From 6534b050ee1a48af7932c46a9a87277eed1cc997 Mon Sep 17 00:00:00 2001
From: Jonas Perolini <74473718+JonasPerolini@users.noreply.github.com>
Date: Tue, 19 Apr 2022 10:56:42 +0200
Subject: [PATCH] ubx: disable gps heading for in RTK float fix type (#104)

RTK fixed is excellent whereas RTK float is generally bad.
The heading accuracy is generally not representative of the quality of the heading.

Setup:
- Two F9P GNSS units with software HPG 1.30
- Baseline: 82.2 cm
---
 src/ubx.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/ubx.cpp b/src/ubx.cpp
index 22bc8ab..ff9e8bc 100644
--- a/src/ubx.cpp
+++ b/src/ubx.cpp
@@ -2036,9 +2036,10 @@ GPSDriverUBX::payloadRxDone()
 			float rel_length_acc = _buf.payload_rx_nav_relposned.accLength * 1e-2f;
 			bool heading_valid = _buf.payload_rx_nav_relposned.flags & (1 << 8);
 			bool rel_pos_valid = _buf.payload_rx_nav_relposned.flags & (1 << 2);
+			bool carrier_solution_fixed = _buf.payload_rx_nav_relposned.flags & (1 << 4);
 			(void)rel_length_acc;
 
-			if (heading_valid && rel_pos_valid && rel_length < 1000.f) { // validity & sanity checks
+			if (heading_valid && rel_pos_valid && rel_length < 1000.f && carrier_solution_fixed) { // validity & sanity checks
 				heading *= M_PI_F / 180.0f; // deg to rad, now in range [0, 2pi]
 				heading -= _heading_offset; // range: [-pi, 3pi]