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AP_AHRS: use rotateXY for speed

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Saves 0.1ms at 100hz
This commit is contained in:
Randy Mackay 2013-07-20 18:00:36 +09:00
parent 537bb04f5f
commit b0c5d9efd0
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -420,7 +420,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
drift_correction_yaw();
// apply trim
temp_dcm.rotate(_trim);
temp_dcm.rotateXY(_trim);
// rotate accelerometer values into the earth frame
_accel_ef = temp_dcm * _accel_vector;