From fd9423b2549167faab670113c5f2fa16c6a257d3 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 19 Feb 2024 23:47:27 +0000
Subject: [PATCH] Sub: `euler_rate_to_ang_vel` takes Quaternion attitude

---
 ArduSub/mode.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduSub/mode.cpp b/ArduSub/mode.cpp
index 29d314d72a..d445dd5c8c 100644
--- a/ArduSub/mode.cpp
+++ b/ArduSub/mode.cpp
@@ -249,7 +249,7 @@ void Mode::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int1
         }
 
         // convert earth-frame level rates to body-frame level rates
-        attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level);
+        attitude_control->euler_rate_to_ang_vel(attitude_control->get_attitude_target_quat(), rate_ef_level, rate_bf_level);
 
         // combine earth frame rate corrections with rate requests
         if (g.acro_trainer == ACRO_TRAINER_LIMITED) {