From ec4c9c79477733edb7cc326b4274a632f3b7c942 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Marek=20S=2E=20=C5=81ukasiewicz?= <marek@lukasiewicz.tech>
Date: Thu, 20 Nov 2025 15:40:48 +0100
Subject: [PATCH] Fix order of applying NAV_OFS

---
 src/marshconnector.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/marshconnector.cpp b/src/marshconnector.cpp
index fd11205..c53abef 100644
--- a/src/marshconnector.cpp
+++ b/src/marshconnector.cpp
@@ -223,8 +223,9 @@ float MarshConnector::get_parameter(const String &id) {
 Transform3D MarshConnector::get_aircraft() {
   float heading_rad = parameters[NAV_OFS_HDG] * Math_PI / 180.0;
   Quaternion heading_offset = Quaternion(Vector3(0, 1, 0), heading_rad);
-  Quaternion rotation = heading_offset * last_rotation;
-  return Transform3D{Basis{rotation}, last_location + Vector3{-parameters[NAV_OFS_Y], 0.0, parameters[NAV_OFS_X]}};
+  Transform3D offset{Basis{heading_offset}, Vector3{-parameters[NAV_OFS_Y], 0.0, parameters[NAV_OFS_X]}};
+  Transform3D marsh{Basis{last_rotation}, last_location};
+  return offset * marsh;
 }
 
 Vector2 MarshConnector::get_cyclic() {