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AC_AttitudeControl: removed use of "blended" earth frame accel

This commit is contained in:
Andrew Tridgell 2022-07-27 10:21:30 +10:00
parent f80ba734c8
commit 56bb13420d
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -395,7 +395,7 @@ protected:
float get_throttle_with_vibration_override();
// get earth-frame Z-axis acceleration with gravity removed in cm/s/s with +ve being up
float get_z_accel_cmss() const { return -(_ahrs.get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f; }
float get_z_accel_cmss() const { return -(_ahrs.get_accel_ef().z + GRAVITY_MSS) * 100.0f; }
// lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s
void accel_to_lean_angles(float accel_x_cmss, float accel_y_cmss, float& roll_target, float& pitch_target) const;