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AP_AHRS: Fix DCM gndVelADS on groundspeed_vector() with airspeed_use

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Jaaaky 2019-06-12 12:31:25 +03:00 committed by Andrew Tridgell
parent 5ab000376b
commit fb311208ab
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS.cpp
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@ -255,7 +255,7 @@ Vector2f AP_AHRS::groundspeed_vector(void)
const Vector3f wind = wind_estimate();
const Vector2f wind2d(wind.x, wind.y);
const Vector2f airspeed_vector(_cos_yaw * airspeed, _sin_yaw * airspeed);
gndVelADS = airspeed_vector - wind2d;
gndVelADS = airspeed_vector + wind2d;
}
// Generate estimate of ground speed vector using GPS