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Use course over ground as the default for fixed wing navigation "heading" #8529

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merged 6 commits into from
Nov 22, 2022
Merged

Use course over ground as the default for fixed wing navigation "heading" #8529

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87b47af
Update navigation.c
breadoven Nov 5, 2022
d91e2fc
changes
breadoven Nov 5, 2022
cfe53aa
Update navigation_pos_estimator.c
breadoven Nov 7, 2022
3d11e10
add posEstimator specific course variable
breadoven Nov 13, 2022
9c0abbd
use velocity
breadoven Nov 20, 2022
7acf4b0
update method
breadoven Nov 21, 2022
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10 changes: 6 additions & 4 deletions src/main/navigation/navigation_pos_estimator.c
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Original file line number Diff line number Diff line change
Expand Up @@ -356,11 +356,11 @@ static void restartGravityCalibration(void)
}

static bool gravityCalibrationComplete(void)
{
{
if (!gyroConfig()->init_gyro_cal_enabled) {
return true;
}

return zeroCalibrationIsCompleteS(&posEstimator.imu.gravityCalibration);
}

Expand Down Expand Up @@ -774,8 +774,10 @@ static void publishEstimatedTopic(timeUs_t currentTimeUs)
{
static navigationTimer_t posPublishTimer;

/* IMU operates in decidegrees while INAV operates in deg*100 */
updateActualHeading(navIsHeadingUsable(), DECIDEGREES_TO_CENTIDEGREES(attitude.values.yaw));
/* IMU operates in decidegrees while INAV operates in deg*100
* Use GPS course over ground for fixed wing navigation yaw/heading when possible */
int16_t yawValue = isGPSHeadingValid() && STATE(AIRPLANE) ? gpsSol.groundCourse : attitude.values.yaw;
updateActualHeading(navIsHeadingUsable(), DECIDEGREES_TO_CENTIDEGREES(yawValue));

/* Position and velocity are published with INAV_POSITION_PUBLISH_RATE_HZ */
if (updateTimer(&posPublishTimer, HZ2US(INAV_POSITION_PUBLISH_RATE_HZ), currentTimeUs)) {
Expand Down