DCM: don't use compass unless its healthy

2011-12-28 20:41:25 +11:00 · 2011-12-28 20:41:25 +11:00 · 669a129175
commit 669a129175
parent 603b605eb1
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_DCM/AP_DCM.cpp
+++ b/libraries/AP_DCM/AP_DCM.cpp
@ -309,7 +309,7 @@ AP_DCM::drift_correction(void)

 	//*****YAW***************

-	if (_compass) {
+	if (_compass && _compass->healthy) {
 		// 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