Prevent duplicate reporting of GPS heading #10346
Merged
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During replay log testing of changes for issue #10284 is was noticed that the GPS driver was not setting the .heading data field to NAN when the data was not updated by the receiver.
The receiver used to generate the replay logs was updating heading at a 1Hz rate resulting in the last measurement being held for subsequent frames instead of setting the value to NAN. This resulted in repeated fusion of the same data and large innovation transients when the vehicle yawed:
The 1Hz update and hold behaviour for the yaw data can be seen here:
Test data / coverage
I do not have access to physical hardware to gather logs with this change.