if (moved >= MIN_STEP_FOR_WALL_CHECK_METERS) {
+                    // Convert previous and current local points back to map coordinates.
+                    LatLng prevLatLng = constraintContext.coordinateConverter.localToLatLng(
+                            particle.prevX,
+                            particle.prevY
+                    );
+                    LatLng currentLatLng = constraintContext.coordinateConverter.localToLatLng(
+                            particle.x,
+                            particle.y
+                    );
+
+                    // check if cross wall
+                    boolean crossesWall = MapGeometryUtils.crossesWall(prevLatLng, currentLatLng, constraintContext.sourceFloorShapes);
+
+                    // If the predicted path crosses a wall, push the particle back to a valid area.
+                    if (crossesWall) {
+                        // Snap near the last valid point before the wall.
+                        LatLng lastValid = MapGeometryUtils.findFarthestValidPointBeforeWall(prevLatLng, currentLatLng,constraintContext.sourceFloorShapes);
+
+                        if (lastValid != null) {
+                            // Get local coordinates of the last valid point.
+                            double[] p = constraintContext.coordinateConverter.latLngToLocal(lastValid);
+                            // randomly choose between snap back to valid pposition or move particles near previous position to maintain particle diversity
+                            if (rng.nextDouble() < 0.5) {
+                                // Move particle near the last valid point.
+                                particle.x = p[0] + rng.nextGaussian() * 0.3;
+                                particle.y = p[1] + rng.nextGaussian() * 0.3;
+                            } else {
+                                // Move particle back near its previous position.
+                                particle.x = particle.prevX + rng.nextGaussian() * 0.015;
+                                particle.y = particle.prevY + rng.nextGaussian() * 0.015;
+                            }
+                        } else {
+                            // Fall back to the previous position.
+                            particle.x = particle.prevX;
+                            particle.y = particle.prevY;
+                        }
+                    }
+                }
+            }
         }
     }
 
@@ -190,91 +231,91 @@ public void update(ParticleFilterObservation observation) {
     }
 
     /**
-     * Measurement update step.
+     * Updates particle weights using available observations and map constraints.
      *
-     * <p>Each available observation contributes multiplicatively to the
-     * particle weight:
+     * This step checks how well each particle matches:
      * - Wi-Fi position
      * - Wi-Fi floor
      * - GNSS position
-     * - discrete wall-crossing penalty (optional)
-     *
-     * <p>The map contribution is intentionally binary/discrete:
-     * particles are penalised only when a predicted segment crosses a wall.
-     * There is no distance-to-wall likelihood field here.
+     * - wall constraint validity
      *
-     * @param observation absolute observation bundle for this update cycle
-     * @param constraintContext optional live map-constraint context
+     * Particles that better match the observations get higher weights.
+     * Particles that cross walls are penalised, and particles inside walls are rejected.
+     * After weighting, the weights are normalised and the filter may resample if needed.
      */
     public void update(ParticleFilterObservation observation,
                        @Nullable ConstraintContext constraintContext) {
+        // Do nothing if the particle cloud has not been initialised.
         if (particles.isEmpty()) {
             return;
         }
-
+        // Sum of all particle weights before normalisation.
         double weightSum = 0.0;
+        // Count how many particles crossed a wall in this update.
         int wallInvalidCount = 0;
 
         for (Particle particle : particles) {
+            // Start from neutral weight, then multiply by each observation likelihood.
             double w = 1.0;
 
-            // Wi-Fi position likelihood
+            // Apply Wi-Fi position likelihood if Wi-Fi observation is available.
             if (observation.getWifiX() != null && observation.getWifiY() != null) {
                 double dx = particle.x - observation.getWifiX();
                 double dy = particle.y - observation.getWifiY();
-
+                // Higher weight if particle is closer to Wi-Fi observation.
                 w *= gaussian2D(dx, dy, sigmaWifi);
-
-                if (observation.getWifiFloor() != null
-                        && particle.floor != observation.getWifiFloor()) {
+                // Apply an extra penalty if particle floor disagrees with Wi-Fi floor.
+                if (observation.getWifiFloor() != null && particle.floor != observation.getWifiFloor()) {
                     w *= 0.50;
                 }
             }
 
-            // GNSS position likelihood
+            // Apply GNSS position likelihood if GNSS observation is available.
             if (observation.getGnssX() != null && observation.getGnssY() != null) {
                 double dx = particle.x - observation.getGnssX();
                 double dy = particle.y - observation.getGnssY();
+                // Higher weight if particle is closer to GNSS observation.
                 w *= gaussian2D(dx, dy, sigmaGnss);
             }
 
-            // Discrete wall-crossing penalty
+            // Apply map-based wall penalties if map constraint data is available.
             if (constraintContext != null && constraintContext.isUsable()) {
-                double stepMeters = Math.hypot(particle.x - particle.prevX, particle.y - particle.prevY);
-                if (stepMeters >= MIN_STEP_FOR_WALL_CHECK_METERS) {
-                    LatLng prevLatLng = constraintContext.coordinateConverter.localToLatLng(
-                            particle.prevX,
-                            particle.prevY
-                    );
-                    LatLng currentLatLng = constraintContext.coordinateConverter.localToLatLng(
-                            particle.x,
-                            particle.y
-                    );
+                // Convert current and previous local positions to LatLng for wall checks.
+                LatLng currentLatLng = constraintContext.coordinateConverter.localToLatLng(
+                        particle.x,
+                        particle.y
+                );
+
+                LatLng prevLatLng = constraintContext.coordinateConverter.localToLatLng(
+                        particle.prevX,
+                        particle.prevY
+                );
+
+                // Penalise particles whose motion path crossed a wall.
+                if (MapGeometryUtils.crossesWall(prevLatLng, currentLatLng, constraintContext.sourceFloorShapes)) {
+                    wallInvalidCount++;
+                    w *= constraintContext.wallCrossPenalty;
+                }
 
-                    if (MapGeometryUtils.crossesWall(
-                            prevLatLng,
-                            currentLatLng,
-                            constraintContext.sourceFloorShapes)) {
-                        wallInvalidCount++;
-                        w *= constraintContext.wallCrossPenalty;
-                    }
+                // Completely reject particles that end up inside a wall.
+                if (MapGeometryUtils.isInsideWall(currentLatLng, constraintContext.sourceFloorShapes)) {
+                    w = 0.0;
                 }
             }
-
+            // Save the final weight for this particle.
             particle.weight = w;
+            // Total weight accumulation
             weightSum += w;
         }
-
+        // Normalise weights so that all particle weights sum to 1.
         normaliseWeights(weightSum);
-
+        // Store wall-crossing statistics for debug use.
         lastWallInvalidCount = wallInvalidCount;
-        lastWallInvalidRatio = particleCount > 0
-                ? (double) wallInvalidCount / (double) particleCount
-                : 0.0;
-
+        lastWallInvalidRatio = particleCount > 0 ? (double) wallInvalidCount / (double) particleCount : 0.0;
+        // Compute effective sample size after the update.
         lastNeff = effectiveSampleSize();
         lastResampled = false;
-
+        // Resample if the particle set has become too degenerate.
         if (lastNeff < particleCount * resampleRatio) {
             systematicResample();
             regularizeParticles();
@@ -283,20 +324,25 @@ public void update(ParticleFilterObservation observation,
     }
 
     /**
-     * Computes the current fused pose estimate from the weighted particle set.
+     * Computes the fused pose from the current weighted particle cloud.
+     *
+     * This method combines all particle states into one final estimate:
+     * - x and y are computed as weighted average position
+     * - heading is computed as weighted circular mean
+     * - floor is computed as weighted average and rounded
      *
-     * <p>Position is the weighted mean of x and y.
-     * Heading is the circular weighted mean of theta.
-     * Floor is the weighted average rounded to nearest integer.
+     * The result is then converted from local coordinates back to LatLng,
+     * and a simple confidence value is produced from the effective sample size.
      *
-     * @param converter converts local x/y back into LatLng
-     * @return fused pose estimate
+     * @param converter converts local x/y into LatLng
+     * @return fused pose estimate, or null if no particles exist
      */
     public FusedPose estimate(CoordinateConverter converter) {
+        // Return nothing if the particle cloud is empty.
         if (particles.isEmpty()) {
             return null;
         }
-
+        // Accumulators for weighted position, floor, and heading.
         double x = 0.0;
         double y = 0.0;
         double weightedFloor = 0.0;
@@ -304,19 +350,24 @@ public FusedPose estimate(CoordinateConverter converter) {
         double cosSum = 0.0;
 
         for (Particle particle : particles) {
+            // Weighted average of particle position.
             x += particle.x * particle.weight;
             y += particle.y * particle.weight;
+            // Weighted average of floor hypothesis.
             weightedFloor += particle.floor * particle.weight;
+            // Circular averaging for heading.
             sinSum += Math.sin(particle.theta) * particle.weight;
             cosSum += Math.cos(particle.theta) * particle.weight;
         }
-
+        // Final heading from weighted sine and cosine sums.
         double theta = Math.atan2(sinSum, cosSum);
+        // Final floor from weighted floor estimate.
         int floor = (int) Math.round(weightedFloor);
 
-        // Use N_eff as a simple confidence proxy.
+        // Use effective sample size as a simple confidence value.
         float confidence = (float) Math.min(1.0, lastNeff / particleCount);
 
+        // Build and return the fused pose result.
         return new FusedPose(
                 x,
                 y,
@@ -341,50 +392,30 @@ public double effectiveSampleSize() {
         return 1.0 / Math.max(sumSquares, 1e-12);
     }
 
-    public double getLastNeff() {
-        return lastNeff;
-    }
-
-    public int getLastWallInvalidCount() {
-        return lastWallInvalidCount;
-    }
-
-    public double getLastWallInvalidRatio() {
-        return lastWallInvalidRatio;
-    }
-
-    private static final double ALIVE_WEIGHT_EPS = 1e-6;
-
-    public int getParticleCount() {
-        return particleCount;
-    }
-
-    public int getAliveParticleCount() {
-        int alive = 0;
-        for (Particle particle : particles) {
-            if (particle.weight > ALIVE_WEIGHT_EPS) {
-                alive++;
-            }
-        }
-        return alive;
-    }
-
-    public int getDeadParticleCount() {
-        return Math.max(0, particles.size() - getAliveParticleCount());
-    }
-
-    public boolean wasResampledLastStep() {
-        return lastResampled;
-    }
-
     /**
-     * Rejuvenates the weakest particles around a recovery anchor.
+     * Rejuvenates weak particles around a recovery anchor.
+     *
+     * This is used when the particle cloud becomes unreliable or too many particles
+     * become invalid. The weakest particles are replaced with new candidates near
+     * a trusted anchor position.
+     *
+     * Recovery behaviour:
+     * - only a fraction of the cloud is replaced
+     * - new particles are biased mostly forward along the current heading
+     * - invalid candidates that cross walls or land inside walls are rejected
+     * - if no valid candidate is found, the particle falls back to the anchor
+     *
+     * After rejuvenation, all particle weights are reset uniformly.
      *
-     * Design:
-     * - replace only a fraction of the cloud
-     * - bias new particles forward along the current heading
-     * - reject samples that immediately cross a wall
-     * - use the last valid anchor / accepted WiFi anchor chosen by the manager
+     * @param anchorX trusted anchor x position in local frame
+     * @param anchorY trusted anchor y position in local frame
+     * @param headingRad heading used to bias new particles forward
+     * @param floor floor assigned to respawned particles
+     * @param respawnFraction fraction of particles to replace
+     * @param positionStdMeters position spread for respawned particles
+     * @param headingStdRad heading spread for respawned particles
+     * @param constraintContext optional map constraint data for validity checks
+     * @return true if at least one particle was successfully recovered
      */
     public boolean rejuvenateParticles(double anchorX,
                                        double anchorY,
@@ -394,14 +425,17 @@ public boolean rejuvenateParticles(double anchorX,
                                        double positionStdMeters,
                                        double headingStdRad,
                                        @Nullable ConstraintContext constraintContext) {
+
+        // Do nothing if the particle cloud is empty.
         if (particles.isEmpty()) {
             return false;
         }
 
+        // Clamp respawn fraction to a safe range.
         double clampedFraction = Math.max(0.05, Math.min(0.90, respawnFraction));
         int respawnCount = Math.max(1, (int) Math.round(particleCount * clampedFraction));
 
-        // Weakest particles first.
+        // Replace weakest particles first.
         particles.sort((a, b) -> Double.compare(a.weight, b.weight));
 
         int recoveredCount = 0;
@@ -411,18 +445,16 @@ public boolean rejuvenateParticles(double anchorX,
 
             boolean placed = false;
             for (int attempt = 0; attempt < 20; attempt++) {
+                // Sample a new heading around the recovery heading.
                 double sampledTheta = wrapAngle(headingRad + rng.nextGaussian() * headingStdRad);
 
-                /*
-                 * Forward-cone sampling:
-                 * - mostly respawn in front of the user
-                 * - small lateral spread
-                 */
-                double forwardMeters = Math.max(0.05, Math.abs(rng.nextGaussian()) * positionStdMeters);
+                // Spawn mostly in front of the anchor, with a small sideways spread.
+                double forwardMeters = Math.max(0.05, (rng.nextGaussian()) * positionStdMeters);
                 double lateralMeters = rng.nextGaussian() * positionStdMeters * 0.35;
 
                 double motionHeading = (Math.PI / 2.0) - sampledTheta;
 
+                // Build a candidate respawn position.
                 double candidateX = anchorX
                         + forwardMeters * Math.cos(motionHeading)
                         - lateralMeters * Math.sin(motionHeading);
@@ -431,20 +463,20 @@ public boolean rejuvenateParticles(double anchorX,
                         + forwardMeters * Math.sin(motionHeading)
                         + lateralMeters * Math.cos(motionHeading);
 
+                // Reject the candidate if it is map-invalid.
                 if (!isValidRecoveryCandidate(anchorX, anchorY, candidateX, candidateY, constraintContext)) {
                     continue;
                 }
 
+                // Accept the candidate and reset particle state.
                 particle.prevX = anchorX;
                 particle.prevY = anchorY;
                 particle.prevFloor = floor;
-
                 particle.x = candidateX;
                 particle.y = candidateY;
                 particle.theta = sampledTheta;
                 particle.floor = floor;
                 particle.weight = 1.0 / particleCount;
-
                 placed = true;
                 recoveredCount++;
                 break;
@@ -455,7 +487,6 @@ public boolean rejuvenateParticles(double anchorX,
                 particle.prevX = anchorX;
                 particle.prevY = anchorY;
                 particle.prevFloor = floor;
-
                 particle.x = anchorX;
                 particle.y = anchorY;
                 particle.theta = headingRad;
@@ -464,15 +495,12 @@ public boolean rejuvenateParticles(double anchorX,
             }
         }
 
-        /*
-         * After rejuvenation, reset weights uniformly.
-         * This avoids one or two surviving particles dominating the cloud.
-         */
+        // Reset the whole cloud to uniform weights after rejuvenation.
         double uniformWeight = 1.0 / particleCount;
         for (Particle particle : particles) {
             particle.weight = uniformWeight;
         }
-
+        // Reset simple filter status values
         lastNeff = particleCount;
         lastResampled = false;
 
@@ -488,22 +516,45 @@ public boolean rejuvenateParticles(double anchorX,
         return recoveredCount > 0;
     }
 
+    /**
+     * Checks whether a recovery candidate is valid.
+     *
+     * A candidate is valid if:
+     * - map constraints are unavailable, or
+     * - the path from anchor to candidate does not cross a wall, and
+     * - the candidate does not end inside a wall
+     *
+     * @param anchorX anchor x in local frame
+     * @param anchorY anchor y in local frame
+     * @param candidateX candidate x in local frame
+     * @param candidateY candidate y in local frame
+     * @param constraintContext optional map constraint data
+     * @return true if the candidate is valid for recovery
+     */
     private boolean isValidRecoveryCandidate(double anchorX,
                                              double anchorY,
                                              double candidateX,
                                              double candidateY,
                                              @Nullable ConstraintContext constraintContext) {
+        // If no usable map constraints exist, accept the candidate.
         if (constraintContext == null || !constraintContext.isUsable()) {
             return true;
         }
-
+        // Convert anchor and candidate positions to LatLng for wall checks.
         LatLng anchorLatLng = constraintContext.coordinateConverter.localToLatLng(anchorX, anchorY);
         LatLng candidateLatLng = constraintContext.coordinateConverter.localToLatLng(candidateX, candidateY);
-
-        return !MapGeometryUtils.crossesWall(
+        // Reject candidates whose path crosses a wall.
+        if (MapGeometryUtils.crossesWall(
                 anchorLatLng,
                 candidateLatLng,
                 constraintContext.sourceFloorShapes
+        )) {
+            return false;
+        }
+        // Reject candidates that land inside a wall.
+        return !MapGeometryUtils.isInsideWall(
+                candidateLatLng,
+                constraintContext.sourceFloorShapes
         );
     }
 
@@ -603,6 +654,7 @@ private double wrapAngle(double angle) {
         return angle;
     }
 
+
     /**
      * Lightweight container for discrete map-constraint data.
      */
@@ -625,4 +677,43 @@ boolean isUsable() {
                     && wallCrossPenalty >= 0.0;
         }
     }
-}
+
+    // ----- Getter function ------//
+    /**
+     * Returns the effective sample size from the last update.
+     */
+    public double getLastNeff() {
+        return lastNeff;
+    }
+    /**
+     * Returns the fraction of particles that crossed a wall in the last update.
+     */
+    public double getLastWallInvalidRatio() {
+        return lastWallInvalidRatio;
+    }
+    /**
+     * Returns the configured total number of particles.
+     */
+    public int getParticleCount() {
+        return particleCount;
+    }
+    /**
+     * Counts how many particles still alive.
+     */
+    public int getAliveParticleCount() {
+        int alive = 0;
+        for (Particle particle : particles) {
+            if (particle.weight > ALIVE_WEIGHT_EPS) {
+                alive++;
+            }
+        }
+        return alive;
+    }
+    /**
+     * Counts how many particles are effectively dead.
+     */
+    public int getDeadParticleCount() {
+        return Math.max(0, particles.size() - getAliveParticleCount());
+    }
+
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
index e2d6f2ee..8164c8ee 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java
@@ -12,6 +12,7 @@
 import com.google.android.gms.maps.model.LatLng;
 import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
 import com.openpositioning.PositionMe.mapmatching.CandidatePose;
+import com.openpositioning.PositionMe.mapmatching.CorrectionType;
 import com.openpositioning.PositionMe.mapmatching.MapMatchingInput;
 import com.openpositioning.PositionMe.mapmatching.MapMatchingResult;
 import com.openpositioning.PositionMe.mapmatching.MapMatchingService;
@@ -19,131 +20,191 @@
 import com.openpositioning.PositionMe.mapmatching.VerticalMotionDetector;
 import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
+import com.openpositioning.PositionMe.mapmatching.MapGeometryUtils;
 
 import java.util.List;
+import java.util.Locale;
+import java.util.Random;
 
 /**
- * High-level manager around the particle filter engine.
+ * Live particle-filter manager for indoor positioning.
  *
- * <p>This class is responsible for:
- * - loading PF settings from SharedPreferences
- * - listening for user changes to those settings
- * - initialising the engine when enough information is available
- * - converting raw app data into PF prediction + observation inputs
- * - applying discrete map matching after the raw PF estimate
- * - storing the latest fused pose estimate
+ * Ownership in this version:
+ * - owns the live PF pipeline and publishes the final fused pose
+ * - raw PDR remains raw and is not corrected here
+ * - WiFi / GNSS are used only as PF observations
+ * - live floor commit decisions are owned here through AutoFloorManager
  *
- * <p>Important design choice:
- * the PF remains motion-driven. Map matching is applied as a discrete validity
- * layer to stop impossible behaviour such as wall penetration or invalid floor
- * changes. There is no continuous map-based trajectory shaping here.
+ * Live step flow:
+ * 1. refresh vertical context
+ * 2. initialise PF if needed
+ * 3. read incremental PDR motion
+ * 4. predict particles
+ * 5. build accepted observations
+ * 6. update particle weights
+ * 7. estimate raw PF pose
+ * 8. attempt stuck recovery if needed
+ * 9. apply discrete floor / connector validation
+ * 10. hard-clamp final published pose against walls
  */
+
 public class ParticleFilterManager {
 
     private static final String TAG = "ParticleFilterManager";
 
-    private static final double POSITION_EMA_ALPHA = 0.10;
-    private static final double HEADING_EMA_ALPHA = 0.08;
-    private static final double CONFIDENCE_EMA_ALPHA = 0.20;
-    private static final double WIFI_GATE_METERS = 5.0;
-    private static final double GNSS_GATE_METERS = 25.0;
+    // Observation gating
+    private static final double WIFI_GATE_METERS = 3.0;
+    private static final double GNSS_GATE_METERS =  4.0;
     private static final double WIFI_OBS_EMA_ALPHA = 0.10;
-    private static final double WALL_CROSS_PENALTY = 0.4;
+    private static final double STATIONARY_STEP_THRESHOLD_METERS = 0.06;
+
+    // Constraint / recovery
+    private static final double WALL_CROSS_PENALTY = 0.005;
+    private static final double SOFT_STUCK_WALL_RATIO = 0.40;
+    private static final double LOW_NEFF_RATIO = 0.4;
+
+    private static final double MIN_STEP_FOR_RECOVERY_METERS = 0.35;
+    private static final int HARD_RECOVERY_AFTER_CONSECUTIVE_STEPS = 3;
 
-    /** Main app sensor/data source. */
+    private static final double SOFT_RECOVERY_RESPAWN_FRACTION = 0.35;
+    private static final double HARD_RECOVERY_RESPAWN_FRACTION = 0.85;
+
+    private static final double SOFT_RECOVERY_POSITION_STD_METERS = 0.45;
+    private static final double HARD_RECOVERY_POSITION_STD_METERS = 2.50;
+    private static final double RECOVERY_HEADING_STD_RAD = Math.toRadians(22.0);
+    private static final int WARMUP_FRAMES = 10;
+
+    /** Main sensor / state source. */
     private final SensorFusion sensorFusion;
 
-    /** Application context used for preferences. */
+    /** Application context for preferences. */
     private final Context appContext;
 
-    /** SharedPreferences backing live-tunable PF settings. */
+    /** PF settings storage. */
     private final SharedPreferences prefs;
 
-    /** Converts between global LatLng and local x/y coordinates. */
+    /** Converts LatLng <-> local XY. */
     private CoordinateConverter coordinateConverter;
 
-    /** The actual PF engine instance. */
+    /** PF engine. */
     private ParticleFilterEngine particleFilterEngine;
 
-    /** Latest estimated fused pose. */
+    /** Final fused live pose. */
     private FusedPose latestFusedPose;
 
-    /** Whether PF is enabled for the current recording session. */
+    /** Whether PF is enabled for this recording session. */
     private boolean enabled = false;
 
     // -------------------------
     // PDR incremental tracking
     // -------------------------
-
     private boolean firstPdrSample = true;
     private double lastPdrX = 0.0;
     private double lastPdrY = 0.0;
     private double lastHeading = 0.0;
 
     // -------------------------
-    // Live PF settings
+    // PF config state
     // -------------------------
-
     private ParticleFilterConfig currentConfig;
     private boolean pfConfigDirty = false;
 
     // -------------------------
-    // Observation / output smoothing
+    // Observation smoothing
     // -------------------------
-
     private boolean wifiObsEmaInitialised = false;
     private double wifiObsEmaX = 0.0;
     private double wifiObsEmaY = 0.0;
 
-    private boolean poseEmaInitialised = false;
-    private double emaX = 0.0;
-    private double emaY = 0.0;
-    private double emaTheta = 0.0;
-    private float emaConfidence = 0f;
-
-    private static final double SOFT_STUCK_WALL_RATIO = 0.60;
-    private static final double HARD_STUCK_WALL_RATIO = 0.80;
-    private static final double LOW_NEFF_RATIO = 0.25;
-
-    private static final double MIN_STEP_FOR_RECOVERY_METERS = 0.35;
-    private static final double MAX_FUSED_MOVEMENT_WHEN_STUCK_METERS = 0.20;
-
-    private static final int HARD_RECOVERY_AFTER_CONSECUTIVE_STEPS = 3;
-
-    private static final double SOFT_RECOVERY_RESPAWN_FRACTION = 0.35;
-    private static final double HARD_RECOVERY_RESPAWN_FRACTION = 0.75;
-
-    private static final double SOFT_RECOVERY_POSITION_STD_METERS = 0.45;
-    private static final double HARD_RECOVERY_POSITION_STD_METERS = 0.90;
-
-    private static final double RECOVERY_HEADING_STD_RAD = Math.toRadians(15.0);
-
     // -------------------------
     // Map-constraint state
     // -------------------------
-
     private final MapMatchingService mapMatchingService = new MapMatchingService();
     private final VerticalMotionDetector verticalMotionDetector = new VerticalMotionDetector();
-
+    /**
+     * Owns the LIVE floor decision state for the PF pipeline.
+     *
+     * Important:
+     * - startup/manual/bootstrap floor behaviour is still handled elsewhere
+     * - this manager only owns live PF floor request/commit logic after the session starts
+     */
+    private final AutoFloorManager autoFloorManager;
     @Nullable
     private CandidatePose lastMatchedPose = null;
 
-    /** Authoritative floor owner for live PF mode. */
+    /** Authoritative live PF floor. */
     private int activePfFloor = 0;
-    /** Counts consecutive step updates where the PF appears wall-stuck. */
+
+    /** Counts consecutive updates where the filter looks wall-stuck. */
     private int consecutiveStuckSteps = 0;
-    public ParticleFilterManager(SensorFusion sensorFusion, Context context) {
-        this.sensorFusion = sensorFusion;
-        this.appContext = context.getApplicationContext();
-        this.prefs = PreferenceManager.getDefaultSharedPreferences(appContext);
 
-        this.currentConfig = loadPfConfig();
-        prefs.registerOnSharedPreferenceChangeListener(pfListener);
+    // -------------------------
+    // Live debug state
+    // -------------------------
+    private double lastStepDistanceMeters = 0.0;
+    private boolean lastStationaryUpdate = false;
+    @NonNull
+    private String lastObservationSource = "none";
+    @NonNull
+    private String lastCorrectionType = "NONE";
+    @NonNull
+    private String lastCorrectionReason = "Waiting for updates";
+    @NonNull
+    private String lastRecoveryType = "NONE";
+    @NonNull
+    private String lastRecoveryReason = "No recovery";
+    private boolean lastCrossedWall = false;
+    private boolean lastNearStairs = false;
+    private boolean lastNearLift = false;
+    private boolean lastFloorChangeAllowed = false;
+    private int lastRequestedFloor = 0;
+    private int lastMatchedFloor = 0;
+    /** One-shot flag consumed by the UI to start a new trajectory segment after a committed floor change. */
+    private boolean floorChangedSinceLastConsume = false;
+    private double lastWallInvalidRatio = 0.0;
+    private int frameCount = 0;
+    private final Random rng = new Random();
+
+    /**
+     * Creates the live particle-filter manager.
+     *
+     * @param sensorFusion main live sensor/data source used to read PDR, GNSS, WiFi, elevation, etc.
+     * @param context application/activity context used to access shared preferences
+     */
+    public ParticleFilterManager(@NonNull SensorFusion sensorFusion, @NonNull Context context) {
+        this.sensorFusion = sensorFusion; // Store the shared SensorFusion instance used by this manager.
+        this.appContext = context.getApplicationContext(); // Keep the application context to avoid leaking an Activity context.
+        this.prefs = PreferenceManager.getDefaultSharedPreferences(appContext); // Open the app's default shared preferences for PF settings.
+
+        this.currentConfig = loadPfConfig(); // Read the initial PF configuration from preferences immediately.
+
+        this.autoFloorManager = new AutoFloorManager(
+                sensorFusion,
+                new AutoFloorManager.FloorIndexAdapter() {
+                    @Override
+                    public boolean isFloorIndexAvailable(int floorIndex) {
+                        return ParticleFilterManager.this.isFloorIndexAvailable(floorIndex);
+                    }
+
+                    @Override
+                    public int sanitiseFloorIndex(int floorIndex) {
+                        return ParticleFilterManager.this.sanitiseFloorIndex(floorIndex);
+                    }
+                }
+        );
+
+        prefs.registerOnSharedPreferenceChangeListener(pfListener); // Listen for later PF setting changes so the filter can refresh.
+        constraintDebugger.setMinIntervalMs(500L);
     }
 
+    /**
+     * Watches for live PF tuning changes from settings.
+     */
     private final SharedPreferences.OnSharedPreferenceChangeListener pfListener =
             (sharedPreferences, key) -> {
-                if (key == null) return;
+                if (key == null) {
+                    return;
+                }
 
                 switch (key) {
                     case "pf_particle_count":
@@ -163,21 +224,32 @@ public ParticleFilterManager(SensorFusion sensorFusion, Context context) {
                 }
             };
 
+    /** Small helper for consistent PF constraint / fused-pose debug logs. */
+    private final ParticleConstraintDebugger constraintDebugger =
+            new ParticleConstraintDebugger("PF_CONSTRAINT_DEBUG");
+
+    /**
+     * Unregister listeners when the app is destroying this manager.
+     */
     public void destroy() {
         prefs.unregisterOnSharedPreferenceChangeListener(pfListener);
     }
 
+    /**
+     * Loads current PF configuration from SharedPreferences.
+     */
+    @NonNull
     private ParticleFilterConfig loadPfConfig() {
         int particleCount = Integer.parseInt(prefs.getString("pf_particle_count", "300"));
         double sigmaStep = Double.parseDouble(prefs.getString("pf_sigma_step", "0.15"));
-        double sigmaThetaDeg = Double.parseDouble(prefs.getString("pf_sigma_theta_deg", "6"));
-        double sigmaWifi = Double.parseDouble(prefs.getString("pf_sigma_wifi", "2.5"));
-        double sigmaGnss = Double.parseDouble(prefs.getString("pf_sigma_gnss", "5.0"));
+        double sigmaThetaDeg = Double.parseDouble(prefs.getString("pf_sigma_theta_deg", "4.5"));
+        double sigmaWifi = Double.parseDouble(prefs.getString("pf_sigma_wifi", "14"));
+        double sigmaGnss = Double.parseDouble(prefs.getString("pf_sigma_gnss", "25.0"));
         double initPosStd = Double.parseDouble(prefs.getString("pf_init_pos_std", "1.0"));
         double initHeadingDeg = Double.parseDouble(prefs.getString("pf_init_heading_deg", "10"));
         double resampleRatio = Double.parseDouble(prefs.getString("pf_resample_ratio", "0.5"));
         double sigmaRegPos = Double.parseDouble(prefs.getString("pf_sigma_reg_pos", "0.03"));
-        double sigmaRegThetaDeg = Double.parseDouble(prefs.getString("pf_sigma_reg_theta_deg", "1.0"));
+        double sigmaRegThetaDeg = Double.parseDouble(prefs.getString("pf_sigma_reg_theta_deg", "2.0"));
 
         return new ParticleFilterConfig(
                 particleCount,
@@ -193,11 +265,49 @@ private ParticleFilterConfig loadPfConfig() {
         );
     }
 
+    /**
+     * Forces the live PF state onto a specific floor.
+     *
+     * Use this when the UI manually changes floor, so the PF internal floor,
+     * the fused pose floor, and the displayed floor all stay aligned.
+     */
+    public void forceActiveFloor(int floorIndex) {
+        autoFloorManager.forceFloor(floorIndex); // Force the AutoFloorManager to adopt the requested floor immediately.
+        activePfFloor = autoFloorManager.getActiveFloor(); // Mirror the authoritative floor locally to minimise changes elsewhere.
+
+        if (particleFilterEngine != null) { // If the PF engine already exists, all particles must move to the same floor owner.
+            particleFilterEngine.setAllParticlesFloor(activePfFloor);
+        }
+
+        if (latestFusedPose != null) { // If a fused pose already exists, rewrite it with the forced floor so UI and PF stay aligned.
+            latestFusedPose = new FusedPose(
+                    latestFusedPose.getXMeters(),
+                    latestFusedPose.getYMeters(),
+                    latestFusedPose.getHeadingRad(),
+                    activePfFloor,
+                    latestFusedPose.getLatLng(),
+                    latestFusedPose.getConfidence()
+            );
+        }
+
+        if (lastMatchedPose != null && latestFusedPose != null && latestFusedPose.getLatLng() != null) {
+            lastMatchedPose = new CandidatePose(
+                    latestFusedPose.getLatLng(),
+                    activePfFloor,
+                    SystemClock.elapsedRealtime(),
+                    "manual_floor_override",
+                    latestFusedPose.getHeadingRad()
+            );
+        }
+
+        Log.d(TAG, "Forced PF active floor = " + activePfFloor);
+    }
+
     /**
      * Feeds barometer-derived vertical context into the live detector.
      *
-     * <p>Call this from the pressure sensor path so lift/stairs evidence can
-     * accumulate even before the next step-triggered PF update.
+     * Call this from your pressure path so stairs / lift evidence can accumulate
+     * even before the next step-triggered PF update.
      */
     public void onVerticalContextSample(long timestampMs,
                                         double elevationMeters,
@@ -209,49 +319,129 @@ public void onVerticalContextSample(long timestampMs,
     }
 
     /**
-     * Advances the particle filter by one logical movement update.
+     * Advances the live particle filter by one update cycle.
+     *
+     * Processing order:
+     * 1. refresh vertical context
+     * 2. initialise the PF if needed
+     * 3. compute incremental motion from PDR
+     * 4. predict particles
+     * 5. build absolute observations
+     * 6. update particle weights
+     * 7. estimate fused pose
+     * 8. attempt stuck recovery
+     *
+     * Important for this current version:
+     * - GNSS is intentionally still used
+     * - absolute-observation suppression is intentionally not enforced
+     * - this method only fixes the call/signature mismatch and adds clarity comments
      */
     public void step() {
-        if (!enabled) {
-            return;
+        if (!enabled) { // Do nothing if PF mode is disabled for the current session.
+            return; // Exit early because no PF work should be done.
         }
 
-        if (pfConfigDirty) {
-            Log.d(TAG, "Applying new PF config -> resetting filter");
-            reset();
-            pfConfigDirty = false;
+        if (pfConfigDirty) { // Check whether PF settings were changed from preferences.
+            Log.d(TAG, "Applying new PF config -> resetting filter"); // Log that the filter is being rebuilt with new settings.
+            reset(); // Clear all live PF state so the next initialisation uses the new config cleanly.
+            pfConfigDirty = false; // Mark the config as clean again after reset.
         }
 
-        // Refresh vertical context from the latest live state as well.
-        onVerticalContextSample(
-                SystemClock.uptimeMillis(),
-                sensorFusion.getElevation(),
-                sensorFusion.getElevator()
+        onVerticalContextSample( // Feed the latest height/lift state into the vertical detector.
+                SystemClock.uptimeMillis(), // Use current uptime as the timestamp for this vertical sample.
+                sensorFusion.getElevation(), // Read the latest estimated elevation from SensorFusion.
+                sensorFusion.getElevator() // Read whether lift/elevator behaviour is currently likely.
         );
 
-        initialiseIfNeeded();
-        if (particleFilterEngine == null || coordinateConverter == null) {
-            return;
+        initialiseIfNeeded(); // Lazily initialise the PF once a valid start anchor becomes available.
+        if (particleFilterEngine == null || coordinateConverter == null) { // If PF is still not ready, we cannot continue this cycle.
+            return; // Exit until a valid initial state exists.
         }
 
-        double deltaS = extractPdrDeltaDistance();
-        double currentHeading = wrapAngle(sensorFusion.getSelectedHeadingRad());
-        double deltaTheta = wrapAngle(currentHeading - lastHeading);
-        lastHeading = currentHeading;
+        double deltaS = extractPdrDeltaDistance(); // Compute incremental distance travelled since the previous PF update.
+        double currentHeading = wrapAngle(sensorFusion.getSelectedHeadingRad()); // Read the selected heading source and wrap it to [-pi, pi].
 
