From 4803dfe99c704edef1162d66d9ad33bd964b0b83 Mon Sep 17 00:00:00 2001
From: Werner Backes <op-dev@bit-1.de>
Date: Thu, 6 Sep 2012 13:13:58 +0200
Subject: [PATCH] Fix: yaw bias correction wasn't applied on CC3D.

---
 flight/Modules/Attitude/attitude.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c
index baa0c5453..6b0c16cec 100644
--- a/flight/Modules/Attitude/attitude.c
+++ b/flight/Modules/Attitude/attitude.c
@@ -420,6 +420,10 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
 		gyrosData->z += gyro_correct_int[2];
 	}
 
+	// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
+	// and make it average zero (weakly)
+	gyro_correct_int[2] += - gyrosData->z * yawBiasRate;
+
 	GyrosSet(gyrosData);
 	AccelsSet(accelsData);