From a869a012949decbc5b51cdf761c3a521856cdd33 Mon Sep 17 00:00:00 2001 From: rmackay9 Date: Mon, 12 Mar 2012 12:09:04 +0900 Subject: [PATCH] ArduCopter - Log.pde - added wrap_360 to compass heading field of ATT message to resolve overflow problem that caused heading to appear as being off by 70 degrees --- ArduCopter/Log.pde | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde index dff9e1f477..cdfbbe8126 100644 --- a/ArduCopter/Log.pde +++ b/ArduCopter/Log.pde @@ -701,7 +701,7 @@ static void Log_Write_Attitude() DataFlash.WriteInt((int)dcm.pitch_sensor); // 4 DataFlash.WriteInt(g.rc_4.control_in); // 5 DataFlash.WriteInt((uint16_t)dcm.yaw_sensor); // 6 - DataFlash.WriteInt((uint16_t)(ToDeg(compass.heading)*100)); // 7 + DataFlash.WriteInt((uint16_t)(wrap_360(ToDeg(compass.heading)*100))); // 7 DataFlash.WriteByte(END_BYTE); }