From 112b22516a5948a926c7384f0122168c7e5c9014 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 2 May 2017 08:24:50 +1000 Subject: [PATCH] AP_InertialSensor: fixed use of accel2_noise thanks Francisco! --- libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp index 049e06732f..b56df55344 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp @@ -57,7 +57,7 @@ void AP_InertialSensor_SITL::generate_accel(uint8_t instance) if (sitl->motors_on) { // add extra noise when the motors are on - accel_noise += sitl->accel_noise; + accel_noise += instance==0?sitl->accel_noise:sitl->accel2_noise; } // add accel bias and noise