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gnss(septentrio): fix broken heading

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Heading wasn't working because of an incorrect check during parsing.
This commit is contained in:
Thomas Frans
2024-06-18 10:11:54 +02:00
committed by Daniel Agar
parent bfbbf2ff6f
commit 49dc896d20
1 changed files with 1 additions and 5 deletions
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src/drivers/gnss/septentrio/septentrio.cpp
+1 -5
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@@ -1246,7 +1246,7 @@ int SeptentrioDriver::process_message()
AttEuler att_euler;
if (_sbf_decoder.parse(&att_euler) &&
if (_sbf_decoder.parse(&att_euler) == PX4_OK &&
!att_euler.error_not_requested &&
att_euler.error_aux1 == Error::None &&
att_euler.error_aux2 == Error::None &&
@@ -1540,10 +1540,6 @@ void SeptentrioDriver::publish()
_sensor_gps_pub.publish(_message_gps_state);
// Heading/yaw data can be updated at a lower rate than the other navigation data.
// The uORB message definition requires this data to be set to a NAN if no new valid data is available.
_message_gps_state.heading = NAN;
if (_message_gps_state.spoofing_state != _spoofing_state) {
if (_message_gps_state.spoofing_state > sensor_gps_s::SPOOFING_STATE_NONE) {