-Magnetic and True AHRS heading

WindhoverLabs · Feb 23, 2024 · 5c911be · 5c911be
1 parent 9ef8a60
commit 5c911be
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/src/main/java/com/windhoverlabs/yamcs/gdl90/AHRS.java b/src/main/java/com/windhoverlabs/yamcs/gdl90/AHRS.java
@@ -84,13 +84,14 @@ public byte[] toBytes() throws Exception {
 
     byte iaByte = packedHeadingBytes[1];
 
+    //    NOTE:It seems that the ForeFlight Docs have these definitions flipped
     switch (HeadingType) {
-      case MAGNETIC:
+      case TRUE_HEADING:
         //      packedHeading = packedHeading | (1 << 15);
         iaByte = (byte) setNibble(packedHeadingBytes[2], 0x01, 1);
 
         break;
-      case TRUE_HEADING:
+      case MAGNETIC:
         //      packedHeading = packedHeading | ~(1 << 15);
         iaByte = (byte) setNibble(packedHeadingBytes[2], 0x00, 1);