diff --git a/libraries/AP_DCM/AP_DCM.cpp b/libraries/AP_DCM/AP_DCM.cpp index 6ae89a73e9..06f5645003 100644 --- a/libraries/AP_DCM/AP_DCM.cpp +++ b/libraries/AP_DCM/AP_DCM.cpp @@ -262,7 +262,7 @@ AP_DCM::drift_correction(void) if (_compass) { // We make the gyro YAW drift correction based on compass magnetic heading - error_course= (_dcm_matrix.a.x * _compass->headingY) - (_dcm_matrix.b.x * _compass->headingX); // Equation 23, Calculating YAW error + error_course= (_dcm_matrix.a.x * _compass->heading_y) - (_dcm_matrix.b.x * _compass->heading_x); // Equation 23, Calculating YAW error } else { // Use GPS Ground course to correct yaw gyro drift if (_gps->ground_speed >= SPEEDFILT) {