From eb71b26d3f4e55224fa2af2e88a60e48b7ccb89f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 25 Feb 2012 14:11:31 +1100
Subject: [PATCH] DCM: use the new use_for_yaw() compass method

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

diff --git a/libraries/AP_DCM/AP_DCM.cpp b/libraries/AP_DCM/AP_DCM.cpp
index 3e2dacded30..8d591ff4d3d 100644
--- a/libraries/AP_DCM/AP_DCM.cpp
+++ b/libraries/AP_DCM/AP_DCM.cpp
@@ -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