From c8e17719d515c9e89c5bb421e15daef3a957f325 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Tue, 4 Sep 2018 17:42:57 +1000
Subject: [PATCH] msg: Add heading data to GPS blending output log data

---
 msg/ekf_gps_position.msg | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/msg/ekf_gps_position.msg b/msg/ekf_gps_position.msg
index 330852f282..bfd312f752 100644
--- a/msg/ekf_gps_position.msg
+++ b/msg/ekf_gps_position.msg
@@ -14,4 +14,6 @@ float32 vel_e_m_s		# GPS East velocity, (metres/sec)
 float32 vel_d_m_s		# GPS Down velocity, (metres/sec)
 bool vel_ned_valid		# True if NED velocity is valid
 uint8 satellites_used		# Number of satellites used
+float32 heading			# heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])
+float32 heading_offset		# heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
 uint8 selected			# GPS selection: 0: GPS1, 1: GPS2. 2: GPS1+GPS2 blend
-- 
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