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ACM: don't pass a gps pointer to DCM 

after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
This commit is contained in:
Andrew Tridgell 2012-02-25 14:08:24 +11:00
parent f10097a6d5
commit 698749dd92
1 changed files with 2 additions and 1 deletions
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3
ArduCopter/ArduCopter.pde
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@ -220,7 +220,8 @@ AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
AP_InertialSensor_Oilpan ins(&adc); AP_InertialSensor_Oilpan ins(&adc);
#endif #endif
AP_IMU_INS imu(&ins); AP_IMU_INS imu(&ins);
AP_DCM dcm(&imu, g_gps); // we don't want to use gps for yaw correction on ArduCopter
AP_DCM dcm(&imu, NULL);
AP_TimerProcess timer_scheduler; AP_TimerProcess timer_scheduler;
#elif HIL_MODE == HIL_MODE_SENSORS #elif HIL_MODE == HIL_MODE_SENSORS