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drivers: Prevent duplicate reporting of GPS heading

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Paul Riseborough 2018-08-27 09:54:27 +10:00 committed by Beat Küng
parent 3ff8cd33a1
commit b2c7b44935
1 changed files with 5 additions and 0 deletions
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5
src/drivers/gps/gps.cpp
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@ -882,6 +882,11 @@ GPS::publish()
if (_instance == Instance::Main || _is_gps_main_advertised) {
orb_publish_auto(ORB_ID(vehicle_gps_position), &_report_gps_pos_pub, &_report_gps_pos, &_gps_orb_instance,
ORB_PRIO_DEFAULT);
if (_mode == GPS_DRIVER_MODE_ASHTECH) {
// 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.
_report_gps_pos.heading = NAN;
}
_is_gps_main_advertised = true;
}
}