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Compass_VRBrain: primary compass based on use_for_yaw

This commit is contained in:
Randy Mackay 2014-09-18 21:57:19 +09:00 committed by Andrew Tridgell
parent 01fa4ba619
commit 16058cb730
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Compass/AP_Compass_VRBRAIN.cpp
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@ -158,11 +158,11 @@ void AP_Compass_VRBRAIN::accumulate(void)
uint8_t AP_Compass_VRBRAIN::get_primary(void) const
{
if (_primary < _num_instances && _healthy[_primary]) {
if (_primary < _num_instances && _healthy[_primary] && use_for_yaw(_primary)) {
return _primary;
}
for (uint8_t i=0; i<_num_instances; i++) {
if (_healthy[i]) return i;
if (_healthy[i] && (use_for_yaw(i))) return i;
}
return 0;
}