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

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This commit is contained in:
QiTao Weng 2025-05-19 16:34:22 -05:00 committed by Silvan Fuhrer
parent 310cbbedb1
commit 75e4047f2a
4 changed files with 5 additions and 5 deletions
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4
src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp
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@ -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;
}

2
src/lib/adsb/AdsbConflict.cpp
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@ -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,

2
src/modules/mavlink/mavlink_receiver.cpp
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@ -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));

2
src/modules/mavlink/streams/ADSB_VEHICLE.hpp
View File

@ -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));