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AC_PosControl: Use blended accelerometer measurement in altitude control

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Jonathan Challinger 2014-10-31 15:07:33 -07:00 committed by Randy Mackay
parent 9261dfdefb
commit bfe71fea82
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -353,7 +353,7 @@ void AC_PosControl::accel_to_throttle(float accel_target_z)
int32_t p,i,d; // used to capture pid values for logging
// Calculate Earth Frame Z acceleration
z_accel_meas = -(_ahrs.get_accel_ef().z + GRAVITY_MSS) * 100.0f;
z_accel_meas = -(_ahrs.get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f;
// reset target altitude if this controller has just been engaged
if (_flags.reset_accel_to_throttle) {