From 4b948f5bb1beb6bf65d6e3720d390170a35eff78 Mon Sep 17 00:00:00 2001 From: Staroselskii Georgii Date: Mon, 24 Aug 2015 17:54:43 +0300 Subject: [PATCH] AP_AHRS: make DCM use milligauss --- libraries/AP_AHRS/AP_AHRS_DCM.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp index f4069a0648..06de526af4 100644 --- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp +++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp @@ -276,7 +276,7 @@ AP_AHRS_DCM::normalize(void) float AP_AHRS_DCM::yaw_error_compass(void) { - const Vector3f &mag = _compass->get_field(); + const Vector3f &mag = _compass->get_field_milligauss(); // get the mag vector in the earth frame Vector2f rb = _dcm_matrix.mulXY(mag);