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Updated DCM library.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@996 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-12-02 05:13:35 +00:00
parent 45ddbbf982
commit 110685f880
2 changed files with 4 additions and 4 deletions
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2
libraries/AP_DCM/AP_DCM.cpp
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@ -262,7 +262,7 @@ AP_DCM::drift_correction(void)
if (_compass) {
// We make the gyro YAW drift correction based on compass magnetic heading
error_course= (_dcm_matrix.a.x * _compass->Heading_Y) - (_dcm_matrix.b.x * _compass->Heading_X); // Equation 23, Calculating YAW error
error_course= (_dcm_matrix.a.x * _compass->headingY) - (_dcm_matrix.b.x * _compass->headingX); // Equation 23, Calculating YAW error
} else {
// Use GPS Ground course to correct yaw gyro drift
if (_gps->ground_speed >= SPEEDFILT) {

6
libraries/AP_DCM/AP_DCM.h
View File

@ -5,7 +5,7 @@
#include <AP_Math.h>
#include <inttypes.h>
#include "WProgram.h"
#include <APM_Compass.h>
#include <AP_Compass.h>
#include <AP_ADC.h>
#include <AP_GPS.h>
#include <AP_IMU.h>
@ -26,7 +26,7 @@ public:
_course_over_ground_y(1)
{}
AP_DCM(AP_IMU *imu, GPS *gps, APM_Compass_Class *withCompass) :
AP_DCM(AP_IMU *imu, GPS *gps, Compass *withCompass) :
_imu(imu),
_gps(gps),
_compass(withCompass),
@ -73,7 +73,7 @@ private:
void euler_angles(void);
// members
APM_Compass_Class * _compass;
Compass * _compass;
GPS * _gps;
AP_IMU * _imu;