fix: preserve Q10 dock heading

Author: tubededentifrice

roborock/map/b01_q10_render.py

@@ -259,15 +259,11 @@ def _place_charger_from_header(
     map_data: MapData,
     packet: Q10MapPacket,
 ) -> bool:
-    """Place the saved dock using its absolute header pixel coordinates.
-
-    The Q10 header angle follows the dock axis, while the shared V1 marker
-    expects the outward-facing normal, so rotate it by 90 degrees.
-    """
+    """Place the saved dock using its absolute header pixel coordinates."""
     header = packet.header_calibration
     if header is None or (position := header.charger_pixels()) is None:
         return False
-    map_data.charger = Point(*position, 90 - header.charger_phi)
+    map_data.charger = Point(*position, header.charger_phi)
     return True
 
 

tests/map/test_b01_q10_render.py

@@ -164,13 +164,13 @@ def test_render_draws_dock_from_header_without_trace() -> None:
 
 
 def test_place_charger_uses_absolute_header_pixels() -> None:
-    """The dock uses absolute pixels and converts its axis to a V1 heading."""
+    """The dock coordinates do not receive the world origin a second time."""
     packet = replace(_packet(), header_calibration=HEADER)
     map_data = MapData()
 
     assert _place_charger_from_header(map_data, packet)
 
-    assert map_data.charger == Point(3, 3, 0)
+    assert map_data.charger == Point(3, 3, 90)
 
 
 def test_place_docked_robot_uses_shared_v1_marker_geometry() -> None:
@@ -188,6 +188,22 @@ def test_place_docked_robot_uses_shared_v1_marker_geometry() -> None:
     assert map_data.path is None
 
 
+def test_q10_zero_degree_dock_places_robot_to_its_right() -> None:
+    """The Q10 dock heading is already its outward-facing direction."""
+    packet = replace(_packet(), header_calibration=replace(HEADER, charger_phi=0))
+    map_data = MapData()
+
+    assert _place_charger_from_header(map_data, packet)
+    assert _place_docked_robot(map_data)
+
+    assert map_data.charger == Point(3, 3, 0)
+    assert map_data.vacuum_position == Point(
+        3 + Sizes.SIZES[Size.CHARGER_RADIUS],
+        3,
+        0,
+    )
+
+
 def test_render_applies_erase_zones() -> None:
     """With a calibration, erase-zone cells are blanked from the image."""
     packet, trace = _calibrated_inputs()