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allow negative heading in maths

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This commit is contained in:
Joel Wetzell 2020-07-25 10:21:56 -05:00
parent 62df30eae3
commit 542879b74b
1 changed files with 4 additions and 2 deletions
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6
firmware/common/adsb.cpp
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@ -344,11 +344,13 @@ adsb_vel decode_frame_velo(ADSBFrame& frame){
if((frame_data[7]&0x80) >> 7) velo_ns *= -1; //check ns direction sign if((frame_data[7]&0x80) >> 7) velo_ns *= -1; //check ns direction sign
velo.speed = sqrt(velo_ns*velo_ns + velo_ew*velo_ew); velo.speed = sqrt(velo_ns*velo_ns + velo_ew*velo_ew);
if(velo.speed){ if(velo.speed){
//calculate heading in degrees from ew/ns velocities //calculate heading in degrees from ew/ns velocities
velo.heading = (uint16_t)(atan2(velo_ew,velo_ns) * 180.0 / pi); int16_t heading_temp = (int16_t)(atan2(velo_ew,velo_ns) * 180.0 / pi);
// We don't want negative values but a 0-360 scale. // We don't want negative values but a 0-360 scale.
if (velo.heading < 0) velo.heading += 360.0; if (heading_temp < 0) heading_temp += 360.0;
velo.heading = (uint16_t)heading_temp;
} }
}else if(velo_type == 3 || velo_type == 4){ //Airspeed }else if(velo_type == 3 || velo_type == 4){ //Airspeed