From ce5c7c2c856033f796734f8ecfd597205b1e5763 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 25 Feb 2012 14:08:24 +1100
Subject: [PATCH] ACM: don't pass a gps pointer to DCM

after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
---
 ArduCopter/ArduCopter.pde | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 83bdaf692f..2a1684062b 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -220,7 +220,8 @@ AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
 AP_InertialSensor_Oilpan ins(&adc);
 #endif
 AP_IMU_INS  imu(&ins);
-AP_DCM  dcm(&imu, g_gps);
+// we don't want to use gps for yaw correction on ArduCopter
+AP_DCM  dcm(&imu, NULL);
 AP_TimerProcess timer_scheduler;
 
 #elif HIL_MODE == HIL_MODE_SENSORS