-        if (deltaS >= 0.01) {
-            particleFilterEngine.predict(deltaS, deltaTheta);
-            Log.d(TAG, "PF predict: deltaS=" + deltaS + ", deltaTheta=" + deltaTheta);
-        } else {
-            Log.d(TAG, "PF stationary: skip predict, keep update");
+        boolean isTurning = sensorFusion.getIsTurning();
+        boolean isGyroStable = sensorFusion.getIsGyroStable();
+        boolean headingReliable = sensorFusion.isHeadingReliable();
+
+        // Freeze tiny heading changes during confident straight motion.
+        boolean isStraight = !isTurning && isGyroStable && headingReliable;
+        // HEADING LOCK
+        if (isStraight) {
+            // Strongly resist heading change
+            currentHeading = lastHeading;
+        }
+
+        double deltaTheta = wrapAngle(currentHeading - lastHeading); // Compute heading change since the previous update.
+        lastHeading = currentHeading; // Store the current heading so the next cycle can compute the next delta.
+
+        lastStepDistanceMeters = deltaS; // Save step distance for live debug output.
+        lastStationaryUpdate = deltaS < STATIONARY_STEP_THRESHOLD_METERS; // Mark this frame as stationary if motion is below the threshold.
+
+        double MAX_STEP = 1.0; // Define a safety cap for overly large PDR jumps.
+        deltaS = Math.min(deltaS, MAX_STEP); // Clamp the PDR distance so one bad step does not move the PF too far.
+
+        if (Math.abs(deltaTheta) < Math.toRadians(3)) { // Treat very small heading changes as noise.
+            deltaTheta = 0; // Zero out tiny rotations to reduce jitter.
+        }
+
+        ParticleFilterEngine.ConstraintContext constraintContext = buildConstraintContext(); // Build wall-constraint data for predict/update.
+
+        if (deltaS >= 0.01) { // Only run prediction when there is meaningful forward motion.
+            particleFilterEngine.predict(deltaS, deltaTheta, constraintContext); // Propagate particles using motion and map constraints.
+            Log.d(TAG, "PF predict: deltaS=" + deltaS + ", deltaTheta=" + deltaTheta); // Log the applied motion command.
+        } else { // Otherwise this is effectively a stationary frame.
+            Log.d(TAG, "PF stationary: skip predict, keep update"); // Log that motion prediction was skipped.
         }
 
-        ParticleFilterObservation observation = buildObservation();
-        ParticleFilterEngine.ConstraintContext constraintContext = buildConstraintContext();
+        // Build the accepted WiFi / GNSS observation bundle for this frame.
+        ParticleFilterObservation observation = buildObservation(deltaS);
+
+        // Update particle weights using the accepted observations and wall constraints.
         particleFilterEngine.update(observation, constraintContext);
 
+        // Log particle health and update summary after the measurement update.
+        constraintDebugger.logStep(
+                "post_update",
+                particleFilterEngine.getParticleCount(),
+                particleFilterEngine.getAliveParticleCount(),
+                (int) Math.round(
+                        particleFilterEngine.getLastWallInvalidRatio()
+                                * particleFilterEngine.getParticleCount()
+                ),
+                0,
+                ((observation.getWifiX() != null) || (observation.getGnssX() != null))
+                        ? particleFilterEngine.getAliveParticleCount()
+                        : 0,
+                String.format(
+                        Locale.US,
+                        "step=%.2f dThetaDeg=%.1f floor=%d obs=%s neff=%.1f",
+                        deltaS,
+                        Math.toDegrees(deltaTheta),
+                        activePfFloor,
+                        lastObservationSource,
+                        particleFilterEngine.getLastNeff()
+                )
+        );
+
+        // Get the raw PF fused pose before recovery or floor validation.
         FusedPose rawPose = particleFilterEngine.estimate(coordinateConverter);
-        rawPose = maybeRecoverStuckParticles(
+
+        // Log the raw PF estimate for debugging.
+        if (rawPose != null && rawPose.getLatLng() != null) {
+            constraintDebugger.logFusedPose(
+                    "raw_estimate",
+                    rawPose.getLatLng().latitude,
+                    rawPose.getLatLng().longitude,
+                    rawPose.getFloor(),
+                    rawPose.getHeadingRad(),
+                    rawPose.getConfidence()
+            );
+        }
+
+        // Try to recover the filter if it looks stuck against walls or severely degraded.
+        FusedPose recoveredPose = maybeRecoverStuckParticles(
                 deltaS,
                 currentHeading,
                 observation,
@@ -259,21 +449,106 @@ public void step() {
                 rawPose
         );
 
-        FusedPose correctedPose = applyDiscreteMapMatching(rawPose, currentHeading, deltaS);
-        latestFusedPose = correctedPose != null ? correctedPose : rawPose;
+        // Use the recovered pose if recovery succeeded, otherwise keep the raw PF pose.
+        FusedPose poseAfterRecovery = recoveredPose != null ? recoveredPose : rawPose;
+
+        /*
+         * Apply live floor / connector validation in the normal step path.
+         * This is important for stair transitions, because they should be
+         * committed using real walking motion rather than the no-step path.
+         */
+        FusedPose floorCheckedPose = applyDiscreteMapMatching(
+                poseAfterRecovery,
+                currentHeading,
+                deltaS,
+                SystemClock.elapsedRealtime()
+        );
+
+        // Prefer the floor-checked pose if available.
+        FusedPose poseToPublish = floorCheckedPose != null ? floorCheckedPose : poseAfterRecovery;
+
+        // Only continue if there is a valid pose and map location to publish.
+        if (poseToPublish != null && poseToPublish.getLatLng() != null) {
+            // Get wall geometry for the active floor.
+            FloorplanApiClient.FloorShapes wallShapes = getFloorShapesForFloor(activePfFloor);
+            // Final hard wall clamp before publishing to the UI.
+            LatLng finalLatLng = clampFinalPoseAgainstWalls(poseToPublish.getLatLng(), wallShapes);
+
+            /*
+             * Extra hard safety check:
+             * even after final clamp, never publish a point that still lies inside a wall.
+             * If that happens, fall back to the last valid matched pose when possible.
+             */
+            if (wallShapes != null && MapGeometryUtils.isInsideWall(finalLatLng, wallShapes)) {
+                if (lastMatchedPose != null && lastMatchedPose.getLatLng() != null) {
+                    // Fall back to the previous valid matched pose.
+                    finalLatLng = lastMatchedPose.getLatLng();
+                    lastCorrectionType = "FINAL_INSIDE_WALL_FALLBACK";
+                    lastCorrectionReason = "Final candidate remained inside wall after clamp; reverted to last matched valid pose.";
+                    lastCrossedWall = true;
+                } else {
+                    // No valid fallback exists, so keep the current state but record the issue.
+                    lastCorrectionType = "FINAL_INSIDE_WALL_HOLD";
+                    lastCorrectionReason = "Final candidate remained inside wall after clamp; no previous valid pose available.";
+                    lastCrossedWall = true;
+                }
+            }
+
+            // Convert the final published LatLng back into local x/y coordinates.
+            double[] finalLocal = coordinateConverter.latLngToLocal(finalLatLng);
+
+            // Save the final fused pose used by the live UI.
+            latestFusedPose = new FusedPose(
+                    finalLocal[0],
+                    finalLocal[1],
+                    poseToPublish.getHeadingRad(),
+                    activePfFloor,
+                    finalLatLng,
+                    poseToPublish.getConfidence()
+            );
+
+            lastMatchedPose = new CandidatePose(
+                    finalLatLng,
+                    activePfFloor,
+                    SystemClock.elapsedRealtime(),
+                    "pf_wall_guard",
+                    poseToPublish.getHeadingRad()
+            );
+
+            if (latestFusedPose != null && latestFusedPose.getLatLng() != null) {
+                constraintDebugger.logFusedPose(
+                        "published",
+                        latestFusedPose.getLatLng().latitude,
+                        latestFusedPose.getLatLng().longitude,
+                        latestFusedPose.getFloor(),
+                        latestFusedPose.getHeadingRad(),
+                        latestFusedPose.getConfidence()
+                );
+            }
+
+        } else {
+            // If no valid map location exists, keep the best available pose as-is.
+            latestFusedPose = poseToPublish;
+        }
     }
 
     /**
-     * Initialises the PF only when a reliable autonomous absolute anchor is available.
+     * Initialises the PF only when a usable start anchor is available.
+     *
+     * Priority:
+     * - user-confirmed start marker
+     * - stored session start anchor
+     * - WiFi
+     * - GNSS
      */
     public void initialiseIfNeeded() {
         if (particleFilterEngine != null && particleFilterEngine.isInitialised()) {
             return;
         }
 
-        LatLng initialLatLng = resolveAutonomousInitialLatLng();
+        LatLng initialLatLng = resolveInitialLatLng();
         if (initialLatLng == null) {
-            Log.d(TAG, "PF init skipped: waiting for autonomous WiFi/GNSS initial position.");
+            Log.d(TAG, "PF init skipped: waiting for start anchor.");
             return;
         }
 
@@ -282,13 +557,9 @@ public void initialiseIfNeeded() {
                 initialLatLng.longitude
         );
 
-        Integer manualFloor = sensorFusion.getManualStartAnchorFloor();
-        if (manualFloor != null) {
-            activePfFloor = sanitiseFloorIndex(manualFloor);
-        } else {
-            int wifiFloor = sensorFusion.getWifiFloor();
-            activePfFloor = sanitiseFloorIndex(wifiFloor);
-        }
+        activePfFloor = resolveInitialFloorIndex(); // Resolve the starting floor from the existing startup policy.
+        autoFloorManager.initialiseFloor(activePfFloor); // Initialise live floor ownership and committed elevation anchor inside AutoFloorManager.
+        activePfFloor = autoFloorManager.getActiveFloor(); // Mirror back the sanitised authoritative floor.
 
         double[] initialLocal = coordinateConverter.latLngToLocal(initialLatLng);
         double initialHeading = wrapAngle(sensorFusion.getSelectedHeadingRad());
@@ -302,22 +573,31 @@ public void initialiseIfNeeded() {
         );
 
         FusedPose initialRawPose = particleFilterEngine.estimate(coordinateConverter);
-        FusedPose initialCorrectedPose = applyDiscreteMapMatching(initialRawPose, initialHeading, 0.0);
-        latestFusedPose = initialCorrectedPose;
+        FusedPose initialCorrectedPose = applyDiscreteMapMatching(
+                initialRawPose,
+                initialHeading,
+                0.0,
+                SystemClock.elapsedRealtime()
+        );
+
+        latestFusedPose = initialCorrectedPose != null ? initialCorrectedPose : initialRawPose;
         lastHeading = initialHeading;
 
         if (latestFusedPose != null) {
             lastMatchedPose = new CandidatePose(
                     latestFusedPose.getLatLng(),
                     latestFusedPose.getFloor(),
-                    System.currentTimeMillis(),
+                    SystemClock.elapsedRealtime(),
                     "pf_init",
                     latestFusedPose.getHeadingRad()
             );
         }
 
+        lastRequestedFloor = activePfFloor;
+        lastMatchedFloor = activePfFloor;
+
         Log.d(TAG,
-                "PF initialised from autonomous fix"
+                "PF initialised"
                         + " | particles=" + currentConfig.particleCount
                         + ", sigmaStep=" + currentConfig.sigmaStep
                         + ", sigmaThetaDeg=" + Math.toDegrees(currentConfig.sigmaThetaRad)
@@ -328,62 +608,71 @@ public void initialiseIfNeeded() {
                         + ", lon=" + initialLatLng.longitude);
     }
 
+    /**
+     * Uses SensorFusion's single preferred-start resolver so raw-PDR seeding,
+     * recording start, and PF initialisation all read the same start location.
+     */
     @Nullable
-    private LatLng resolveAutonomousInitialLatLng() {
-        LatLng manualStart = sensorFusion.getManualStartAnchorLatLng();
-        if (isValidLatLng(manualStart)) {
-            return manualStart;
-        }
-
-        float[] storedStart = sensorFusion.getGNSSLatitude(true);
-        if (isValidLatLon(storedStart)) {
-            return new LatLng(storedStart[0], storedStart[1]);
-        }
-
-        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
-        if (isValidLatLng(wifiLatLng)) {
-            return wifiLatLng;
-        }
-
-        float[] gnssLatLon = sensorFusion.getGNSSLatitude(false);
-        if (isValidLatLon(gnssLatLon)) {
-            return new LatLng(gnssLatLon[0], gnssLatLon[1]);
-        }
+    private LatLng resolveInitialLatLng() {
+        return sensorFusion.resolvePreferredStartAnchor();
+    }
 
-        return null;
+    /**
+     * Uses SensorFusion's single preferred-start floor resolver.
+     */
+    private int resolveInitialFloorIndex() {
+        return sanitiseFloorIndex(sensorFusion.resolvePreferredStartFloorIndex());
     }
 
+    /**
+     * Fully resets PF state for a new recording session.
+     */
     public void reset() {
         coordinateConverter = null;
         particleFilterEngine = null;
         latestFusedPose = null;
-
         firstPdrSample = true;
         lastPdrX = 0.0;
         lastPdrY = 0.0;
         lastHeading = 0.0;
-
-        poseEmaInitialised = false;
-        emaX = 0.0;
-        emaY = 0.0;
-        emaTheta = 0.0;
-        emaConfidence = 0f;
-
         wifiObsEmaInitialised = false;
         wifiObsEmaX = 0.0;
         wifiObsEmaY = 0.0;
-
         activePfFloor = 0;
         lastMatchedPose = null;
         verticalMotionDetector.reset();
         mapMatchingService.resetTransientState();
+        autoFloorManager.reset(); //Reset all live floor-ownership state handled by AutoFloorManager
         consecutiveStuckSteps = 0;
+        frameCount = 0;
+        lastStepDistanceMeters = 0.0;
+        lastStationaryUpdate = false;
+        lastObservationSource = "none";
+        lastCorrectionType = "NONE";
+        lastCorrectionReason = "Waiting for updates";
+        lastRecoveryType = "NONE";
+        lastRecoveryReason = "No Recovery";
+        lastCrossedWall = false;
+        lastNearStairs = false;
+        lastNearLift = false;
+        lastFloorChangeAllowed = false;
+        lastRequestedFloor = 0;
+        lastMatchedFloor = 0;
+        lastWallInvalidRatio = 0.0;
+        floorChangedSinceLastConsume = false;
     }
 
+    /**
+     * Returns the latest final fused pose for live rendering.
+     */
+    @Nullable
     public FusedPose getLatestFusedPose() {
         return enabled ? latestFusedPose : null;
     }
 
+    /**
+     * Enables or disables PF for the current session.
+     */
     public void setEnabled(boolean enabled) {
         this.enabled = enabled;
         Log.d(TAG, "PF manager = " + (enabled ? "ENABLED" : "DISABLED"));
@@ -393,73 +682,127 @@ public void setEnabled(boolean enabled) {
         }
     }
 
+    /**
+     * Returns whether this manager is active.
+     */
     public boolean isEnabled() {
         return enabled;
     }
 
-    private ParticleFilterObservation buildObservation() {
-        Double wifiX = null;
-        Double wifiY = null;
-        Integer wifiFloor = null;
+    /**
+     * Returns whether a validated live floor change happened since the last UI read.
+     *
+     * This is a one-shot signal so the UI can start a new trajectory segment exactly once.
+     */
+    public boolean consumeFloorChangedFlag() {
+        boolean changed = floorChangedSinceLastConsume;
+        floorChangedSinceLastConsume = false;
+        return changed;
+    }
+
+    /**
+     * Builds the absolute-observation bundle used by the PF update step.
+     *
+     * Current policy in this version:
+     * - WiFi is still allowed when it passes gating checks
+     * - GNSS is also intentionally allowed
+     * - the step-distance argument is accepted for API consistency with the caller
+     * - stepDistanceMeters is intentionally unused here because you said you want
+     *   to keep GNSS and skip absolute-observation suppression for now
+     *
+     * @param stepDistanceMeters latest PDR step distance for this update cycle
+     * @return accepted observation bundle for the PF measurement update
+     */
+    @NonNull
+    private ParticleFilterObservation buildObservation(double stepDistanceMeters) {
+        lastObservationSource = "none"; // Reset the debug label before deciding which source is accepted this frame.
+
+        Double wifiX = null; // Prepare WiFi local-x observation, initially absent.
+        Double wifiY = null; // Prepare WiFi local-y observation, initially absent.
+        Integer wifiFloor = null; // Prepare WiFi floor observation, initially absent.
 
-        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
-        if (isValidLatLng(wifiLatLng) && coordinateConverter != null) {
-            double[] local = coordinateConverter.latLngToLocal(wifiLatLng);
+        LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning(); // Read the latest WiFi position estimate in global coordinates.
+        if (isValidLatLng(wifiLatLng) && coordinateConverter != null) { // Continue only if WiFi is valid and coordinate conversion is ready.
+            double[] local = coordinateConverter.latLngToLocal(wifiLatLng); // Convert WiFi LatLng into local x/y coordinates.
+            int observedWifiFloor = sensorFusion.getWifiFloor(); // Read the WiFi-derived floor index.
 
-            boolean acceptWifi = true;
-            if (latestFusedPose != null) {
-                double dx = local[0] - latestFusedPose.getXMeters();
-                double dy = local[1] - latestFusedPose.getYMeters();
-                double dist = Math.hypot(dx, dy);
+            boolean acceptWifi = true; // Start by assuming the WiFi observation is usable.
 
-                if (dist > WIFI_GATE_METERS) {
+            if (isIndoorContextActive()
+                    && isFloorIndexAvailable(observedWifiFloor)
+                    && observedWifiFloor != activePfFloor) {
+
+                boolean allowCrossFloorWifi = autoFloorManager.shouldAcceptCrossFloorWifiObservation(
+                        observedWifiFloor,
+                        SystemClock.elapsedRealtime()
+                );
+
+                if (!allowCrossFloorWifi) {
                     acceptWifi = false;
-                    Log.d(TAG, "Rejecting WiFi update by gate | dist=" + dist + ", gate=" + WIFI_GATE_METERS);
+                    Log.d(TAG,
+                            "Rejecting WiFi position: floor mismatch with active PF floor."
+                                    + " | activePfFloor=" + activePfFloor
+                                    + ", wifiFloor=" + observedWifiFloor);
+                } else {
+                    Log.d(TAG,
+                            "Allowing WiFi position during lift with stable WiFi floor"
+                                    + " | activePfFloor=" + activePfFloor
+                                    + ", wifiFloor=" + observedWifiFloor);
+                }
+            }
+
+            if (acceptWifi && latestFusedPose != null) { // If WiFi still looks okay, also check its distance from the current fused pose.
+                double dx = local[0] - latestFusedPose.getXMeters(); // Compute WiFi offset in x from the latest fused pose.
+                double dy = local[1] - latestFusedPose.getYMeters(); // Compute WiFi offset in y from the latest fused pose.
+                double dist = Math.hypot(dx, dy); // Convert x/y offset into Euclidean distance.
+
+                if (dist > WIFI_GATE_METERS) { // Reject WiFi if it is too far away from the current fused pose.
+                    acceptWifi = false; // Mark WiFi as rejected by the distance gate.
+                    Log.d(TAG, "Rejecting WiFi update by gate | dist=" + dist + ", gate=" + WIFI_GATE_METERS); // Log the distance-gate rejection.
                 }
             }
 
-            if (acceptWifi) {
-                double[] smoothWifi = smoothWifiObservation(local[0], local[1]);
-                wifiX = smoothWifi[0];
-                wifiY = smoothWifi[1];
-                wifiFloor = sensorFusion.getWifiFloor();
+            if (acceptWifi) { // Only publish WiFi observation if all checks passed.
+                double[] smoothWifi = smoothWifiObservation(local[0], local[1]); // Smooth WiFi coordinates with EMA before using them.
+                wifiX = smoothWifi[0]; // Store the smoothed WiFi x coordinate.
+                wifiY = smoothWifi[1]; // Store the smoothed WiFi y coordinate.
+                wifiFloor = observedWifiFloor; // Store the accepted WiFi floor.
+                lastObservationSource = "wifi"; // Update debug state to show WiFi was accepted.
             }
         }
 
-        Double gnssX = null;
-        Double gnssY = null;
+        Double gnssX = null; // Prepare GNSS local-x observation, initially absent.
+        Double gnssY = null; // Prepare GNSS local-y observation, initially absent.
+        float[] gnssLatLon = sensorFusion.getGNSSLatitude(false); // Read the latest live GNSS lat/lon pair.
+        if (isValidLatLon(gnssLatLon) && coordinateConverter != null) { // Continue only if GNSS is valid and local conversion is ready.
+            LatLng gnssLatLng = new LatLng(gnssLatLon[0], gnssLatLon[1]); // Convert raw GNSS floats into a LatLng object.
+            double[] local = coordinateConverter.latLngToLocal(gnssLatLng); // Convert GNSS LatLng into local x/y coordinates.
 
-        // Disable GNSS absolute correction when an indoor building/map context is active.
-        if (!isIndoorContextActive()) {
-            float[] gnssLatLon = sensorFusion.getGNSSLatitude(false);
-            if (isValidLatLon(gnssLatLon) && coordinateConverter != null) {
-                LatLng gnssLatLng = new LatLng(gnssLatLon[0], gnssLatLon[1]);
-                double[] local = coordinateConverter.latLngToLocal(gnssLatLng);
+            boolean acceptGnss = true; // Start by assuming GNSS is usable.
 
-                boolean acceptGnss = true;
-                if (latestFusedPose != null) {
-                    double dx = local[0] - latestFusedPose.getXMeters();
-                    double dy = local[1] - latestFusedPose.getYMeters();
-                    double dist = Math.hypot(dx, dy);
+            if (latestFusedPose != null) { // Gate GNSS against the latest fused pose if one exists.
+                double dx = local[0] - latestFusedPose.getXMeters(); // Compute GNSS offset in x from the fused pose.
+                double dy = local[1] - latestFusedPose.getYMeters(); // Compute GNSS offset in y from the fused pose.
+                double dist = Math.hypot(dx, dy); // Convert offset to Euclidean distance.
 
-                    if (dist > GNSS_GATE_METERS) {
-                        acceptGnss = false;
-                        Log.d(TAG, "Rejecting GNSS update by gate | dist=" + dist + ", gate=" + GNSS_GATE_METERS);
-                    }
+                if (dist > GNSS_GATE_METERS) { // Reject GNSS if it is too far away from the current fused pose.
+                    acceptGnss = false; // Mark GNSS as rejected.
+                    Log.d(TAG, "Rejecting GNSS update by gate | dist=" + dist + ", gate=" + GNSS_GATE_METERS); // Log the rejection reason.
                 }
+            }
 
-                if (acceptGnss) {
-                    gnssX = local[0];
-                    gnssY = local[1];
-                }
+            if (acceptGnss) { // Publish GNSS only if it passed the gate.
+                gnssX = local[0]; // Store accepted GNSS x coordinate.
+                gnssY = local[1]; // Store accepted GNSS y coordinate.
             }
-        } else {
-            Log.d(TAG, "GNSS disabled for PF because indoor context is active.");
         }
 
-        return new ParticleFilterObservation(wifiX, wifiY, wifiFloor, gnssX, gnssY);
+        return new ParticleFilterObservation(wifiX, wifiY, wifiFloor, gnssX, gnssY); // Return the complete observation bundle for the PF update.
     }
 
+    /**
+     * Builds a wall-constraint context for the PF engine.
+     */
     @Nullable
     private ParticleFilterEngine.ConstraintContext buildConstraintContext() {
         if (coordinateConverter == null) {
@@ -484,59 +827,84 @@ private FusedPose maybeRecoverStuckParticles(double stepDistanceMeters,
                                                  @Nullable ParticleFilterObservation observation,
                                                  @Nullable ParticleFilterEngine.ConstraintContext constraintContext,
                                                  @Nullable FusedPose rawPose) {
+
+        // Recovery cannot run unless PF, coordinate conversion, and a raw pose already exist.
         if (particleFilterEngine == null || coordinateConverter == null || rawPose == null) {
+            lastRecoveryType = "NONE";
+            lastRecoveryReason = "PF/coordinate converter/raw pose unavailable";
             return rawPose;
         }
 
-        // Recovery should only happen on a real step, not while stationary.
+        // Give the filter a short warmup period before allowing recovery logic.
+        frameCount++;
+        if (frameCount < WARMUP_FRAMES) {
+            consecutiveStuckSteps = 0;
+            lastRecoveryType = "WARMUP";
+            lastRecoveryReason = "Recovery warmup active";
+            return rawPose;
+        }
+        // Ignore very small steps because they are too weak to judge stuck behaviour reliably.
         if (stepDistanceMeters < MIN_STEP_FOR_RECOVERY_METERS) {
             consecutiveStuckSteps = 0;
+            lastRecoveryType = "NONE";
+            lastRecoveryReason = String.format(Locale.US, "Step too small for recovery (%.2fm)", stepDistanceMeters);
             return rawPose;
         }
 
+        // Read PF health indicators from the latest update.
         double wallInvalidRatio = particleFilterEngine.getLastWallInvalidRatio();
         double neffRatio = particleFilterEngine.getLastNeff()
                 / Math.max(1.0, particleFilterEngine.getParticleCount());
 
-        double fusedMovementMeters = latestFusedPose == null
-                ? stepDistanceMeters
-                : Math.hypot(
-                rawPose.getXMeters() - latestFusedPose.getXMeters(),
-                rawPose.getYMeters() - latestFusedPose.getYMeters()
-        );
+        // Treat the filter as stuck only when many particles are wall-invalid
+        // and the effective sample size is also poor.
+        boolean stuck = (wallInvalidRatio > SOFT_STUCK_WALL_RATIO)
+                && (neffRatio < LOW_NEFF_RATIO);
 
-        boolean fusedLooksFrozen = fusedMovementMeters < MAX_FUSED_MOVEMENT_WHEN_STUCK_METERS;
+        Log.d(TAG, "PF recovery check"
+                + " | wallInvalidRatio=" + wallInvalidRatio
+                + " | neffRatio=" + neffRatio
+                + " | stuck=" + stuck
+                + " | consecutiveStuckSteps=" + consecutiveStuckSteps);
 
-        boolean softStuck = wallInvalidRatio > SOFT_STUCK_WALL_RATIO
-                && (neffRatio < LOW_NEFF_RATIO || fusedLooksFrozen);
-
-        if (!softStuck) {
+        // If the filter does not look stuck, clear the stuck counter and keep the raw pose.
+        if (!stuck) {
             consecutiveStuckSteps = 0;
+            lastRecoveryType = "NONE";
+            lastRecoveryReason = String.format(
+                    Locale.US,
+                    "No recovery | wallRatio=%.2f neffRatio=%.2f",
+                    wallInvalidRatio,
+                    neffRatio
+            );
             return rawPose;
         }
-
+        // Count consecutive stuck detections to decide between soft and hard recovery.
         consecutiveStuckSteps++;
-
+        // Escalate to hard recovery only after repeated stuck frames.
+        boolean hardRecovery = consecutiveStuckSteps >= HARD_RECOVERY_AFTER_CONSECUTIVE_STEPS;
+        // Start from the last known valid recovery anchor.
         double[] recoveryAnchor = resolveLastValidRecoveryAnchorXY(rawPose);
 
-        boolean hardRecovery = consecutiveStuckSteps >= HARD_RECOVERY_AFTER_CONSECUTIVE_STEPS
-                && wallInvalidRatio > HARD_STUCK_WALL_RATIO;
-
+        // For hard recovery, optionally blend in a trusted WiFi anchor.
         if (hardRecovery) {
             double[] wifiAnchor = resolveAcceptedWifiRecoveryAnchorXY(observation);
             if (wifiAnchor != null) {
-                recoveryAnchor = wifiAnchor;
+                // Blend raw PF position with WiFi anchor instead of jumping fully to WiFi.
+                recoveryAnchor[0] = 0.7 * rawPose.getXMeters() + 0.3 * wifiAnchor[0];
+                recoveryAnchor[1] = 0.7 * rawPose.getYMeters() + 0.3 * wifiAnchor[1];
+                Log.d(TAG, "Using WiFi anchor for recovery");
+            } else {
+                // Fall back to the last valid anchor if WiFi is not trusted or unavailable.
+                Log.d(TAG, "WiFi anchor unavailable, falling back to last valid anchor");
             }
         }
 
