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AP_AHRS_DCM.cpp: changed the direction of position projection to ensure correct behavious in crosswind

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Przemek Lekston 2014-08-06 21:16:21 +02:00 committed by Andrew Tridgell
parent 4dfafcf7ba
commit ae4814a773
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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@ -886,7 +886,7 @@ bool AP_AHRS_DCM::get_position(struct Location &loc)
loc.flags.terrain_alt = 0;
location_offset(loc, _position_offset_north, _position_offset_east);
if (_flags.fly_forward && _have_position) {
location_update(loc, degrees(yaw), _gps.ground_speed() * _gps.get_lag());
location_update(loc, _gps.ground_course_cd() * 0.01f, _gps.ground_speed() * _gps.get_lag());
}
return _have_position;
}