Set heading from GPS with sustained >=10kts.

main/ry835ai.go

@@ -192,10 +192,6 @@ func processNMEALine(l string) bool {
 				return false
 			}
 			trueCourse = uint16(tc)
-			//FIXME: Experimental. Set heading to true heading on the MPU6050 reader.
-			if myMPU6050 != nil && globalStatus.RY835AI_connected && globalSettings.AHRS_Enabled {
-				myMPU6050.ResetHeading(float64(tc))
-			}
 		} else {
 			// No movement.
 			mySituation.TrueCourse = 0
@@ -208,6 +204,16 @@ func processNMEALine(l string) bool {
 			return false
 		}
 
+		//FIXME: Experimental. Set heading to true heading on the MPU6050 reader.
+		if myMPU6050 != nil && globalStatus.RY835AI_connected && globalSettings.AHRS_Enabled {
+			// Only count this heading if a "sustained" >10kts is obtained. This filters out a lot of heading
+			//  changes while on the ground and "movement" is really only changes in GPS fix as it settles down.
+			//TODO: Some more robust checking above current and last speed.
+			if mySituation.GroundSpeed >= 10 && uint16(groundSpeed) >= 10 {
+				myMPU6050.ResetHeading(float64(trueCourse))
+			}
+		}
+
 		mySituation.TrueCourse = uint16(trueCourse)
 		mySituation.GroundSpeed = uint16(groundSpeed)
 		mySituation.LastGroundTrackTime = time.Now()