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APA_AHRS: update for compass API change

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Andrew Tridgell 2013-12-09 14:10:49 +11:00
parent 65c97a2f5f
commit baa4ecc2ea
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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@ -244,7 +244,7 @@ AP_AHRS_DCM::normalize(void)
float float
AP_AHRS_DCM::yaw_error_compass(void) AP_AHRS_DCM::yaw_error_compass(void)
{ {
Vector3f mag = Vector3f(_compass->mag_x, _compass->mag_y, _compass->mag_z); const Vector3f &mag = _compass->get_field();
// get the mag vector in the earth frame // get the mag vector in the earth frame
Vector2f rb = _dcm_matrix.mulXY(mag); Vector2f rb = _dcm_matrix.mulXY(mag);