fix(uavcan): keep GNSS jamming and spoofing with RelPosHeading (#28847)

The Fix2 ecef_position_velocity block also carries the node's noise, jamming and spoofing state, but it was skipped whenever a RelPosHeading was pending, so jamming and spoofing read unknown for as long as a dual-antenna heading was valid. Assisted-by: Claude:claude-opus-5-5
2026-10-06 09:02:52 +08:00 · 2026-09-25 16:41:30 -06:00
parent 4e91ae1c42
commit bd7d86e141
1 changed files with 3 additions and 2 deletions
@@ -330,8 +330,9 @@ UavcanGnssBridge::gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavcan::e
 	uint8_t spoofing_state = 0;

 	// TODO: this hack should eventually be removed now that we have the RelPosHeading message
-	// HACK: Use ecef_position_velocity for heading
-	if (!msg.ecef_position_velocity.empty() && !_rel_heading_valid) {
+	// HACK: Use ecef_position_velocity for heading, noise, jamming and spoofing.
+	// A valid RelPosHeading overrides the heading in process_fixx(), but nothing else carries the rest.
+	if (!msg.ecef_position_velocity.empty()) {
 		if (!std::isnan(msg.ecef_position_velocity[0].velocity_xyz[0])) {
 			heading = msg.ecef_position_velocity[0].velocity_xyz[0];
 		}