From 61987f6655334d7e51c327aa7f5e2026f6713e0a Mon Sep 17 00:00:00 2001 From: Jonathan Challinger Date: Sun, 13 Jul 2014 00:36:27 -0700 Subject: [PATCH] AP_AHRS: Fixed DCM get_gyro function Previously incorporated the attitude correction terms into the return. Now only returns the drift-corrected gyro. --- libraries/AP_AHRS/AP_AHRS_DCM.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h index 4179c7cf3b..6693fecd53 100644 --- a/libraries/AP_AHRS/AP_AHRS_DCM.h +++ b/libraries/AP_AHRS/AP_AHRS_DCM.h @@ -40,7 +40,7 @@ public: // return the smoothed gyro vector corrected for drift const Vector3f get_gyro(void) const { - return _omega + _omega_P + _omega_yaw_P; + return _omega; } // return rotation matrix representing rotaton from body to earth axes