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DCM: don't use compass unless its healthy

This commit is contained in:
Andrew Tridgell 2011-12-28 20:41:25 +11:00
parent 7c098491b9
commit 8f74631882
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_DCM/AP_DCM.cpp
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@ -309,7 +309,7 @@ AP_DCM::drift_correction(void)
//*****YAW*************** //*****YAW***************
if (_compass) { if (_compass && _compass->healthy) {
// We make the gyro YAW drift correction based on compass magnetic heading // We make the gyro YAW drift correction based on compass magnetic heading
error_course = (_dcm_matrix.a.x * _compass->heading_y) - (_dcm_matrix.b.x * _compass->heading_x); // Equation 23, Calculating YAW error error_course = (_dcm_matrix.a.x * _compass->heading_y) - (_dcm_matrix.b.x * _compass->heading_x); // Equation 23, Calculating YAW error