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drivers: publish GPS antenna heading offset

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Paul Riseborough
2018-09-02 21:04:27 +10:00
committed by Daniel Agar
parent 92d2317b99
commit e39afb148d
1 changed files with 3 additions and 0 deletions
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src/drivers/gps/gps.cpp
+3
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@@ -268,6 +268,7 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
_port[sizeof(_port) - 1] = '\0'; _port[sizeof(_port) - 1] = '\0';
_report_gps_pos.heading = NAN; _report_gps_pos.heading = NAN;
_report_gps_pos.heading_offset = NAN;
/* create satellite info data object if requested */ /* create satellite info data object if requested */
if (enable_sat_info) { if (enable_sat_info) {
@@ -655,6 +656,7 @@ GPS::run()
_report_gps_pos.vel_ned_valid = true; _report_gps_pos.vel_ned_valid = true;
_report_gps_pos.satellites_used = 10; _report_gps_pos.satellites_used = 10;
_report_gps_pos.heading = NAN; _report_gps_pos.heading = NAN;
_report_gps_pos.heading_offset = NAN;
/* no time and satellite information simulated */ /* no time and satellite information simulated */
@@ -699,6 +701,7 @@ GPS::run()
/* reset report */ /* reset report */
memset(&_report_gps_pos, 0, sizeof(_report_gps_pos)); memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
_report_gps_pos.heading = NAN; _report_gps_pos.heading = NAN;
_report_gps_pos.heading_offset = heading_offset;
if (_mode == GPS_DRIVER_MODE_UBX) { if (_mode == GPS_DRIVER_MODE_UBX) {