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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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src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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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));
src/modules/mavlink/streams/ADSB_VEHICLE.hpp
+1 -1
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));