From eb35e0e8acf6c7ba310eeba49893a494d0f4117f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 26 Feb 2012 22:23:29 +1100
Subject: [PATCH] DCM: fixed the sense of the compass GPS test in initial yaw

we were only disabling null offsets when we didn't have a compass,
which doesn't make much sense!
---
 libraries/AP_DCM/AP_DCM.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_DCM/AP_DCM.cpp b/libraries/AP_DCM/AP_DCM.cpp
index d82124aa3d..b90e48161b 100644
--- a/libraries/AP_DCM/AP_DCM.cpp
+++ b/libraries/AP_DCM/AP_DCM.cpp
@@ -426,11 +426,11 @@ AP_DCM::drift_correction(void)
 				// DCM matrix to the current
 				// roll/pitch values, but with yaw
 				// from the GPS
-				if (!_compass) {
+				if (_compass) {
 					_compass->null_offsets_disable();
 				}
 				rotation_matrix_from_euler(_dcm_matrix, roll, pitch, ToRad(_gps->ground_course));
-				if (!_compass) {
+				if (_compass) {
 					_compass->null_offsets_enable();
 				}
 				_have_initial_yaw =  true;