Merge pull request #720 from westphae/gyro-heading-fix

Fix gdl90 AHRSGyroHeading reporting.

main/gps.go

@@ -1939,10 +1939,8 @@ func makeAHRSGDL90Report() {
 		if !isAHRSInvalidValue(mySituation.AHRSRoll) {
 			roll = roundToInt16(mySituation.AHRSRoll * 10)
 		}
-		if isAHRSInvalidValue(mySituation.AHRSGyroHeading) {
-			hdg = roundToInt16(mySituation.AHRSGyroHeading * 10) // TODO westphae: switch to AHRSMagHeading?
-		} else {
-			hdg = roundToInt16(float64(mySituation.GPSTrueCourse))
+		if !isAHRSInvalidValue(mySituation.AHRSGyroHeading) {
+			hdg = roundToInt16(mySituation.AHRSGyroHeading * 10)
 		}
 		if !isAHRSInvalidValue(mySituation.AHRSSlipSkid) {
 			slip_skid = roundToInt16(-mySituation.AHRSSlipSkid * 10)

main/sensors.go

@@ -277,7 +277,10 @@ func sensorAttitudeSender() {
 				roll, pitch, heading = s.RollPitchHeading()
 				mySituation.AHRSRoll = roll / ahrs.Deg
 				mySituation.AHRSPitch = pitch / ahrs.Deg
-				mySituation.AHRSGyroHeading = heading / ahrs.Deg
+				mySituation.AHRSGyroHeading = heading
+				if !isAHRSInvalidValue(heading) {
+					mySituation.AHRSGyroHeading /= ahrs.Deg
+				}
 
 				//TODO westphae: until magnetometer calibration is performed, no mag heading
 				mySituation.AHRSMagHeading = ahrs.Invalid