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AP_GPS: support yaw in GPS_INPUT mavlink GPS 

useful for Vicon setups
This commit is contained in:
Andrew Tridgell 2019-08-09 17:29:19 +10:00
parent dbc1cd2b96
commit 8d7262994b
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_GPS/AP_GPS_MAV.cpp
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@ -55,6 +55,7 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
bool have_sa = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACY) == 0);
bool have_ha = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACY) == 0);
bool have_va = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACY) == 0);
bool have_yaw = (packet.yaw != 0);
state.time_week = packet.time_week;
state.time_week_ms = packet.time_week_ms;
@ -103,6 +104,11 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
state.have_vertical_accuracy = true;
}
if (have_yaw) {
state.gps_yaw = wrap_360(packet.yaw*0.01);
state.have_gps_yaw = true;
}
state.num_sats = packet.satellites_visible;
state.last_gps_time_ms = AP_HAL::millis();
_new_data = true;