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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
2025-06-13 15:28:25 +02:00
committed by Silvan Fuhrer
parent 310cbbedb1
commit 75e4047f2a
4 changed files with 5 additions and 5 deletions
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src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp
+2 -2
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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;
}