drivers: Always set GPS heading to NAN if not updated

PX4 · Aug 28, 2018 · ad1c2b3 · ad1c2b3
1 parent b2c7b44
commit ad1c2b3
Showing 1 changed file with 3 additions and 5 deletions.
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
@@ -882,11 +882,9 @@ GPS::publish()
 	if (_instance == Instance::Main || _is_gps_main_advertised) {
 		orb_publish_auto(ORB_ID(vehicle_gps_position), &_report_gps_pos_pub, &_report_gps_pos, &_gps_orb_instance,
 				 ORB_PRIO_DEFAULT);
-		if (_mode == GPS_DRIVER_MODE_ASHTECH) {
-			// Heading/yaw data can be updated at a lower rate than the other navigation data.
-			// The uORB message definition requires this data to be set to a NAN if no new valid data is available.
-			_report_gps_pos.heading = NAN;
-		}
+		// Heading/yaw data can be updated at a lower rate than the other navigation data.
+		// The uORB message definition requires this data to be set to a NAN if no new valid data is available.
+		_report_gps_pos.heading = NAN;
 		_is_gps_main_advertised = true;
 	}
 }