-        double respawnFraction = hardRecovery
-                ? HARD_RECOVERY_RESPAWN_FRACTION
-                : SOFT_RECOVERY_RESPAWN_FRACTION;
-
-        double positionStdMeters = hardRecovery
-                ? HARD_RECOVERY_POSITION_STD_METERS
-                : SOFT_RECOVERY_POSITION_STD_METERS;
+        // Choose respawn strength based on whether this is soft or hard recovery.
+        double respawnFraction = hardRecovery ? HARD_RECOVERY_RESPAWN_FRACTION : SOFT_RECOVERY_RESPAWN_FRACTION;
+        double positionStdMeters = hardRecovery ? HARD_RECOVERY_POSITION_STD_METERS : SOFT_RECOVERY_POSITION_STD_METERS;
 
+        // Rejuvenate weak particles around the chosen recovery anchor.
         boolean recovered = particleFilterEngine.rejuvenateParticles(
                 recoveryAnchor[0],
                 recoveryAnchor[1],
@@ -548,44 +916,69 @@ private FusedPose maybeRecoverStuckParticles(double stepDistanceMeters,
                 constraintContext
         );
 
+        // If rejuvenation failed, keep the raw pose and record the failure reason.
         if (!recovered) {
+            lastRecoveryType = hardRecovery ? "HARD_FAILED" : "SOFT_FAILED";
+            lastRecoveryReason = String.format(
+                    Locale.US,
+                    "anchor=(%.2f, %.2f) wallRatio=%.2f neffRatio=%.2f",
+                    recoveryAnchor[0],
+                    recoveryAnchor[1],
+                    wallInvalidRatio,
+                    neffRatio
+            );
             return rawPose;
         }
 
         FusedPose recoveredPose = particleFilterEngine.estimate(coordinateConverter);
 
+        lastRecoveryType = hardRecovery ? "HARD_APPLIED" : "SOFT_APPLIED";
+        lastRecoveryReason = String.format(
+                Locale.US,
+                "anchor=(%.2f, %.2f) wallRatio=%.2f neffRatio=%.2f",
+                recoveryAnchor[0],
+                recoveryAnchor[1],
+                wallInvalidRatio,
+                neffRatio
+        );
+
         Log.d(TAG,
-                "PF wall-stuck recovery applied"
+                "PF recovery applied"
                         + " | hardRecovery=" + hardRecovery
-                        + ", consecutiveStuckSteps=" + consecutiveStuckSteps
-                        + ", wallInvalidRatio=" + wallInvalidRatio
-                        + ", neffRatio=" + neffRatio
-                        + ", fusedMovementMeters=" + fusedMovementMeters
-                        + ", anchorX=" + recoveryAnchor[0]
-                        + ", anchorY=" + recoveryAnchor[1]);
+                        + " | consecutiveStuckSteps=" + consecutiveStuckSteps
+                        + " | wallInvalidRatio=" + wallInvalidRatio
+                        + " | neffRatio=" + neffRatio
+                        + " | anchorX=" + recoveryAnchor[0]
+                        + " | anchorY=" + recoveryAnchor[1]);
 
         return recoveredPose != null ? recoveredPose : rawPose;
     }
 
+    /**
+     * Uses the last known valid matched pose as the first recovery anchor.
+     */
     @NonNull
     private double[] resolveLastValidRecoveryAnchorXY(@NonNull FusedPose fallbackPose) {
         if (lastMatchedPose != null && lastMatchedPose.getLatLng() != null && coordinateConverter != null) {
             return coordinateConverter.latLngToLocal(lastMatchedPose.getLatLng());
         }
-
+        double sigmaMeters = 0.8;
+        Log.d("Rejuvenate", "Rejuvenate using last valid position");
         if (latestFusedPose != null) {
             return new double[]{
-                    latestFusedPose.getXMeters(),
-                    latestFusedPose.getYMeters()
+                    latestFusedPose.getXMeters() + rng.nextGaussian() * sigmaMeters,
+                    latestFusedPose.getYMeters() + rng.nextGaussian() * sigmaMeters
             };
         }
-
         return new double[]{
-                fallbackPose.getXMeters(),
-                fallbackPose.getYMeters()
+                fallbackPose.getXMeters()+ rng.nextGaussian() * sigmaMeters,
+                fallbackPose.getYMeters()+ rng.nextGaussian() * sigmaMeters
         };
     }
 
+    /**
+     * Returns WiFi anchor for hard recovery only if it is floor-consistent and not too far.
+     */
     @Nullable
     private double[] resolveAcceptedWifiRecoveryAnchorXY(@Nullable ParticleFilterObservation observation) {
         if (observation == null
@@ -593,7 +986,6 @@ private double[] resolveAcceptedWifiRecoveryAnchorXY(@Nullable ParticleFilterObs
                 || observation.getWifiY() == null) {
             return null;
         }
-
         /*
          * Only use WiFi as a hard relocalisation anchor if it agrees with the current PF floor.
          * This stops cross-floor WiFi mistakes from blowing up recovery.
@@ -602,65 +994,81 @@ private double[] resolveAcceptedWifiRecoveryAnchorXY(@Nullable ParticleFilterObs
         if (isFloorIndexAvailable(wifiFloor) && wifiFloor != activePfFloor) {
             return null;
         }
-
         return new double[]{
                 observation.getWifiX(),
                 observation.getWifiY()
         };
     }
 
+    /**
+     * Returns GNSS anchor for hard recovery only if it stays reasonably close.
+     */
+    @Nullable
+    private double[] resolveAcceptedGnssRecoveryAnchorXY(@Nullable ParticleFilterObservation observation) {
+        if (observation == null || observation.getGnssX() == null || observation.getGnssY() == null) {
+            return null;
+        }
+        Double gnssX = observation.getGnssX();
+        Double gnssY = observation.getGnssY();
+
+        double[] gnssAnchor = new double[]{gnssX, gnssY};
+
+        Log.d(TAG, "Recovery anchor selected from GNSS");
+        return gnssAnchor;
+    }
+
+    /**
+     * Applies one discrete map validity stage to the raw PF estimate.
+     *
+     * this stage is not allowed to become a second absolute-observation blender.
+     * It is only for wall/floor validity and limited correction.
+     */
     @Nullable
     private FusedPose applyDiscreteMapMatching(@Nullable FusedPose rawPose,
                                                double currentHeadingRad,
-                                               double stepDistanceMeters) {
+                                               double stepDistanceMeters,
+                                               long timestampMs) {
+        // If there is no usable PF pose yet, keep the input as-is.
         if (rawPose == null || coordinateConverter == null || rawPose.getLatLng() == null) {
             return rawPose;
         }
+        // Build the latest vertical-transition hint from elevation / lift evidence.
+        VerticalTransitionHint verticalHint = verticalMotionDetector.buildHint();
+        // Ask live floor logic which floor is currently being requested.
+        int requestedFloor = autoFloorManager.resolveRequestedFloor(verticalHint, timestampMs);
+        lastRequestedFloor = requestedFloor;
 
+        // Load source and target floor shapes for floor validation.
         FloorplanApiClient.FloorShapes sourceFloorShapes = getFloorShapesForFloor(activePfFloor);
-        VerticalTransitionHint verticalHint = verticalMotionDetector.buildHint();
-        int requestedFloor = resolveRequestedFloor(verticalHint);
         FloorplanApiClient.FloorShapes targetFloorShapes = getFloorShapesForFloor(requestedFloor);
 
-        // No usable map: keep raw PF output and preserve current PF floor.
-        if (sourceFloorShapes == null && targetFloorShapes == null) {
-            LatLng rawLatLng = rawPose.getLatLng();
-            lastMatchedPose = new CandidatePose(
-                    rawLatLng,
-                    activePfFloor,
-                    System.currentTimeMillis(),
-                    "pf_raw_nomap",
-                    rawPose.getHeadingRad()
-            );
-            return new FusedPose(
-                    rawPose.getXMeters(),
-                    rawPose.getYMeters(),
-                    rawPose.getHeadingRad(),
-                    activePfFloor,
-                    rawLatLng,
-                    rawPose.getConfidence()
-            );
-        }
-
+        // Build the current PF candidate pose on the requested floor.
         CandidatePose currentCandidatePose = new CandidatePose(
                 rawPose.getLatLng(),
                 requestedFloor,
-                System.currentTimeMillis(),
+                timestampMs,
                 "pf_raw",
                 currentHeadingRad
         );
 
+        // Use the previous matched pose as the reference motion origin when available.
+        double previousX = rawPose.getXMeters();
+        double previousY = rawPose.getYMeters();
+        if (lastMatchedPose != null && lastMatchedPose.getLatLng() != null) {
+            double[] prevLocal = coordinateConverter.latLngToLocal(lastMatchedPose.getLatLng());
+            previousX = prevLocal[0];
+            previousY = prevLocal[1];
+        }
+
+        // Build motion delta from the previous validated pose to the current PF estimate.
         MotionDelta motionDelta = new MotionDelta(
-                rawPose.getXMeters() - (lastMatchedPose == null || lastMatchedPose.getLatLng() == null
-                        ? rawPose.getXMeters()
-                        : coordinateConverter.latLngToLocal(lastMatchedPose.getLatLng())[0]),
-                rawPose.getYMeters() - (lastMatchedPose == null || lastMatchedPose.getLatLng() == null
-                        ? rawPose.getYMeters()
-                        : coordinateConverter.latLngToLocal(lastMatchedPose.getLatLng())[1]),
+                rawPose.getXMeters() - previousX,
+                rawPose.getYMeters() - previousY,
                 stepDistanceMeters,
                 Math.toDegrees(currentHeadingRad)
         );
 
+        // Build the map-matching input used for live floor validation.
         MapMatchingInput input = new MapMatchingInput(
                 lastMatchedPose,
                 currentCandidatePose,
@@ -670,91 +1078,175 @@ private FusedPose applyDiscreteMapMatching(@Nullable FusedPose rawPose,
                 targetFloorShapes,
                 sensorFusion.getSelectedBuildingId()
         );
-        MapMatchingResult result = mapMatchingService.match(input);
-
-        LatLng rawLatLng = rawPose.getLatLng();
-        LatLng correctedCandidate = result.getCorrectedLatLng() != null
-                ? result.getCorrectedLatLng()
-                : rawLatLng;
 
-     // ✅ Soft guard instead of hard reject
-        double correctionMeters = distanceMeters(rawLatLng, correctedCandidate);
-        double maxCorrection = 2.0; // relaxed threshold
+        // Run live map matching validation.
+        MapMatchingResult result = mapMatchingService.match(input);
 
-        LatLng finalLatLng;
+        // Save debug information for UI / logs.
+        lastCorrectionType = result.getCorrectionType() != null ? result.getCorrectionType().name() : CorrectionType.NONE.name();
+        lastCorrectionReason = result.getDebugReason() != null ? result.getDebugReason() : "No debug reason";
+        lastCrossedWall = result.isCrossedWall();
+        lastNearStairs = result.isNearStairs();
+        lastNearLift = result.isNearLift();
+        lastFloorChangeAllowed = result.isFloorChangeAllowed();
+
+        // Clamp the matched floor to the valid building floor range.
+        int matchedFloor = sanitiseFloorIndex(result.getCorrectedFloor());
+        // Commit the floor change only if live validation explicitly allows it.
+        if (result.isFloorChangeAllowed() && matchedFloor != activePfFloor) {
+            int previousCommittedFloor = activePfFloor;
+
+            // Commit the validated floor transition into the live floor owner.
+            autoFloorManager.onFloorCommitted(matchedFloor, timestampMs);
+            activePfFloor = autoFloorManager.getActiveFloor(); // Mirror the authoritative committed floor locally.
+
+            if (activePfFloor != previousCommittedFloor) {
+                floorChangedSinceLastConsume = true;
+            }
 
-        if (correctionMeters > maxCorrection) {
-            // instead of rejecting → clamp movement
-            finalLatLng = interpolate(rawLatLng, correctedCandidate, 0.5);
-        } else {
-            finalLatLng = correctedCandidate;
-        }
+            verticalMotionDetector.reset(); // Clear the consumed vertical transition evidence so it is not re-used next frame.
 
-    // ✅ Update floor (important)
-        int correctedFloor = sanitiseFloorIndex(result.getCorrectedFloor());
-        if (result.isFloorChangeAllowed() && correctedFloor != activePfFloor) {
-            activePfFloor = correctedFloor;
             if (particleFilterEngine != null) {
-                particleFilterEngine.setAllParticlesFloor(activePfFloor);
+                particleFilterEngine.setAllParticlesFloor(activePfFloor); // Push the committed floor into all PF particles.
             }
         }
 
-    // ✅ Convert to local
-        double[] correctedLocal = coordinateConverter.latLngToLocal(finalLatLng);
+        lastMatchedFloor = activePfFloor;
 
+        // Keep XY exactly as the PF estimated it.
         FusedPose correctedPose = new FusedPose(
-                correctedLocal[0],
-                correctedLocal[1],
+                rawPose.getXMeters(),
+                rawPose.getYMeters(),
                 rawPose.getHeadingRad(),
                 activePfFloor,
-                finalLatLng,
+                rawPose.getLatLng(),
                 rawPose.getConfidence()
         );
 
-     // ✅ CRITICAL: update lastMatchedPose
+        // Keep a pose record for connector persistence / future floor validation,
+        // but do not apply XY snapping here.
         lastMatchedPose = new CandidatePose(
-                finalLatLng,
+                rawPose.getLatLng(),
                 activePfFloor,
-                System.currentTimeMillis(),
-                "pf_matched",
+                timestampMs,
+                "pf_floor_checked",
                 correctedPose.getHeadingRad()
         );
-
         return correctedPose;
-
     }
 
-    private LatLng interpolate(LatLng from, LatLng to, double alpha) {
-        if (from == null) return to;
-        if (to == null) return from;
+    public void evaluateFloorChangeWithoutStep() {
+        if (!enabled) {
+            return;
+        }
 
-        double lat = from.latitude + alpha * (to.latitude - from.latitude);
-        double lng = from.longitude + alpha * (to.longitude - from.longitude);
+        initialiseIfNeeded();
+        if (particleFilterEngine == null || coordinateConverter == null || latestFusedPose == null) {
+            return;
+        }
 
-        return new LatLng(lat, lng);
-    }
+        long now = SystemClock.elapsedRealtime();
 
-    private int resolveRequestedFloor(@Nullable VerticalTransitionHint verticalHint) {
-        int requestedFloor = activePfFloor;
+        onVerticalContextSample(
+                now,
+                sensorFusion.getElevation(),
+                sensorFusion.getElevator()
+        );
 
+        VerticalTransitionHint verticalHint = verticalMotionDetector.buildHint();
         if (verticalHint == null || !verticalHint.isHeightChanged()) {
-            return requestedFloor;
+            return;
         }
 
-        int wifiFloor = sensorFusion.getWifiFloor();
-        if (isFloorIndexAvailable(wifiFloor) && wifiFloor != activePfFloor) {
-            return wifiFloor;
+        /*
+         * This no-step path is only for lift/elevator-like transitions.
+         * Stair transitions should be committed through the normal step()
+         * path where real deltaS is available.
+         */
+        if (!sensorFusion.getElevator()) {
+            Log.d(TAG,
+                    "Skipping no-step floor evaluation: not elevator-like."
+                            + " | activePfFloor=" + activePfFloor
+                            + ", wifiFloor=" + sensorFusion.getWifiFloor()
+                            + ", deltaHeight=" + verticalHint.getDeltaHeight());
+            return;
         }
 
-        if (verticalHint.getDeltaHeight() > 0.0) {
-            requestedFloor = activePfFloor + 1;
-        } else if (verticalHint.getDeltaHeight() < 0.0) {
-            requestedFloor = activePfFloor - 1;
+        int requestedFloor = autoFloorManager.resolveRequestedFloor(verticalHint, now);
+
+        Log.d(TAG,
+                "FLOOR no-step check"
+                        + " | activePfFloor=" + activePfFloor
+                        + ", requestedFloor=" + requestedFloor
+                        + ", wifiFloor=" + sensorFusion.getWifiFloor()
+                        + ", deltaHeight=" + verticalHint.getDeltaHeight()
+                        + ", heightChanged=" + verticalHint.isHeightChanged()
+                        + ", elevator=" + sensorFusion.getElevator());
+
+        if (requestedFloor == activePfFloor) {
+            return;
         }
 
-        return sanitiseFloorIndex(requestedFloor);
+        FusedPose correctedPose = applyDiscreteMapMatching(
+                latestFusedPose,
+                wrapAngle(sensorFusion.getSelectedHeadingRad()),
+                0.0,
+                now
+        );
+
+        if (correctedPose != null) {
+            latestFusedPose = correctedPose;
+        }
     }
 
+    /**
+     * Final hard wall clamp for the live fused pose.
+     *
+     * Why this exists:
+     * - PF particle penalties are soft
+     * - map matching corrections can still miss some wall-cross cases
+     * - live rendering now shows the PF result directly
+     *
+     * So before publishing the final fused pose, enforce:
+     * previous matched pose -> candidate pose must not cross a wall.
+     */
+    @NonNull
+    private LatLng clampFinalPoseAgainstWalls(@NonNull LatLng candidateLatLng,
+                                              @Nullable FloorplanApiClient.FloorShapes wallCheckFloorShapes) {
+        if (lastMatchedPose == null
+                || lastMatchedPose.getLatLng() == null
+                || wallCheckFloorShapes == null) {
+            return candidateLatLng;
+        }
+
+        LatLng previousLatLng = lastMatchedPose.getLatLng();
+
+        if (!MapGeometryUtils.crossesWall(previousLatLng, candidateLatLng, wallCheckFloorShapes)) {
+            return candidateLatLng;
+        }
+
+        LatLng lastValidPoint = MapGeometryUtils.findFarthestValidPointBeforeWall(
+                previousLatLng,
+                candidateLatLng,
+                wallCheckFloorShapes
+        );
+
+        if (lastValidPoint != null) {
+            lastCorrectionType = "FINAL_WALL_CLAMP";
+            lastCorrectionReason = "Final candidate crossed a wall; projected to last valid point before wall.";
+            lastCrossedWall = true;
+            return lastValidPoint;
+        }
+
+        lastCorrectionType = "FINAL_WALL_REJECT";
+        lastCorrectionReason = "Final candidate crossed a wall; kept previous valid matched pose.";
+        lastCrossedWall = true;
+        return previousLatLng;
+    }
+
+    /**
+     * Returns the active floor shapes for the selected building.
+     */
     @Nullable
     private FloorplanApiClient.FloorShapes getFloorShapesForFloor(int floorIndex) {
         FloorplanApiClient.BuildingInfo building = getSelectedBuildingInfo();
@@ -774,6 +1266,9 @@ private FloorplanApiClient.FloorShapes getFloorShapesForFloor(int floorIndex) {
         return floors.get(floorIndex);
     }
 
+    /**
+     * Resolves the currently selected building object from SensorFusion cache.
+     */
     @Nullable
     private FloorplanApiClient.BuildingInfo getSelectedBuildingInfo() {
         String buildingId = sensorFusion.getSelectedBuildingId();
@@ -783,6 +1278,9 @@ private FloorplanApiClient.BuildingInfo getSelectedBuildingInfo() {
         return sensorFusion.getFloorplanBuilding(buildingId);
     }
 
+    /**
+     * Checks whether a floor index is valid for the active building.
+     */
     private boolean isFloorIndexAvailable(int floorIndex) {
         FloorplanApiClient.BuildingInfo building = getSelectedBuildingInfo();
         if (building == null || building.getFloorShapesList() == null) {
@@ -791,6 +1289,9 @@ private boolean isFloorIndexAvailable(int floorIndex) {
         return floorIndex >= 0 && floorIndex < building.getFloorShapesList().size();
     }
 
+    /**
+     * Clamps a floor index to the valid range for the active building.
+     */
     private int sanitiseFloorIndex(int floorIndex) {
         FloorplanApiClient.BuildingInfo building = getSelectedBuildingInfo();
         if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) {
@@ -799,6 +1300,10 @@ private int sanitiseFloorIndex(int floorIndex) {
         return Math.max(0, Math.min(floorIndex, building.getFloorShapesList().size() - 1));
     }
 
+    /**
+     * Applies a small EMA to accepted WiFi observations.
+     */
+    @NonNull
     private double[] smoothWifiObservation(double x, double y) {
         if (!wifiObsEmaInitialised) {
             wifiObsEmaInitialised = true;
@@ -812,6 +1317,9 @@ private double[] smoothWifiObservation(double x, double y) {
         return new double[]{wifiObsEmaX, wifiObsEmaY};
     }
 
+    /**
+     * Extracts step distance from the cumulative PDR state.
+     */
     private double extractPdrDeltaDistance() {
         float[] pdrPosition = sensorFusion.getLatestPdrMovement();
         if (pdrPosition == null || pdrPosition.length < 2) {
@@ -837,59 +1345,36 @@ private double extractPdrDeltaDistance() {
         return Math.hypot(dx, dy);
     }
 
-    private FusedPose smoothPose(FusedPose rawPose) {
-        if (rawPose == null || coordinateConverter == null) {
-            return rawPose;
-        }
-
-        if (!poseEmaInitialised) {
-            poseEmaInitialised = true;
-            emaX = rawPose.getXMeters();
-            emaY = rawPose.getYMeters();
-            emaTheta = rawPose.getHeadingRad();
-            emaConfidence = rawPose.getConfidence();
-            return rawPose;
-        }
-
-        emaX = ema(emaX, rawPose.getXMeters(), POSITION_EMA_ALPHA);
-        emaY = ema(emaY, rawPose.getYMeters(), POSITION_EMA_ALPHA);
-        emaTheta = emaAngle(emaTheta, rawPose.getHeadingRad(), HEADING_EMA_ALPHA);
-        emaConfidence = (float) ema(emaConfidence, rawPose.getConfidence(), CONFIDENCE_EMA_ALPHA);
-
-        LatLng smoothedLatLng = coordinateConverter.localToLatLng(emaX, emaY);
-
-        return new FusedPose(
-                emaX,
-                emaY,
-                emaTheta,
-                rawPose.getFloor(),
-                smoothedLatLng,
-                emaConfidence
-        );
-    }
-
+    /**
+     * Simple scalar EMA helper.
+     */
     private double ema(double previous, double current, double alpha) {
         return previous + alpha * (current - previous);
     }
 
-    private double emaAngle(double previous, double current, double alpha) {
-        return wrapAngle(previous + alpha * wrapAngle(current - previous));
-    }
-
-    private boolean isValidLatLng(LatLng latLng) {
+    /**
+     * Basic LatLng validity check.
+     */
+    private boolean isValidLatLng(@Nullable LatLng latLng) {
         if (latLng == null) {
             return false;
         }
         return !(Math.abs(latLng.latitude) < 1e-6 && Math.abs(latLng.longitude) < 1e-6);
     }
 
-    private boolean isValidLatLon(float[] latLon) {
+    /**
+     * Basic float[] lat/lon validity check.
+     */
+    private boolean isValidLatLon(@Nullable float[] latLon) {
         if (latLon == null || latLon.length < 2) {
             return false;
         }
         return !(Math.abs(latLon[0]) < 1e-6 && Math.abs(latLon[1]) < 1e-6);
     }
 
+    /**
+     * Indoor context is active when a selected building is present in cache.
+     */
     private boolean isIndoorContextActive() {
         String buildingId = sensorFusion.getSelectedBuildingId();
         return buildingId != null
@@ -897,12 +1382,18 @@ private boolean isIndoorContextActive() {
                 && sensorFusion.getFloorplanBuilding(buildingId) != null;
     }
 
+    /**
+     * Wraps angle to [-pi, pi].
+     */
     private double wrapAngle(double angle) {
         while (angle > Math.PI) angle -= 2.0 * Math.PI;
         while (angle < -Math.PI) angle += 2.0 * Math.PI;
         return angle;
     }
 
+    /**
+     * Approximates metric distance between two LatLng values.
+     */
     private double distanceMeters(@Nullable LatLng a, @Nullable LatLng b) {
         if (a == null || b == null) {
             return 0.0;
@@ -917,29 +1408,107 @@ private double distanceMeters(@Nullable LatLng a, @Nullable LatLng b) {
         return Math.hypot(dx, dy);
     }
 
+    /**
+     * Interpolates between two LatLng values.
+     */
+    @NonNull
+    private LatLng interpolate(@NonNull LatLng from, @NonNull LatLng to, double alpha) {
+        double clampedAlpha = Math.max(0.0, Math.min(1.0, alpha));
+        return new LatLng(
+                from.latitude + clampedAlpha * (to.latitude - from.latitude),
+                from.longitude + clampedAlpha * (to.longitude - from.longitude)
+        );
+    }
+
+    /**
+     * Returns a cleaner live debug summary for the on-screen debug box.
+     *
+     * Layout intent:
+     * 1. session / context
+     * 2. current fused pose
+     * 3. particle health
+     * 4. motion + observation state
+     * 5. auto-floor state
+     * 6. map-matching / recovery reasoning
+     *
+     * This version is designed for fast live reading during walking tests.
+     */
+    @NonNull
     public String getLiveDebugSummary() {
         if (!enabled) {
-            return "Particles: PF disabled";
+            return "LIVE PF\nstatus: disabled";
         }
 
         if (particleFilterEngine == null) {
-            return "Particles: waiting init";
+            return "LIVE PF\nstatus: waiting init";
         }
 
         FusedPose pose = getLatestFusedPose();
+
+        int total = particleFilterEngine.getParticleCount();
         int alive = particleFilterEngine.getAliveParticleCount();
         int dead = particleFilterEngine.getDeadParticleCount();
-        int total = particleFilterEngine.getParticleCount();
+        double neff = particleFilterEngine.getLastNeff();
+
+        String buildingId = sensorFusion.getSelectedBuildingId();
+        if (buildingId == null || buildingId.trim().isEmpty()) {
+            buildingId = "none";
+        }
 
-        int pfFloor = pose != null ? pose.getFloor() : activePfFloor;
+        double poseX = pose != null ? pose.getXMeters() : Double.NaN;
+        double poseY = pose != null ? pose.getYMeters() : Double.NaN;
+        double poseHeadingDeg = pose != null ? Math.toDegrees(pose.getHeadingRad()) : Double.NaN;
+        int poseFloor = pose != null ? pose.getFloor() : activePfFloor;
+        float poseConfidence = pose != null ? pose.getConfidence() : 0f;
+
+        int wifiFloor = sensorFusion.getWifiFloor();
+        double elevationMeters = sensorFusion.getElevation();
+        boolean autoFloorEnabled = sensorFusion.isLiveAutoFloorEnabled();
+        boolean elevatorLikely = sensorFusion.getElevator();
+        boolean indoorContext = isIndoorContextActive();
 
         return String.format(
-                java.util.Locale.US,
-                "Particles: %d | alive: %d | dead: %d\nPF floor: %d",
+                Locale.US,
+                "LIVE PF\n" +
+                        "building=%s | indoor=%s | autoFloor=%s\n" +
+                        "pose: x=%.2f y=%.2f heading=%.1f° floor=%d conf=%.2f\n" +
+                        "particles: total=%d alive=%d dead=%d neff=%.1f wallRatio=%.2f\n" +
+                        "motion: step=%.2fm stationary=%s obs=%s\n" +
+                        "floor: wifi=%d requested=%d active=%d matched=%d elev=%.2fm elevator=%s\n" +
+                        "map: correction=%s wall=%s stairs=%s lift=%s allowFloor=%s\n" +
+                        "mapReason: %s\n" +
+                        "recovery: %s\n" +
+                        "recoveryReason: %s",
+                buildingId,
+                String.valueOf(indoorContext),
+                String.valueOf(autoFloorEnabled),
+                poseX,
+                poseY,
+                poseHeadingDeg,
+                poseFloor,
+                poseConfidence,
                 total,
                 alive,
                 dead,
-                pfFloor
+                neff,
+                lastWallInvalidRatio,
+                lastStepDistanceMeters,
+                String.valueOf(lastStationaryUpdate),
+                lastObservationSource,
+                wifiFloor,
+                lastRequestedFloor,
+                activePfFloor,
+                lastMatchedFloor,
+                elevationMeters,
+                String.valueOf(elevatorLikely),
+                lastCorrectionType,
+                String.valueOf(lastCrossedWall),
+                String.valueOf(lastNearStairs),
+                String.valueOf(lastNearLift),
+                String.valueOf(lastFloorChangeAllowed),
+                lastCorrectionReason,
+                lastRecoveryType,
+                lastRecoveryReason
         );
     }
-}
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterObservation.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterObservation.java
index d079c0b9..d4c01e27 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterObservation.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterObservation.java
@@ -1,11 +1,6 @@
 package com.openpositioning.PositionMe.fusion;
 
-/**
- * Container for absolute observations used to update the particle filter.
- *
- * <p>For the first Android integration phase, this includes:
- * Wi-Fi local position, Wi-Fi floor, and GNSS local position.</p>
- */
+/** class to store wifi and gnss observation data */
 public class ParticleFilterObservation {
 
     private final Double wifiX;
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CorrectionType.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CorrectionType.java
index 74e5c312..a8fb3b85 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CorrectionType.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CorrectionType.java
@@ -1,8 +1,6 @@
 package com.openpositioning.PositionMe.mapmatching;
 
-/**
- * 表示 map matching 修正的原因。
- */
+
 public enum CorrectionType {
     NONE,
     THROUGH_WALL,
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
index 16cf0cff..5ce8ab13 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java
@@ -6,27 +6,27 @@
 import java.util.List;
 
 /**
- * 提供 3.2 Map Matching 所需的基础几何判断工具。
+ * Provides the core geometric checks required for Map Matching 3.2.
  *
- * 当前版本除了基础的穿墙 / 邻近判断外，还补充了：
- * 1. 沿着一段运动轨迹，找到“撞墙前最后一个合法点”
- * 2. 找到某类 indoor feature（stairs/lift）最近的锚点位置
+ * In addition to basic wall-crossing and proximity checks, this version also adds:
+ * 1. Find the last valid point before hitting a wall along a motion segment
+ * 2. Find the nearest anchor point for an indoor feature type (stairs/lift)
  *
- * 这些工具会被阶段四的最小补丁使用，用来把 map matching 从
- * “只会拒绝错误”推进到“能主动拉回到更合理的位置”。
+ * These utilities are used by the stage-four minimal patch to move map matching
+ * from "only rejecting errors" to "actively pulling the pose back to a more reasonable location."
  */
 public class MapGeometryUtils {
 
-    // 默认邻近阈值（米）
-    // 楼梯邻近阈值可以稍大一点
+    // Default proximity threshold (meters)
+    // Stairs can use a slightly larger threshold.
     private static final double STAIRS_PROXIMITY_THRESHOLD_METERS = 2.2;
 
-    // 电梯邻近阈值相对更紧一些
+    // Lift uses a slightly tighter threshold.
     private static final double LIFT_PROXIMITY_THRESHOLD_METERS = 1.8;
 
     private static final int WALL_PROJECTION_BINARY_SEARCH_ITERATIONS = 20;
     private static final double WALL_PROJECTION_SAFETY_RATIO = 0.98;
-    // 安全内缩值不要太大，否则切层时会出现明显的横向/纵向跳点。
+    // Keep the safe inset small; otherwise floor transitions may introduce obvious lateral jumps.
     private static final double CONNECTOR_SAFE_INSET_METERS = 0.35;
     private static final int CONNECTOR_SAFE_POINT_STEPS = 16;
     private static final double LOCAL_DIRECTION_SEARCH_RADIUS_METERS = 4.0;
@@ -85,7 +85,7 @@ public static double estimateLocalWalkableHeadingRadians(LatLng point,
     }
 
     /**
-     * 判断从 start 到 end 的轨迹是否穿过当前楼层中的 wall。
+     * Checks whether the trajectory from start to end crosses a wall on the current floor.
      */
     public static boolean crossesWall(LatLng start,
                                       LatLng end,
@@ -108,8 +108,8 @@ public static boolean crossesWall(LatLng start,
     }
 
     /**
-     * 判断当前位置是否靠近楼梯。
-     * 楼梯区域通常范围稍大，因此阈值放宽一些。
+     * Checks whether the current position is near stairs.
+     * Stair areas are usually a bit larger, so the threshold is relaxed.
      */
     public static boolean isNearStairs(LatLng point,
                                        FloorplanApiClient.FloorShapes floorShapes) {
@@ -122,8 +122,8 @@ public static boolean isNearStairs(LatLng point,
     }
 
     /**
-     * 判断当前位置是否靠近电梯。
-     * 电梯区域通常更集中，因此阈值稍微收紧。
+     * Checks whether the current position is near a lift.
+     * Lift areas are usually more compact, so the threshold is slightly tighter.
      */
     public static boolean isNearLift(LatLng point,
                                      FloorplanApiClient.FloorShapes floorShapes) {
@@ -137,9 +137,9 @@ public static boolean isNearLift(LatLng point,
 
