APA_AHRS: update for compass API change

11 years ago · baa4ecc2ea
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@ -244,7 +244,7 @@ AP_AHRS_DCM::normalize(void)
 float
 AP_AHRS_DCM::yaw_error_compass(void)
 {
-    Vector3f mag = Vector3f(_compass->mag_x, _compass->mag_y, _compass->mag_z);
+    const Vector3f &mag = _compass->get_field();
    // get the mag vector in the earth frame
    Vector2f rb = _dcm_matrix.mulXY(mag);