Rover: Changed logging of wp_bearing and nav_bearing to degrees

ArduPilot · Jan 3, 2020 · 526fd2c · 526fd2c
1 parent 22f8221
commit 526fd2c
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/APMrover2/Log.cpp b/APMrover2/Log.cpp
@@ -99,8 +99,8 @@ struct PACKED log_Nav_Tuning {
     LOG_PACKET_HEADER;
     uint64_t time_us;
     float wp_distance;
-    uint16_t wp_bearing_cd;
-    uint16_t nav_bearing_cd;
+    uint16_t wp_bearing;
+    uint16_t nav_bearing;
     uint16_t yaw;
     float xtrack_error;
 };
@@ -112,8 +112,8 @@ void Rover::Log_Write_Nav_Tuning()
         LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
         time_us             : AP_HAL::micros64(),
         wp_distance         : control_mode->get_distance_to_destination(),
-        wp_bearing_cd       : (uint16_t)wrap_360_cd(control_mode->wp_bearing() * 100),
-        nav_bearing_cd      : (uint16_t)wrap_360_cd(control_mode->nav_bearing() * 100),
+        wp_bearing          : (uint16_t)wrap_360(control_mode->wp_bearing()),
+        nav_bearing         : (uint16_t)wrap_360(control_mode->nav_bearing()),
         yaw                 : (uint16_t)ahrs.yaw_sensor,
         xtrack_error        : control_mode->crosstrack_error()
     };