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AHRS: include the P terms in get_gyro()

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this makes it more useful for navigation controllers
This commit is contained in:
Andrew Tridgell 2012-06-29 21:46:14 +10:00
parent acc6adf6e9
commit 136c03c3c0
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS_DCM.h
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@ -28,7 +28,7 @@ public:
}
// return the smoothed gyro vector corrected for drift
Vector3f get_gyro(void) {return _omega; }
Vector3f get_gyro(void) {return _omega + _omega_P + _omega_yaw_P; }
Matrix3f get_dcm_matrix(void) {return _dcm_matrix; }
// return the current drift correction integrator value