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gnss(septentrio): fix incorrect heading offset configuration

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Heading offset was configured as radians but should be configured as
degrees on Septentrio receivers. The parameter was already in degrees
but the configuration logic was changing it into radians. Also allow the
entire allowed range of heading offset values for Septentrio receivers.
This commit is contained in:
Thomas Frans 2024-06-18 11:28:29 +02:00 committed by Ramon Roche
parent d188044176
commit ec30c5c736
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GPG Key ID: 275988FAE5821713
2 changed files with 4 additions and 4 deletions
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2
src/drivers/gnss/septentrio/module.yaml
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@ -71,7 +71,7 @@ parameters:
type: float
decimal: 3
default: 0
min: 0
min: -360
max: 360
unit: deg
reboot_required: true

6
src/drivers/gnss/septentrio/septentrio.cpp
View File

@ -153,8 +153,6 @@ SeptentrioDriver::SeptentrioDriver(const char *device_path, Instance instance, u
// Enforce null termination.
_port[sizeof(_port) - 1] = '\0';
reset_gps_state_message();
int32_t enable_sat_info {0};
get_parameter("SEP_SAT_INFO", &enable_sat_info);
@ -211,6 +209,8 @@ SeptentrioDriver::SeptentrioDriver(const char *device_path, Instance instance, u
}
set_device_type(DRV_GPS_DEVTYPE_SBF);
reset_gps_state_message();
}
SeptentrioDriver::~SeptentrioDriver()
@ -948,7 +948,7 @@ SeptentrioDriver::ConfigureResult SeptentrioDriver::configure()
}
// Specify the offsets that the receiver applies to the computed attitude angles.
snprintf(msg, sizeof(msg), k_command_set_attitude_offset, (double)(_heading_offset * 180 / M_PI_F), (double)_pitch_offset);
snprintf(msg, sizeof(msg), k_command_set_attitude_offset, static_cast<double>(_heading_offset), static_cast<double>(_pitch_offset));
if (!send_message_and_wait_for_ack(msg, k_receiver_ack_timeout_fast)) {
return ConfigureResult::FailedCompletely;