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AHRS heading fixes

pull/186/head
AvSquirrel 2016-01-02 00:40:17 +00:00
rodzic 0f611560d4
commit 0c5aad28bf
1 zmienionych plików z 4 dodań i 3 usunięć
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7
main/ry835ai.go
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@ -323,7 +323,8 @@ func validateNMEAChecksum(s string) (string, bool) {
func setTrueCourse(groundSpeed, trueCourse uint16) { func setTrueCourse(groundSpeed, trueCourse uint16) {
if myMPU6050 != nil && globalStatus.RY835AI_connected && globalSettings.AHRS_Enabled { if myMPU6050 != nil && globalStatus.RY835AI_connected && globalSettings.AHRS_Enabled {
if mySituation.GroundSpeed >= 7 && groundSpeed >= 7 { if mySituation.GroundSpeed >= 7 && groundSpeed >= 7 {
myMPU6050.ResetHeading(float64(trueCourse), 0.01) log.Printf("setTrueCourse %v\n", trueCourse)
myMPU6050.ResetHeading(float64(trueCourse), 0.10)
} }
} }
} }
@ -469,7 +470,7 @@ func processNMEALine(l string) bool {
mySituation.LastGroundTrackTime = time.Time{} mySituation.LastGroundTrackTime = time.Time{}
} }
setTrueCourse(trueCourse, uint16(groundspeed)) setTrueCourse(uint16(groundspeed), trueCourse)
mySituation.TrueCourse = uint16(trueCourse) mySituation.TrueCourse = uint16(trueCourse)
mySituation.GroundSpeed = uint16(groundspeed) mySituation.GroundSpeed = uint16(groundspeed)
@ -594,7 +595,7 @@ func processNMEALine(l string) bool {
return false return false
} }
setTrueCourse(trueCourse, uint16(groundSpeed)) setTrueCourse(uint16(groundSpeed), trueCourse)
mySituation.TrueCourse = uint16(trueCourse) mySituation.TrueCourse = uint16(trueCourse)
mySituation.GroundSpeed = uint16(groundSpeed) mySituation.GroundSpeed = uint16(groundSpeed)