From 2ca8ac7259abe0f8839419ca3dbfaaeaf0ae3221 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Mon, 30 Aug 2010 00:09:47 +0000
Subject: [PATCH] added ground_course in proper 0-360 degrees * 100 for
 Ardupilot

git-svn-id: https://arducopter.googlecode.com/svn/trunk@348 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/AP_Compass/AP_Compass.cpp | 1 +
 libraries/AP_Compass/Compass.h      | 1 +
 2 files changed, 2 insertions(+)

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 27d41c13d6..34bfbcca00 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -107,6 +107,7 @@ AP_Compass::calculate(float roll, float pitch)
 	
 	// Magnetic heading
 	heading = atan2(-head_Y, head_X);
+	ground_course = degrees(heading) + 180;
 	
 	// Optimization for external DCM use. calculate normalized components
 	heading_X = cos(heading);
diff --git a/libraries/AP_Compass/Compass.h b/libraries/AP_Compass/Compass.h
index 8ce8913b54..0f7b320ad4 100644
--- a/libraries/AP_Compass/Compass.h
+++ b/libraries/AP_Compass/Compass.h
@@ -13,6 +13,7 @@ class Compass
 	int16_t mag_X;
 	int16_t mag_Y;
 	int16_t mag_Z;
+	int32_t ground_course;
 	float heading;
 	float heading_X;
 	float heading_Y;