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AHRS: if we don't have gps correction enabled, zero the yaw correction

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This commit is contained in:
Andrew Tridgell 2012-07-20 16:23:56 +10:00
parent 613849a8df
commit 5f5ab9c07c
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -489,9 +489,13 @@ AP_AHRS_DCM::drift_correction(float deltat)
// to reduce the impact of two competing yaw controllers, we // to reduce the impact of two competing yaw controllers, we
// reduce the impact of the gps/accelerometers on yaw when we are // reduce the impact of the gps/accelerometers on yaw when we are
// flat, but still allow for yaw correction using the // flat, but still allow for yaw correction using the
// accelerometers at high roll angles. // accelerometers at high roll angles as long as we have a GPS
if (_compass && _compass->use_for_yaw()) { if (_compass && _compass->use_for_yaw()) {
error.z *= sin(fabs(roll)); if (_gps && _gps->status() == GPS::GPS_OK && gps_gain == 1.0) {
error.z *= sin(fabs(roll));
} else {
error.z = 0;
}
} }
// convert the error term to body frame // convert the error term to body frame