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#
# old_revision [9142f3330490a5aa00c1686475633b620c2ef5e7]
# new_revision [056a532c92301bcb224e1f786c5f6720e8acf3eb]
#
# patch "dcm.c"
#  from [441585448f6476586c2fbcb260b7a6d908cab479]
#    to [62d414448bb944679d6e5a3e693736501a28a009]
#
============================================================
--- dcm.c	441585448f6476586c2fbcb260b7a6d908cab479
+++ dcm.c	62d414448bb944679d6e5a3e693736501a28a009
@@ -173,11 +173,13 @@ void dcm_drift_correction(float x, float
 
 void dcm_drift_correction(float x, float y, float z)
 {
-	float mag;
 	float weight;
 	float error[3];
 	int i;
 
+#if DCM_WEIGHT
+	float mag;
+
 	mag = (1.0/fisqrt(x*x+y*y+z*z)) / GRAVITY;
 
 	mag = 1-mag;
@@ -190,6 +192,9 @@ void dcm_drift_correction(float x, float
 		weight = 0.0;
 	if (weight > 1.0)
 		weight = 1.0;
+#else
+	weight = 1.0;
+#endif
 
 	/* error = cross product of dcm last row and acceleration vector */
 	/* third row = cross product of first two rows */