From f6a923b198a5fc1ab9fd0ef9350e35dd26b46964 Mon Sep 17 00:00:00 2001 From: zbr Date: Tue, 10 Aug 2021 19:28:49 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AE=9A=E5=90=91NMEA=E8=B0=83=E6=95=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- libraries/AP_GPS/AP_GPS_NMEA.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/libraries/AP_GPS/AP_GPS_NMEA.cpp b/libraries/AP_GPS/AP_GPS_NMEA.cpp index f7be7da349..70b9ad7c3f 100644 --- a/libraries/AP_GPS/AP_GPS_NMEA.cpp +++ b/libraries/AP_GPS/AP_GPS_NMEA.cpp @@ -296,14 +296,14 @@ bool AP_GPS_NMEA::_term_complete() _last_HDT_ms = now; state.gps_yaw = wrap_360(_new_gps_yaw*0.01f); state.have_gps_yaw = true; - if (state.gps_yaw >state.heading_offset ) - { - state.heading = (float) state.gps_yaw - state.heading_offset ; - }else{ - state.heading = (float) state.gps_yaw +360.0 - state.heading_offset ; - } + // if (state.gps_yaw >state.heading_offset ) + // { + // state.heading = (float) state.gps_yaw - state.heading_offset ; + // }else{ + // state.heading = (float) state.gps_yaw +360.0 - state.heading_offset ; + // } state.heading = (state.heading > gps.get_heading_offset() )?(state.heading - gps.get_heading_offset()):(state.heading + 360.0 - gps.get_heading_offset() ); - + state.last_gps_fixed_time_ms = AP_HAL::millis(); state.gps_yaw = state.heading; // state.have_gps_yaw = true; // remember that we are setup to provide yaw. With