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DCM: use the new use_for_yaw() compass method

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Andrew Tridgell committed 2012-02-25 14:51:09 +11:00
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commit eb71b26d3f
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libraries/AP_DCM/AP_DCM.cpp
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@@ -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