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定向NMEA调整

zr_rover4.2
zbr 4 years ago
parent
e0daf5a57a
commit
f6a923b198
1 changed files with 7 additions and 7 deletions
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  1. 14
      libraries/AP_GPS/AP_GPS_NMEA.cpp

14
libraries/AP_GPS/AP_GPS_NMEA.cpp
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@ -296,14 +296,14 @@ bool AP_GPS_NMEA::_term_complete() @@ -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

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