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AP_AHRS: make DCM use milligauss

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Staroselskii Georgii 2015-08-24 17:54:43 +03:00 committed by Andrew Tridgell
parent b5b6d767bd
commit 4b948f5bb1
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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@ -276,7 +276,7 @@ AP_AHRS_DCM::normalize(void)
float float
AP_AHRS_DCM::yaw_error_compass(void) AP_AHRS_DCM::yaw_error_compass(void)
{ {
const Vector3f &mag = _compass->get_field(); const Vector3f &mag = _compass->get_field_milligauss();
// get the mag vector in the earth frame // get the mag vector in the earth frame
Vector2f rb = _dcm_matrix.mulXY(mag); Vector2f rb = _dcm_matrix.mulXY(mag);