From 8e8049009864c946145534a1c8ef81243e6f7a77 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 8 Dec 2017 10:21:44 +0900
Subject: [PATCH] Rover: reporting gets lat accel from attitude control

---
 APMrover2/GCS_Mavlink.cpp | 2 +-
 APMrover2/Log.cpp         | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 085fa322ce..83236b04e3 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -131,7 +131,7 @@ void Rover::send_nav_controller_output(mavlink_channel_t chan)
 {
     mavlink_msg_nav_controller_output_send(
         chan,
-        control_mode->lateral_acceleration,  // use nav_roll to hold demanded Y accel
+        g2.attitude_control.get_desired_lat_accel(),
         ahrs.groundspeed() * ins.get_gyro().z,  // use nav_pitch to hold actual Y accel
         nav_controller->nav_bearing_cd() * 0.01f,
         nav_controller->target_bearing_cd() * 0.01f,
diff --git a/APMrover2/Log.cpp b/APMrover2/Log.cpp
index 109954386c..0745ec822c 100644
--- a/APMrover2/Log.cpp
+++ b/APMrover2/Log.cpp
@@ -180,7 +180,7 @@ void Rover::Log_Write_Rangefinder()
     struct log_Rangefinder pkt = {
         LOG_PACKET_HEADER_INIT(LOG_RANGEFINDER_MSG),
         time_us               : AP_HAL::micros64(),
-        lateral_accel         : control_mode->lateral_acceleration,
+        lateral_accel         : g2.attitude_control.get_desired_lat_accel(),
         rangefinder1_distance : s0 ? s0->distance_cm() : (uint16_t)0,
         rangefinder2_distance : s1 ? s1->distance_cm() : (uint16_t)0,
         detected_count        : obstacle.detected_count,