 
     /**
-     * 判断点是否真正位于某类 indoor feature 的面域内部。
+     * Checks whether a point is actually inside an indoor feature area.
      *
-     * 这个判断比 near 更严格，用于楼层切换这种需要强证据的场景。
+     * This is stricter than a near check and is used for floor transitions that need strong evidence.
      */
     public static boolean isInsideIndoorType(LatLng point,
                                              FloorplanApiClient.FloorShapes floorShapes,
@@ -168,7 +168,7 @@ public static boolean isInsideIndoorType(LatLng point,
     }
 
     /**
-     * 更通用的“是否靠近某类 indoor feature”判断。
+     * A more general check for whether a point is near an indoor feature type.
      */
     public static boolean isNearIndoorType(LatLng point,
                                            FloorplanApiClient.FloorShapes floorShapes,
@@ -189,12 +189,12 @@ public static boolean isNearIndoorType(LatLng point,
             for (List<LatLng> part : parts) {
                 if (part == null || part.isEmpty()) continue;
 
-                // 如果是面/封闭区域，点在里面也算 near
+                // If this is an area / closed region, being inside also counts as near.
                 if (part.size() >= 3 && isPointInPolygon(point, part)) {
                     return true;
                 }
 
-                // 否则判断点到边/线段的最小距离
+                // Otherwise, check the minimum distance from the point to the edge / segment.
                 if (isPointNearPolyline(point, part, thresholdMeters)) {
                     return true;
                 }
@@ -268,9 +268,9 @@ public static double distanceToNearestWallMeters(LatLng point,
     }
 
     /**
-     * 当一段轨迹穿墙时，沿着 start->end 的方向找到“撞墙前最后一个合法点”。
+     * When a trajectory crosses a wall, find the last valid point before collision along start->end.
      *
-     * 这比简单回退到 previous pose 更平滑，也更符合阶段四“主动修正”的目标。
+     * This is smoother than simply reverting to the previous pose and better matches the stage-four active-correction goal.
      */
     public static LatLng findFarthestValidPointBeforeWall(LatLng start,
                                                           LatLng end,
@@ -297,16 +297,16 @@ public static LatLng findFarthestValidPointBeforeWall(LatLng start,
             }
         }
 
-        // 稍微往 start 方向退一点，避免贴在边界上导致下一帧继续抖动。
+        // Step slightly back toward start to avoid landing on the boundary and oscillating on the next frame.
         double safeRatio = Math.max(0.0, low * WALL_PROJECTION_SAFETY_RATIO);
         return interpolate(start, end, safeRatio);
     }
 
     /**
-     * 寻找 point 到指定 indoorType 最近的“安全内部落点”。
+     * Find the nearest safe interior landing point from point to the specified indoorType.
      *
-     * 与简单质心不同，这个点会尽量靠近用户当前候选点所对应的入口侧，
-     * 但同时向 polygon 内部缩进一小段距离，避免切层后落在边界/墙边。
+     * Unlike a simple centroid, this point stays as close as possible to the entrance side near the current candidate point,
+     * while still moving slightly inside the polygon to avoid landing on the boundary or next to a wall after a floor change.
      */
     public static LatLng findNearestSafeInteriorPointOnIndoorType(LatLng point,
                                                                   FloorplanApiClient.FloorShapes floorShapes,
@@ -344,10 +344,10 @@ public static LatLng findNearestSafeInteriorPointOnIndoorType(LatLng point,
     }
 
     /**
-     * 寻找 point 到指定 indoorType 最近的“内部落点”。
+     * Find the nearest interior landing point from point to the specified indoorType.
      *
-     * 和 findNearestPointOnIndoorType 不同，这里优先返回 polygon 的内部质心，
-     * 适合楼层切换后的落点安置，避免刚切层就落在边界/墙边。
+     * Unlike findNearestPointOnIndoorType, this prefers returning an interior centroid of the polygon,
+     * which is suitable for placing the landing point after a floor transition and avoids landing on the boundary or next to a wall.
      */
     public static LatLng findNearestIndoorTypeCentroid(LatLng point,
                                                        FloorplanApiClient.FloorShapes floorShapes,
@@ -391,9 +391,9 @@ public static LatLng findNearestIndoorTypeCentroid(LatLng point,
     }
 
     /**
-     * 寻找 point 到指定 indoorType 最近的锚点。
+     * Find the nearest anchor point from point to the specified indoorType.
      *
-     * 对 stairs/lift 来说，这个点会作为楼层切换时的“更合理位置”。
+     * For stairs/lift, this point acts as a more reasonable position during a floor transition.
      */
     public static LatLng findNearestPointOnIndoorType(LatLng point,
                                                       FloorplanApiClient.FloorShapes floorShapes,
@@ -446,11 +446,11 @@ public static LatLng findNearestPointOnIndoorType(LatLng point,
     }
 
     // =========================================================
-    // 内部工具方法
+    // Internal helper methods
     // =========================================================
 
     /**
-     * 判断轨迹线段是否与某个 feature 的边界/线段相交。
+     * Checks whether a trajectory segment intersects the boundary / segment of a feature.
      */
     private static boolean intersectsFeature(LatLng start,
                                              LatLng end,
@@ -470,7 +470,7 @@ private static boolean intersectsFeature(LatLng start,
                 }
             }
 
-            // 如果是 polygon ring，最后一个点和第一个点也需要闭合判断
+            // For a polygon ring, also check the closing edge between the last and first points.
             if (part.size() >= 3) {
                 LatLng last = part.get(part.size() - 1);
                 LatLng first = part.get(0);
@@ -484,7 +484,7 @@ private static boolean intersectsFeature(LatLng start,
     }
 
     /**
-     * 判断一个点是否靠近一条 polyline / polygon 边界。
+     * Checks whether a point is near a polyline / polygon boundary.
      */
     private static boolean isPointNearPolyline(LatLng point,
                                                List<LatLng> polyline,
@@ -501,7 +501,7 @@ private static boolean isPointNearPolyline(LatLng point,
             }
         }
 
-        // 如果像 polygon ring，也检查闭合边
+        // If this behaves like a polygon ring, also check the closing edge.
         if (polyline.size() >= 3) {
             double distance = distancePointToSegmentMeters(
                     point,
@@ -515,8 +515,8 @@ private static boolean isPointNearPolyline(LatLng point,
     }
 
     /**
-     * 点是否在 polygon 内。
-     * 采用简单射线法。
+     * Checks whether a point is inside a polygon.
+     * Uses a simple ray-casting method.
      */
     private static boolean isPointInPolygon(LatLng point, List<LatLng> polygon) {
         if (point == null || polygon == null || polygon.size() < 3) return false;
@@ -541,8 +541,8 @@ private static boolean isPointInPolygon(LatLng point, List<LatLng> polygon) {
     }
 
     /**
-     * 判断两条线段是否相交。
-     * 这里采用平面近似，对室内小范围足够。
+     * Checks whether two segments intersect.
+     * A planar approximation is used here, which is sufficient for small indoor areas.
      */
     private static boolean segmentsIntersect(LatLng p1, LatLng p2, LatLng q1, LatLng q2) {
         int o1 = orientation(p1, p2, q1);
@@ -552,7 +552,7 @@ private static boolean segmentsIntersect(LatLng p1, LatLng p2, LatLng q1, LatLng
 
         if (o1 != o2 && o3 != o4) return true;
 
-        // 共线特殊情况
+        // Special case: collinear segments
         if (o1 == 0 && onSegment(p1, q1, p2)) return true;
         if (o2 == 0 && onSegment(p1, q2, p2)) return true;
         if (o3 == 0 && onSegment(q1, p1, q2)) return true;
@@ -577,8 +577,8 @@ private static boolean onSegment(LatLng a, LatLng b, LatLng c) {
     }
 
     /**
-     * 计算点到线段的最短距离（米）。
-     * 使用局部平面近似（经纬度转米），对室内小范围足够。
+     * Computes the shortest distance from a point to a segment (meters).
+     * Uses a local planar approximation (lat/lng converted to meters), which is sufficient for small indoor areas.
      */
     private static double distancePointToSegmentMeters(LatLng p, LatLng a, LatLng b) {
         LatLng nearest = projectPointToSegment(p, a, b);
@@ -792,8 +792,8 @@ private static double angularDifference(double a, double b) {
     }
 
     /**
-     * 把经纬度转换为以 reference 为原点的局部米坐标。
-     * 返回 [xMeters, yMeters]
+     * Converts lat/lng to local meter coordinates with reference as the origin.
+     * Returns [xMeters, yMeters]
      */
     private static double[] toLocalMeters(LatLng point, LatLng reference) {
         double latRad = Math.toRadians(reference.latitude);
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java
index 5fcd968f..f36d5b7c 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java
@@ -5,14 +5,14 @@
 import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
 
 /**
- * 表示一次 map matching 所需的完整输入。
+ * Represents the full input required for one map-matching pass.
  *
- * 这里同时区分：
- * - sourceFloorShapes: 当前“实际所在楼层”用于墙体/楼梯/电梯约束的地图
- * - targetFloorShapes: 候选目标楼层地图（例如 replay 推断出即将上/下到的楼层）
+ * This explicitly distinguishes between:
+ * - sourceFloorShapes: the map of the actual current floor used for wall/stairs/lift constraints
+ * - targetFloorShapes: the candidate target-floor map (for example, a replay-predicted next floor)
  *
- * 这样在发生楼层切换尝试时，就不会错误地拿“目标楼层的楼梯位置”
- * 去给“当前楼层”的切换放行。
+ * This prevents the code from mistakenly using the stairs on the target floor
+ * to approve a transition on the current floor.
  */
 public class MapMatchingInput {
 
@@ -72,7 +72,7 @@ public FloorplanApiClient.FloorShapes getTargetFloorShapes() {
     }
 
     /**
-     * 兼容旧调用：active floor 默认视为 target floor。
+     * Compatibility for old callers: active floor defaults to target floor.
      */
     @Nullable
     public FloorplanApiClient.FloorShapes getActiveFloorShapes() {
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingResult.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingResult.java
index 2028ea2e..25288c70 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingResult.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingResult.java
@@ -3,7 +3,7 @@
 import com.google.android.gms.maps.model.LatLng;
 
 /**
- * 表示一次地图匹配后的输出结果。
+ * Represents the output of one map-matching pass.
  */
 public class MapMatchingResult {
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
index bd89104a..f8ffb56a 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java
@@ -7,41 +7,41 @@
 import com.openpositioning.PositionMe.data.remote.FloorplanApiClient;
 
 /**
- * 3.2 Map Matching 的核心服务类。
+ * Core service class for Map Matching 3.2.
  *
- * 阶段四最小补丁的目标：
- * 1. 保留现有“拒绝错误”的能力（穿墙 / 错误换层）
- * 2. 增加更主动的几何修正，让结果更像“被地图改进过的位置”
+ * Goals of the stage-four minimal patch:
+ * 1. Keep the existing error-rejection behavior (wall crossing / invalid floor changes)
+ * 2. Add more active geometric correction so results look more like positions improved by the map
  *
- * 具体补充：
- * - 穿墙时，不再只会回退到 previous pose；优先投影到撞墙前最后一个合法点
- * - 合法换层时，把切层点轻量锚定到附近 stairs/lift，更像发生在真实 connector 处
+ * Specifically:
+ * - When crossing a wall, do not only fall back to the previous pose; prefer projecting to the last valid point before the wall
+ * - When a floor transition is valid, lightly anchor the transition point to nearby stairs/lift so it looks like it happened at a real connector
  */
 public class MapMatchingService {
-    // 水平位移较小时，更像 lift
-    private static final double MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS = 1.5;
-    // 楼梯换层允许有一定水平位移，但不能太大；否则多半是飘点/大跳
-    private static final double MAX_STAIRS_HORIZONTAL_DISPLACEMENT_METERS = 4.0;
-    // 位移太小时，不做穿墙检测，避免传感器抖动带来误判
+    // Smaller horizontal displacement looks more like a lift.
+    private static final double MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS = 1.2;
+    // Stair transitions can include some horizontal displacement, but not too much; otherwise it is likely drift or a large jump.
+    private static final double MAX_STAIRS_HORIZONTAL_DISPLACEMENT_METERS = 3.0;
+    // Skip wall-crossing checks for very small displacement to avoid false positives from sensor jitter.
     private static final double MIN_DISPLACEMENT_FOR_WALL_CHECK_METERS = 0.3;
-    // 明显静止/微动时，直接冻结在上一帧匹配位置，优先于 small-step pass-through
+    // For obvious idle / micro-motion, freeze at the previous matched position before using small-step pass-through.
     private static final double MAX_IDLE_FREEZE_STEP_METERS = 0.08;
-    // 穿墙恢复后，单帧允许的最大“重新贴回”位移，避免轨迹瞬移
-    private static final double MAX_RECOVERY_STEP_METERS = 0.6;
-    // connector 区域附近略放宽，但仍然限制大跳
-    private static final double MAX_RECOVERY_STEP_NEAR_CONNECTOR_METERS = 1.0;
-    // 合法换层时，对 stairs / lift 锚定的最大允许吸附距离
-    private static final double MAX_STAIRS_ANCHOR_METERS = 1.0;
-    private static final double MAX_LIFT_ANCHOR_METERS = 1.0;
-    // 切层成功时，把 XY 直接落到目标楼层 connector 内部，避免落在墙边再被轴向滑动。
-    private static final double MAX_STAIRS_LANDING_METERS = 2.0;
-    private static final double MAX_LIFT_LANDING_METERS = 1.5;
-    // 切层成功后的若干帧内，不要立刻把轨迹重新完全交回普通 wall solver；
-    // 使用一个短暂的平滑释放窗口，把 landing 点自然过渡到后续轨迹。
-    private static final int POST_TRANSITION_RELEASE_FRAMES = 3;
-    private static final double POST_TRANSITION_RELEASE_BLEND_MIN = 0.28;
-    private static final double POST_TRANSITION_RELEASE_BLEND_MAX = 0.72;
-    private static final double POST_TRANSITION_RELEASE_MAX_STEP_METERS = 0.75;
+    // Maximum one-frame reattachment distance after wall recovery to avoid teleport-like jumps.
+    private static final double MAX_RECOVERY_STEP_METERS = 0.3;
+    // Allow slightly more freedom near connector areas, but still limit large jumps.
+    private static final double MAX_RECOVERY_STEP_NEAR_CONNECTOR_METERS = 0.45;
+    // Maximum allowed snap distance when anchoring to stairs / lift during a valid floor transition.
+    private static final double MAX_STAIRS_ANCHOR_METERS = 0.5;
+    private static final double MAX_LIFT_ANCHOR_METERS = 0.4;
+    // After a successful floor transition, place XY directly inside the connector on the target floor to avoid landing next to a wall and being axis-slid again.
+    private static final double MAX_STAIRS_LANDING_METERS = 0.7;
+    private static final double MAX_LIFT_LANDING_METERS = 0.6;
+    // For a few frames after a successful floor transition, do not immediately hand the trajectory back to the normal wall solver;
+    // use a short smooth-release window to transition naturally from the landing point to the following trajectory.
+    private static final int POST_TRANSITION_RELEASE_FRAMES = 1;
+    private static final double POST_TRANSITION_RELEASE_BLEND_MIN = 0.10;
+    private static final double POST_TRANSITION_RELEASE_BLEND_MAX = 0.25;
+    private static final double POST_TRANSITION_RELEASE_MAX_STEP_METERS = 0.25;
     private static final double POST_TRANSITION_RELEASE_COMPLETE_METERS = 0.20;
     private static final double POST_TRANSITION_RELEASE_CANCEL_METERS = 6.0;
     private int consecutiveFreezeCount = 0;
@@ -133,26 +133,26 @@ public MapMatchingResult match(@NonNull MapMatchingInput input) {
                     "Micro-motion frozen (count=" + consecutiveFreezeCount + ")"
             );
         } else {
-            // escape condition
-//            if (frozen) {
-//                Log.d(TAG, "Freeze escape triggered after " + consecutiveFreezeCount + " frames");
-//            }
+
+
+
+
             consecutiveFreezeCount = 0;
         }
 
-//        if (shouldFreezeIdleMotion(previousPose, currentPose, motionDelta, nearStairs, nearLift, floorTransitionAttempt, input.getVerticalHint())) {
-//            return new MapMatchingResult(
-//                    true,
-//                    false,
-//                    nearStairs,
-//                    nearLift,
-//                    false,
-//                    previousPose.getLatLng(),
-//                    previousPose.getFloor(),
-//                    CorrectionType.NONE,
-//                    "Micro-motion frozen to suppress idle drift."
-//            );
-//        }
+
+
+
+
+
+
+
+
+
+
+
+
+
 
         if (transitionLanding != null) {
             startPostTransitionRelease(transitionLanding.landingLatLng, currentPose.getFloor());
@@ -185,12 +185,12 @@ public MapMatchingResult match(@NonNull MapMatchingInput input) {
                     false,
                     releaseResult.correctedLatLng,
                     currentPose.getFloor(),
-                    CorrectionType.SNAP_TO_VALID_AREA,
+                    releaseResult.crossedWall ? CorrectionType.SNAP_TO_VALID_AREA : CorrectionType.NONE,
                     releaseResult.debugReason
             );
         }
 
-        // 没有任何可用楼层地图时，不做墙体约束。
+        // If no floor map is available, skip wall constraints.
         if (wallCheckFloorShapes == null) {
             return new MapMatchingResult(
                     true,
@@ -205,7 +205,7 @@ public MapMatchingResult match(@NonNull MapMatchingInput input) {
             );
         }
 
-        // 穿墙检测：楼层切换尝试时优先看 source floor，避免被目标层几何误导。
+        // Wall-crossing check: during a floor-transition attempt, prefer the source floor to avoid being misled by target-floor geometry.
         if (previousPose != null && previousPose.getLatLng() != null) {
             boolean shouldCheckWall = true;
             if (motionDelta != null) {
@@ -275,10 +275,14 @@ public MapMatchingResult match(@NonNull MapMatchingInput input) {
             );
             if (!samePoint(clampedRecovery, correctedLatLng)) {
                 correctedLatLng = clampedRecovery;
+
+                // This is a soft step limiter, not a hard valid-area snap.
+                // Leave the correction type as-is unless a stronger reason already exists.
                 if (correctionType == CorrectionType.NONE) {
-                    correctionType = CorrectionType.SNAP_TO_VALID_AREA;
+                    correctionType = CorrectionType.NONE;
                 }
-                debugReason = "Large recovery jump limited to avoid instant snap-back.";
+
+                debugReason = "Large correction step limited to avoid jumping ahead of the user.";
             }
         }
 
@@ -415,14 +419,14 @@ private WallRecovery recoverFromWallCrossing(@NonNull LatLng previousLatLng,
          * Near connectors or transition areas, prefer projecting to the last valid
          * point before the wall. This is conservative and avoids aggressive XY shaping.
          */
-        if (preferProjection && lastValidPoint != null && !samePoint(lastValidPoint, previousLatLng)) {
-            return new WallRecovery(
-                    lastValidPoint,
-                    CorrectionType.SNAP_TO_VALID_AREA,
-                    "Crossed wall near connector. Projected to the last valid point before wall.",
-                    true
-            );
-        }
+//        if (preferProjection && lastValidPoint != null && !samePoint(lastValidPoint, previousLatLng)) {
+//            return new WallRecovery(
+//                    lastValidPoint,
+//                    CorrectionType.SNAP_TO_VALID_AREA,
+//                    "Crossed wall near connector. Projected to the last valid point before wall.",
+//                    true
+//            );
+//        }
 
         /*
          * Optional axis-only fallback:
@@ -503,7 +507,7 @@ private LatLng findValidDirectionMove(
                 candidate.longitude - previous.longitude
         );
 
-        double step = 0.00001; // small normalized step (tune this)
+        double step = 0.00001; // Small normalized step size.
 
         for (double offsetDeg : ANGLE_OFFSETS) {
             double angle = baseAngle + Math.toRadians(offsetDeg);
@@ -518,7 +522,7 @@ private LatLng findValidDirectionMove(
             }
         }
 
-        return previous; // fallback if all directions blocked
+        return previous; // Fallback if all directions are blocked.
     }
     @Nullable
     private LatLng anchorFloorTransition(@NonNull LatLng point,
@@ -659,16 +663,17 @@ private LatLng clampRecoveryJump(@NonNull LatLng previousLatLng,
             return candidateLatLng;
         }
 
-        double stepDistance = motionDelta.getStepDistance();
+        double actualCorrectionDistance = distanceMeters(previousLatLng, candidateLatLng);
+
         double maxAllowedStep = nearConnector
                 ? MAX_RECOVERY_STEP_NEAR_CONNECTOR_METERS
                 : MAX_RECOVERY_STEP_METERS;
 
-        if (stepDistance <= maxAllowedStep) {
+        if (actualCorrectionDistance <= maxAllowedStep) {
             return candidateLatLng;
         }
 
-        double ratio = maxAllowedStep / Math.max(stepDistance, 1e-6);
+        double ratio = maxAllowedStep / Math.max(actualCorrectionDistance, 1e-6);
         double latitude = previousLatLng.latitude
                 + (candidateLatLng.latitude - previousLatLng.latitude) * ratio;
         double longitude = previousLatLng.longitude
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MotionDelta.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MotionDelta.java
index 1ec4d15f..f12763c4 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MotionDelta.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MotionDelta.java
@@ -1,7 +1,7 @@
 package com.openpositioning.PositionMe.mapmatching;
 
 /**
- * 表示相邻两次位置更新之间的运动增量。
+ * Represents the motion delta between two consecutive position updates.
  */
 public class MotionDelta {
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalTransitionHint.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalTransitionHint.java
index 3a718a19..71eb1108 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalTransitionHint.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalTransitionHint.java
@@ -1,7 +1,7 @@
 package com.openpositioning.PositionMe.mapmatching;
 
 /**
- * 表示由高度/气压估计得到的楼层变化提示。
+ * Represents a floor-change hint estimated from height / barometer data.
  */
 public class VerticalTransitionHint {
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java
index b4c1169f..212b97f8 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java
@@ -8,6 +8,7 @@
 import android.widget.ScrollView;
 import android.widget.TextView;
 
+import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.appcompat.app.AlertDialog;
 import androidx.appcompat.app.AppCompatActivity;
@@ -28,6 +29,12 @@
 import java.util.Locale;
 import android.util.Log;
 
+import android.graphics.Typeface;
+import android.os.Build;
+import android.text.Layout;
+import android.util.TypedValue;
+import android.graphics.text.LineBreaker;
+
 
 /**
  * The RecordingActivity manages the recording flow of the application, guiding the user through a sequence
@@ -99,16 +106,20 @@ protected void onPause() {
     /**
      * Shows the per-session recording setup dialog.
      *
-     * This dialog now configures two things before the user enters the normal
-     * start-location flow:
+     * This dialog now configures:
      * 1. the trajectory name to be stored in the recording payload
-     * 2. the trajectory engine for this session:
-     *    - Standard PDR
-     *    - Particle filter fusion
+     * 2. whether the adaptive heading calibrator is enabled for this session
+     *
+     * Important UI clarification:
+     * - the user does NOT choose between PDR and particle fusion here
+     * - the recording screen can still display the standard PDR path for reference
+     * - if particle fusion is enabled elsewhere in the app, it will still be used
+     *   by the live fusion pipeline automatically
      *
      * Design intent:
-     * the choice is session-scoped, so the user can run one recording in normal PDR
-     * and the next one in PF mode without changing the app's persistent settings page.
+     * keep this dialog simple and focused on what the user must set per session,
+     * while explaining clearly what particle fusion does without presenting it as
+     * a confusing mode switch at the start of every recording.
      */
     private void showTrajectorySetupDialog() {
         final int outerPadding = dp(24);
@@ -124,8 +135,8 @@ private void showTrajectorySetupDialog() {
                         ViewGroup.LayoutParams.WRAP_CONTENT));
 
         TextView intro = new TextView(this);
-        intro.setText("Set up this recording before selecting the start location.");
-        intro.setTextSize(15f);
+        intro.setText("Set up this recording before starting.");
+        styleDialogParagraph(intro, 15f);
         container.addView(intro);
 
         TextInputLayout nameLayout = new TextInputLayout(this);
@@ -150,77 +161,80 @@ private void showTrajectorySetupDialog() {
         );
         nameLayout.addView(nameInput, editTextParams);
 
-        TextView modeTitle = new TextView(this);
-        modeTitle.setText("Trajectory engine");
-        modeTitle.setTextSize(16f);
-        LinearLayout.LayoutParams modeTitleParams = new LinearLayout.LayoutParams(
+        TextView fusionTitle = new TextView(this);
+        fusionTitle.setText("Trajectory display and fusion");
+        styleDialogHeading(fusionTitle);
+        LinearLayout.LayoutParams fusionTitleParams = new LinearLayout.LayoutParams(
                 ViewGroup.LayoutParams.MATCH_PARENT,
-                ViewGroup.LayoutParams.WRAP_CONTENT);
-        modeTitleParams.topMargin = sectionSpacing;
-        container.addView(modeTitle, modeTitleParams);
-
-        TextView modeSubtitle = new TextView(this);
-        modeSubtitle.setText("Choose how the live trajectory is drawn and saved during this session.");
-        modeSubtitle.setTextSize(14f);
-        container.addView(modeSubtitle);
-
-        // Session mode toggle:
-        // OFF -> standard PDR
-        // ON  -> particle filter fusion
-        //
-        // We seed the switch from the current SensorFusion session state so reopening
-        // the dialog during development/testing reflects the latest chosen mode.
-        SwitchMaterial particleFilterSwitch = new SwitchMaterial(this);
-        particleFilterSwitch.setText("Use particle filter fusion");
-        particleFilterSwitch.setChecked(SensorFusion.getInstance().isParticleFilterTrajectoryMode());
-        LinearLayout.LayoutParams switchParams = new LinearLayout.LayoutParams(
+                ViewGroup.LayoutParams.WRAP_CONTENT
+        );
+        fusionTitleParams.topMargin = sectionSpacing;
+        container.addView(fusionTitle, fusionTitleParams);
+
+        TextView fusionDescription = new TextView(this);
+        fusionDescription.setPadding(0, dp(4), 0, 0);
+        styleDialogParagraph(fusionDescription, 14f);
+
+        boolean particleFusionEnabled = SensorFusion.getInstance().isParticleFilterTrajectoryMode();
+        if (particleFusionEnabled) {
+            fusionDescription.setText(
+                    "Particle fusion is currently enabled. During recording, the app may use fused positioning " +
+                            "(for example PDR combined with WiFi/GNSS and map constraints) to improve the main estimated position. " +
+                            "The recording screen can still show the standard PDR trajectory for reference."
+            );
+        } else {
+            fusionDescription.setText(
+                    "The recording screen can show the standard PDR trajectory for reference. " +
+                            "The app uses a particle-filter-based fusion framework integrated with map matching and map constraints to improve indoor trajectory estimation."
+            );
+        }
+        container.addView(fusionDescription);
+
+        TextView noteText = new TextView(this);
+        noteText.setPadding(0, dp(8), 0, 0);
+        styleDialogParagraph(noteText, 13f);
+        noteText.setText(
+                "You do not need to choose the positioning engine here. " +
+                        "This setup only names the recording and configures session-specific heading behaviour."
+        );
+        container.addView(noteText);
+
+        TextView adaptiveHeadingTitle = new TextView(this);
+        adaptiveHeadingTitle.setText("Heading option");
+        styleDialogHeading(adaptiveHeadingTitle);
+        LinearLayout.LayoutParams adaptiveHeadingTitleParams = new LinearLayout.LayoutParams(
                 ViewGroup.LayoutParams.MATCH_PARENT,
-                ViewGroup.LayoutParams.WRAP_CONTENT);
-        switchParams.topMargin = dp(8);
-        container.addView(particleFilterSwitch, switchParams);
-
-        TextView modeDescription = new TextView(this);
-        modeDescription.setTextSize(13f);
-        modeDescription.setPadding(0, dp(4), 0, 0);
-        container.addView(modeDescription);
-
-        // Keep the explanation text in sync with the selected mode so the user
-        // understands that this changes both the live path and the saved trajectory.
-        Runnable updateModeDescription = () -> {
-            if (particleFilterSwitch.isChecked()) {
-                modeDescription.setText(
-                        "Particle filter mode: uses your fused positioning pipeline for the live path and saved trajectory. " +
-                                "This is useful when you want the path to follow WiFi/GNSS-assisted fusion rather than raw PDR only.");
-            } else {
-                modeDescription.setText(
-                        "Standard PDR mode: uses the normal pedestrian dead reckoning path directly for both display and saved trajectory.");
-            }
-        };
-        updateModeDescription.run();
-        particleFilterSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> updateModeDescription.run());
+                ViewGroup.LayoutParams.WRAP_CONTENT
+        );
+        adaptiveHeadingTitleParams.topMargin = sectionSpacing;
+        container.addView(adaptiveHeadingTitle, adaptiveHeadingTitleParams);
 
         SwitchMaterial adaptiveHeadingSwitch = new SwitchMaterial(this);
         adaptiveHeadingSwitch.setText("Use adaptive heading calibrator (QSMFI-style)");
         adaptiveHeadingSwitch.setChecked(SensorFusion.getInstance().isAdaptiveHeadingEnabled());
         LinearLayout.LayoutParams adaptiveHeadingParams = new LinearLayout.LayoutParams(
                 ViewGroup.LayoutParams.MATCH_PARENT,
-                ViewGroup.LayoutParams.WRAP_CONTENT);
-        adaptiveHeadingParams.topMargin = dp(12);
+                ViewGroup.LayoutParams.WRAP_CONTENT
+        );
+        adaptiveHeadingParams.topMargin = dp(8);
         container.addView(adaptiveHeadingSwitch, adaptiveHeadingParams);
 
         TextView adaptiveHeadingDescription = new TextView(this);
-        adaptiveHeadingDescription.setTextSize(13f);
         adaptiveHeadingDescription.setPadding(0, dp(4), 0, 0);
+        styleDialogParagraph(adaptiveHeadingDescription, 13f);
         container.addView(adaptiveHeadingDescription);
 
         Runnable updateAdaptiveHeadingDescription = () -> {
             if (adaptiveHeadingSwitch.isChecked()) {
                 adaptiveHeadingDescription.setText(
-                        "Adaptive heading mode is session-scoped and is applied before both PDR and particle-filter motion updates. " +
-                                "This keeps the PF prediction, saved path, and live map aligned to the same heading convention.");
+                        "Adaptive heading is applied for this session before motion updates. " +
+                                "This usually gives a more stable heading reference for both live positioning and the saved trajectory."
+                );
             } else {
                 adaptiveHeadingDescription.setText(
-                        "Raw heading mode uses the current rotation-vector heading directly with no adaptive absolute-yaw correction.");
+                        "Raw heading mode uses the current rotation-vector heading directly, " +
+                                "with no adaptive absolute-yaw correction."
+                );
             }
         };
         updateAdaptiveHeadingDescription.run();
@@ -235,15 +249,15 @@ private void showTrajectorySetupDialog() {
                 .create();
 
         dialog.setOnShowListener(dialogInterface -> {
-            // Keep the user-selected engine mode, but replace the name with an auto-generated one.
             dialog.getButton(AlertDialog.BUTTON_POSITIVE).setOnClickListener(v -> {
                 String name = nameInput.getText() == null ? "" : nameInput.getText().toString().trim();
                 if (name.isEmpty()) {
                     name = generateDefaultTrajectoryName();
                 }
+
                 applyTrajectorySetupAndContinue(
                         name,
-                        particleFilterSwitch.isChecked(),
+                        SensorFusion.getInstance().isParticleFilterTrajectoryMode(),
                         adaptiveHeadingSwitch.isChecked()
                 );
                 dialog.dismiss();
@@ -252,7 +266,7 @@ private void showTrajectorySetupDialog() {
             dialog.getButton(AlertDialog.BUTTON_NEGATIVE).setOnClickListener(v -> {
                 applyTrajectorySetupAndContinue(
                         generateDefaultTrajectoryName(),
-                        particleFilterSwitch.isChecked(),
+                        SensorFusion.getInstance().isParticleFilterTrajectoryMode(),
                         adaptiveHeadingSwitch.isChecked()
                 );
                 dialog.dismiss();
@@ -262,6 +276,20 @@ private void showTrajectorySetupDialog() {
         dialog.show();
     }
 
