diff options
Diffstat (limited to 'src/core/ao_kalman.c')
| -rw-r--r-- | src/core/ao_kalman.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c index 7fd4f889..9aea1f14 100644 --- a/src/core/ao_kalman.c +++ b/src/core/ao_kalman.c @@ -166,7 +166,7 @@ ao_kalman_err_accel(void) { int32_t accel; - accel = (ao_ground_accel - ao_sample_accel) * ao_accel_scale; + accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale; /* Can't use ao_accel here as it is the pre-prediction value still */ ao_error_a = (accel - ao_k_accel) >> 16; |