kopia lustrzana https://github.com/cyoung/stratux
Merge pull request #720 from westphae/gyro-heading-fix
Fix gdl90 AHRSGyroHeading reporting.6_new_products
commit
8eeb20a9df
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@ -1939,10 +1939,8 @@ func makeAHRSGDL90Report() {
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if !isAHRSInvalidValue(mySituation.AHRSRoll) {
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if !isAHRSInvalidValue(mySituation.AHRSRoll) {
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roll = roundToInt16(mySituation.AHRSRoll * 10)
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roll = roundToInt16(mySituation.AHRSRoll * 10)
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}
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}
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if isAHRSInvalidValue(mySituation.AHRSGyroHeading) {
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if !isAHRSInvalidValue(mySituation.AHRSGyroHeading) {
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hdg = roundToInt16(mySituation.AHRSGyroHeading * 10) // TODO westphae: switch to AHRSMagHeading?
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hdg = roundToInt16(mySituation.AHRSGyroHeading * 10)
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} else {
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hdg = roundToInt16(float64(mySituation.GPSTrueCourse))
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}
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}
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if !isAHRSInvalidValue(mySituation.AHRSSlipSkid) {
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if !isAHRSInvalidValue(mySituation.AHRSSlipSkid) {
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slip_skid = roundToInt16(-mySituation.AHRSSlipSkid * 10)
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slip_skid = roundToInt16(-mySituation.AHRSSlipSkid * 10)
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@ -277,7 +277,10 @@ func sensorAttitudeSender() {
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roll, pitch, heading = s.RollPitchHeading()
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roll, pitch, heading = s.RollPitchHeading()
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mySituation.AHRSRoll = roll / ahrs.Deg
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mySituation.AHRSRoll = roll / ahrs.Deg
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mySituation.AHRSPitch = pitch / ahrs.Deg
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mySituation.AHRSPitch = pitch / ahrs.Deg
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mySituation.AHRSGyroHeading = heading / ahrs.Deg
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mySituation.AHRSGyroHeading = heading
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if !isAHRSInvalidValue(heading) {
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mySituation.AHRSGyroHeading /= ahrs.Deg
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}
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//TODO westphae: until magnetometer calibration is performed, no mag heading
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//TODO westphae: until magnetometer calibration is performed, no mag heading
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mySituation.AHRSMagHeading = ahrs.Invalid
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mySituation.AHRSMagHeading = ahrs.Invalid
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