ubx: apply heading offset to sensor_gnss_relative #194
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Problem
The
heading_offsetfrom the GPS_YAW_OFFSET wasn't getting applied to thesensor_gnss_relative.heading.Fixes PX4/PX4-Autopilot#26149
Context
Since PX4/PX4-Autopilot#23821 PX4 uses
RelPosHeadingin favor of theFix2ecef_position_velocity hack.I've also taken the opportunity to clean up and consolidate the logic in UBX_MSG_NAV_RELPOSNED handling.
Testing
Tested successfully with an ARKV6X and Dual ARK CAN RTK GPS in a Rover + MovingBase configuration.
@alexcekay would you mind doing a quick test with serial GPS modules?