From 49dc896d205864d58203cfd3927dcdb9e2897cda Mon Sep 17 00:00:00 2001 From: Thomas Frans Date: Tue, 18 Jun 2024 10:11:54 +0200 Subject: [PATCH] gnss(septentrio): fix broken heading Heading wasn't working because of an incorrect check during parsing. --- src/drivers/gnss/septentrio/septentrio.cpp | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/src/drivers/gnss/septentrio/septentrio.cpp b/src/drivers/gnss/septentrio/septentrio.cpp index cc6f5b8283..5b88391017 100644 --- a/src/drivers/gnss/septentrio/septentrio.cpp +++ b/src/drivers/gnss/septentrio/septentrio.cpp @@ -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) {