From b676caa6264f4d824e483c111f17c0fbaced2884 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 23 Mar 2012 16:28:10 +1100
Subject: [PATCH] ACM: enable GPS in AHRS for ArduCopter

this is an experiment in centripetal correction for multicopters
---
 ArduCopter/ArduCopter.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index b6e639fcbb..db530d030f 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -251,7 +251,7 @@ static GPS         *g_gps_null;
 #if QUATERNION_ENABLE == ENABLED
  AP_AHRS_Quaternion ahrs(&imu, g_gps_null);
 #else
- AP_AHRS_DCM ahrs(&imu, g_gps_null);
+ AP_AHRS_DCM ahrs(&imu, g_gps);
 #endif
 
 AP_TimerProcess timer_scheduler;