Update src/modules/ekf2/EKF2.cpp

Co-authored-by: Mathieu Bresciani <[email protected]>
PX4 · Nov 5, 2024 · 1b2a27b · 1b2a27b
1 parent 116711d
commit 1b2a27b
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
@@ -2408,7 +2408,7 @@ void EKF2::UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps)
 		if (fabsf(_param_ekf2_gps_yaw_off.get()) > 0.f) {
 			if (!PX4_ISFINITE(vehicle_gps_position.heading_offset) && PX4_ISFINITE(vehicle_gps_position.heading)) {
 				// Apply offset
-				float raw_yaw_offset = matrix::wrap_pi(_param_ekf2_gps_yaw_off.get());
+				float raw_yaw_offset = matrix::wrap_pi(math::radians(_param_ekf2_gps_yaw_off.get()));
 				vehicle_gps_position.heading_offset = raw_yaw_offset;
 				vehicle_gps_position.heading -= raw_yaw_offset;
 			}