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AP_DroneCAN: stop reversing ARDUPILOT_INDICATION_NOTIFYSTATE_VEHICLE_… #30831

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Merged
tridge merged 1 commit into from
Aug 26, 2025
Merged

AP_DroneCAN: stop reversing ARDUPILOT_INDICATION_NOTIFYSTATE_VEHICLE_… #30831

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3 changes: 3 additions & 0 deletions libraries/AP_DroneCAN/AP_DroneCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1065,6 +1065,9 @@ void AP_DroneCAN::notify_state_send()
}
#endif // HAL_BUILD_AP_PERIPH

// beware that
// ARDUPILOT_INDICATION_NOTIFYSTATE_VEHICLE_YAW_EARTH_CENTIDEGREES
// is strange; it's number of degrees *counter-clockwise* from North.
msg.aux_data_type = ARDUPILOT_INDICATION_NOTIFYSTATE_VEHICLE_YAW_EARTH_CENTIDEGREES;
uint16_t yaw_cd = (uint16_t)(360.0f - AP::ahrs().get_yaw_deg())*100.0f;
const uint8_t *data = (uint8_t *)&yaw_cd;
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