altos: Use factory calibration for all acceleration computations

[fw/altos] / src / core / ao_kalman.c

diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c
index 7fd4f88992c09035e321b954b616819c85345379..9aea1f14762f6139d9fb8dce932b98a6c946068d 100644 (file)
--- 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;