From 13d6a887fd0f062ea5f8cd4916d57828f3a2448d Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 17 May 2020 18:15:59 +0100
Subject: [PATCH] Copter: align GCS PID with logged

---
 ArduCopter/GCS_Mavlink.cpp | 18 ++++++------------
 1 file changed, 6 insertions(+), 12 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 882c59dd57..3523df3e2f 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -186,7 +186,6 @@ int16_t GCS_MAVLINK_Copter::vfr_hud_throttle() const
  */
 void GCS_MAVLINK_Copter::send_pid_tuning()
 {
-    const Vector3f &gyro = AP::ahrs().get_gyro();
     static const PID_TUNING_AXIS axes[] = {
         PID_TUNING_ROLL,
         PID_TUNING_PITCH,
@@ -201,23 +200,18 @@ void GCS_MAVLINK_Copter::send_pid_tuning()
             return;
         }
         const AP_Logger::PID_Info *pid_info = nullptr;
-        float achieved;
         switch (axes[i]) {
         case PID_TUNING_ROLL:
             pid_info = &copter.attitude_control->get_rate_roll_pid().get_pid_info();
-            achieved = degrees(gyro.x);
             break;
         case PID_TUNING_PITCH:
             pid_info = &copter.attitude_control->get_rate_pitch_pid().get_pid_info();
-            achieved = degrees(gyro.y);
             break;
         case PID_TUNING_YAW:
             pid_info = &copter.attitude_control->get_rate_yaw_pid().get_pid_info();
-            achieved = degrees(gyro.z);
             break;
         case PID_TUNING_ACCZ:
             pid_info = &copter.pos_control->get_accel_z_pid().get_pid_info();
-            achieved = -(AP::ahrs().get_accel_ef_blended().z + GRAVITY_MSS);
             break;
         default:
             continue;
@@ -225,12 +219,12 @@ void GCS_MAVLINK_Copter::send_pid_tuning()
         if (pid_info != nullptr) {
             mavlink_msg_pid_tuning_send(chan,
                                         axes[i],
-                                        pid_info->target*0.01f,
-                                        achieved,
-                                        pid_info->FF*0.01f,
-                                        pid_info->P*0.01f,
-                                        pid_info->I*0.01f,
-                                        pid_info->D*0.01f);
+                                        pid_info->target,
+                                        pid_info->actual,
+                                        pid_info->FF,
+                                        pid_info->P,
+                                        pid_info->I,
+                                        pid_info->D);
         }
     }
 }