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AP_AHRS: resolve compile warning in AP_AHRS_DCM::use_compass

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Randy Mackay 2019-09-04 19:46:46 +09:00 committed by Peter Barker
parent b344946300
commit fb38db6640
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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@ -458,7 +458,7 @@ bool AP_AHRS_DCM::use_compass(void)
// degrees and the estimated wind speed is less than 80% of the
// ground speed, then switch to GPS navigation. This will help
// prevent flyaways with very bad compass offsets
const int32_t error = abs(wrap_180_cd(yaw_sensor - AP::gps().ground_course_cd()));
const int32_t error = labs(wrap_180_cd(yaw_sensor - AP::gps().ground_course_cd()));
if (error > 4500 && _wind.length() < AP::gps().ground_speed()*0.8f) {
if (AP_HAL::millis() - _last_consistent_heading > 2000) {
// start using the GPS for heading if the compass has been