AP_Compass: Correct parameter checks in compass cal

3drobotics · Mar 12, 2015 · b422512 · b422512
1 parent 81c5a85
commit b422512
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/libraries/AP_Compass/CompassCalibrator.cpp b/libraries/AP_Compass/CompassCalibrator.cpp
@@ -254,8 +254,8 @@ bool CompassCalibrator::fit_acceptable() {
         _params.diag.y > 0.2f && _params.diag.y < 5.0f &&
         _params.diag.z > 0.2f && _params.diag.z < 5.0f &&
         fabsf(_params.offdiag.x) <  1.0f &&      //absolute of sine/cosine output cannot be greater than 1
-        fabsf(_params.offdiag.x) <  1.0f &&
-        fabsf(_params.offdiag.x) <  1.0f ){
+        fabsf(_params.offdiag.y) <  1.0f &&
+        fabsf(_params.offdiag.z) <  1.0f ){
 
             return _fitness <= sq(_tolerance);
         }