{
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;
else
#endif
ao_avg_height = (ao_avg_height_scaled + 63) >> 7;
-#ifdef AO_FLIGHT_TEST
- ao_sample_prev_tick = ao_sample_tick;
-#endif
}