Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1002 f9c3cf11-9bcb-44bc-f272-b75c42450872

This commit is contained in:
jasonshort 2010-12-02 05:54:36 +00:00
parent 729cf47b3c
commit b62c287f5e
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_DCM/AP_DCM.cpp
View File

@ -262,7 +262,7 @@ AP_DCM::drift_correction(void)
if (_compass) {
// We make the gyro YAW drift correction based on compass magnetic heading
error_course= (_dcm_matrix.a.x * _compass->headingY) - (_dcm_matrix.b.x * _compass->headingX); // 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
} else {
// Use GPS Ground course to correct yaw gyro drift
if (_gps->ground_speed >= SPEEDFILT) {