From ae4814a7734300c2368b1b79267c0ad76900cdba Mon Sep 17 00:00:00 2001
From: Przemek Lekston <plekston@flytechuav.com>
Date: Wed, 6 Aug 2014 21:16:21 +0200
Subject: [PATCH] AP_AHRS_DCM.cpp: changed the direction of position projection
 to ensure correct behavious in crosswind

---
 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 854f97b697..9f79bcd45c 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -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;
 }