kopia lustrzana https://github.com/cyoung/stratux
AHRS heading fixes
rodzic
0f611560d4
commit
0c5aad28bf
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@ -323,7 +323,8 @@ func validateNMEAChecksum(s string) (string, bool) {
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func setTrueCourse(groundSpeed, trueCourse uint16) {
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if myMPU6050 != nil && globalStatus.RY835AI_connected && globalSettings.AHRS_Enabled {
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if mySituation.GroundSpeed >= 7 && groundSpeed >= 7 {
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myMPU6050.ResetHeading(float64(trueCourse), 0.01)
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log.Printf("setTrueCourse %v\n", trueCourse)
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myMPU6050.ResetHeading(float64(trueCourse), 0.10)
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}
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}
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}
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@ -469,7 +470,7 @@ func processNMEALine(l string) bool {
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mySituation.LastGroundTrackTime = time.Time{}
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}
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setTrueCourse(trueCourse, uint16(groundspeed))
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setTrueCourse(uint16(groundspeed), trueCourse)
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mySituation.TrueCourse = uint16(trueCourse)
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mySituation.GroundSpeed = uint16(groundspeed)
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@ -594,7 +595,7 @@ func processNMEALine(l string) bool {
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return false
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}
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setTrueCourse(trueCourse, uint16(groundSpeed))
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setTrueCourse(uint16(groundSpeed), trueCourse)
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mySituation.TrueCourse = uint16(trueCourse)
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mySituation.GroundSpeed = uint16(groundSpeed)
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