+    private void styleDialogHeading(@NonNull TextView textView) {
+        textView.setTextSize(TypedValue.COMPLEX_UNIT_SP, 16f);
+        textView.setTypeface(Typeface.DEFAULT_BOLD);
+    }
+
+    private void styleDialogParagraph(@NonNull TextView textView, float textSizeSp) {
+        textView.setTextSize(TypedValue.COMPLEX_UNIT_SP, textSizeSp);
+        textView.setTypeface(Typeface.SANS_SERIF, Typeface.NORMAL);
+
+        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
+            textView.setJustificationMode(LineBreaker.JUSTIFICATION_MODE_INTER_WORD);
+        }
+    }
+
     /**
      * Commits the session choices from the setup dialog into SensorFusion,
      * then continues into the normal start-location flow.
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
index b22f03af..f722082c 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
@@ -34,22 +34,22 @@ public class ReplayActivity extends AppCompatActivity {
      * Set to true to force replay from app assets instead of History/download file paths.
      */
     private static final boolean FORCE_REPLAY_ASSET = true;
-//等你验证完以后，如果要恢复原来正常逻辑，把它改成：false
+// After verification, change this back to false to restore the normal logic.
     /**
      * Asset file to replay. Put this file under app/src/main/assets/replay/.
      */
-    //修改验证的 asset里的 json文件
-            //1. 验证在没有楼梯和电梯干扰的平地走廊上，你的系统不会乱跳层，且底图显示稳定
+    // Asset JSON files used for verification.
+    // 1. Verify that the system does not switch floors incorrectly and that the map display remains stable on a flat corridor without stairs or lift interference.
     // private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_same_floor_turns.json";
-            //2. 一个核心功能：“不能穿墙”
+    // 2. One core feature: wall-crossing must be rejected.
     //private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_cross_wall_long_recover.json";
-            //3. false-floor-change (错误换层拒绝)
+    // 3. false-floor-change rejection.
     //private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_false_floor_change_reject.json";
-            //4.1 测试 4 - stairs-up (楼梯上楼验证)
+    // 4.1 Test 4 - stairs-up verification.
     //private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_stairs_up.json";
-            //4.2 测试4 -直线新路径 不行 轨迹有问题 运行不了
+    // 4.2 Test 4 - straight new path; currently unusable because the trajectory data is invalid.
     private static final String FORCED_ASSET_PATH = "replay/traj_2.json";
-            //5. 电梯测试
+    // 5. Lift test.
     //private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_lift_up.json";
 
     private String filePath;
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
index 37dcc183..a99827db 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java
@@ -84,6 +84,7 @@ public void bindViews(@Nullable SwitchMaterial autoFloorSwitch,
     private void attachListeners() {
         if (autoFloorSwitch != null) {
             autoFloorSwitch.setOnCheckedChangeListener((compoundButton, isChecked) -> {
+                syncLiveAutoFloorFlag(isChecked);
                 if (isChecked) {
                     startAutoFloor();
                 } else {
@@ -127,14 +128,36 @@ private void attachListeners() {
         }
     }
 
+    /**
+     * Mirrors the Auto Floor UI state into SensorFusion so the live PF pipeline
+     * knows whether floor transitions are allowed.
+     */
+    private void syncLiveAutoFloorFlag(boolean enabled) {
+        SensorFusion sensorFusion = host.getSensorFusion();
+        if (sensorFusion != null) {
+            sensorFusion.setLiveAutoFloorEnabled(enabled);
+        }
+    }
+
     public void setFloor(int newFloorIndex) {
         applyFloorInternal(newFloorIndex, true);
     }
 
+    public void displayPfOwnedFloor (int newFloorIndex){
+        applyFloorInternal(newFloorIndex,false);
+    }
+
     public void refreshCurrentFloorUi() {
         applyFloorInternal(host.getCurrentFloorIndex(), false);
     }
 
+    /**
+     * Applies a floor to the UI.
+     *
+     * Ownership split:
+     * - confirmFloor=true  -> manual/bootstrap override path, allowed to push into PF
+     * - confirmFloor=false -> PF-owned display path, must NOT push into PF
+     */
     private void applyFloorInternal(int newFloorIndex, boolean confirmFloor) {
         FloorplanApiClient.BuildingInfo selectedFloorplanBuilding = host.getSelectedFloorplanBuilding();
         IndoorMapManager indoorMapManager = host.getIndoorMapManager();
@@ -144,12 +167,24 @@ private void applyFloorInternal(int newFloorIndex, boolean confirmFloor) {
 
         int maxFloor = selectedFloorplanBuilding.getFloorShapesList().size() - 1;
         int clampedFloor = Math.max(0, Math.min(newFloorIndex, maxFloor));
+
+        // Always update the displayed/UI floor.
+        host.setCurrentFloorIndex(clampedFloor);
+
         if (confirmFloor) {
-            host.setCurrentFloorIndex(clampedFloor);
             initialFloorResolved = true;
             resetInitialFloorBootstrapState();
             syncAutoFloorAnchor();
+
+            // Only manual/bootstrap floor changes are allowed to push back into PF.
+            if (!host.isReplayModeEnabled()) {
+                SensorFusion sensorFusion = host.getSensorFusion();
+                if (sensorFusion != null) {
+                    sensorFusion.setParticleFilterFloorOverride(clampedFloor);
+                }
+            }
         }
+
         host.refreshSelectedPolygonAppearance();
 
         if (!host.isIndoorMapVisible() && !host.isActualMapVisible()) {
@@ -274,6 +309,8 @@ public void setFloorControlsVisibility(int visibility) {
         }
     }
 
+    // Auto-floor is bootstrap-only here.
+    // After startup, authoritative live floor comes from validated map matching / PF.
     public void updateFloorLabel() {
         IndoorMapManager indoorMapManager = host.getIndoorMapManager();
         if (floorLabel != null && indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
@@ -282,6 +319,14 @@ public void updateFloorLabel() {
         host.updateCalibrationUi();
     }
 
+    /**
+     * Starts initial floor bootstrap and enables live PF floor transitions.
+     *
+     * Behaviour:
+     * - bootstrap loop runs only until an initial floor is resolved or timeout hits
+     * - the Auto Floor switch still remains the authoritative permission for
+     *   later live PF floor changes
+     */
     public void startAutoFloor() {
         if (host.isReplayModeEnabled()) {
             if (autoFloorSwitch != null) {
@@ -289,32 +334,48 @@ public void startAutoFloor() {
             }
             return;
         }
+
+        syncLiveAutoFloorFlag(true);
+
         if (autoFloorHandler == null) {
             autoFloorHandler = new Handler(Looper.getMainLooper());
         }
 
-        lastCandidateFloor = Integer.MIN_VALUE;
-        lastCandidateTime = 0L;
+        stopAutoFloorBootstrap();
         resetInitialFloorBootstrapState();
         autoFloorStartMs = SystemClock.elapsedRealtime();
-
-        // Seed elevation baseline only.
         syncAutoFloorAnchor();
 
-        applyImmediateFloor();
-
         autoFloorTask = new Runnable() {
             @Override
             public void run() {
-                evaluateAutoFloor();
-                if (autoFloorHandler != null) {
-                    autoFloorHandler.postDelayed(this, AUTO_FLOOR_CHECK_INTERVAL_MS);
+                applyImmediateFloor();
+
+                if (!initialFloorResolved
+                        && !shouldForceBootstrapFallback()
+                        && autoFloorHandler != null) {
+                    autoFloorHandler.postDelayed(this, 500L);
                 }
             }
         };
+
         autoFloorHandler.post(autoFloorTask);
     }
 
+    /**
+     * Stops only the temporary bootstrap polling task.
+     *
+     * This does NOT disable the user's Auto Floor preference.
+     */
+    private void stopAutoFloorBootstrap() {
+        if (autoFloorHandler != null && autoFloorTask != null) {
+            autoFloorHandler.removeCallbacks(autoFloorTask);
+        }
+        lastCandidateFloor = Integer.MIN_VALUE;
+        lastCandidateTime = 0L;
+        resetInitialFloorBootstrapState();
+    }
+
     private boolean shouldForceBootstrapFallback() {
         if (initialFloorResolved || autoFloorStartMs <= 0L) {
             return false;
@@ -326,58 +387,42 @@ public void applyImmediateFloor() {
         if (host.isReplayModeEnabled()) {
             return;
         }
+
         SensorFusion sensorFusion = host.getSensorFusion();
         IndoorMapManager indoorMapManager = host.getIndoorMapManager();
         if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
             return;
         }
 
-        if (!initialFloorResolved) {
-            Integer bootstrapFloorIndex = resolveInitialWifiBootstrapFloorIndex(sensorFusion, indoorMapManager);
-            if (bootstrapFloorIndex != null) {
-                Log.d(TAG, "Initial floor bootstrap accepted from stable WiFi floor candidate: index=" + bootstrapFloorIndex);
-                setFloor(bootstrapFloorIndex);
-                lastCandidateFloor = bootstrapFloorIndex;
-                lastCandidateTime = SystemClock.elapsedRealtime();
-                return;
-            }
-
-            if (!shouldForceBootstrapFallback()) {
-                return;
-            }
-
-            Log.d(TAG, "Initial floor bootstrap timed out; using current visible floor as fallback baseline.");
-            initialFloorResolved = true;
-            syncAutoFloorAnchor();
-        }
-
-        Integer candidateFloorIndex = resolveAutoFloorCandidateIndex(sensorFusion, indoorMapManager);
-        if (candidateFloorIndex == null) {
+        if (initialFloorResolved) {
             return;
         }
 
-        long now = SystemClock.elapsedRealtime();
-        lastCandidateFloor = candidateFloorIndex;
-        lastCandidateTime = now;
-
-        if (candidateFloorIndex == host.getCurrentFloorIndex()) {
-            syncAutoFloorAnchor();
+        Integer bootstrapFloorIndex = resolveInitialWifiBootstrapFloorIndex(sensorFusion, indoorMapManager);
+        if (bootstrapFloorIndex != null) {
+            setFloor(bootstrapFloorIndex);
+            stopAutoFloorBootstrap();
             return;
         }
 
-        if (shouldAllowAutoFloorChange(candidateFloorIndex, sensorFusion, indoorMapManager)) {
-            setFloor(candidateFloorIndex);
-            lastCandidateTime = SystemClock.elapsedRealtime();
+        if (shouldForceBootstrapFallback()) {
+            initialFloorResolved = true;
+            syncAutoFloorAnchor();
+            stopAutoFloorBootstrap();
         }
     }
 
+    /**
+     * Fully disables auto-floor behaviour for the current session.
+     *
+     * Use this when:
+     * - the user turns the switch off
+     * - replay mode is entered
+     * - the map is reset
+     */
     public void stopAutoFloor() {
-        if (autoFloorHandler != null && autoFloorTask != null) {
-            autoFloorHandler.removeCallbacks(autoFloorTask);
-        }
-        lastCandidateFloor = Integer.MIN_VALUE;
-        lastCandidateTime = 0L;
-        resetInitialFloorBootstrapState();
+        stopAutoFloorBootstrap();
+        syncLiveAutoFloorFlag(false);
     }
 
     public boolean isAutoFloorEnabled() {
@@ -389,62 +434,7 @@ public boolean hasReliableInitialFloorFix() {
     }
 
     public void evaluateAutoFloor() {
-        if (host.isReplayModeEnabled()) {
-            return;
-        }
-        SensorFusion sensorFusion = host.getSensorFusion();
-        IndoorMapManager indoorMapManager = host.getIndoorMapManager();
-        if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
-            return;
-        }
-
-        if (!initialFloorResolved) {
-            Integer bootstrapFloorIndex = resolveInitialWifiBootstrapFloorIndex(sensorFusion, indoorMapManager);
-            if (bootstrapFloorIndex != null) {
-                Log.d(TAG, "Initial floor bootstrap accepted from stable WiFi floor candidate during evaluation: index=" + bootstrapFloorIndex);
-                setFloor(bootstrapFloorIndex);
-                lastCandidateFloor = bootstrapFloorIndex;
-                lastCandidateTime = SystemClock.elapsedRealtime();
-                return;
-            }
-
-            if (!shouldForceBootstrapFallback()) {
-                return;
-            }
-
-            Log.d(TAG, "Initial floor bootstrap timed out during evaluation; using current visible floor as fallback baseline.");
-            initialFloorResolved = true;
-            syncAutoFloorAnchor();
-        }
-
-        Integer candidateFloorIndex = resolveAutoFloorCandidateIndex(sensorFusion, indoorMapManager);
-        if (candidateFloorIndex == null) {
-            return;
-        }
-
-        if (candidateFloorIndex == host.getCurrentFloorIndex()) {
-            lastCandidateFloor = candidateFloorIndex;
-            lastCandidateTime = SystemClock.elapsedRealtime();
-            syncAutoFloorAnchor();
-            return;
-        }
-
-        if (!shouldAllowAutoFloorChange(candidateFloorIndex, sensorFusion, indoorMapManager)) {
-            lastCandidateFloor = candidateFloorIndex;
-            lastCandidateTime = SystemClock.elapsedRealtime();
-            return;
-        }
-
-        long now = SystemClock.elapsedRealtime();
-        if (candidateFloorIndex != lastCandidateFloor) {
-            lastCandidateFloor = candidateFloorIndex;
-            lastCandidateTime = now;
-            return;
-        }
-        if (now - lastCandidateTime >= AUTO_FLOOR_DEBOUNCE_MS) {
-            setFloor(candidateFloorIndex);
-            lastCandidateTime = SystemClock.elapsedRealtime();
-        }
+        applyImmediateFloor();
     }
 
     @Nullable
@@ -482,7 +472,7 @@ private Integer resolveAutoFloorCandidateIndex(@Nullable SensorFusion sensorFusi
      */
     @Nullable
     public Integer peekTrackingFloorCandidateIndex() {
-        if (host.isReplayModeEnabled()) {
+        if (host.isReplayModeEnabled() || initialFloorResolved) {
             return null;
         }
 
@@ -492,20 +482,7 @@ public Integer peekTrackingFloorCandidateIndex() {
             return null;
         }
 
-        Integer rawCandidateFloorIndex = resolveAutoFloorCandidateIndex(sensorFusion, indoorMapManager);
-        if (rawCandidateFloorIndex == null) {
-            return null;
-        }
-
-        if (sensorFusion.getLatLngWifiPositioning() != null) {
-            return initialFloorResolved ? rawCandidateFloorIndex : null;
-        }
-
-        if (shouldAllowAutoFloorChange(rawCandidateFloorIndex, sensorFusion, indoorMapManager)) {
-            return rawCandidateFloorIndex;
-        }
-
-        return null;
+        return resolveInitialWifiBootstrapFloorIndex(sensorFusion, indoorMapManager);
     }
 
     private void resetInitialFloorBootstrapState() {
@@ -514,10 +491,14 @@ private void resetInitialFloorBootstrapState() {
         pendingInitialWifiSamples = 0;
     }
 
+    /**
+     * Debug string for floor-control state.
+     */
     @NonNull
     public String getAutoFloorDebugSummary() {
         SensorFusion sensorFusion = host.getSensorFusion();
-        return "autoFloor=" + isAutoFloorEnabled()
+        return "autoFloorUi=" + isAutoFloorEnabled()
+                + " livePfAutoFloor=" + (sensorFusion != null && sensorFusion.isLiveAutoFloorEnabled())
                 + " initResolved=" + initialFloorResolved
                 + " currentFloorIndex=" + host.getCurrentFloorIndex()
                 + " candidateFloor=" + lastCandidateFloor
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
index 92de4b8f..29e00ef3 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java
@@ -17,7 +17,6 @@
 import com.openpositioning.PositionMe.mapmatching.MapMatchingResult;
 import com.openpositioning.PositionMe.mapmatching.MapMatchingService;
 import com.openpositioning.PositionMe.mapmatching.MotionDelta;
-import com.openpositioning.PositionMe.mapmatching.VerticalMotionDetector;
 import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
 import com.openpositioning.PositionMe.utils.IndoorMapManager;
@@ -25,15 +24,20 @@
 import java.util.List;
 import java.util.Locale;
 
+/**
+ * MapMatchingCoordinator
+ *
+ * Cleaned responsibility:
+ * - REPLAY ONLY
+ * - owns replay map matching state
+ * - owns replay floor replay-context interpretation
+ * - does NOT own live WiFi/GNSS correction
+ * - does NOT own live fused trajectory generation
+ *
+ * Live fused pose is now owned by ParticleFilterManager.
+ */
 final class MapMatchingCoordinator {
 
-    private static final double WIFI_MAX_PULL_METERS = 6.0;
-    private static final double GNSS_MAX_PULL_METERS = 10.0;
-    private static final double WIFI_BLEND_RATIO = 0.45;
-    private static final double GNSS_BLEND_RATIO = 0.20;
-    private static final double MAX_OBSERVATION_RESIDUAL_METERS = 25.0;
-
-
     interface Host {
         @Nullable GoogleMap getGoogleMap();
         @NonNull Context requireContext();
@@ -43,7 +47,6 @@ interface Host {
         boolean isReplayModeEnabled();
         @Nullable SensorFusion getSensorFusion();
         @Nullable Integer getTrackingCandidateFloorIndex();
-        @Nullable Integer getStableFusionFloorIndex();
         int getCurrentFloorIndex();
         void setFloor(int floorIndex);
         boolean isAutoFloorEnabled();
@@ -64,10 +67,10 @@ interface Host {
 
     private final Host host;
     private final MapMatchingService mapMatchingService = new MapMatchingService();
-    private final VerticalMotionDetector verticalMotionDetector = new VerticalMotionDetector();
 
     @Nullable
     private CandidatePose previousMatchedPose;
+
     @Nullable
     private Integer replaySyntheticFloor;
     @Nullable
@@ -80,43 +83,53 @@ interface Host {
     @Nullable
     private Integer replayBaseFloorIndex;
     private boolean replayDisplayFloorInitialized = false;
+
     @NonNull
-    private String latestDebugStatus = "abs:none  src:idle\n"
-            + "floor d/c/m: -/-/-\n"
-            + "vertical: steady Δ0.00m\n"
-            + "correction: NONE\n"
-            + "Waiting for updates";
+    private String latestDebugStatus = defaultDebugStatus();
 
     MapMatchingCoordinator(@NonNull Host host) {
         this.host = host;
     }
 
+    /**
+     * Returns the latest replay debug text.
+     */
     @NonNull
     String getLatestDebugStatus() {
         return latestDebugStatus;
     }
 
+    /**
+     * Called when replay mode toggles.
+     */
     void onReplayModeChanged(boolean enabled) {
         previousMatchedPose = null;
         mapMatchingService.resetTransientState();
-        verticalMotionDetector.reset();
         host.getTrajectoryRenderer().clearRawReplayPath();
         clearReplayContext(true);
         latestDebugStatus = defaultDebugStatus();
+
         if (enabled) {
             replayDisplayFloorInitialized = false;
         }
     }
 
+    /**
+     * Called when the selected building changes.
+     *
+     * Replay state is per-building, so this must reset it.
+     */
     void onSelectedBuildingChanged() {
         previousMatchedPose = null;
         mapMatchingService.resetTransientState();
-        verticalMotionDetector.reset();
         host.getTrajectoryRenderer().clearRawReplayPath();
         clearReplayContext(true);
         latestDebugStatus = defaultDebugStatus();
     }
 
+    /**
+     * Supplies replay frame context without initial-floor override.
+     */
     void setReplayFrameContext(@Nullable Integer syntheticFloor,
                                @Nullable Double currentElevation,
                                @Nullable Double deltaHeight,
@@ -124,6 +137,9 @@ void setReplayFrameContext(@Nullable Integer syntheticFloor,
         setReplayFrameContext(syntheticFloor, currentElevation, deltaHeight, heightChanged, null);
     }
 
+    /**
+     * Supplies replay frame context including optional initial-floor override.
+     */
     void setReplayFrameContext(@Nullable Integer syntheticFloor,
                                @Nullable Double currentElevation,
                                @Nullable Double deltaHeight,
@@ -133,12 +149,15 @@ void setReplayFrameContext(@Nullable Integer syntheticFloor,
         replayCurrentElevation = currentElevation;
         replayDeltaHeight = deltaHeight;
         replayHeightChanged = heightChanged;
+
         if (initialFloor != null && (replayInitialFloor == null || !initialFloor.equals(replayInitialFloor))) {
             replayBaseFloorIndex = null;
             replayDisplayFloorInitialized = false;
         }
+
         replayInitialFloor = initialFloor;
         maybeInitializeReplayDisplayFloor();
+
         Log.d(host.getTag(), String.format(Locale.US,
                 "Replay frame context initialFloor=%s syntheticFloor=%s elevation=%s deltaHeight=%s heightChanged=%s",
                 String.valueOf(initialFloor),
@@ -148,54 +167,44 @@ void setReplayFrameContext(@Nullable Integer syntheticFloor,
                 String.valueOf(heightChanged)));
     }
 
-    void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
+    /**
+     * Updates the replay location.
+     *
+     * Important:
+     * - in live mode this coordinator does nothing meaningful anymore
+     * - in replay mode it performs replay map matching only
+     */
+    void updateUserLocation(@NonNull LatLng newLocation, float orientationDeg) {
         if (host.getGoogleMap() == null) {
             return;
         }
 
+        if (!host.isReplayModeEnabled()) {
+            latestDebugStatus = "Replay map matching only\nLive path bypasses coordinator";
+            return;
+        }
+
         long timestampMs = SystemClock.elapsedRealtime();
-        boolean replayMode = host.isReplayModeEnabled();
         LatLng rawLocation = newLocation;
-        host.getTrajectoryRenderer().appendRawObservationPoint(rawLocation);
 
-        final int candidateFloorIndex = replayMode
-                ? resolveReplayCandidateFloorIndex()
-                : resolveLiveCandidateFloorIndex();
-        final int previousStateFloor = previousMatchedPose != null
+        int candidateFloorIndex = resolveReplayCandidateFloorIndex();
+        int sourceFloorIndex = previousMatchedPose != null
                 ? previousMatchedPose.getFloor()
                 : candidateFloorIndex;
-        final Integer stableFusionFloor = replayMode ? null : host.getStableFusionFloorIndex();
-        final int sourceFloorIndex;
-        if (!replayMode
-                && stableFusionFloor != null
-                && previousMatchedPose != null
-                && stableFusionFloor != previousMatchedPose.getFloor()
-                && candidateFloorIndex == stableFusionFloor) {
-            sourceFloorIndex = stableFusionFloor;
-        } else {
-            sourceFloorIndex = previousStateFloor;
-        }
 
-        final AbsoluteObservationCorrection absoluteCorrection = replayMode
-                ? AbsoluteObservationCorrection.passThrough(rawLocation, "replay_pdr")
-                : applyAbsoluteObservationCorrection(rawLocation, candidateFloorIndex);
-        SensorFusion sensorFusion = host.getSensorFusion();
-        if (!replayMode && sensorFusion != null) {
-            host.getTrajectoryRenderer().updateWifi(sensorFusion.getLatLngWifiPositioning());
-        }
-        LatLng candidateLatLng = absoluteCorrection.getCorrectedLatLng();
         FloorplanApiClient.FloorShapes sourceFloorShapes = getFloorShapesForFloorIndex(sourceFloorIndex);
         FloorplanApiClient.FloorShapes targetFloorShapes = getFloorShapesForFloorIndex(candidateFloorIndex);
+
         CandidatePose currentCandidatePose = new CandidatePose(
-                candidateLatLng,
+                rawLocation,
                 candidateFloorIndex,
                 timestampMs,
-                absoluteCorrection.getPoseSource()
+                "replay_pdr"
         );
 
-        MotionDelta motionDelta = buildMotionDelta(previousMatchedPose, candidateLatLng, orientation);
-        VerticalTransitionHint verticalHint = buildVerticalTransitionHint(timestampMs);
-        logVerticalHintDiagnostics(verticalHint, replayMode, candidateFloorIndex);
+        MotionDelta motionDelta = buildMotionDelta(previousMatchedPose, rawLocation, orientationDeg);
+        VerticalTransitionHint verticalHint = buildReplayVerticalHint();
+
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
         String activeBuildingId = selectedBuilding != null
                 ? host.resolveKnownBuildingKey(selectedBuilding, selectedBuilding.getName())
@@ -212,39 +221,18 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         );
 
         MapMatchingResult matchingResult = mapMatchingService.match(matchingInput);
+
         LatLng matchedLocation = matchingResult.getCorrectedLatLng() != null
                 ? matchingResult.getCorrectedLatLng()
                 : rawLocation;
+
         int matchedFloor = matchingResult.getCorrectedFloor();
-        int floorForState = replayMode
-                ? resolveReplayDisplayFloor(matchedFloor)
-                : matchedFloor;
+        int displayFloor = resolveReplayDisplayFloor(matchedFloor);
 
         logFeatureValidation(rawLocation, matchingResult);
-        logAbsoluteObservationDiagnostics(rawLocation, absoluteCorrection);
-        Log.d(host.getTestLogTag(), String.format(Locale.US,
-                "raw=(%.6f, %.6f) candidate=(%.6f, %.6f) matched=(%.6f, %.6f) sourceFloor=%d candidateFloor=%d matchedFloor=%d displayFloor=%d autoFloorEnabled=%s candidateSource=%s correction=%s reason=%s",
-                rawLocation.latitude,
-                rawLocation.longitude,
-                candidateLatLng.latitude,
-                candidateLatLng.longitude,
-                matchedLocation.latitude,
-                matchedLocation.longitude,
-                sourceFloorIndex,
-                candidateFloorIndex,
-                matchedFloor,
-                floorForState,
-                String.valueOf(host.isAutoFloorEnabled()),
-                absoluteCorrection.getPoseSource(),
-                matchingResult.getCorrectionType() != null
-                        ? matchingResult.getCorrectionType().name()
-                        : CorrectionType.NONE.name(),
-                matchingResult.getDebugReason()));
 
         latestDebugStatus = buildDebugStatus(
-                absoluteCorrection.getObservationSource(),
-                absoluteCorrection.getPoseSource(),
-                floorForState,
+                displayFloor,
                 candidateFloorIndex,
                 matchedFloor,
                 verticalHint,
@@ -254,40 +242,27 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         LatLng oldLocation = host.getCurrentLocation();
         host.setCurrentLocation(matchedLocation);
 
-        boolean rejectedOnlyDueToWeakVerticalEvidence =
-                matchingResult.getCorrectionType() == CorrectionType.INVALID_FLOOR_CHANGE
-                        && matchingResult.getDebugReason() != null
-                        && matchingResult.getDebugReason().toLowerCase(Locale.US)
-                        .contains("no reliable vertical evidence");
-
-        boolean shouldResyncStateFromFusion = !replayMode
-                && stableFusionFloor != null
-                && stableFusionFloor == candidateFloorIndex
-                && candidateFloorIndex != sourceFloorIndex
-                && rejectedOnlyDueToWeakVerticalEvidence;
-
-        if (shouldResyncStateFromFusion) {
-            floorForState = stableFusionFloor;
-        }
-
         previousMatchedPose = new CandidatePose(
                 matchedLocation,
-                floorForState,
+                displayFloor,
                 timestampMs,
-                replayMode ? "replay_map_state" : "map_matched"
+                "replay_map_state"
         );
 
-        if (replayMode) {
-            applyReplayDisplayFloorIfNeeded(floorForState);
-        }
+        applyReplayDisplayFloorIfNeeded(displayFloor);
 
-        boolean shouldFollowCamera = replayMode;
-        float savedZoom = 19f;
-        Context context = host.requireContext();
-        savedZoom = context.getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
+        float savedZoom = host.requireContext()
+                .getSharedPreferences("MapCameraState", Context.MODE_PRIVATE)
                 .getFloat("user_selected_zoom", 19f);
 
-        host.getTrajectoryRenderer().updateCurrentPosition(context, matchedLocation, orientation, shouldFollowCamera, savedZoom);
+        host.getTrajectoryRenderer().updateCurrentPosition(
+                host.requireContext(),
+                matchedLocation,
+                orientationDeg,
+                true,
+                savedZoom
+        );
+
         host.getTrajectoryRenderer().appendMatchedLocation(oldLocation, matchedLocation);
 
         IndoorMapManager indoorMapManager = host.getIndoorMapManager();
@@ -301,27 +276,36 @@ void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         }
     }
 
+    /**
+     * Fully resets replay-side map matching state.
+     */
     void resetMapMatchingState() {
         previousMatchedPose = null;
         mapMatchingService.resetTransientState();
-        verticalMotionDetector.reset();
         host.getTrajectoryRenderer().clearRawReplayPath();
         clearReplayContext(true);
         latestDebugStatus = defaultDebugStatus();
     }
 
+    /**
+     * Clears replay frame context.
+     */
     private void clearReplayContext(boolean clearBaseFloorState) {
         replaySyntheticFloor = null;
         replayCurrentElevation = null;
         replayDeltaHeight = null;
         replayHeightChanged = false;
         replayInitialFloor = null;
+
         if (clearBaseFloorState) {
             replayBaseFloorIndex = null;
             replayDisplayFloorInitialized = false;
         }
     }
 
+    /**
+     * Returns floor shapes for a given floor index.
+     */
     @Nullable
     private FloorplanApiClient.FloorShapes getFloorShapesForFloorIndex(int floorIndexForMatching) {
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
@@ -335,144 +319,22 @@ private FloorplanApiClient.FloorShapes getFloorShapesForFloorIndex(int floorInde
             maybeInitializeReplayDisplayFloor();
         }
 
