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AP_Periph: cope with GPS without yaw accuracy

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This commit is contained in:
Andrew Tridgell 2022-12-12 18:15:17 +11:00
parent 0a518077ca
commit dcab2d2f2a
1 changed files with 1 additions and 1 deletions
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2
Tools/AP_Periph/can.cpp
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@ -2123,7 +2123,7 @@ void AP_Periph_FW::send_relposheading_msg() {
relpos.relative_distance_m = relative_distance;
relpos.relative_down_pos_m = relative_down_pos;
relpos.reported_heading_acc_deg = reported_heading_acc;
relpos.reported_heading_acc_available = true;
relpos.reported_heading_acc_available = !is_zero(relpos.reported_heading_acc_deg);
uint8_t buffer[ARDUPILOT_GNSS_RELPOSHEADING_MAX_SIZE] {};
const uint16_t total_size = ardupilot_gnss_RelPosHeading_encode(&relpos, buffer, !periph.canfdout());
canard_broadcast(ARDUPILOT_GNSS_RELPOSHEADING_SIGNATURE,