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Plane : changed useage of ahrs.set_correct_centrifugal

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Paul Riseborough 2014-02-16 21:08:20 +11:00 committed by Andrew Tridgell
parent 275ef86f86
commit 98f72a4864
1 changed files with 5 additions and 1 deletions
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6
ArduPlane/ArduPlane.pde
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@ -1083,7 +1083,11 @@ static void update_GPS_10Hz(void)
if (!arming.is_armed() ||
hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
ahrs.set_correct_centrifugal(false);
if (g_gps->status() >= GPS::GPS_OK_FIX_3D) {
ahrs.set_correct_centrifugal(true);
} else {
ahrs.set_correct_centrifugal(false);
}
update_home();
} else {
ahrs.set_correct_centrifugal(true);