From 46b9f0601166952fa702ae2bda27196a42b7b89d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 25 Nov 2024 11:01:25 +1100
Subject: [PATCH] AP_AHRS: use TAS in DCM drift correction code

Co-authored-by: luweiagi <luweiagi@163.com>
---
 libraries/AP_AHRS/AP_AHRS_DCM.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index a64821c145..23baa244ca 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -727,7 +727,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
         float airspeed_TAS = _last_airspeed_TAS;
 #if AP_AIRSPEED_ENABLED
         if (airspeed_sensor_enabled()) {
-            airspeed_TAS = AP::airspeed()->get_airspeed();
+            airspeed_TAS = AP::airspeed()->get_airspeed() * get_EAS2TAS();
         }
 #endif