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AP_GPS: don't consume Heading message if we have RelPosHeading

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this avoids 2 conflicting yaw sources
This commit is contained in:
Andrew Tridgell 2022-12-15 19:06:29 +11:00
parent 69cb6796f3
commit 761e4a05e2
2 changed files with 10 additions and 0 deletions
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9
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
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@ -545,6 +545,14 @@ void AP_GPS_UAVCAN::handle_aux_msg(const AuxCb &cb)
void AP_GPS_UAVCAN::handle_heading_msg(const HeadingCb &cb)
{
#if GPS_MOVING_BASELINE
if (seen_relposheading && gps.mb_params[interim_state.instance].type.get() != 0) {
// we prefer to use the relposheading to get yaw as it allows
// the user to more easily control the relative antenna positions
return;
}
#endif
WITH_SEMAPHORE(sem);
if (interim_state.gps_yaw_configured == false) {
@ -606,6 +614,7 @@ void AP_GPS_UAVCAN::handle_relposheading_msg(const RelPosHeadingCb &cb, uint8_t
WITH_SEMAPHORE(sem);
interim_state.gps_yaw_configured = true;
seen_relposheading = true;
// push raw heading data to calculate moving baseline heading states
if (calculate_moving_base_yaw(interim_state,
cb.msg->reported_heading_deg,

1
libraries/AP_GPS/AP_GPS_UAVCAN.h
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@ -111,6 +111,7 @@ private:
bool seen_fix2;
bool seen_aux;
bool seen_status;
bool seen_relposheading;
bool healthy;
uint32_t status_flags;