mirror of https://github.com/ArduPilot/ardupilot
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.
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@ -220,7 +220,8 @@ AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
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AP_InertialSensor_Oilpan ins(&adc);
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AP_InertialSensor_Oilpan ins(&adc);
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#endif
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#endif
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AP_IMU_INS imu(&ins);
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AP_IMU_INS imu(&ins);
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AP_DCM dcm(&imu, g_gps);
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// we don't want to use gps for yaw correction on ArduCopter
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AP_DCM dcm(&imu, NULL);
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AP_TimerProcess timer_scheduler;
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AP_TimerProcess timer_scheduler;
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#elif HIL_MODE == HIL_MODE_SENSORS
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#elif HIL_MODE == HIL_MODE_SENSORS
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