AP_Windvane: fix NMEA vehicle to earth frame

6 years ago · aa32a0d143
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_WindVane/AP_WindVane_NMEA.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_NMEA.cpp
@ -64,7 +64,7 @@ void AP_WindVane_NMEA::update()
				@@ -64,7 +64,7 @@ void AP_WindVane_NMEA::update()
        if (decode(c)) {
            // user may not have NMEA selected for both speed and direction
            if (_frontend._direction_type.get() == _frontend.WindVaneType::WINDVANE_NMEA) {
-                direction_update_frontend(wrap_PI(radians(_wind_dir_deg + _frontend._dir_analog_bearing_offset.get())));
+                direction_update_frontend(wrap_PI(radians(_wind_dir_deg + _frontend._dir_analog_bearing_offset.get()) + AP::ahrs().yaw));
            }
            if (_frontend._speed_sensor_type.get() == _frontend.Speed_type::WINDSPEED_NMEA) {
                speed_update_frontend(_speed_ms);