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AP_GPS: initialise uavcan drv interim_state with state structure at startup

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bugobliterator 2021-07-16 21:52:16 +05:30 committed by Andrew Tridgell
parent 85d8becb8c
commit 3b58463bfd
2 changed files with 3 additions and 5 deletions
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1
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
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@ -72,6 +72,7 @@ HAL_Semaphore AP_GPS_UAVCAN::_sem_registry;
// Member Methods
AP_GPS_UAVCAN::AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_GPS::GPS_Role _role) :
AP_GPS_Backend(_gps, _state, nullptr),
interim_state(_state),
role(_role)
{
param_int_cb = FUNCTOR_BIND_MEMBER(&AP_GPS_UAVCAN::handle_param_get_set_response_int, bool, AP_UAVCAN*, const uint8_t, const char*, int32_t &);

7
libraries/AP_GPS/GPS_Backend.cpp
View File

@ -385,11 +385,8 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
{
// at this point the offsets are looking okay, go ahead and actually calculate a useful heading
const float rotation_offset_rad = Vector2f(-offset.x, -offset.y).angle();
state.gps_yaw = wrap_360(reported_heading_deg - degrees(rotation_offset_rad));
state.have_gps_yaw = true;
state.gps_yaw_time_ms = AP_HAL::millis();
interim_state.gps_yaw = state.gps_yaw;
interim_state.have_gps_yaw = state.have_gps_yaw;
interim_state.gps_yaw = wrap_360(reported_heading_deg - degrees(rotation_offset_rad));
interim_state.have_gps_yaw = true;
interim_state.gps_yaw_time_ms = AP_HAL::millis();
}
}