From baa4ecc2ea7b5622c6a0c111e41516b1048405ad Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 9 Dec 2013 14:10:49 +1100
Subject: [PATCH] APA_AHRS: update for compass API change

---
 libraries/AP_AHRS/AP_AHRS_DCM.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index edfd708098..4d28d492a3 100644
--- 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);