autotest: switch to full accel modelling in multicopter simulation

the new AHRS code should allow for centripetal compensation in
multicopters

Tools/autotest/pysim/aircraft.py

@@ -23,7 +23,7 @@ class Aircraft(object):
         self.position = Vector3(0, 0, 0) # m North, East, Down
         self.mass = 0.0
         self.update_frequency = 50 # in Hz
-        self.gravity = 9.8 # m/s/s
+        self.gravity = 9.80665 # m/s/s
         self.accelerometer = Vector3(0, 0, -self.gravity)
 
         self.wind = util.Wind('0,0,0')
@@ -47,9 +47,4 @@ class Aircraft(object):
 
         velocity_body = self.dcm.transposed() * self.velocity
 
-        # force the acceleration to mostly be from gravity. We should be using 100% accel_body,
-        # but right now that flies very badly as the AHRS system can't do centripetal correction
-        # for multicopters. This is a compromise until we get that sorted out
-        accel_true = self.accel_body
-        accel_fake = self.dcm.transposed() * Vector3(0, 0, -self.gravity)
-        self.accelerometer = (accel_true * 0.5) + (accel_fake * 0.5)
+        self.accelerometer = self.accel_body.copy()