populate Fix2 with heading fields used by PX4, to allow MB on PX4 #2
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@bugobliterator
The “correct” way to transmit GPS baseline data (and heading) is the
RelPosHeadingDronecan message. However, this message type is not supported in any PX4 stable release (as of 1.14), and not used for EKF aiding even in the main branch. Instead, PX4 relies on a “hack” that usesecef_position_velocityfield in the Fix2 message type to transmit heading: https://github.com/PX4/PX4-Autopilot/blob/926e7878afc6ce804b0b4c097fbf94d405841f42/src/drivers/uavcan/sensors/gnss.cpp#L307C1-L327C1Since we use two Here4 units for moving baseline with a PX4 autopilot, we had to add this to the GPS firmware to make it compatible with PX4.
You should consider adding this to your FW, as it is the last remaining hurdle for PX4 compatibility with moving baseline. Optionally, you could add a config parameter to enable/disable this behaviour, since the PX4 way of doing it is kind of a "hack".