diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp index 6f447fba80..1c006c0795 100644 --- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp +++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp @@ -587,7 +587,7 @@ AP_AHRS_DCM::drift_correction_yaw(void) // sanity check _kp_yaw if (_kp_yaw < AP_AHRS_YAW_P_MIN) { - _kp_yaw = AP_AHRS_YAW_P_MIN; + _kp_yaw.set(AP_AHRS_YAW_P_MIN); } // update the proportional control to drag the @@ -927,7 +927,7 @@ AP_AHRS_DCM::drift_correction(float deltat) // sanity check _kp value if (_kp < AP_AHRS_RP_P_MIN) { - _kp = AP_AHRS_RP_P_MIN; + _kp.set(AP_AHRS_RP_P_MIN); } // we now want to calculate _omega_P and _omega_I. The