-        int safeFloorIndex = Math.max(0, Math.min(floorIndexForMatching, selectedBuilding.getFloorShapesList().size() - 1));
-        return selectedBuilding.getFloorShapesList().get(safeFloorIndex);
-    }
-
-    private int resolveLiveCandidateFloorIndex() {
-        Integer trackingCandidateFloorIndex = host.getTrackingCandidateFloorIndex();
-        if (trackingCandidateFloorIndex != null) {
-            return trackingCandidateFloorIndex;
-        }
-
-        Integer fusionFloorIndex = host.getStableFusionFloorIndex();
-        if (fusionFloorIndex != null) {
-            return fusionFloorIndex;
-        }
-
-        if (previousMatchedPose != null) {
-            return previousMatchedPose.getFloor();
-        }
-
-        return host.getCurrentFloorIndex();
-    }
-
-    @NonNull
-    private AbsoluteObservationCorrection applyAbsoluteObservationCorrection(@NonNull LatLng rawLocation,
-                                                                             int candidateFloorIndex) {
-        SensorFusion sensorFusion = host.getSensorFusion();
-        if (sensorFusion == null) {
-            return AbsoluteObservationCorrection.passThrough(rawLocation, "live_pdr");
-        }
-
-        LatLng wifiObservation = sensorFusion.getLatLngWifiPositioning();
-        if (isUsableObservation(wifiObservation)) {
-            double rawDistanceMeters = distanceMeters(rawLocation, wifiObservation);
-            if (rawDistanceMeters <= MAX_OBSERVATION_RESIDUAL_METERS) {
-                double blendRatio = previousMatchedPose == null ? 0.70 : WIFI_BLEND_RATIO;
-                double maxPullMeters = previousMatchedPose == null ? WIFI_MAX_PULL_METERS * 2.0 : WIFI_MAX_PULL_METERS;
-                LatLng blended = blendTowardObservation(rawLocation, wifiObservation, blendRatio, maxPullMeters);
-                return new AbsoluteObservationCorrection(blended, "live_wifi_fused", "wifi", rawDistanceMeters);
-            }
-        }
-
-        if (!isIndoorContextActive()) {
-            LatLng gnssObservation = getGnssObservation(sensorFusion);
-            if (isUsableObservation(gnssObservation)) {
-                double rawDistanceMeters = distanceMeters(rawLocation, gnssObservation);
-                if (rawDistanceMeters <= MAX_OBSERVATION_RESIDUAL_METERS) {
-                    double blendRatio = previousMatchedPose == null ? 0.25 : 0.10;
-                    double maxPullMeters = previousMatchedPose == null ? 4.0 : 2.0;
-                    LatLng blended = blendTowardObservation(rawLocation, gnssObservation, blendRatio, maxPullMeters);
-                    return new AbsoluteObservationCorrection(blended, "live_gnss_fused", "gnss", rawDistanceMeters);
-                }
-            }
-        }
-
-        return AbsoluteObservationCorrection.passThrough(rawLocation, "live_pdr");
-    }
-
-    private void logAbsoluteObservationDiagnostics(@NonNull LatLng rawLocation,
-                                                   @NonNull AbsoluteObservationCorrection correction) {
-        if (!correction.hasExternalObservation()) {
-            Log.d(host.getTestLogTag(), String.format(Locale.US,
-                    "ABSOLUTE_UPDATE source=none raw=(%.6f, %.6f) candidate=(%.6f, %.6f)",
-                    rawLocation.latitude,
-                    rawLocation.longitude,
-                    correction.getCorrectedLatLng().latitude,
-                    correction.getCorrectedLatLng().longitude));
-            return;
-        }
-
-        double appliedShiftMeters = distanceMeters(rawLocation, correction.getCorrectedLatLng());
-        Log.d(host.getTestLogTag(), String.format(Locale.US,
-                "ABSOLUTE_UPDATE source=%s residualMeters=%.2f appliedShiftMeters=%.2f candidate=(%.6f, %.6f)",
-                correction.getObservationSource(),
-                correction.getObservationResidualMeters(),
-                appliedShiftMeters,
-                correction.getCorrectedLatLng().latitude,
-                correction.getCorrectedLatLng().longitude));
-    }
-
-    @Nullable
-    private LatLng getGnssObservation(@NonNull SensorFusion sensorFusion) {
-        float[] gnss = sensorFusion.getGNSSLatitude(false);
-        if (gnss == null || gnss.length < 2) {
-            return null;
-        }
-        if (gnss[0] == 0f && gnss[1] == 0f) {
-            return null;
-        }
-        return new LatLng(gnss[0], gnss[1]);
-    }
-
-    private boolean isUsableObservation(@Nullable LatLng observation) {
-        return observation != null
-                && !Double.isNaN(observation.latitude)
-                && !Double.isNaN(observation.longitude)
-                && !(observation.latitude == 0d && observation.longitude == 0d);
-    }
-
-    @NonNull
-    private LatLng blendTowardObservation(@NonNull LatLng rawLocation,
-                                          @NonNull LatLng observation,
-                                          double blendRatio,
-                                          double maxPullMeters) {
-        LatLng blended = interpolate(rawLocation, observation, blendRatio);
-        double appliedShiftMeters = distanceMeters(rawLocation, blended);
-        if (appliedShiftMeters <= maxPullMeters) {
-            return blended;
-        }
-        double limitedRatio = maxPullMeters / Math.max(appliedShiftMeters, 1e-6d);
-        return interpolate(rawLocation, blended, limitedRatio);
-    }
-
-    @NonNull
-    private LatLng interpolate(@NonNull LatLng from, @NonNull LatLng to, double ratio) {
-        double clampedRatio = Math.max(0d, Math.min(1d, ratio));
-        return new LatLng(
-                from.latitude + (to.latitude - from.latitude) * clampedRatio,
-                from.longitude + (to.longitude - from.longitude) * clampedRatio
+        int safeFloorIndex = Math.max(
+                0,
+                Math.min(floorIndexForMatching, selectedBuilding.getFloorShapesList().size() - 1)
         );
-    }
 
-    private double distanceMeters(@NonNull LatLng from, @NonNull LatLng to) {
-        float[] results = new float[1];
-        Location.distanceBetween(
-                from.latitude,
-                from.longitude,
-                to.latitude,
-                to.longitude,
-                results
-        );
-        return results[0];
+        return selectedBuilding.getFloorShapesList().get(safeFloorIndex);
     }
 
+    /**
+     * Builds motion delta between replay frames.
+     */
     @Nullable
     private MotionDelta buildMotionDelta(@Nullable CandidatePose previousPose,
                                          @NonNull LatLng rawLocation,
-                                         float orientation) {
-        if (previousPose == null) {
+                                         float orientationDeg) {
+        if (previousPose == null || previousPose.getLatLng() == null) {
             return null;
         }
 
@@ -487,59 +349,32 @@ private MotionDelta buildMotionDelta(@Nullable CandidatePose previousPose,
 
         double deltaX = rawLocation.longitude - previousPose.getLatLng().longitude;
         double deltaY = rawLocation.latitude - previousPose.getLatLng().latitude;
-        return new MotionDelta(deltaX, deltaY, results[0], orientation);
-    }
-
-    @Nullable
-    private VerticalTransitionHint buildVerticalTransitionHint(long timestampMs) {
-        if (!host.isReplayModeEnabled()) {
-            SensorFusion sensorFusion = host.getSensorFusion();
-            if (sensorFusion == null) {
-                return null;
-            }
-
-            double elevationMeters = sensorFusion.getElevation();
-            boolean elevatorLikely = sensorFusion.getElevator();
-            verticalMotionDetector.addSample(timestampMs, elevationMeters, elevatorLikely);
-            return verticalMotionDetector.buildHint();
-        }
-        return buildReplayVerticalHint();
-    }
-
-    private void logVerticalHintDiagnostics(@Nullable VerticalTransitionHint verticalHint,
-                                            boolean replayMode,
-                                            int candidateFloorIndex) {
-        if (verticalHint == null) {
-            Log.d(host.getTestLogTag(), String.format(Locale.US,
-                    "VERTICAL_HINT source=%s candidateFloor=%d available=false",
-                    replayMode ? "replay" : "live",
-                    candidateFloorIndex));
-            return;
-        }
 
-        Log.d(host.getTestLogTag(), String.format(Locale.US,
-                "VERTICAL_HINT source=%s candidateFloor=%d available=true elevation=%.2f deltaHeight=%.2f heightChanged=%s",
-                replayMode ? "replay" : "live",
-                candidateFloorIndex,
-                verticalHint.getCurrentElevation(),
-                verticalHint.getDeltaHeight(),
-                String.valueOf(verticalHint.isHeightChanged())));
+        return new MotionDelta(deltaX, deltaY, results[0], orientationDeg);
     }
 
+    /**
+     * Builds replay vertical hint directly from replay frame context.
+     */
     @Nullable
     private VerticalTransitionHint buildReplayVerticalHint() {
         if (!host.isReplayModeEnabled()) {
             return null;
         }
+
         if (replayCurrentElevation == null && replayDeltaHeight == null && !replayHeightChanged) {
             return null;
         }
 
         double currentElevation = replayCurrentElevation != null ? replayCurrentElevation : 0d;
         double deltaHeight = replayDeltaHeight != null ? replayDeltaHeight : 0d;
+
         return new VerticalTransitionHint(currentElevation, deltaHeight, replayHeightChanged);
     }
 
+    /**
+     * Resolves candidate replay floor from base floor + relative replay floor movement.
+     */
     private int resolveReplayCandidateFloorIndex() {
         Integer baseFloorIndex = resolveReplayBaseFloorIndex();
         if (!host.isReplayModeEnabled() || baseFloorIndex == null || host.getSelectedFloorplanBuilding() == null) {
@@ -561,20 +396,29 @@ private int resolveReplayCandidateFloorIndex() {
             relativeFloorOffset = replaySyntheticFloor;
         }
 
-        int targetPosition = Math.max(0, Math.min(basePosition + relativeFloorOffset, orderedFloorIndices.size() - 1));
+        int targetPosition = Math.max(
+                0,
+                Math.min(basePosition + relativeFloorOffset, orderedFloorIndices.size() - 1)
+        );
+
         return orderedFloorIndices.get(targetPosition);
     }
 
+    /**
+     * Resolves the replay base floor from initial replay metadata.
+     */
     @Nullable
     private Integer resolveReplayBaseFloorIndex() {
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
         if (!host.isReplayModeEnabled() || selectedBuilding == null) {
             return null;
         }
+
         if (replayBaseFloorIndex != null) {
             int maxFloor = Math.max(0, selectedBuilding.getFloorShapesList().size() - 1);
             return Math.max(0, Math.min(replayBaseFloorIndex, maxFloor));
         }
+
         if (replayInitialFloor == null) {
             replayBaseFloorIndex = host.getCurrentFloorIndex();
             return replayBaseFloorIndex;
@@ -590,7 +434,9 @@ private Integer resolveReplayBaseFloorIndex() {
         }
 
         for (int i = 0; i < selectedBuilding.getFloorShapesList().size(); i++) {
-            String candidateLabel = host.canonicalFloorLabel(selectedBuilding.getFloorShapesList().get(i).getDisplayName());
+            String candidateLabel = host.canonicalFloorLabel(
+                    selectedBuilding.getFloorShapesList().get(i).getDisplayName()
+            );
             if (desiredFloorLabel.equals(candidateLabel)) {
                 replayBaseFloorIndex = i;
                 return replayBaseFloorIndex;
@@ -601,38 +447,52 @@ private Integer resolveReplayBaseFloorIndex() {
         return replayBaseFloorIndex;
     }
 
+    /**
+     * True when replay frame context contains usable vertical evidence.
+     */
     private boolean hasReplayVerticalEvidence() {
         if (!host.isReplayModeEnabled()) {
             return false;
         }
+
         if (replaySyntheticFloor != null && replaySyntheticFloor != 0) {
             return true;
         }
+
         if (replayHeightChanged) {
             return true;
         }
+
         if (replayDeltaHeight != null && Math.abs(replayDeltaHeight) >= 1.0d) {
             return true;
         }
-        if (replayCurrentElevation != null && Math.abs(replayCurrentElevation) >= 1.0d) {
-            return true;
-        }
-        return false;
+
+        return replayCurrentElevation != null && Math.abs(replayCurrentElevation) >= 1.0d;
     }
 
+    /**
+     * Initialises the replay display floor the first time replay context becomes available.
+     */
     private void maybeInitializeReplayDisplayFloor() {
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
         IndoorMapManager indoorMapManager = host.getIndoorMapManager();
-        if (!host.isReplayModeEnabled() || replayDisplayFloorInitialized || selectedBuilding == null || indoorMapManager == null) {
+
+        if (!host.isReplayModeEnabled()
+                || replayDisplayFloorInitialized
+                || selectedBuilding == null
+                || indoorMapManager == null) {
             return;
         }
+
         Integer baseFloorIndex = resolveReplayBaseFloorIndex();
         if (baseFloorIndex == null) {
             return;
         }
+
         indoorMapManager.setSelectedBuilding(selectedBuilding);
         host.setFloor(baseFloorIndex);
         replayDisplayFloorInitialized = true;
+
         Log.d(host.getTag(), "Initialized replay display floor index=" + baseFloorIndex);
 
         if (previousMatchedPose != null && previousMatchedPose.getFloor() != baseFloorIndex) {
@@ -640,20 +500,25 @@ private void maybeInitializeReplayDisplayFloor() {
                     previousMatchedPose.getLatLng(),
                     baseFloorIndex,
                     previousMatchedPose.getTimestampMs(),
-                    "map_matched"
+                    "replay_map_state"
             );
         }
     }
 
+    /**
+     * Resolves the displayed replay floor.
+     */
     private int resolveReplayDisplayFloor(int replayCandidateFloorIndex) {
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
-        if (selectedBuilding == null || selectedBuilding.getFloorShapesList() == null
+        if (selectedBuilding == null
+                || selectedBuilding.getFloorShapesList() == null
                 || selectedBuilding.getFloorShapesList().isEmpty()) {
             return replayCandidateFloorIndex;
         }
 
         int maxFloor = Math.max(0, selectedBuilding.getFloorShapesList().size() - 1);
         int clampedFloor = Math.max(0, Math.min(replayCandidateFloorIndex, maxFloor));
+
         if (hasReplayVerticalEvidence()) {
             return clampedFloor;
         }
@@ -666,32 +531,45 @@ private int resolveReplayDisplayFloor(int replayCandidateFloorIndex) {
         if (baseFloorIndex != null) {
             return Math.max(0, Math.min(baseFloorIndex, maxFloor));
         }
+
         return clampedFloor;
     }
 
+    /**
+     * Applies replay display floor to the map UI if needed.
+     */
     private void applyReplayDisplayFloorIfNeeded(int targetFloorIndex) {
         FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding();
         IndoorMapManager indoorMapManager = host.getIndoorMapManager();
+
         if (!host.isReplayModeEnabled() || selectedBuilding == null || indoorMapManager == null) {
             return;
         }
 
         int maxFloor = Math.max(0, selectedBuilding.getFloorShapesList().size() - 1);
         int clampedFloor = Math.max(0, Math.min(targetFloorIndex, maxFloor));
+
         if (clampedFloor == host.getCurrentFloorIndex()) {
             return;
         }
+
         indoorMapManager.setSelectedBuilding(selectedBuilding);
         host.setFloor(clampedFloor);
     }
 
+    /**
+     * Classifies replay map matching scenario for logs.
+     */
     @NonNull
     private String classifyMapMatchingScenario(@Nullable MapMatchingResult result) {
         if (result == null) {
             return "UNKNOWN";
         }
 
-        String reason = result.getDebugReason() == null ? "" : result.getDebugReason().toLowerCase(Locale.US);
+        String reason = result.getDebugReason() == null
+                ? ""
+                : result.getDebugReason().toLowerCase(Locale.US);
+
         CorrectionType correctionType = result.getCorrectionType();
 
         if (correctionType == CorrectionType.THROUGH_WALL || result.isCrossedWall()) {
@@ -712,18 +590,27 @@ private String classifyMapMatchingScenario(@Nullable MapMatchingResult result) {
         return "01_same_floor_accept";
     }
 
+    /**
+     * Logs replay feature validation details.
+     */
     private void logFeatureValidation(@NonNull LatLng rawLocation, @Nullable MapMatchingResult result) {
         if (result == null) {
             return;
         }
 
-        LatLng matched = result.getCorrectedLatLng() != null ? result.getCorrectedLatLng() : rawLocation;
+        LatLng matched = result.getCorrectedLatLng() != null
+                ? result.getCorrectedLatLng()
+                : rawLocation;
+
         String scenario = classifyMapMatchingScenario(result);
+
         Log.d(host.getTestLogTag(), String.format(Locale.US,
                 "SCENARIO=%s raw=(%.6f, %.6f) matched=(%.6f, %.6f) matchedFloor=%d crossedWall=%s nearStairs=%s nearLift=%s floorAllowed=%s correction=%s reason=%s",
                 scenario,
-                rawLocation.latitude, rawLocation.longitude,
-                matched.latitude, matched.longitude,
+                rawLocation.latitude,
+                rawLocation.longitude,
+                matched.latitude,
+                matched.longitude,
                 result.getCorrectedFloor(),
                 String.valueOf(result.isCrossedWall()),
                 String.valueOf(result.isNearStairs()),
@@ -733,25 +620,22 @@ private void logFeatureValidation(@NonNull LatLng rawLocation, @Nullable MapMatc
                 result.getDebugReason()));
     }
 
-    private boolean isIndoorContextActive() {
-        return host.getSelectedFloorplanBuilding() != null
-                && host.getIndoorMapManager() != null;
-    }
-
-
+    /**
+     * Default replay debug state.
+     */
     @NonNull
-    private String defaultDebugStatus() {
-        return "abs:none  src:idle\n"
+    private static String defaultDebugStatus() {
+        return "Replay MM: idle\n"
                 + "floor d/c/m: -/-/-\n"
-                + "vertical: steady Δ0.00m\n"
-                + "correction: NONE\n"
-                + "Waiting for updates";
+                + "vertical: steady\n"
+                + "correction: NONE";
     }
 
+    /**
+     * Builds replay debug text for the fragment debug box.
+     */
     @NonNull
-    private String buildDebugStatus(@Nullable String absoluteSource,
-                                    @Nullable String poseSource,
-                                    int displayFloorIndex,
+    private String buildDebugStatus(int displayFloorIndex,
                                     int candidateFloorIndex,
                                     int matchedFloor,
                                     @Nullable VerticalTransitionHint verticalHint,
@@ -760,15 +644,18 @@ private String buildDebugStatus(@Nullable String absoluteSource,
                 ? result.getCorrectionType().name()
                 : CorrectionType.NONE.name();
 
-        String wifiSource = absoluteSource == null ? "none" : absoluteSource;
+        String verticalSummary = verticalHint == null
+                ? "steady"
+                : String.format(Locale.US, "Δh=%.2f changed=%s",
+                verticalHint.getDeltaHeight(),
+                String.valueOf(verticalHint.isHeightChanged()));
 
         return String.format(
                 Locale.US,
-                "WiFi src: %s\n" +
-                        "MM: %s\n" +
+                "Replay MM: %s\n" +
                         "wall=%s stairs=%s lift=%s allow=%s\n" +
-                        "floor d/pf/mm: %d/%d/%d",
-                wifiSource,
+                        "floor d/c/m: %d/%d/%d\n" +
+                        "vertical: %s",
                 correctionName,
                 String.valueOf(result.isCrossedWall()),
                 String.valueOf(result.isNearStairs()),
@@ -776,54 +663,8 @@ private String buildDebugStatus(@Nullable String absoluteSource,
                 String.valueOf(result.isFloorChangeAllowed()),
                 displayFloorIndex,
                 candidateFloorIndex,
-                matchedFloor
+                matchedFloor,
+                verticalSummary
         );
     }
-    private static final class AbsoluteObservationCorrection {
-        @NonNull
-        private final LatLng correctedLatLng;
-        @NonNull
-        private final String poseSource;
-        @Nullable
-        private final String observationSource;
-        private final double observationResidualMeters;
-
-        private AbsoluteObservationCorrection(@NonNull LatLng correctedLatLng,
-                                              @NonNull String poseSource,
-                                              @Nullable String observationSource,
-                                              double observationResidualMeters) {
-            this.correctedLatLng = correctedLatLng;
-            this.poseSource = poseSource;
-            this.observationSource = observationSource;
-            this.observationResidualMeters = observationResidualMeters;
-        }
-
-        @NonNull
-        static AbsoluteObservationCorrection passThrough(@NonNull LatLng latLng, @NonNull String poseSource) {
-            return new AbsoluteObservationCorrection(latLng, poseSource, null, 0d);
-        }
-
-        @NonNull
-        LatLng getCorrectedLatLng() {
-            return correctedLatLng;
-        }
-
-        @NonNull
-        String getPoseSource() {
-            return poseSource;
-        }
-
-        boolean hasExternalObservation() {
-            return observationSource != null;
-        }
-
-        @Nullable
-        String getObservationSource() {
-            return observationSource;
-        }
-
-        double getObservationResidualMeters() {
-            return observationResidualMeters;
-        }
-    }
-}
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
index 1fd3331f..46fa8fd8 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
@@ -46,21 +46,17 @@
 import java.util.Locale;
 
 /**
- * Fragment responsible for managing the recording process of trajectory data.
+ * RecordingFragment
  *
- * <p>The RecordingFragment serves as the interface for users to initiate, monitor,
- * and complete trajectory recording. It integrates sensor fusion data to track user
- * movement and updates a map view in real time. Additionally, it provides UI controls
- * to cancel, stop, and monitor recording progress.
+ * Live-trajectory policy in this cleaned version:
+ * - RED trajectory = PF fused pose only
+ * - BLUE trajectory = raw PDR only
+ * - No fallback from PF red trajectory to standard PDR
  *
- * <p>Features:
- * <ul>
- *     <li>Starts and stops trajectory recording.</li>
- *     <li>Displays real-time sensor data such as elevation and distance traveled.</li>
- *     <li>Provides UI controls to cancel or complete recording.</li>
- *     <li>Uses {@link TrajectoryMapFragment} to visualize recorded paths.</li>
- *     <li>Manages GNSS tracking and error display.</li>
- * </ul>
+ * Important:
+ * - raw PDR is still updated every refresh cycle for reference
+ * - PF fused pose is the only pose passed into TrajectoryMapFragment.updateUserLocation(...)
+ * - therefore map matching / map constraints / wall-stairs-lift debug are tied to the red trajectory
  */
 public class RecordingFragment extends Fragment {
 
@@ -90,7 +86,6 @@ public class RecordingFragment extends Fragment {
 
     // Child map fragment
     private TrajectoryMapFragment trajectoryMapFragment;
-    private boolean initialCameraPositionSet = false;
 
     // TCP streaming to desktop GUI
     private TcpClient tcpClient;
@@ -98,7 +93,7 @@ public class RecordingFragment extends Fragment {
     private final Handler tcpHandler = new Handler(Looper.getMainLooper());
     private boolean tcpStreamingEnabled = false;
 
-    // Autonomous initial map anchoring
+    // Autonomous initial map anchoring for raw PDR reference path
     private static final long INITIAL_ANCHOR_STABLE_DURATION_MS = 1000L;
     private static final int INITIAL_ANCHOR_REQUIRED_SAMPLES = 3;
     private static final double INITIAL_ANCHOR_MAX_JUMP_METRES = 8.0;
@@ -106,6 +101,18 @@ public class RecordingFragment extends Fragment {
     private static final long LIVE_DRAW_STATIONARY_HOLD_MS = 800L;
     private long lastLiveMovementUptimeMs = 0L;
 
+    private static final long PF_UI_STEP_INTERVAL_MS = 120L;
+    private static final float PF_UI_MIN_PDR_DELTA_METERS = 0.05f;
+    private static final double PF_UI_MIN_HEADING_DELTA_RAD = Math.toRadians(4.0);
+
+    private long lastPfUiStepElapsedMs = 0L;
+    private float lastPfUiStepPdrX = 0f;
+    private float lastPfUiStepPdrY = 0f;
+    private double lastPfUiStepHeadingRad = 0.0;
+    private boolean pfUiStepInitialised = false;
+    private static final long NO_STEP_FLOOR_EVAL_INTERVAL_MS = 800L;
+    private long lastNoStepFloorEvalElapsedMs = 0L;
+
     private enum InitialAnchorSource {
         WIFI,
         GNSS
@@ -118,7 +125,6 @@ private enum InitialAnchorSource {
     private long pendingInitialAnchorSinceMs = 0L;
     private int pendingInitialAnchorSamples = 0;
 
-
     // Test point handling
     private int testPointIndex = 0;
     private final List<TestPoint> testPoints = new ArrayList<>();
@@ -160,7 +166,6 @@ public void onViewCreated(@NonNull View view,
                               @Nullable Bundle savedInstanceState) {
         super.onViewCreated(view, savedInstanceState);
 
-        // Child fragment containing the trajectory map.
         trajectoryMapFragment = (TrajectoryMapFragment)
                 getChildFragmentManager().findFragmentById(R.id.trajectoryMapFragmentContainer);
 
@@ -172,8 +177,7 @@ public void onViewCreated(@NonNull View view,
                     .commitNow();
         }
 
-        // Try to seed the initial location immediately. If not available yet,
-        // updateUIandPosition() will keep retrying.
+        // Try to seed the initial raw-PDR anchor immediately.
         seedInitialMapLocation();
 
         // UI references
@@ -191,12 +195,10 @@ public void onViewCreated(@NonNull View view,
             testPointButton.setOnClickListener(v -> onAddTestPoint());
         }
 
-        // Default UI state
         gnssError.setVisibility(View.GONE);
         elevation.setText(getString(R.string.elevation, "0"));
         distanceTravelled.setText(getString(R.string.meter, "0"));
 
-        // Stop / complete recording
         completeButton.setOnClickListener(v -> {
             if (autoStop != null) {
                 autoStop.cancel();
@@ -255,7 +257,6 @@ public void onViewCreated(@NonNull View view,
                     .show();
         });
 
-        // Cancel button with confirmation dialog
         cancelButton.setOnClickListener(v -> {
             AlertDialog dialog = new AlertDialog.Builder(requireActivity())
                     .setTitle("Confirm Cancel")
@@ -282,6 +283,9 @@ public void onViewCreated(@NonNull View view,
         blinkingRecordingIcon();
         startTcpStreaming();
 
+        pfUiStepInitialised = false;
+        lastPfUiStepElapsedMs = 0L;
+
         if (settings.getBoolean("split_trajectory", false)) {
             long limit = settings.getInt("split_duration", 30) * 60000L;
             timeRemaining.setMax((int) (limit / 1000));
@@ -309,6 +313,7 @@ public void onFinish() {
 
     /**
      * Add a numbered test point marker at the current displayed trajectory position.
+     * This uses the current displayed location (red PF trajectory), not raw PDR.
      */
     private void onAddTestPoint() {
         if (trajectoryMapFragment == null) {
@@ -359,24 +364,12 @@ private void onAddTestPoint() {
     }
 
     /**
-     * Refreshes the recording UI and updates the live map.
-     *
-     * Initialisation behaviour:
-     * - keep waiting until WiFi or GNSS provides the first usable absolute fix
-     * - use that fix as the autonomous session anchor
-     *
-     * Tracking behaviour after initialisation:
-     * - PDR remains the primary motion source
-     * - PF mode can replace the displayed trajectory with fused output
-     * - WiFi and GNSS remain overlays / references
-     *
-     * Note:
-     * distance is intentionally accumulated from raw PDR increments, because
-     * fused absolute corrections may introduce jumps that would distort the
-     * travelled-distance metric.
+     * Refreshes UI and updates:
+     * - blue raw-PDR reference path
+     * - red PF fused trajectory only
+     * - WiFi/GNSS overlays
      */
     private void updateUIandPosition() {
-        // Keep retrying until the first autonomous WiFi/GNSS fix arrives.
         if (!initialMapLocationSeeded) {
             seedInitialMapLocation();
         }
@@ -386,13 +379,14 @@ private void updateUIandPosition() {
             return;
         }
 
-        boolean shouldAdvanceLiveTrajectory = shouldUpdateLiveTrajectory(pdrValues);
+        maybeStepParticleFilterForLiveUi();
+
+//        boolean shouldAdvanceLiveTrajectory = shouldUpdateLiveTrajectory(pdrValues);
 
-        // Capture previous raw PDR values before updating them.
         float prevX = previousPosX;
         float prevY = previousPosY;
 
-        // Distance accumulation from raw PDR only.
+        // Distance uses raw PDR increments only.
         distance += Math.sqrt(
                 Math.pow(pdrValues[0] - prevX, 2) +
                         Math.pow(pdrValues[1] - prevY, 2)
@@ -401,36 +395,24 @@ private void updateUIandPosition() {
                 getString(R.string.meter, String.format(Locale.UK, "%.2f", distance))
         );
 
+        // Blue raw-PDR path
+        if (autonomousInitialLocation != null) {
+            LatLng rawPdrLocation = UtilFunctions.calculateNewPos(autonomousInitialLocation, pdrValues);
+            trajectoryMapFragment.updateRawPdrObservation(rawPdrLocation);
+        }
+
         // Elevation display
         float elevationVal = sensorFusion.getElevation();
         elevation.setText(
                 getString(R.string.elevation, String.format(Locale.UK, "%.1f", elevationVal))
         );
 
-        // Main trajectory display mode
-        if (sensorFusion.isParticleFilterTrajectoryMode()) {
-            Log.d(TAG, String.format(
-                    Locale.UK,
-                    "LIVE_MODE=PF pdr=(%.3f, %.3f) dist=%.3f elev=%.2f advance=%s",
-                    pdrValues[0],
-                    pdrValues[1],
-                    distance,
-                    elevationVal,
-                    String.valueOf(shouldAdvanceLiveTrajectory)
-            ));
-            updateLiveMapWithParticleFilter(pdrValues, shouldAdvanceLiveTrajectory);
-        } else {
-            Log.d(TAG, String.format(
-                    Locale.UK,
-                    "LIVE_MODE=PDR pdr=(%.3f, %.3f) dist=%.3f elev=%.2f advance=%s",
-                    pdrValues[0],
-                    pdrValues[1],
-                    distance,
-                    elevationVal,
-                    String.valueOf(shouldAdvanceLiveTrajectory)
-            ));
-            updateLiveMapWithStandardPdr(pdrValues, shouldAdvanceLiveTrajectory);
-        }
+        //Let PF evaluate lift/floor transitions even if user is not moving
+        maybeEvaluateNoStepFloorChange();
+
+        // Red main trajectory = PF fused only
+        trajectoryMapFragment.setCurrentTrajectoryPlotSource("PF fused");
+        updateLiveMapWithParticleFilterOnly();
 
         // WiFi overlay
         LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
@@ -440,7 +422,7 @@ private void updateUIandPosition() {
             trajectoryMapFragment.clearWifi();
         }
 
-        // GNSS overlay and GNSS error display
+        // GNSS overlay + error against current displayed red trajectory
         float[] gnss = sensorFusion.getSensorValueMap().get(SensorTypes.GNSSLATLONG);
         if (gnss != null && trajectoryMapFragment.isGnssEnabled()) {
             LatLng gnssLocation = new LatLng(gnss[0], gnss[1]);
@@ -464,121 +446,114 @@ private void updateUIandPosition() {
             trajectoryMapFragment.clearGNSS();
         }
 
-        // Refresh live debug box
         trajectoryMapFragment.refreshLiveDebugBox();
 
-        // Update raw PDR history once, at the end of the cycle.
         previousPosX = pdrValues[0];
         previousPosY = pdrValues[1];
     }
 
-    /**
-     * Updates the map using standard PDR.
-     *
-     * The local PDR path is anchored to the first valid autonomous WiFi/GNSS fix
-     * captured at the start of recording.
-     */
-    private void updateLiveMapWithStandardPdr(@Nullable float[] pdrValues,
-                                              boolean shouldAdvanceLiveTrajectory) {
-        if (trajectoryMapFragment == null || pdrValues == null) {
+    private void maybeEvaluateNoStepFloorChange() {
+        long now = SystemClock.elapsedRealtime();
+        if (now - lastNoStepFloorEvalElapsedMs < NO_STEP_FLOOR_EVAL_INTERVAL_MS) {
             return;
         }
 
-        if (autonomousInitialLocation == null) {
-            Log.d(TAG, "PDR_BRANCH waiting for autonomous initial location");
+        lastNoStepFloorEvalElapsedMs = now;
+        sensorFusion.evaluateParticleFilterFloorChangeWithoutStep();
+    }
+
+    private void maybeStepParticleFilterForLiveUi() {
+        if (sensorFusion == null || !sensorFusion.isParticleFilterTrajectoryMode()) {
             return;
         }
 
-        LatLng currentPdrLocation = UtilFunctions.calculateNewPos(autonomousInitialLocation, pdrValues);
+        long now = SystemClock.elapsedRealtime();
+        if (now - lastPfUiStepElapsedMs < PF_UI_STEP_INTERVAL_MS) {
+            return;
+        }
 
-        Log.d(TAG, String.format(
-                Locale.UK,
-                "PDR_BRANCH using anchored PDR lat=%.6f lon=%.6f headingDeg=%.2f advance=%s",
-                currentPdrLocation.latitude,
-                currentPdrLocation.longitude,
-                Math.toDegrees(sensorFusion.passOrientation()),
-                String.valueOf(shouldAdvanceLiveTrajectory)
-        ));
+        float[] pdr = sensorFusion.getLatestPdrMovement();
+        if (pdr == null || pdr.length < 2) {
+            return;
+        }
 
-        if (shouldAdvanceLiveTrajectory || !initialCameraPositionSet) {
-            trajectoryMapFragment.updateUserLocation(
-                    currentPdrLocation,
-                    (float) Math.toDegrees(sensorFusion.passOrientation())
-            );
-        } else {
-            Log.d(TAG, "PDR_BRANCH stationary -> skipping live trajectory update");
+        double headingRad = sensorFusion.getSelectedHeadingRad();
+
+        if (!pfUiStepInitialised) {
+            pfUiStepInitialised = true;
+            lastPfUiStepElapsedMs = now;
+            lastPfUiStepPdrX = pdr[0];
+            lastPfUiStepPdrY = pdr[1];
+            lastPfUiStepHeadingRad = headingRad;
+            return;
         }
 
-        trajectoryMapFragment.updateDebugInfo(sensorFusion.passOrientation());
+        float dx = pdr[0] - lastPfUiStepPdrX;
+        float dy = pdr[1] - lastPfUiStepPdrY;
+        double deltaPdrMeters = Math.hypot(dx, dy);
+        double deltaHeadingRad = Math.abs(wrapAngle(headingRad - lastPfUiStepHeadingRad));
 
