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APM_Control: removed use of "blended" earth frame accel

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This commit is contained in:
Andrew Tridgell 2022-07-27 10:21:30 +10:00
parent 56bb13420d
commit 9a453bfc82
1 changed files with 2 additions and 2 deletions
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4
libraries/APM_Control/AR_PosControl.cpp
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@ -244,7 +244,7 @@ bool AR_PosControl::init()
// set target velocity and acceleration // set target velocity and acceleration
_vel_desired = vel_NED.xy(); _vel_desired = vel_NED.xy();
_vel_target.zero(); _vel_target.zero();
_accel_desired = AP::ahrs().get_accel_ef_blended().xy(); _accel_desired = AP::ahrs().get_accel_ef().xy();
_accel_target.zero(); _accel_target.zero();
// clear reversed setting // clear reversed setting
@ -335,7 +335,7 @@ void AR_PosControl::write_log()
} }
// get acceleration // get acceleration
const Vector3f curr_accel_NED = AP::ahrs().get_accel_ef_blended() * 100.0; const Vector3f curr_accel_NED = AP::ahrs().get_accel_ef() * 100.0;
// convert position to required format // convert position to required format
Vector2f pos_target_2d_cm = get_pos_target().tofloat() * 100.0; Vector2f pos_target_2d_cm = get_pos_target().tofloat() * 100.0;