- ao_ground_accel_across,
- ao_ground_accel_through,
- -ao_ground_accel_along);
+ ao_ground_accel_across - ao_config.accel_zero_across,
+ ao_ground_accel_through - ao_config.accel_zero_through,
+ -ao_ground_accel_along - ao_config.accel_zero_along);
+