Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-26 01:33:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS: Update to match AP_GPS interface change

Browse Source
This commit is contained in:
priseborough 2017-05-22 11:08:11 +10:00 committed by Francisco Ferreira
parent 5dcfc94371
commit fa5534502a
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_AHRS/AP_AHRS_DCM.cpp
View File

@ -965,7 +965,9 @@ bool AP_AHRS_DCM::get_position(struct Location &loc) const
loc.flags.terrain_alt = 0;
location_offset(loc, _position_offset_north, _position_offset_east);
if (_flags.fly_forward && _have_position) {
location_update(loc, _gps.ground_course_cd() * 0.01f, _gps.ground_speed() * _gps.get_lag());
float gps_delay_sec = 0;
_gps.get_lag(gps_delay_sec);
location_update(loc, _gps.ground_course_cd() * 0.01f, _gps.ground_speed() * gps_delay_sec);
}
return _have_position;
}