DCM: use the new use_for_yaw() compass method

13 years ago · eb71b26d3f
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_DCM/AP_DCM.cpp
+++ b/libraries/AP_DCM/AP_DCM.cpp
@ -391,7 +391,7 @@ AP_DCM::drift_correction(void)
				@@ -391,7 +391,7 @@ AP_DCM::drift_correction(void)

 	//*****YAW***************

-	if (_compass && _compass->healthy) {
+	if (_compass && _compass->use_for_yaw()) {
 		if (_have_initial_yaw) {
 			// Equation 23, Calculating YAW error
 			// We make the gyro YAW drift correction based