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AHRS: only use GPS for yaw when compass is not being used 

this avoids having two competing controllers
This commit is contained in:
Andrew Tridgell 2012-07-05 08:11:37 +10:00
parent 6653c0b874
commit 9d7ed30023
1 changed files with 9 additions and 1 deletions
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10
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -461,7 +461,15 @@ AP_AHRS_DCM::drift_correction(float deltat)
// step 6 // step 6
error = GA_b % GA_e2; error = GA_b % GA_e2;
error.z = earth_error_Z;
// only use the gps/accelerometers for earth frame yaw correction
// if we are not using a compass. Otherwise we have two competing
// controllers for yaw correction
if (_compass && _compass->use_for_yaw()) {
error.z = 0;
} else {
error.z = earth_error_Z;
}
// convert the error term to body frame // convert the error term to body frame
error = _dcm_matrix.mul_transpose(error); error = _dcm_matrix.mul_transpose(error);