AP_GPS: fix GPS headings

* If you don't wrap the heading, you can get a flyaway Signed-off-by: Ryan Friedman <[email protected]>
Ryanf55 · May 12, 2024 · fc105ae · fc105ae
1 parent 693151e
commit fc105ae
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
@@ -197,7 +197,7 @@ class AP_GPS
         uint16_t time_week;                 ///< GPS week number
         Location location;                  ///< last fix location
         float ground_speed;                 ///< ground speed in m/s
-        float ground_course;                ///< ground course in degrees
+        float ground_course;                ///< ground course in degrees, wrapped 0-360
         float gps_yaw;                      ///< GPS derived yaw information, if available (degrees)
         uint32_t gps_yaw_time_ms;           ///< timestamp of last GPS yaw reading
         bool  gps_yaw_configured;           ///< GPS is configured to provide yaw

diff --git a/libraries/AP_GPS/AP_GPS_GSOF.cpp b/libraries/AP_GPS/AP_GPS_GSOF.cpp
@@ -326,7 +326,7 @@ AP_GPS_GSOF::process_message(void)
                 if ((vflag & 1) == 1)
                 {
                     state.ground_speed = SwapFloat(msg.data, a + 1);
-                    state.ground_course = degrees(SwapFloat(msg.data, a + 5));
+                    state.ground_course = wrap_360(degrees(SwapFloat(msg.data, a + 5)));
                     fill_3d_velocity();
                     state.velocity.z = -SwapFloat(msg.data, a + 9);
                     state.have_vertical_velocity = true;