-        if (!initialCameraPositionSet) {
-            trajectoryMapFragment.setInitialCameraPosition(currentPdrLocation);
-            initialCameraPositionSet = true;
-            Log.d(TAG, "PDR_BRANCH initial camera position set from anchored PDR");
+        if (deltaPdrMeters < PF_UI_MIN_PDR_DELTA_METERS
+                && deltaHeadingRad < PF_UI_MIN_HEADING_DELTA_RAD) {
+            return;
         }
+
+        lastPfUiStepElapsedMs = now;
+        lastPfUiStepPdrX = pdr[0];
+        lastPfUiStepPdrY = pdr[1];
+        lastPfUiStepHeadingRad = headingRad;
+
+//        sensorFusion.stepParticleFilter();
+    }
+
+    private double wrapAngle(double angle) {
+        while (angle > Math.PI) angle -= 2.0 * Math.PI;
+        while (angle < -Math.PI) angle += 2.0 * Math.PI;
+        return angle;
     }
 
     /**
-     * Updates the map using the latest fused PF estimate.
+     * Updates the map using PF fused pose only.
      *
-     * If PF is enabled, the fused pose is always preferred.
-     * If fused pose is still unavailable, fall back to standard PDR
-     * so the user still sees a trajectory immediately.
+     * Important:
+     * - no fallback to standard PDR
+     * - always publishes the latest fused pose to the map fragment
+     * - duplicate fused points are naturally suppressed by the renderer
+     * - this allows floor changes / wall recovery / stationary corrections
+     *   to still appear in live UI when needed
      */
-    private void updateLiveMapWithParticleFilter(@Nullable float[] pdrValues,
-                                                 boolean shouldAdvanceLiveTrajectory) {
+    private void updateLiveMapWithParticleFilterOnly() {
         if (trajectoryMapFragment == null) {
             return;
         }
 
         FusedPose fusedPose = sensorFusion.getLatestFusedPose();
 
-        if (fusedPose == null) {
-            Log.d(TAG, "PF fused pose not ready yet; falling back to standard PDR view.");
-            updateLiveMapWithStandardPdr(pdrValues, shouldAdvanceLiveTrajectory);
+        if (fusedPose == null || fusedPose.getLatLng() == null) {
+            trajectoryMapFragment.setCurrentTrajectoryPlotSource("PF waiting");
+            Log.d(TAG, "PF fused pose not ready yet; skip red trajectory update until PF is ready.");
             return;
         }
 
-        Log.d(TAG,
-                "PF branch using fused pose: " + fusedPose.getLatLng()
-                        + ", floor=" + fusedPose.getFloor()
-                        + ", confidence=" + fusedPose.getConfidence()
-                        + ", advance=" + shouldAdvanceLiveTrajectory);
-
         if (!sensorFusion.shouldDrawLatestParticleFilterPose()) {
+            trajectoryMapFragment.setCurrentTrajectoryPlotSource("PF waiting");
             Log.d(TAG, "PF draw skipped: no meaningful PF pose available");
             return;
         }
 
-        trajectoryMapFragment.updateFusionFloorTracking(fusedPose.getFloor());
+        trajectoryMapFragment.setCurrentTrajectoryPlotSource("PF fused");
 
-        if (shouldAdvanceLiveTrajectory || !initialCameraPositionSet) {
-            trajectoryMapFragment.updateUserLocation(
-                    fusedPose.getLatLng(),
-                    (float) Math.toDegrees(fusedPose.getHeadingRad())
-            );
-        } else {
-            Log.d(TAG, "PF_BRANCH stationary -> skipping live trajectory update");
-        }
+        Log.d(TAG,
+                "PF branch using fused pose: " + fusedPose.getLatLng()
+                        + ", floor=" + fusedPose.getFloor()
+                        + ", confidence=" + fusedPose.getConfidence());
 
-        // Let map matching / floor controller own final display-floor decisions.
-        if (!trajectoryMapFragment.isAutoFloorEnabled()) {
-            Log.d(TAG, String.format(Locale.UK,
-                    "PF_BRANCH not forcing display floor=%d; map-matching flow owns floor confirmation",
-                    fusedPose.getFloor()));
-        } else {
-            Log.d(TAG, String.format(Locale.UK,
-                    "PF_BRANCH AutoFloor enabled; not forcing display floor=%d here",
-                    fusedPose.getFloor()));
-        }
+        trajectoryMapFragment.updateUserLocation(
+                fusedPose.getLatLng(),
+                (float) Math.toDegrees(fusedPose.getHeadingRad())
+        );
 
         trajectoryMapFragment.updateDebugInfo((float) fusedPose.getHeadingRad());
-
-        if (!initialCameraPositionSet) {
-            trajectoryMapFragment.setInitialCameraPosition(fusedPose.getLatLng());
-            initialCameraPositionSet = true;
-            Log.d(TAG, "PF_BRANCH initial camera position set from fused pose");
-        }
     }
 
     /**
@@ -594,14 +569,13 @@ private void blinkingRecordingIcon() {
     }
 
     /**
-     * Starts TCP streaming of live JSON packets to the desktop Python GUI.
+     * Starts TCP streaming of live JSON packets to the desktop GUI.
      */
     private void startTcpStreaming() {
         if (tcpStreamingEnabled) {
             return;
         }
 
-        // Replace with your PC IP address on the same network.
         String serverIp = "172.20.10.3";
         int serverPort = 6000;
 
@@ -628,22 +602,27 @@ private void stopTcpStreaming() {
     }
 
     /**
-     * Seeds the session using the first valid autonomous absolute fix.
+     * Seeds the raw-PDR anchor for live display.
+     *
+     * Priority:
+     * 1. user-confirmed manual start anchor
+     * 2. stored session start anchor
+     * 3. WiFi
+     * 4. GNSS
      *
-     * Required behaviour:
-     * - never use a user-selected marker as the initial position
-     * - wait for live WiFi or GNSS positioning
-     * - lock a stable usable fix as the recording anchor
+     * Important:
+     * this anchor is for the blue raw-PDR reference path only.
+     * The red fused trajectory is still owned by the PF pipeline.
      */
     private void seedInitialMapLocation() {
         if (trajectoryMapFragment == null || initialMapLocationSeeded) {
             return;
         }
 
-        LatLng initialFix = resolveAutonomousInitialLocation();
+        LatLng initialFix = sensorFusion.resolvePreferredStartAnchor();
 
         if (initialFix == null) {
-            Log.d(TAG, "Waiting for initial autonomous GNSS/WiFi position before seeding map.");
+            Log.d(TAG, "Waiting for initial preferred start anchor before seeding raw PDR path.");
             return;
         }
 
@@ -657,17 +636,46 @@ private void seedInitialMapLocation() {
 
         sensorFusion.writeInitialMetadata();
 
-        trajectoryMapFragment.setInitialCameraPosition(initialFix);
-        initialCameraPositionSet = true;
+        trajectoryMapFragment.setCurrentTrajectoryPlotSource("PF waiting");
+        tryShowInitialFusedPose();
+
+        Log.d(TAG,
+                "Live raw-PDR anchor seeded at "
+                        + initialFix.latitude + ", " + initialFix.longitude);
+    }
+
+    /**
+     * Tries to show the initial PF fused pose immediately, before the user starts moving.
+     *
+     * This does not change your live update flow.
+     * It only forces one PF initialisation attempt after the start anchor is known.
+     */
+    private void tryShowInitialFusedPose() {
+        if (trajectoryMapFragment == null) {
+            return;
+        }
+
+        sensorFusion.initialiseParticleFilterIfNeeded();
+
+        FusedPose fusedPose = sensorFusion.getLatestFusedPose();
+        if (fusedPose == null || fusedPose.getLatLng() == null) {
+            return;
+        }
+
+        trajectoryMapFragment.setCurrentTrajectoryPlotSource("PF fused");
 
         trajectoryMapFragment.updateUserLocation(
-                initialFix,
-                (float) Math.toDegrees(sensorFusion.passOrientation())
+                fusedPose.getLatLng(),
+                (float) Math.toDegrees(fusedPose.getHeadingRad())
         );
 
+        trajectoryMapFragment.updateDebugInfo((float) fusedPose.getHeadingRad());
+        trajectoryMapFragment.refreshLiveDebugBox();
+
         Log.d(TAG,
-                "STEP3_ANCHOR locked autonomous initial map location at "
-                        + initialFix.latitude + ", " + initialFix.longitude);
+                "Initial PF fused pose shown before movement: "
+                        + fusedPose.getLatLng()
+                        + ", floor=" + fusedPose.getFloor());
     }
 
     /**
@@ -685,14 +693,12 @@ private LatLng resolveAutonomousInitialLocation() {
         LatLng candidateLatLng = null;
         InitialAnchorSource candidateSource = null;
 
-        // Prefer GNSS first
         if (gnssLatLng != null
                 && gnssLatLng.length >= 2
                 && !(Math.abs(gnssLatLng[0]) < 1e-6 && Math.abs(gnssLatLng[1]) < 1e-6)) {
             candidateLatLng = new LatLng(gnssLatLng[0], gnssLatLng[1]);
             candidateSource = InitialAnchorSource.GNSS;
         } else {
-            // Fallback to WiFi only if GNSS is not ready
             LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning();
             if (isValidLatLng(wifiLatLng)) {
                 candidateLatLng = wifiLatLng;
@@ -756,10 +762,6 @@ private void resetPendingInitialAnchor(@NonNull String reason) {
         pendingInitialAnchorSamples = 0;
     }
 
-    /**
-     * Returns true only when the LatLng contains a meaningful absolute position.
-     * In this codebase, (0,0) is treated as "not initialised yet".
-     */
     private boolean isValidLatLng(@Nullable LatLng latLng) {
         if (latLng == null) {
             return false;
@@ -787,8 +789,6 @@ private boolean shouldUpdateLiveTrajectory(float[] pdrValues) {
             return true;
         }
 
-        // Allow a short grace window after the most recent real movement so the
-        // display can settle, but then freeze while stationary.
         return (now - lastLiveMovementUptimeMs) <= LIVE_DRAW_STATIONARY_HOLD_MS;
     }
 
@@ -803,8 +803,6 @@ public void run() {
             }
 
             tcpPacketSender.sendLatestPacket();
-
-            // 5 Hz
             tcpHandler.postDelayed(this, 200);
         }
     };
@@ -828,6 +826,8 @@ public void onDestroyView() {
         super.onDestroyView();
         stopTcpStreaming();
         refreshDataHandler.removeCallbacks(refreshDataTask);
+        pfUiStepInitialised = false;
+        lastPfUiStepElapsedMs = 0L;
     }
 
     /**
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
index c6ceea8a..4392db98 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
@@ -65,8 +65,8 @@ public class ReplayFragment extends Fragment {
     private int currentIndex = 0;
     private boolean isPlaying = false;
 
-    // 方案 B：Replay 启动时允许用户手动指定“绝对起始楼层”。
-    // 当原始 JSON 没有 initialFloor 时，就不再被默认 G 层带偏。
+    // Option B: allow the user to manually specify the absolute start floor when Replay starts.
+    // This avoids defaulting to floor G when the original JSON does not contain initialFloor.
     @Nullable
     private Integer manualInitialFloorOverride = null;
     private boolean hasPromptedReplayStartFloor = false;
@@ -404,23 +404,27 @@ public void run() {
 
 
     /**
-     * Update the map with the user location and GNSS location (if available) for the given index.
-     * Clears the map and redraws up to the given index.
+     * Updates replay map state for the requested frame index.
      *
-     * @param newIndex
+     * Replay policy:
+     * - replay frame context is always pushed first
+     * - replay location is then updated second
+     * - on jumps/scrubs, only replay trajectory state is cleared
+     *   (do not wipe selected building / indoor overlay / replay mode)
      */
     private void updateMapForIndex(int newIndex) {
-        if (newIndex < 0 || newIndex >= replayData.size()) return;
+        if (newIndex < 0 || newIndex >= replayData.size() || trajectoryMapFragment == null) {
+            return;
+        }
 
-        // Detect if user is playing sequentially (lastIndex + 1)
-        // or is skipping around (backwards, or jump forward)
         boolean isSequentialForward = (newIndex == lastIndex + 1);
 
         if (!isSequentialForward) {
-            // Clear everything and redraw up to newIndex
-            trajectoryMapFragment.clearMapAndReset();
+            trajectoryMapFragment.clearReplayTrajectoryOnly();
+
             for (int i = 0; i <= newIndex; i++) {
                 TrajParser.ReplayPoint p = replayData.get(i);
+
                 trajectoryMapFragment.setReplayFrameContext(
                         p.syntheticFloor,
                         p.currentElevation,
@@ -428,14 +432,18 @@ private void updateMapForIndex(int newIndex) {
                         p.heightChanged,
                         resolveReplayInitialFloor(p)
                 );
+
                 trajectoryMapFragment.updateUserLocation(p.pdrLocation, p.orientation);
+
                 if (p.gnssLocation != null) {
                     trajectoryMapFragment.updateGNSS(p.gnssLocation);
+                } else {
+                    trajectoryMapFragment.clearGNSS();
                 }
             }
         } else {
-            // Normal sequential forward step: add just the new point
             TrajParser.ReplayPoint p = replayData.get(newIndex);
+
             trajectoryMapFragment.setReplayFrameContext(
                     p.syntheticFloor,
                     p.currentElevation,
@@ -443,9 +451,13 @@ private void updateMapForIndex(int newIndex) {
                     p.heightChanged,
                     resolveReplayInitialFloor(p)
             );
+
             trajectoryMapFragment.updateUserLocation(p.pdrLocation, p.orientation);
+
             if (p.gnssLocation != null) {
                 trajectoryMapFragment.updateGNSS(p.gnssLocation);
+            } else {
+                trajectoryMapFragment.clearGNSS();
             }
         }
 
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
index 044f956a..ee2de50d 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
@@ -47,7 +47,12 @@
 import java.util.Map;
 
 /**
- * Start-location selection fragment.
+ * Start-location fragment.
+ *
+ * Design intent:
+ * - use automatic GNSS / Wi-Fi start detection by default
+ * - allow manual correction only as a fallback when the detected start is clearly wrong
+ * - let the user inspect/select the building and start floor when needed
  *
  * Keeps:
  * - nearby building outline request
@@ -55,11 +60,12 @@
  * - indoor vector preview / actual map overlay
  * - floor switching
  *
- * Adds back:
- * - draggable / tappable start marker
- * - corrected manual start anchor for recording mode
- * - clear reset flow
+ * Supports:
+ * - automatically tracked start marker before confirmation
+ * - optional manual correction of the start anchor
+ * - reset back to automatic detection
  */
+
 public class StartLocationFragment extends Fragment {
 
     private static final String TAG = "StartLocationFragment";
@@ -242,11 +248,11 @@ private void updateInstructionTextForMode() {
 
         if (isRecordingMode()) {
             instructionText.setText(
-                    "Drag the start marker to the true start point, tap a building to choose the venue, then choose the floor and confirm."
+                    "The app detects your start position from GNSS and Wi-Fi automatically. Only adjust the marker or floor if the detected start point is clearly wrong, since an inaccurate initial anchor can affect the full plotted trajectory."
             );
         } else {
             instructionText.setText(
-                    "Choose the replay start point on the map, then select the building and floor if needed."
+                    "Review the detected start position and building context before continuing. Adjust the marker or floor only if the displayed start point is clearly incorrect."
             );
         }
     }
@@ -353,6 +359,15 @@ public void onDestroyView() {
 
     /**
      * Configures the map and initial markers.
+     *
+     * Start-screen policy:
+     * - use the same preferred-start resolver as the live recording pipeline
+     * - restore manual-confirmed anchor when available
+     * - preload previously selected building/floor context if available
+     *
+     * Important:
+     * the marker only stops following live GNSS when there is already a
+     * confirmed manual start anchor.
      */
     private void setupMap() {
         if (mMap == null) {
@@ -367,47 +382,61 @@ private void setupMap() {
         mMap.clear();
 
         float[] gnss = sensorFusion.getGNSSLatitude(false);
-        if (gnss != null && gnss.length >= 2) {
+        LatLng manualAnchor = sensorFusion.getManualStartAnchorLatLng();
+        LatLng preferredAnchor = sensorFusion.resolvePreferredStartAnchor();
+
+        LatLng initialPosition;
+        if (isValidLatLng(preferredAnchor)) {
+            initialPosition = preferredAnchor;
+            startPosition[0] = (float) preferredAnchor.latitude;
+            startPosition[1] = (float) preferredAnchor.longitude;
+        } else if (isValidLatLon(gnss)) {
+            initialPosition = new LatLng(gnss[0], gnss[1]);
             startPosition[0] = gnss[0];
             startPosition[1] = gnss[1];
+        } else {
+            initialPosition = new LatLng(0, 0);
         }
 
-        LatLng manualAnchor = sensorFusion.getManualStartAnchorLatLng();
-        LatLng initialPosition;
-
+        // Only freeze the marker when there is already a confirmed manual anchor.
         if (isValidLatLng(manualAnchor)) {
-            initialPosition = manualAnchor;
-            startPosition[0] = (float) manualAnchor.latitude;
-            startPosition[1] = (float) manualAnchor.longitude;
             followCurrentLocationWithStartMarker = false;
             hasUserAdjustedMarker = true;
         } else if (isValidLatLon(gnss)) {
-            initialPosition = new LatLng(gnss[0], gnss[1]);
             followCurrentLocationWithStartMarker = true;
             hasUserAdjustedMarker = false;
         } else {
-            initialPosition = new LatLng(0, 0);
-            followCurrentLocationWithStartMarker = true;
+            followCurrentLocationWithStartMarker = false;
             hasUserAdjustedMarker = false;
         }
 
+        // Preload previously chosen building/floor context for recording mode.
+        if (isRecordingMode()) {
+            String preferredBuildingId = sensorFusion.resolvePreferredStartBuildingId();
+            if (preferredBuildingId != null && !preferredBuildingId.isEmpty()) {
+                selectedBuildingId = preferredBuildingId;
+            }
+            currentFloorIndex = Math.max(0, sensorFusion.resolvePreferredStartFloorIndex());
+        }
+
         currentLocationMarker = mMap.addMarker(new MarkerOptions()
                 .position(initialPosition)
-                .title("Current Location")
+                .title("Detected Location")
                 .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_AZURE))
                 .zIndex(21f));
 
         startMarker = mMap.addMarker(new MarkerOptions()
                 .position(initialPosition)
-                .title("Start Location")
-                .snippet("Drag or tap the map to adjust this marker")
+                .title("Automatic Start Location")
+                .snippet("Detected automatically from GNSS / Wi-Fi. Adjust only if clearly wrong.")
                 .draggable(true)
                 .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_RED))
                 .zIndex(22f));
 
         if (startMarker != null && isValidLatLng(manualAnchor)) {
             styleConfirmedMarker(startMarker);
-            startMarker.setSnippet("Previously confirmed start anchor");
+            startMarker.setTitle("Confirmed Start Location");
+            startMarker.setSnippet("Previously confirmed start anchor for this session");
         }
 
         boolean cameraReady = isValidLatLng(initialPosition);
@@ -425,7 +454,7 @@ private void setupMap() {
     }
 
     /**
-     * Start marker can be moved in both recording and replay mode.
+     * Manual start correction remains available as a fallback in both recording and replay mode.
      */
     private void installStartMarkerInteraction() {
         if (mMap == null) {
@@ -436,7 +465,7 @@ private void installStartMarkerInteraction() {
             @Override
             public void onMarkerDragStart(@NonNull Marker marker) {
                 if (startMarker != null && marker.equals(startMarker)) {
-                    updateStatus("Dragging start marker...");
+                    updateStatus("Adjusting start marker...");
                 }
             }
 
@@ -471,8 +500,8 @@ private void onStartMarkerManuallyMoved(@NonNull LatLng newPosition, boolean ani
 
         if (startMarker != null) {
             styleEditableMarker(startMarker);
-            startMarker.setTitle("Corrected Start Location");
-            startMarker.setSnippet("Confirm to use this corrected start point");
+            startMarker.setTitle("Manual Start Correction");
+            startMarker.setSnippet("Use this only when the automatic start estimate is clearly incorrect.");
             startMarker.showInfoWindow();
         }
 
@@ -480,13 +509,22 @@ private void onStartMarkerManuallyMoved(@NonNull LatLng newPosition, boolean ani
             mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(newPosition, Math.max(18.5f, mMap.getCameraPosition().zoom)));
         }
 
-        updateStatus(formatLatLng("Corrected start marker selected", newPosition));
+        updateStatus(formatLatLng("Manual start correction selected", newPosition));
 
         // Refresh nearby building outlines around the corrected point.
         requestRetryCount = 0;
         requestBuildingData();
     }
 
+    /**
+     * Confirms the chosen start marker and carries the selected building/floor
+     * into the recording session.
+     *
+     * Recording policy:
+     * - manual start anchor becomes the authoritative session start
+     * - selected building/floor are stored together with that anchor
+     * - live auto-floor starts disabled and can later be enabled from the map UI
+     */
     private void confirmSelectionAndContinue() {
         if (startMarker == null) {
             Toast.makeText(getContext(), "Start marker is not ready yet.", Toast.LENGTH_SHORT).show();
@@ -507,7 +545,10 @@ private void confirmSelectionAndContinue() {
         }
 
         if (isRecordingMode()) {
-            Integer selectedFloorToSave = selectedFloorplanBuilding != null ? currentFloorIndex : null;
+            Integer selectedFloorToSave = null;
+            if (selectedFloorplanBuilding != null) {
+                selectedFloorToSave = clampFloorIndexForBuilding(selectedFloorplanBuilding, currentFloorIndex);
+            }
 
             sensorFusion.setManualStartAnchor(
                     chosenLatLng,
@@ -515,10 +556,7 @@ private void confirmSelectionAndContinue() {
                     selectedBuildingId
             );
 
-            sensorFusion.setStartGNSSLatitude(new float[]{
-                    (float) chosenLatLng.latitude,
-                    (float) chosenLatLng.longitude
-            });
+            sensorFusion.setLiveAutoFloorEnabled(false);
 
             if (startMarker != null) {
                 styleConfirmedMarker(startMarker);
@@ -527,6 +565,7 @@ private void confirmSelectionAndContinue() {
                 startMarker.showInfoWindow();
             }
 
+            sensorFusion.setRecordingTrajectoryMode(SensorFusion.TRAJECTORY_MODE_PARTICLE_FILTER);
             sensorFusion.startRecording();
             ((RecordingActivity) requireActivity()).showRecordingScreen();
             return;
@@ -534,8 +573,8 @@ private void confirmSelectionAndContinue() {
 
         if (isReplayMode()) {
             ((ReplayActivity) requireActivity()).onStartLocationChosen(
-                    (float)chosenLatLng.latitude,
-                    (float)chosenLatLng.longitude
+                    (float) chosenLatLng.latitude,
+                    (float) chosenLatLng.longitude
             );
         }
     }
@@ -561,7 +600,7 @@ private void requestBuildingDataWhenReady() {
                 requestRetryCount++;
                 retryHandler.postDelayed(this::requestBuildingDataWhenReady, RETRY_DELAY_MS);
             } else {
-                updateStatus("Waiting for GNSS / WiFi start estimate...");
+                updateStatus("Waiting for automatic GNSS / Wi-Fi start estimate...");
             }
             return;
         }
@@ -627,9 +666,10 @@ public void onSuccess(List<FloorplanApiClient.BuildingInfo> buildings) {
                         }
 
                         drawBuildingOutlines(buildings);
+                        restorePreferredBuildingAndFloorSelectionIfAvailable();
 
                         if (buildings == null || buildings.isEmpty()) {
-                            updateStatus("No buildings found nearby. You can still drag the start marker.");
+                            updateStatus("No buildings found nearby. Automatic start detection is still available, and manual correction can be used only if needed.");
                         }
                     }
 
@@ -645,6 +685,87 @@ public void onFailure(String error) {
         );
     }
 
+    /**
+     * Restores previously chosen building/floor context after nearby-building
+     * data has been fetched.
+     *
+     * This is important because building polygons are recreated after each floorplan
+     * request, so the visual selection needs to be rebound to the restored state.
+     */
+    private void restorePreferredBuildingAndFloorSelectionIfAvailable() {
+        String buildingNameToRestore = selectedBuildingId;
+
+        if ((buildingNameToRestore == null || buildingNameToRestore.isEmpty()) && isRecordingMode()) {
+            buildingNameToRestore = sensorFusion.resolvePreferredStartBuildingId();
+        }
+
+        if (buildingNameToRestore == null || buildingNameToRestore.isEmpty()) {
+            return;
+        }
+
+        FloorplanApiClient.BuildingInfo building = floorplanBuildingMap.get(buildingNameToRestore);
+        if (building == null) {
+            return;
+        }
+
+        selectedBuildingId = buildingNameToRestore;
+        selectedFloorplanBuilding = building;
+
+        int restoredFloorIndex = currentFloorIndex;
+        if (isRecordingMode()) {
+            String preferredBuildingId = sensorFusion.resolvePreferredStartBuildingId();
+            if (preferredBuildingId != null && preferredBuildingId.equals(buildingNameToRestore)) {
+                restoredFloorIndex = sensorFusion.resolvePreferredStartFloorIndex();
+            }
+        }
+
+        currentFloorIndex = clampFloorIndexForBuilding(building, restoredFloorIndex);
+
+        Polygon restoredPolygon = findPolygonByBuildingName(buildingNameToRestore);
+
+        if (selectedPolygon != null && selectedPolygon != restoredPolygon) {
+            selectedPolygon.setFillColor(FILL_COLOR_DEFAULT);
+            selectedPolygon.setStrokeColor(STROKE_COLOR_DEFAULT);
+        }
+
+        if (restoredPolygon != null) {
+            restoredPolygon.setFillColor(FILL_COLOR_SELECTED);
+            restoredPolygon.setStrokeColor(STROKE_COLOR_SELECTED);
+            selectedPolygon = restoredPolygon;
+        }
+
+        redrawSelectedBuildingOverlay();
+    }
+
+    /**
+     * Finds the rendered polygon matching a building name.
+     */
+    @Nullable
+    private Polygon findPolygonByBuildingName(@NonNull String buildingName) {
+        for (Polygon polygon : buildingPolygons) {
+            Object tag = polygon.getTag();
+            if (buildingName.equals(tag)) {
+                return polygon;
+            }
+        }
+        return null;
+    }
+
+    /**
+     * Clamps a floor index to the valid range of the selected building.
+     */
+    private int clampFloorIndexForBuilding(@Nullable FloorplanApiClient.BuildingInfo building,
+                                           int requestedFloorIndex) {
+        if (building == null
+                || building.getFloorShapesList() == null
+                || building.getFloorShapesList().isEmpty()) {
+            return Math.max(0, requestedFloorIndex);
+        }
+
+        int maxFloor = building.getFloorShapesList().size() - 1;
+        return Math.max(0, Math.min(requestedFloorIndex, maxFloor));
+    }
+
     /**
      * Draw nearby buildings as clickable blue polygons.
      */
@@ -682,7 +803,14 @@ private void drawBuildingOutlines(@Nullable List<FloorplanApiClient.BuildingInfo
 
     /**
      * Building selection updates the selected venue/floor context.
-     * It does NOT forcibly move the marker anymore.
+     *
+     * Floor-selection policy:
+     * - keep the current floor if the user re-selects the same building
+     * - otherwise, if this building matches the preferred session building,
+     *   restore the preferred floor
+     * - otherwise fall back to the building default floor
+     *
+     * It still does NOT forcibly move the start marker.
      */
     private void onBuildingSelected(@NonNull String buildingName, @NonNull Polygon polygon) {
         if (selectedPolygon != null) {
@@ -690,13 +818,36 @@ private void onBuildingSelected(@NonNull String buildingName, @NonNull Polygon p
             selectedPolygon.setStrokeColor(STROKE_COLOR_DEFAULT);
         }
 
+        String previousBuildingId = selectedBuildingId;
+        int previousFloorIndex = currentFloorIndex;
+
         selectedPolygon = polygon;
         selectedPolygon.setFillColor(FILL_COLOR_SELECTED);
         selectedPolygon.setStrokeColor(STROKE_COLOR_SELECTED);
 
         selectedBuildingId = buildingName;
         selectedFloorplanBuilding = floorplanBuildingMap.get(buildingName);
-        currentFloorIndex = getDefaultFloorIndex(selectedFloorplanBuilding);
+
+        if (selectedFloorplanBuilding == null) {
+            updateStatus("Selected building data is not available yet.");
+            return;
+        }
+
+        if (buildingName.equals(previousBuildingId)) {
+            currentFloorIndex = clampFloorIndexForBuilding(selectedFloorplanBuilding, previousFloorIndex);
+        } else if (isRecordingMode()) {
+            String preferredBuildingId = sensorFusion.resolvePreferredStartBuildingId();
+            if (preferredBuildingId != null && preferredBuildingId.equals(buildingName)) {
+                currentFloorIndex = clampFloorIndexForBuilding(
+                        selectedFloorplanBuilding,
+                        sensorFusion.resolvePreferredStartFloorIndex()
+                );
+            } else {
+                currentFloorIndex = getDefaultFloorIndex(selectedFloorplanBuilding);
+            }
+        } else {
+            currentFloorIndex = getDefaultFloorIndex(selectedFloorplanBuilding);
+        }
 
         updateFloorLabel();
         redrawSelectedBuildingOverlay();
@@ -807,7 +958,7 @@ private void clearBuildingSelectionAndOverlays() {
     }
 
     /**
-     * Reset back to the current live GNSS position and clear any manual override.
+     * Reset back to the current automatic start estimate and clear any manual override.
      */
     private void resetToCurrentLocation() {
         sensorFusion.clearManualStartAnchor();
@@ -816,15 +967,15 @@ private void resetToCurrentLocation() {
 
         if (startMarker != null) {
             styleEditableMarker(startMarker);
-            startMarker.setTitle("Start Location");
-            startMarker.setSnippet("Following current GNSS position until you adjust it");
+            startMarker.setTitle("Automatic Start Location");
+            startMarker.setSnippet("Following the automatic GNSS / Wi-Fi estimate.");
         }
 
         clearBuildingSelectionAndOverlays();
         updateLiveLocation(true);
         requestRetryCount = 0;
         requestBuildingDataWhenReady();
-        updateStatus("Reset to current location.");
+        updateStatus("Returned to automatic start detection.");
     }
 
     private void startLiveLocationUpdates() {
@@ -837,8 +988,8 @@ private void stopLiveLocationUpdates() {
     }
 
     /**
-     * Update the current GNSS marker.
-     * If marker-follow mode is on, also move the start marker.
+     * Update the live detected position.
+     * If automatic-follow mode is active, also move the start marker.
      */
     private void updateLiveLocation(boolean animateCamera) {
         float[] gnss = sensorFusion.getGNSSLatitude(false);
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index c7972258..a30cf063 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -22,6 +22,7 @@
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.fragment.app.Fragment;
+import com.openpositioning.PositionMe.fusion.FusedPose;
 
 import com.google.android.gms.maps.CameraUpdateFactory;
 import com.google.android.gms.maps.GoogleMap;
@@ -92,14 +93,6 @@ public class TrajectoryMapFragment extends Fragment {
     private final List<GroundOverlay> realMapOverlays = new ArrayList<>();
     private String calibrationTargetBuildingKey = "";
 
-    // Auto-floor helper state
-    private Handler autoFloorHandler;
-    private Runnable autoFloorTask;
-    private int lastCandidateFloor = Integer.MIN_VALUE;
-    private long lastCandidateTime = 0L;
-    private int latestCandidateLogicalFloor = Integer.MIN_VALUE;
-    private long lastAutoFloorLogTime = 0L;
-
     // UI references
     private Spinner switchMapSpinner;
     private SwitchMaterial gnssSwitch;
@@ -145,10 +138,7 @@ public class TrajectoryMapFragment extends Fragment {
     private TextView debugHeading;
     private TextView debugAdaptedHeading;
     private TextView debugCosSin;
-
-    private Integer lastFusionFloorIndex = null;
-    private int fusionFloorStableCount = 0;
-    private static final int MIN_FUSION_FLOOR_STABLE_FRAMES = 3;
+    private String currentTrajectoryPlotSource = "Waiting";
 
     // Controller / coordinator
     private final FloorController floorController = new FloorController(new FloorController.Host() {
@@ -256,18 +246,12 @@ public SensorFusion getSensorFusion() {
                     return sensorFusion;
                 }
 
-                @Nullable
                 @Override
                 public Integer getTrackingCandidateFloorIndex() {
+                    // Bootstrap-only candidate from FloorController.
                     return floorController.peekTrackingFloorCandidateIndex();
                 }
 
