AHRS: include the P terms in get_gyro()

this makes it more useful for navigation controllers
2012-06-29 21:46:14 +10:00 · 2012-06-29 21:46:14 +10:00 · b5aa821071
commit b5aa821071
parent 02b9ea4dfe
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@ -28,7 +28,7 @@ public:
 	}

 	// return the smoothed gyro vector corrected for drift
-	Vector3f	get_gyro(void) {return _omega; }
+	Vector3f	get_gyro(void) {return _omega + _omega_P + _omega_yaw_P; }
 	Matrix3f	get_dcm_matrix(void) {return _dcm_matrix; }

 	// return the current drift correction integrator value