AP_GPS: initialise uavcan drv interim_state with state structure at startup

libraries/AP_GPS/AP_GPS_UAVCAN.cpp

@@ -72,6 +72,7 @@ HAL_Semaphore AP_GPS_UAVCAN::_sem_registry;
 // Member Methods
 AP_GPS_UAVCAN::AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_GPS::GPS_Role _role) :
     AP_GPS_Backend(_gps, _state, nullptr),
+    interim_state(_state),
     role(_role)
 {
     param_int_cb = FUNCTOR_BIND_MEMBER(&AP_GPS_UAVCAN::handle_param_get_set_response_int, bool, AP_UAVCAN*, const uint8_t, const char*, int32_t &);

libraries/AP_GPS/GPS_Backend.cpp

@@ -385,11 +385,8 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
         {
             // at this point the offsets are looking okay, go ahead and actually calculate a useful heading
             const float rotation_offset_rad = Vector2f(-offset.x, -offset.y).angle();
-            state.gps_yaw = wrap_360(reported_heading_deg - degrees(rotation_offset_rad));
+            interim_state.gps_yaw = wrap_360(reported_heading_deg - degrees(rotation_offset_rad));
-            state.have_gps_yaw = true;
+            interim_state.have_gps_yaw = true;
-            state.gps_yaw_time_ms = AP_HAL::millis();
-            interim_state.gps_yaw = state.gps_yaw;
-            interim_state.have_gps_yaw = state.have_gps_yaw;
             interim_state.gps_yaw_time_ms = AP_HAL::millis();
         }
     }