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AP_GPS: fix GPS headings 

* If you don't wrap the heading, you can get a flyaway

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2024-05-11 21:02:44 -06:00 committed by Andrew Tridgell
parent c3c6d7ffb4
commit 3b1ba19640
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_GPS/AP_GPS.h
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@ -197,7 +197,7 @@ public:
uint16_t time_week; ///< GPS week number uint16_t time_week; ///< GPS week number
Location location; ///< last fix location Location location; ///< last fix location
float ground_speed; ///< ground speed in m/s float ground_speed; ///< ground speed in m/s
float ground_course; ///< ground course in degrees float ground_course; ///< ground course in degrees, wrapped 0-360
float gps_yaw; ///< GPS derived yaw information, if available (degrees) float gps_yaw; ///< GPS derived yaw information, if available (degrees)
uint32_t gps_yaw_time_ms; ///< timestamp of last GPS yaw reading uint32_t gps_yaw_time_ms; ///< timestamp of last GPS yaw reading
bool gps_yaw_configured; ///< GPS is configured to provide yaw bool gps_yaw_configured; ///< GPS is configured to provide yaw

2
libraries/AP_GPS/AP_GPS_GSOF.cpp
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@ -326,7 +326,7 @@ AP_GPS_GSOF::process_message(void)
if ((vflag & 1) == 1) if ((vflag & 1) == 1)
{ {
state.ground_speed = SwapFloat(msg.data, a + 1); state.ground_speed = SwapFloat(msg.data, a + 1);
state.ground_course = degrees(SwapFloat(msg.data, a + 5)); state.ground_course = wrap_360(degrees(SwapFloat(msg.data, a + 5)));
fill_3d_velocity(); fill_3d_velocity();
state.velocity.z = -SwapFloat(msg.data, a + 9); state.velocity.z = -SwapFloat(msg.data, a + 9);
state.have_vertical_velocity = true; state.have_vertical_velocity = true;