fix antenna yaw sign

zauberzeug · Dec 20, 2024 · fd75772 · fd75772
1 parent 4b81391
commit fd75772
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/rosys/hardware/gnss.py b/rosys/hardware/gnss.py
@@ -183,7 +183,7 @@ async def _run(self) -> None:
                     last_raw_heading = float(parts[4] or 0.0)
                     last_heading_accuracy = float(parts[7] or 'inf')
                 if last_gga_timestamp == last_gst_timestamp == last_pssn_timestamp != '':
-                    last_heading = last_raw_heading - self.antenna_pose.yaw_deg
+                    last_heading = last_raw_heading + self.antenna_pose.yaw_deg
                     antenna_pose = GeoPose.from_degrees(last_raw_latitude, last_raw_longitude, last_heading)
                     robot_pose = antenna_pose.relative_shift_by(x=-self.antenna_pose.x, y=-self.antenna_pose.y)
                     self.last_measurement = GnssMeasurement(