comm/manager/imc/ImcMsgManager: Fix processing heading on StateReport…

… message.
LSTS · Oct 3, 2024 · 04e91e8 · 04e91e8
1 parent ee17444
commit 04e91e8
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java
@@ -852,7 +852,7 @@ private void processStateReport(MessageInfo info, StateReport msg, ArrayList<IMC
         double lon = msg.getLongitude();
         double depth = msg.getDepth() == 0xFFFF ? -1 : msg.getDepth() / 10.0;
         // double altitude = msg.getAltitude() == 0xFFFF ? -1 : msg.getAltitude() / 10.0;
-        double heading = ((double)msg.getHeading() / 65535.0) * 360;
+        double heading = Math.toDegrees(AngleUtils.nomalizeAngleRads2Pi(((double) msg.getHeading() / 65535.0) * Math.PI * 2));
         double speedMS = msg.getSpeed() / 100.;
         NeptusLog.pub().info("Received report from "+msg.getSourceName());