From 6c2f623df2d0b2958ae82143b2c35c07623f0dad Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 26 Aug 2013 08:46:22 +1000
Subject: [PATCH] Rover: send y accel in m/s/s as nav_pitch

this allows for easier tuning in MissionPlanner
---
 APMrover2/GCS_Mavlink.pde | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index a2aa37a5e7..d62bcd99ed 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -239,8 +239,8 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
 {
     mavlink_msg_nav_controller_output_send(
         chan,
-        lateral_acceleration,
-        0,
+        lateral_acceleration, // use nav_roll to hold demanded Y accel
+        ins.get_accel().y, // use nav_pitch to hold actual Y accel
         nav_controller->nav_bearing_cd() * 0.01f,
         nav_controller->target_bearing_cd() * 0.01f,
         wp_distance,