From 657c982447697fe71c317191f5b505d759129623 Mon Sep 17 00:00:00 2001
From: BLash <lash@vectornav.com>
Date: Thu, 18 Jul 2024 20:05:16 -0500
Subject: [PATCH] AP_ExternalAHRS_VectorNav: Resolve SITL failures

---
 .../AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp      | 10 +++++-----
 libraries/SITL/SIM_VectorNav.cpp                       |  6 +++---
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
index aeefe9ff54d45b..9b8aaf9b670827 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
@@ -551,7 +551,7 @@ void AP_ExternalAHRS_VectorNav::process_imu_packet(const uint8_t *b)
     // @Field: GY: Rotation rate Y-axis
     // @Field: GZ: Rotation rate Z-axis
 
-    AP::logger().WriteStreaming("EAHIM", "TimeUS,Temp,Pres,MX,MY,MZ,AX,AY,AZ,GX,GY,GZ",
+    AP::logger().WriteStreaming("EAHI", "TimeUS,Temp,Pres,MX,MY,MZ,AX,AY,AZ,GX,GY,GZ",
                        "sdPGGGoooEEE", "F00000000000",
                        "Qfffffffffff",
                        AP_HAL::micros64(),
@@ -587,7 +587,7 @@ void AP_ExternalAHRS_VectorNav::process_ahrs_ekf_packet(const uint8_t *b) {
     // @Field: PU: Pitch uncertainty
     // @Field: RU: Roll uncertainty
 
-    AP::logger().WriteStreaming("EAHAT", "TimeUS,Q1,Q2,Q3,Q4,Yaw,Pitch,Roll,YU,PU,RU",
+    AP::logger().WriteStreaming("EAHA", "TimeUS,Q1,Q2,Q3,Q4,Yaw,Pitch,Roll,YU,PU,RU",
                        "s----dddddd", "F0000000000",
                        "Qffffffffff",
                        AP_HAL::micros64(),
@@ -631,7 +631,7 @@ void AP_ExternalAHRS_VectorNav::process_ins_ekf_packet(const uint8_t *b) {
     // @Field: PU: Pitch uncertainty
     // @Field: RU: Roll uncertainty
 
-    AP::logger().WriteStreaming("EAHAT", "TimeUS,Q1,Q2,Q3,Q4,Yaw,Pitch,Roll,YU,PU,RU",
+    AP::logger().WriteStreaming("EAHA", "TimeUS,Q1,Q2,Q3,Q4,Yaw,Pitch,Roll,YU,PU,RU",
                        "s----dddddd", "F0000000000",
                        "Qffffffffff",
                        now,
@@ -652,8 +652,8 @@ void AP_ExternalAHRS_VectorNav::process_ins_ekf_packet(const uint8_t *b) {
     // @Field: PosU: Filter estimated position uncertainty
     // @Field: VelU: Filter estimated Velocity uncertainty
 
-    AP::logger().WriteStreaming("EAHKF", "TimeUS,InsStatus,Lat,Lon,Alt,VelN,VelE,VelD,PosU,VelU",
-                       "s-ddmnnndn", "F00000000",
+    AP::logger().WriteStreaming("EAHK", "TimeUS,InsStatus,Lat,Lon,Alt,VelN,VelE,VelD,PosU,VelU",
+                       "s-ddmnnndn", "F000000000",
                        "QHdddfffff",
                        now,
                        pkt.insStatus,
diff --git a/libraries/SITL/SIM_VectorNav.cpp b/libraries/SITL/SIM_VectorNav.cpp
index 44499377d48b8e..d51e500e58a54d 100644
--- a/libraries/SITL/SIM_VectorNav.cpp
+++ b/libraries/SITL/SIM_VectorNav.cpp
@@ -129,7 +129,7 @@ void VectorNav::send_imu_packet(void)
     pkt.pressure = pressure_Pa*0.001 + rand_float() * 0.01;
 
     const uint8_t sync_byte = 0xFA;
-    write_to_autopilot((char *)sync_byte, 1);
+    write_to_autopilot((char *)&sync_byte, 1);
     write_to_autopilot((char *)&VN_IMU_packet_sim::header, sizeof(VN_IMU_packet_sim::header));
     write_to_autopilot((char *)&pkt, sizeof(pkt));
 
@@ -174,7 +174,7 @@ void VectorNav::send_ins_ekf_packet(void)
     pkt.velU = 0.25;
 
     const uint8_t sync_byte = 0xFA;
-    write_to_autopilot((char *)sync_byte, 1);
+    write_to_autopilot((char *)&sync_byte, 1);
     write_to_autopilot((char *)&VN_INS_ekf_packet_sim::header, sizeof(VN_INS_ekf_packet_sim::header));
     write_to_autopilot((char *)&pkt, sizeof(pkt));
 
@@ -221,7 +221,7 @@ void VectorNav::send_ins_gnss_packet(void)
     pkt.fix2 = 3;
 
     const uint8_t sync_byte = 0xFA;
-    write_to_autopilot((char *)sync_byte, 1);
+    write_to_autopilot((char *)&sync_byte, 1);
     write_to_autopilot((char *)&VN_INS_gnss_packet_sim::header, sizeof(VN_INS_gnss_packet_sim::header));
     write_to_autopilot((char *)&pkt, sizeof(pkt));