Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-21 16:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_ADSB: cache course-over-ground for GPS message

Browse Source 
stops the vehicle flipping around as speed goes to/comes from 0
This commit is contained in:
Peter Barker 2024-01-12 17:05:39 +11:00 committed by Peter Barker
parent 43c604f1db
commit 05a22aaffc
2 changed files with 8 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
View File

@ -621,8 +621,10 @@ void AP_ADSB_Sagetech_MXS::send_gps_msg()
const float speed_knots = speed.length() * M_PER_SEC_TO_KNOTS;
snprintf((char*)&gps.grdSpeed, 7, "%03u.%02u", (unsigned)speed_knots, unsigned((speed_knots - (int)speed_knots) * 1.0E2));
const float heading = wrap_360(degrees(speed.angle()));
snprintf((char*)&gps.grdTrack, 9, "%03u.%04u", unsigned(heading), unsigned((heading - (int)heading) * 1.0E4));
if (!is_zero(speed_knots)) {
cog = wrap_360(degrees(speed.angle()));
}
snprintf((char*)&gps.grdTrack, 9, "%03u.%04u", unsigned(cog), unsigned((cog - (int)cog) * 1.0E4));
gps.latNorth = (latitude >= 0 ? true: false);

4
libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.h
View File

@ -266,6 +266,10 @@ private:
void populate_op_climbrate(const struct AP_ADSB::Loc &loc);
void populate_op_airspeed_and_heading(const struct AP_ADSB::Loc &loc);
// last course-over-ground calculated from groundspeed vector.
// This is cached so we don't flip to a COG of 90-degrees when
// we stop moving.
float cog;
};
#endif // HAL_ADSB_SAGETECH_MXS_ENABLED