-                @Nullable
-                @Override
-                public Integer getStableFusionFloorIndex() {
-                    return TrajectoryMapFragment.this.getStableFusionFloorIndex();
-                }
-
                 @Override
                 public int getCurrentFloorIndex() {
                     return currentFloorIndex;
@@ -442,6 +426,10 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
                 gMap = googleMap;
                 initMapSettings(gMap);
 
+                if (!replayModeEnabled) {
+                    showRecordingDefaultViewport();
+                }
+
                 if (hasPendingCameraMove && pendingCameraPosition != null) {
                     float savedZoom = getSavedMapZoom();
                     gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(pendingCameraPosition, savedZoom));
@@ -497,46 +485,6 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
         }
         applyTrajectoryColorButtonState();
 
-        if (autoFloorSwitch != null) {
-            autoFloorSwitch.setOnCheckedChangeListener((compoundButton, isChecked) -> {
-                if (isChecked) {
-                    startAutoFloor();
-                } else {
-                    stopAutoFloor();
-                }
-            });
-        }
-
-        if (floorUpButton != null) {
-            floorUpButton.setOnClickListener(v -> {
-                if (isAutoFloorEnabled()) {
-                    Log.d(TAG, "AUTO_FLOOR ignored manual floor-up because AutoFloor owns display floor.");
-                    return;
-                }
-                if (selectedFloorplanBuilding != null) {
-                    int nextFloorIndex = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, true);
-                    if (nextFloorIndex != currentFloorIndex) {
-                        setFloor(nextFloorIndex);
-                    }
-                }
-            });
-        }
-
-        if (floorDownButton != null) {
-            floorDownButton.setOnClickListener(v -> {
-                if (isAutoFloorEnabled()) {
-                    Log.d(TAG, "AUTO_FLOOR ignored manual floor-down because AutoFloor owns display floor.");
-                    return;
-                }
-                if (selectedFloorplanBuilding != null) {
-                    int nextFloorIndex = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, false);
-                    if (nextFloorIndex != currentFloorIndex) {
-                        setFloor(nextFloorIndex);
-                    }
-                }
-            });
-        }
-
         if (btnFindIndoorMap != null) {
             btnFindIndoorMap.setOnClickListener(v -> {
                 if (selectedFloorplanBuilding == null) {
@@ -604,36 +552,94 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
     }
 
     // Public API used by RecordingFragment / ReplayFragment
+    /**
+     * Updates the map with either:
+     * - replay map-matched location (replay mode), or
+     * - already-fused live PF location (live mode)
+     *
+     * Important live policy:
+     * this fragment is UI-only in live mode.
+     * It must NOT re-run live map matching or absolute observation blending.
+     */
     public void updateUserLocation(@NonNull LatLng newLocation, float orientationDeg) {
-        mapMatchingCoordinator.updateUserLocation(newLocation, orientationDeg);
+        if (replayModeEnabled) {
+            mapMatchingCoordinator.updateUserLocation(newLocation, orientationDeg);
+        } else {
+            updateLiveFusedLocationOnly(newLocation, orientationDeg);
+        }
         refreshDebugStatusText();
     }
 
-    public void updateFusionFloorTracking(@Nullable Integer fusionFloorIndex) {
-        if (fusionFloorIndex == null) {
-            fusionFloorStableCount = 0;
-            lastFusionFloorIndex = null;
+    /**
+     * Renders the already-fused live pose without applying any additional correction.
+     *
+     * This is the key separation:
+     * - ParticleFilterManager owns live fusion + live map validity
+     * - TrajectoryMapFragment only draws the final live fused pose
+     */
+    private void updateLiveFusedLocationOnly(@NonNull LatLng newLocation, float orientationDeg) {
+        if (gMap == null) {
             return;
         }
 
-        if (fusionFloorIndex.equals(lastFusionFloorIndex)) {
-            fusionFloorStableCount++;
-        } else {
-            lastFusionFloorIndex = fusionFloorIndex;
-            fusionFloorStableCount = 1;
+        LatLng displayLocation = newLocation;
+        float displayOrientationDeg = orientationDeg;
+
+        // Prefer the latest PF-owned fused pose if available.
+        if (sensorFusion != null) {
+            FusedPose fusedPose = sensorFusion.getLatestFusedPose();
+            if (fusedPose != null) {
+                if (fusedPose.getLatLng() != null) {
+                    displayLocation = fusedPose.getLatLng();
+                }
+                displayOrientationDeg = (float) Math.toDegrees(fusedPose.getHeadingRad());
+
+                // Live display floor now follows the PF-owned fused floor.
+                if (fusedPose.getFloor() != currentFloorIndex) {
+                    displayPfOwnedFloor(fusedPose.getFloor());
+                }
+            }
         }
-    }
 
-    @Nullable
-    public Integer getStableFusionFloorIndex() {
-        if (lastFusionFloorIndex == null) {
-            return null;
+        LatLng oldLocation = currentLocation;
+        currentLocation = displayLocation;
+
+        trajectoryRenderer.updateCurrentPosition(
+                requireContext(),
+                displayLocation,
+                displayOrientationDeg,
+                false,
+                getSavedMapZoom()
+        );
+
+        /*
+         * When the PF commits a new floor, do NOT connect the new point to the
+         * previous floor's trajectory polyline.
+         *
+         * Instead, start a fresh live trajectory segment so the path is visually
+         * broken across floors.
+         */
+        boolean floorChanged = false;
+        if (sensorFusion != null && sensorFusion.getParticleFilterManager() != null) {
+            floorChanged = sensorFusion.getParticleFilterManager().consumeFloorChangedFlag();
         }
-        return fusionFloorStableCount >= MIN_FUSION_FLOOR_STABLE_FRAMES
-                ? lastFusionFloorIndex
-                : null;
-    }
 
+        if (floorChanged) {
+            trajectoryRenderer.startNewLiveSegment();
+            oldLocation = null; // prevent drawing a connecting line across floors
+        }
+
+        trajectoryRenderer.appendMatchedLocation(oldLocation, displayLocation);
+
+        if (indoorMapManager != null) {
+            indoorMapManager.setCurrentLocation(displayLocation);
+        }
+
+        maybeFetchNearbyBuildingsOnFirstLocation();
+        if (!hasAutoSelectedIndoorMap && !lastFetchedBuildings.isEmpty()) {
+            maybeAutoSelectIndoorMap(lastFetchedBuildings);
+        }
+    }
     public void setReplayModeEnabled(boolean enabled) {
         if (replayModeEnabled == enabled) {
             syncReplayUiState();
@@ -644,13 +650,18 @@ public void setReplayModeEnabled(boolean enabled) {
         mapMatchingCoordinator.onReplayModeChanged(enabled);
 
         if (enabled) {
-            stopAutoFloor();
+            floorController.stopAutoFloor();
         }
 
         syncReplayUiState();
         refreshDebugStatusText();
     }
 
+    public void setCurrentTrajectoryPlotSource(@NonNull String source) {
+        currentTrajectoryPlotSource = source;
+        refreshDebugStatusText();
+    }
+
     public void setReplayFrameContext(@Nullable Integer syntheticFloor,
                                       @Nullable Double currentElevation,
                                       @Nullable Double deltaHeight,
@@ -682,6 +693,18 @@ public void setInitialCameraPosition(@NonNull LatLng startLocation) {
         }
     }
 
+    public void showRecordingDefaultViewport() {
+        LatLngBounds nucleusBounds = new LatLngBounds(
+                BuildingPolygon.NUCLEUS_SW,
+                BuildingPolygon.NUCLEUS_NE
+        );
+
+        if (gMap != null) {
+            int paddingPx = (int) (48 * requireContext().getResources().getDisplayMetrics().density);
+            gMap.moveCamera(CameraUpdateFactory.newLatLngBounds(nucleusBounds, paddingPx));
+        }
+    }
+
     public LatLng getCurrentLocation() {
         return currentLocation;
     }
@@ -706,30 +729,6 @@ public void clearWifi() {
         trajectoryRenderer.clearWifi();
     }
 
-    public void updateDisplayedFloor(int logicalFloor) {
-        if (selectedFloorplanBuilding == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
-            return;
-        }
-        if (isAutoFloorEnabled()) {
-            Log.d(TAG, String.format(Locale.US,
-                    "AUTO_FLOOR ignored external display-floor update logical=%d current=%d because FloorController owns display floor",
-                    logicalFloor,
-                    currentFloorIndex));
-            return;
-        }
-        if (!floorController.hasReliableInitialFloorFix()) {
-            Log.d(TAG, String.format(Locale.US,
-                    "AUTO_FLOOR ignored external display-floor update logical=%d current=%d because initial floor is not confirmed yet",
-                    logicalFloor,
-                    currentFloorIndex));
-            return;
-        }
-        int targetFloorIndex = indoorMapManager.logicalFloorToIndex(logicalFloor);
-        if (targetFloorIndex != currentFloorIndex) {
-            setFloor(targetFloorIndex);
-        }
-    }
-
     public boolean isAutoFloorEnabled() {
         return autoFloorSwitch != null && autoFloorSwitch.isChecked();
     }
@@ -742,21 +741,28 @@ public boolean isWifiEnabled() {
         return showWifiSwitch != null && showWifiSwitch.isChecked();
     }
 
+    /**
+     * Updates the heading debug text shown on screen.
+     *
+     * - Displays the raw heading value.
+     * - Converts the heading into the app's adapted heading convention.
+     * - Displays the cosine and sine of the adapted heading for quick checking.
+     */
     public void updateDebugInfo(float headingValue) {
+        float adaptedHeading = (float) (Math.PI/2 - headingValue);
         if (debugHeading != null) {
             debugHeading.setText(String.format(Locale.US, "Heading: %.3f", headingValue));
         }
         if (debugAdaptedHeading != null) {
-            debugAdaptedHeading.setText(String.format(Locale.US, "Adapted: %.3f", headingValue));
+            debugAdaptedHeading.setText(String.format(Locale.US, "Adapted Heading: %.3f", adaptedHeading));
         }
         if (debugCosSin != null) {
             debugCosSin.setText(String.format(Locale.US, "cos=%.3f sin=%.3f",
-                    Math.cos(headingValue), Math.sin(headingValue)));
+                    Math.cos(adaptedHeading), Math.sin(adaptedHeading)));
         }
     }
 
     public void clearMapAndReset() {
-        stopAutoFloor();
 
         if (autoFloorSwitch != null) {
             autoFloorSwitch.setChecked(false);
@@ -766,9 +772,6 @@ public void clearMapAndReset() {
         trajectoryRenderer.clearAll();
 
         currentLocation = null;
-        latestCandidateLogicalFloor = Integer.MIN_VALUE;
-        lastCandidateFloor = Integer.MIN_VALUE;
-        lastCandidateTime = 0L;
 
         for (Polygon p : floorplanPolygons) {
             p.remove();
@@ -1101,6 +1104,17 @@ private void restoreCachedBuildingsIfAny() {
         }
     }
 
+    /**
+     * Updates the displayed map floor from the PF-owned fused pose.
+     *
+     * Important:
+     * this is UI-only and must not push floor back into PF.
+     */
+    private void displayPfOwnedFloor(int newFloorIndex) {
+        floorController.displayPfOwnedFloor(newFloorIndex);
+        refreshDebugStatusText();
+    }
+
     // Floor helpers
     private void setFloor(int newFloorIndex) {
         floorController.setFloor(newFloorIndex);
@@ -1177,112 +1191,6 @@ private void syncReplayUiState() {
         updateAutoFloorAvailability();
     }
 
-    private int getCurrentVisibleLogicalFloor() {
-        if (selectedFloorplanBuilding == null) {
-            return 0;
-        }
-        if (indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
-            return indoorMapManager.indexToLogicalFloor(currentFloorIndex);
-        }
-        return currentFloorIndex;
-    }
-
-    private int resolveCandidateLogicalFloor() {
-        Integer candidateIndex = floorController.peekTrackingFloorCandidateIndex();
-        if (candidateIndex != null) {
-            if (indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) {
-                return indoorMapManager.indexToLogicalFloor(candidateIndex);
-            }
-            return candidateIndex;
-        }
-        return getCurrentVisibleLogicalFloor();
-    }
-
-    private String describeCandidateFloorSource() {
-        return "FloorControllerTracking";
-    }
-
-    private void startAutoFloor() {
-        lastCandidateFloor = Integer.MIN_VALUE;
-        lastCandidateTime = 0L;
-        latestCandidateLogicalFloor = Integer.MIN_VALUE;
-        floorController.startAutoFloor();
-        Log.d(TAG, String.format(Locale.US,
-                "AUTO_FLOOR delegated start visibleLogical=%d building=%s",
-                getCurrentVisibleLogicalFloor(),
-                selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : "null"));
-    }
-
-    private void applyImmediateFloor() {
-        floorController.applyImmediateFloor();
-        if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
-            Log.d(TAG, "AUTO_FLOOR applyImmediate skipped: map not ready");
-            return;
-        }
-        int candidateFloor = resolveCandidateLogicalFloor();
-        latestCandidateLogicalFloor = candidateFloor;
-        lastCandidateFloor = candidateFloor;
-        lastCandidateTime = SystemClock.elapsedRealtime();
-        logAutoFloorState("applyImmediate", candidateFloor, describeCandidateFloorSource());
-    }
-
-    private void stopAutoFloor() {
-        floorController.stopAutoFloor();
-        Log.d(TAG, String.format(Locale.US,
-                "AUTO_FLOOR delegated stop visibleLogical=%d lastCandidate=%d latestCandidate=%d",
-                getCurrentVisibleLogicalFloor(), lastCandidateFloor, latestCandidateLogicalFloor));
-        lastCandidateFloor = Integer.MIN_VALUE;
-        lastCandidateTime = 0L;
-        latestCandidateLogicalFloor = Integer.MIN_VALUE;
-    }
-
-    private void evaluateAutoFloor() {
-        floorController.evaluateAutoFloor();
-        if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) {
-            Log.d(TAG, "AUTO_FLOOR evaluate skipped: map not ready");
-            return;
-        }
-
-        int candidateFloor = resolveCandidateLogicalFloor();
-        String source = describeCandidateFloorSource();
-        latestCandidateLogicalFloor = candidateFloor;
-
-        long now = SystemClock.elapsedRealtime();
-        if (candidateFloor != lastCandidateFloor) {
-            logAutoFloorState("candidate_changed", candidateFloor, source);
-            lastCandidateFloor = candidateFloor;
-            lastCandidateTime = now;
-            return;
-        }
-
-        if (now - lastCandidateTime >= AUTO_FLOOR_DEBOUNCE_MS) {
-            logAutoFloorState("candidate_stable", candidateFloor, source);
-            lastCandidateTime = now;
-        } else {
-            logAutoFloorState("candidate_waiting", candidateFloor, source);
-        }
-    }
-
-    private void logAutoFloorState(@NonNull String phase, int candidateFloor, @NonNull String source) {
-        long now = SystemClock.elapsedRealtime();
-        if (now - lastAutoFloorLogTime < 0L) {
-            return;
-        }
-        lastAutoFloorLogTime = now;
-
-        Log.d(TAG, String.format(Locale.US,
-                "AUTO_FLOOR phase=%s source=%s candidate=%d visible=%d latestCandidate=%d lastCandidate=%d elapsedSinceCandidate=%d building=%s indoorVisible=%s",
-                phase,
-                source,
-                candidateFloor,
-                getCurrentVisibleLogicalFloor(),
-                latestCandidateLogicalFloor,
-                lastCandidateFloor,
-                lastCandidateTime == 0 ? -1 : (now - lastCandidateTime),
-                selectedFloorplanBuilding != null ? selectedFloorplanBuilding.getName() : "null",
-                String.valueOf(indoorMapVisible)));
-    }
-
     // UI helpers
     private void initMapControlsToggle() {
         if (btnToggleMapControls != null && mapControlContent != null) {
@@ -1323,32 +1231,38 @@ private void refreshDebugStatusText() {
             return;
         }
 
-        String engine = (sensorFusion != null && sensorFusion.isParticleFilterTrajectoryMode())
-                ? "PF"
-                : "PDR";
-
         String pfSummary = sensorFusion != null
                 ? sensorFusion.getParticleFilterDebugSummary()
-                : "Particles: unavailable";
+                : "PF: unavailable";
+
+        String autoFloorSummary = floorController != null
+                ? floorController.getAutoFloorDebugSummary()
+                : "autoFloor: unavailable";
 
-        String mapMatchingSummary = mapMatchingCoordinator.getLatestDebugStatus();
+        String modeSummary = replayModeEnabled
+                ? mapMatchingCoordinator.getLatestDebugStatus()
+                : "Live MM owner: ParticleFilterManager\nFragment role: UI-only renderer";
 
         int wifiFloor = sensorFusion != null ? sensorFusion.getWifiFloor() : -1;
         boolean wifiAvailable = sensorFusion != null && sensorFusion.getLatLngWifiPositioning() != null;
 
         debugStatusText.setText(String.format(
                 Locale.US,
-                "Engine: %s\n" +
+                "Trajectory: %s\n" +
+                        "Mode: %s\n" +
                         "Display floor: %d\n" +
                         "WiFi: %s | floor: %d\n" +
                         "%s\n" +
+                        "%s\n" +
                         "%s",
-                engine,
+                currentTrajectoryPlotSource,
+                replayModeEnabled ? "Replay" : "Live",
                 currentFloorIndex,
                 wifiAvailable ? "yes" : "no",
                 wifiFloor,
                 pfSummary,
-                mapMatchingSummary
+                autoFloorSummary,
+                modeSummary
         ));
     }
 
@@ -1356,6 +1270,27 @@ public void refreshLiveDebugBox() {
         refreshDebugStatusText();
     }
 
+    public void updateRawPdrObservation(@NonNull LatLng rawPdrLocation) {
+        trajectoryRenderer.appendRawObservationPoint(rawPdrLocation);
+    }
+
+    /**
+     * Clears only replay trajectory/render state without destroying
+     * the selected building, indoor map, replay mode, or floor UI state.
+     *
+     * This is used when replay scrubs/jumps and needs to rebuild the path.
+     */
+    public void clearReplayTrajectoryOnly() {
+        mapMatchingCoordinator.resetMapMatchingState();
+        trajectoryRenderer.clearAll();
+        currentLocation = null;
+
+        trajectoryRenderer.clearGnss();
+        trajectoryRenderer.clearWifi();
+
+        refreshDebugStatusText();
+    }
+
     private void initMapTypeSpinner() {
         if (switchMapSpinner == null) {
             return;
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
index 4d2e1da7..e68c4e59 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java
@@ -150,6 +150,20 @@ void updateCurrentPosition(@NonNull Context context,
         }
     }
 
+    /**
+     * Clears the currently displayed fused trajectory and starts a fresh one.
+     */
+    void startNewLiveSegment() {
+        if (trajectoryOutline != null) {
+            trajectoryOutline.setPoints(new ArrayList<>());
+        }
+        if (trajectoryMain != null) {
+            trajectoryMain.setPoints(new ArrayList<>());
+        }
+        ensureTrajectoryStyling();
+        applyTrajectoryColor();
+    }
+
     /**
      * Append one point to the fused/matched trajectory.
      */
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
index c925a3d4..6b62c0fb 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
@@ -316,6 +316,19 @@ public void setLatestFusedPose(@Nullable FusedPose fusedPose) {
         this.latestParticleFilterPose = fusedPose;
     }
 
+    /**
+     * Lets the PF evaluate lift / floor-change transitions even when there is no
+     * walking step, such as while standing in a lift.
+     */
+    public void evaluateParticleFilterFloorChangeWithoutStep() {
+        if (particleFilterManager == null || !isParticleFilterTrajectoryMode()) {
+            return;
+        }
+
+        particleFilterManager.evaluateFloorChangeWithoutStep();
+        latestParticleFilterPose = particleFilterManager.getLatestFusedPose();
+    }
+
 
     // SensorEventListener
     @Override
@@ -418,22 +431,28 @@ private void stopWirelessCollectors() {
         }
     }
 
-    // Recording lifecycle
     /**
      * Starts trajectory recording and foreground collection.
+     *
+     * Start-anchor policy:
+     * - use the preferred session start anchor if already known
+     * - use the preferred session building if already known
+     *
+     * This keeps StartLocationFragment, RecordingFragment, and PF initialisation
+     * aligned to one source of truth.
      */
     public void startRecording() {
-        // If the user corrected the start point in StartLocationFragment,
-        // use that corrected anchor as the recording/session start.
-        if (manualStartAnchorLatLng != null) {
+        LatLng preferredStart = resolvePreferredStartAnchor();
+        if (preferredStart != null) {
             setStartGNSSLatitude(new float[]{
-                    (float) manualStartAnchorLatLng.latitude,
-                    (float) manualStartAnchorLatLng.longitude
+                    (float) preferredStart.latitude,
+                    (float) preferredStart.longitude
             });
+        }
 
-            if (manualStartAnchorBuildingId != null && !manualStartAnchorBuildingId.isEmpty()) {
-                setSelectedBuildingId(manualStartAnchorBuildingId);
-            }
+        String preferredBuildingId = resolvePreferredStartBuildingId();
+        if (preferredBuildingId != null && !preferredBuildingId.isEmpty()) {
+            setSelectedBuildingId(preferredBuildingId);
         }
 
         recorder.startRecording(pdrProcessing);
@@ -444,25 +463,20 @@ public void startRecording() {
         if (adaptiveQsmfiHeadingCalibrator != null) {
             adaptiveQsmfiHeadingCalibrator.reset();
         }
-
-        if (isParticleFilterTrajectoryMode()) {
-            resetParticleFilterForRecording();
-        }
-
-        stopWirelessCollectors();
-
-        if (appContext != null) {
-            SensorCollectionService.start(appContext);
-        }
     }
 
     /**
-     * Stops trajectory recording and foreground collection.
+     * Stops trajectory recording and resets session-scoped live PF state.
+     *
+     * Important:
+     * auto-floor preference is reset here so a fresh session does not accidentally
+     * inherit the previous session's live floor switching state.
      */
     public void stopRecording() {
         recorder.stopRecording();
 
         latestParticleFilterPose = null;
+        liveAutoFloorEnabled = false;
 
         if (particleFilterManager != null) {
             particleFilterManager.reset();
@@ -482,6 +496,15 @@ public void stopRecording() {
     @Nullable
     private String manualStartAnchorBuildingId = null;
 
+    /** True when live PF floor changes are allowed for this session. */
+    private boolean liveAutoFloorEnabled = false;
+
+    /**
+     * Stores the user-confirmed manual start anchor.
+     *
+     * This also mirrors the chosen start position into the session start anchor
+     * immediately so both raw-PDR and PF init can read the same location.
+     */
     public void setManualStartAnchor(@NonNull LatLng latLng,
                                      @Nullable Integer floorIndex,
                                      @Nullable String buildingId) {
@@ -489,11 +512,15 @@ public void setManualStartAnchor(@NonNull LatLng latLng,
         this.manualStartAnchorFloorIndex = floorIndex;
         this.manualStartAnchorBuildingId = buildingId;
 
+        setStartGNSSLatitude(new float[]{
+                (float) latLng.latitude,
+                (float) latLng.longitude
+        });
+
         if (buildingId != null && !buildingId.isEmpty()) {
             setSelectedBuildingId(buildingId);
         }
     }
-
     @Nullable
     public LatLng getManualStartAnchorLatLng() {
         return manualStartAnchorLatLng;
@@ -515,6 +542,94 @@ public void clearManualStartAnchor() {
         manualStartAnchorBuildingId = null;
     }
 
+    /**
+     * Returns whether live PF floor transitions are allowed in this session.
+     *
+     * This is controlled by the Auto Floor switch in the map fragment.
+     */
+    public boolean isLiveAutoFloorEnabled() {
+        return liveAutoFloorEnabled;
+    }
+
+    /**
+     * Enables or disables live PF floor transitions for this session.
+     */
+    public void setLiveAutoFloorEnabled(boolean enabled) {
+        this.liveAutoFloorEnabled = enabled;
+    }
+
+    /**
+     * Resolves the preferred session start floor index.
+     *
+     * Priority:
+     * 1. user-confirmed manual floor
+     * 2. WiFi floor if WiFi positioning exists
+     * 3. ground/default floor 0
+     */
+    public int resolvePreferredStartFloorIndex() {
+        if (manualStartAnchorFloorIndex != null) {
+            return manualStartAnchorFloorIndex;
+        }
+
+        LatLng wifiLatLng = getLatLngWifiPositioning();
+        if (wifiLatLng != null
+                && !(Math.abs(wifiLatLng.latitude) < 1e-6 && Math.abs(wifiLatLng.longitude) < 1e-6)) {
+            return getWifiFloor();
+        }
+
+        return 0;
+    }
+
+    /**
+     * Resolves the preferred session building id.
+     *
+     * Priority:
+     * 1. manual start building
+     * 2. currently selected building id
+     */
+    @Nullable
+    public String resolvePreferredStartBuildingId() {
+        if (manualStartAnchorBuildingId != null && !manualStartAnchorBuildingId.isEmpty()) {
+            return manualStartAnchorBuildingId;
+        }
+
+        String selectedBuildingId = getSelectedBuildingId();
+        if (selectedBuildingId != null && !selectedBuildingId.isEmpty()) {
+            return selectedBuildingId;
+        }
+
+        return null;
+    }
+
+    /**
+     * Pushes a UI/manual floor choice into the live PF state.
+     *
+     * This is important when the user changes floor manually, because otherwise
+     * the UI floor and PF floor can diverge and the next fused update will snap
+     * the display back.
+     */
+    public void setParticleFilterFloorOverride(int floorIndex) {
+        if (particleFilterManager != null) {
+            particleFilterManager.forceActiveFloor(floorIndex);
+            latestParticleFilterPose = particleFilterManager.getLatestFusedPose();
+        }
+    }
+
+    /**
+     * Initialises the particle filter once a valid start anchor exists,
+     * then refreshes the cached latest fused pose.
+     *
+     * This is used so the red fused arrow can appear before the first step.
+     */
+    public void initialiseParticleFilterIfNeeded() {
+        if (particleFilterManager == null) {
+            return;
+        }
+
+        particleFilterManager.initialiseIfNeeded();
+        latestParticleFilterPose = particleFilterManager.getLatestFusedPose();
+    }
+
     /**
      * Selects whether this recording session uses standard PDR or PF trajectory mode.
      */
@@ -646,6 +761,11 @@ public float[] getGNSSLatitude(boolean start) {
         return latLong;
     }
 
+    @Nullable
+    public ParticleFilterManager getParticleFilterManager() {
+        return particleFilterManager;
+    }
+
     public boolean isUseAdaptiveQsmfiHeading() {
         return useAdaptiveQsmfiHeading;
     }
@@ -737,8 +857,12 @@ public boolean getElevator() {
         return state.elevator;
     }
 
+    /**
+     * Returns true only when PF mode is active and a fused PF pose exists.
+     */
     public boolean shouldDrawLatestParticleFilterPose() {
-        return particleFilterManager != null
+        return isParticleFilterTrajectoryMode()
+                && particleFilterManager != null
                 && particleFilterManager.getLatestFusedPose() != null;
     }
 
@@ -757,23 +881,10 @@ public int getWifiFloor() {
         return wifiPositionManager != null ? wifiPositionManager.getWifiFloor() : 0;
     }
 
-
-    @Nullable
-    private Integer manualStartAnchorFloor;
-
-
-    @Nullable
-    public Integer getManualStartAnchorFloor() {
-        return manualStartAnchorFloor;
-    }
-
-
-
     public boolean hasManualStartAnchor() {
         return manualStartAnchorLatLng != null;
     }
 
-
     /**
      * Resolve the session start anchor in priority order:
      * manual corrected start > stored session start > WiFi > GNSS.
diff --git a/app/src/main/res/layout/fragment_startlocation.xml b/app/src/main/res/layout/fragment_startlocation.xml
index 3e8d4b67..f5d2ace7 100644
--- a/app/src/main/res/layout/fragment_startlocation.xml
+++ b/app/src/main/res/layout/fragment_startlocation.xml
@@ -47,7 +47,7 @@
                 android:id="@+id/startTitleText"
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                android:text="Choose your start location"
+                android:text="Automatic start detection"
                 android:textAppearance="?attr/textAppearanceTitleMedium"
                 android:textColor="@color/md_theme_onSurface"
                 android:textStyle="bold" />
@@ -57,7 +57,7 @@
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
                 android:layout_marginTop="6dp"
-                android:text="Drag the marker to the correct place, or tap a building outline and choose the floor before confirming."
+                android:text="The app detects your start position from GNSS and Wi-Fi automatically. Only adjust the marker or floor if the detected start point is clearly wrong, as an inaccurate start can affect the full plotted trajectory."
                 android:textAppearance="?attr/textAppearanceBodyMedium"
                 android:textColor="@color/md_theme_onSurfaceVariant"
                 android:lineSpacingExtra="2dp" />
@@ -72,7 +72,7 @@
                 android:paddingTop="8dp"
                 android:paddingEnd="12dp"
                 android:paddingBottom="8dp"
-                android:text="Waiting for GNSS / WiFi start estimate..."
+                android:text="Waiting for automatic GNSS / Wi-Fi start estimate..."
                 android:textAppearance="?attr/textAppearanceBodySmall"
                 android:textColor="@color/md_theme_onSurface" />
 
@@ -103,7 +103,7 @@
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
                 android:layout_marginBottom="8dp"
-                android:text="Map view"
+                android:text="Map display"
                 android:textAppearance="?attr/textAppearanceLabelLarge"
                 android:textColor="@color/md_theme_onSurface"
                 android:textStyle="bold" />
@@ -114,7 +114,7 @@
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
                 android:minWidth="0dp"
-                android:text="Vector Preview"
+                android:text="Indoor Preview"
                 android:textAllCaps="false"
                 android:textSize="13sp"
                 app:cornerRadius="14dp" />
@@ -126,7 +126,7 @@
                 android:layout_height="wrap_content"
                 android:layout_marginTop="8dp"
                 android:minWidth="0dp"
-                android:text="Actual Map"
+                android:text="Base Map"
                 android:textAllCaps="false"
                 android:textSize="13sp"
                 app:cornerRadius="14dp" />
@@ -162,7 +162,7 @@
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
                 android:layout_marginBottom="8dp"
-                android:text="Floor"
+                android:text="Start floor"
                 android:textAppearance="?attr/textAppearanceLabelLarge"
                 android:textColor="@color/md_theme_onSurface"
                 android:textStyle="bold" />
@@ -237,7 +237,7 @@
                 android:layout_width="0dp"
                 android:layout_height="48dp"
                 android:layout_weight="1"
-                android:text="Reset"
+                android:text="Retry"
                 android:textAllCaps="false"
                 android:textSize="15sp"
                 app:cornerRadius="16dp" />
@@ -248,7 +248,7 @@
                 android:layout_height="52dp"
                 android:layout_marginStart="12dp"
                 android:layout_weight="1.4"
-                android:text="Use This Location"
+                android:text="Continue"
                 android:textAllCaps="false"
                 android:textSize="16sp"
                 android:textStyle="bold"
diff --git a/app/src/main/res/xml/root_preferences.xml b/app/src/main/res/xml/root_preferences.xml
index 349f0bc1..f01d333d 100644
--- a/app/src/main/res/xml/root_preferences.xml
+++ b/app/src/main/res/xml/root_preferences.xml
@@ -49,19 +49,19 @@
         <EditTextPreference
             app:key="pf_sigma_theta_deg"
             app:title="Heading noise (deg)"
-            app:defaultValue="6.5"
+            app:defaultValue="4.5"
             app:useSimpleSummaryProvider="true" />
 
         <EditTextPreference
             app:key="pf_sigma_wifi"
             app:title="WiFi sigma (m)"
-            app:defaultValue="4.0"
+            app:defaultValue="14.0"
             app:useSimpleSummaryProvider="true" />
 
         <EditTextPreference
             app:key="pf_sigma_gnss"
             app:title="GNSS sigma (m)"
-            app:defaultValue="5.0"
+            app:defaultValue="25.0"
             app:useSimpleSummaryProvider="true" />
 
         <EditTextPreference
@@ -91,7 +91,7 @@
         <EditTextPreference
             app:key="pf_sigma_reg_theta_deg"
             app:title="Resample heading jitter (deg)"
-            app:defaultValue="1.0"
+            app:defaultValue="2.0"
             app:useSimpleSummaryProvider="true" />
     </PreferenceCategory>