From 2d6680f144c196bf53cc10f8a3d465f37adabe2e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 3 Mar 2012 20:23:23 +1100
Subject: [PATCH] DCM: fixed bug in accel averaging

sorry Randy!
---
 libraries/AP_DCM/AP_DCM.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_DCM/AP_DCM.cpp b/libraries/AP_DCM/AP_DCM.cpp
index 6d79b0c3cd..7d9551da47 100644
--- a/libraries/AP_DCM/AP_DCM.cpp
+++ b/libraries/AP_DCM/AP_DCM.cpp
@@ -78,6 +78,7 @@ AP_DCM::update_DCM_fast(void)
 		case 2:
 			_accel_vector = _accel_sum / _accel_sum_count;
 			_accel_sum_count = 0;
+			_accel_sum.zero();
 			drift_correction();			// Normalize the DCM matrix
 		break;