{
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;