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AP_AHRS: fixed check of accel sensor health

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we need to check health of each accelerometer separately
This commit is contained in:
Andrew Tridgell 2014-05-15 22:18:56 +10:00
parent 5edf4ba596
commit 315290029a
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -619,7 +619,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
int8_t besti = -1; int8_t besti = -1;
float best_error = 0; float best_error = 0;
for (uint8_t i=0; i<_ins.get_accel_count(); i++) { for (uint8_t i=0; i<_ins.get_accel_count(); i++) {
if (!_ins.get_accel_health()) { if (!_ins.get_accel_health(i)) {
// only use healthy sensors // only use healthy sensors
continue; continue;
} }