Fix ADSB heading angle obtained from driver by removing +pi. Adjusted downstream accordingly

src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp

@@ -614,7 +614,7 @@ void SagetechMXS::handle_svr(sg_svr_t svr)
 		}
 
 		if (svr.validity.surfHeading) {
-			t.heading = matrix::wrap_pi((float)svr.surface.heading * (M_PI_F / 180.0f) + M_PI_F);
+			t.heading = matrix::wrap_pi((float)svr.surface.heading * (M_PI_F / 180.0f));
 			t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING;
 		}
 	}
@@ -622,7 +622,7 @@ void SagetechMXS::handle_svr(sg_svr_t svr)
 	if (svr.type == svrAirborne) {
 		if (svr.validity.airSpeed) {
 			t.hor_velocity = (svr.airborne.speed * SAGETECH_SCALE_KNOTS_TO_M_PER_SEC);	//Convert from knots to meters/second
-			t.heading = matrix::wrap_pi((float)svr.airborne.heading * (M_PI_F / 180.0f) + M_PI_F);
+			t.heading = matrix::wrap_pi((float)svr.airborne.heading * (M_PI_F / 180.0f));
 			t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING;
 			t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY;
 		}

src/lib/adsb/AdsbConflict.cpp

@@ -180,7 +180,7 @@ bool AdsbConflict::handle_traffic_conflict()
 
 	case TRAFFIC_STATE::ADD_CONFLICT:
 	case TRAFFIC_STATE::REMIND_CONFLICT: {
-			take_action = send_traffic_warning((int)(math::degrees(_transponder_report.heading) + 180.f),
+			take_action = send_traffic_warning((int)math::degrees(_transponder_report.heading),
 							   (int)fabsf(_crosstrack_error.distance), _transponder_report.flags,
 							   _transponder_report.callsign,
 							   _transponder_report.icao_address,

src/modules/mavlink/mavlink_receiver.cpp

@@ -2548,7 +2548,7 @@ MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
 	t.lon = adsb.lon * 1e-7;
 	t.altitude_type = adsb.altitude_type;
 	t.altitude = adsb.altitude / 1000.0f;
-	t.heading = adsb.heading / 100.0f / 180.0f * M_PI_F - M_PI_F;
+	t.heading = adsb.heading / 100.0f / 180.0f * M_PI_F;
 	t.hor_velocity = adsb.hor_velocity / 100.0f;
 	t.ver_velocity = adsb.ver_velocity / 100.0f;
 	memcpy(&t.callsign[0], &adsb.callsign[0], sizeof(t.callsign));

src/modules/mavlink/streams/ADSB_VEHICLE.hpp

@@ -77,7 +77,7 @@ private:
 			msg.lon = pos.lon * 1e7;
 			msg.altitude_type = pos.altitude_type;
 			msg.altitude = pos.altitude * 1e3f;
-			msg.heading = (pos.heading + M_PI_F) / M_PI_F * 180.0f * 100.0f;
+			msg.heading = pos.heading / M_PI_F * 180.0f * 100.0f;
 			msg.hor_velocity = pos.hor_velocity * 100.0f;
 			msg.ver_velocity = pos.ver_velocity * 100.0f;
 			memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign));