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Sub: 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 22cd568a4c
commit b3e4306b70
1 changed files with 1 additions and 1 deletions
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2
ArduSub/GCS_Mavlink.cpp
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@ -202,7 +202,7 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
const AP_PIDInfo &pid_info = sub.pos_control.get_accel_z_pid().get_pid_info(); const AP_PIDInfo &pid_info = sub.pos_control.get_accel_z_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ, mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info.target*0.01f, pid_info.target*0.01f,
-(ahrs.get_accel_ef_blended().z + GRAVITY_MSS), -(ahrs.get_accel_ef().z + GRAVITY_MSS),
pid_info.FF*0.01f, pid_info.FF*0.01f,
pid_info.P*0.01f, pid_info.P*0.01f,
pid_info.I*0.01f, pid_info.I*0.01f,