From 98f72a4864d055b412724793f45b01addecc12fc Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Sun, 16 Feb 2014 21:08:20 +1100
Subject: [PATCH] Plane : changed useage of ahrs.set_correct_centrifugal

---
 ArduPlane/ArduPlane.pde | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 09085c4f96..28621dbbd2 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -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);