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Sub: euler_rate_to_ang_vel
takes Quaternion attitude
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@ -249,7 +249,7 @@ void Mode::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int1
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}
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// convert earth-frame level rates to body-frame level rates
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attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level);
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attitude_control->euler_rate_to_ang_vel(attitude_control->get_attitude_target_quat(), rate_ef_level, rate_bf_level);
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// combine earth frame rate corrections with rate requests
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if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
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