fix to yaw offset naming

Signed-off-by: dirksavage88 <[email protected]>
dirksavage88 · Nov 8, 2024 · 034ecf6 · 034ecf6
1 parent ca42190
commit 034ecf6
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
@@ -2408,9 +2408,9 @@ void EKF2::UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps)
 		if (fabsf(_param_ekf2_gps_yaw_off.get()) > 0.f) {
 			if (!PX4_ISFINITE(vehicle_gps_position.heading_offset) && PX4_ISFINITE(vehicle_gps_position.heading)) {
 				// Apply offset
-				float raw_yaw_offset = matrix::wrap_pi(math::radians(_param_ekf2_gps_yaw_off.get()));
-				vehicle_gps_position.heading_offset = raw_yaw_offset;
-				vehicle_gps_position.heading = matrix::wrap_pi(vehicle_gps_position.heading - raw_yaw_offset);
+				float yaw_offset = matrix::wrap_pi(math::radians(_param_ekf2_gps_yaw_off.get()));
+				vehicle_gps_position.heading_offset = yaw_offset;
+				vehicle_gps_position.heading = matrix::wrap_pi(vehicle_gps_position.heading - yaw_offset);
 			}
 		}