fixed SITL GPS heading to be 0..360

2012-02-14 10:46:26 +11:00 · 2012-02-14 10:46:26 +11:00 · 9103f7688c
commit 9103f7688c
parent ff627a8986
1 changed files with 3 additions and 0 deletions
--- a/libraries/Desktop/support/sitl_gps.cpp
+++ b/libraries/Desktop/support/sitl_gps.cpp
@ -146,6 +146,9 @@ void sitl_update_gps(double latitude, double longitude, float altitude,
 	velned.speed_3d = velned.speed_2d;
        lon_scale = cos(ToRad(latitude));
 	velned.heading_2d = ToDeg(atan2(lon_scale*speedE, speedN)) * 100000.0;
+	if (velned.heading_2d < 0.0) {
+		velned.heading_2d += 360.0 * 100000.0;
+	}
 	velned.speed_accuracy = 2;
 	velned.heading_accuracy = 4;