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uavcan: gnss: do not require RTK fix for heading validity (#26649)

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This commit is contained in:
Jacob Dahl
2026-03-05 10:22:44 -09:00
committed by GitHub
parent 52203a6bb7
commit 5500ebb1d0
1 changed files with 1 additions and 2 deletions
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src/drivers/uavcan/sensors/gnss.cpp
+1 -2
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@@ -533,8 +533,7 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType>
sensor_gps.vdop = msg.pdop;
}
// Use heading from RelPosHeading message if available and we have RTK Fixed solution.
if (_rel_heading_valid && (fix_type == sensor_gps_s::FIX_TYPE_RTK_FIXED)) {
if (_rel_heading_valid) {
sensor_gps.heading = _rel_heading;
sensor_gps.heading_offset = NAN;
sensor_gps.heading_accuracy = _rel_heading_accuracy;