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Correct all ADSB heading related field to be in positive range #25128

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Merged
merged 1 commit into from
Jul 2, 2025

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qtweng
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@qtweng qtweng commented Jun 27, 2025

Solved Problem

Additional fix for #24780 and PR #25125

Solution

  • Change wrap from wrap pi with range [-pi, pi] to wrap_2pi [0, 2pi]

Test coverage

Context

Related links, screenshot before/after, video

@dakejahl
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Thanks! Was this tested?

@qtweng
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qtweng commented Jun 27, 2025

Unfortunately, I could not test the actual SagetechMXS integration. I was only able to test using a Cube Orange Plus with an ADSB carrier board and with RingRXPro. These uAvionix systems seem to use the mavlink protocol to communicate.

The prior PR already fixed it for these. This one will will make the Sagetech output consistent. I have double checked the Sagetech SDK to see that their convention is 0 due north.

@slgrobotics
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@mrpollo - as this is ADS-B related and could cause real trouble with aircraft avoidance, shouldn't this PR be rushed? - just a thought.
Related: #25125

@mrpollo mrpollo self-requested a review July 2, 2025 15:21
@slgrobotics
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Another related PR here #24884

@dakejahl dakejahl merged commit 30c8c23 into PX4:main Jul 2, 2025
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3 participants