Copter: sport and acro trainer limits based on target attitude

previously the trainer used the vehicle's actual attitude meaning that the target could get far past the limits if there was an attitude error

ArduCopter/control_acro.cpp

@@ -100,12 +100,16 @@ void Copter::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, in
     // calculate earth frame rate corrections to pull the copter back to level while in ACRO mode
 
     if (g.acro_trainer != ACRO_TRAINER_DISABLED) {
+
+        // get attitude targets
+        const Vector3f att_target = attitude_control->get_att_target_euler_cd();
+
         // Calculate trainer mode earth frame rate command for roll
-        int32_t roll_angle = wrap_180_cd(ahrs.roll_sensor);
+        int32_t roll_angle = wrap_180_cd(att_target.x);
         rate_ef_level.x = -constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
 
         // Calculate trainer mode earth frame rate command for pitch
-        int32_t pitch_angle = wrap_180_cd(ahrs.pitch_sensor);
+        int32_t pitch_angle = wrap_180_cd(att_target.y);
         rate_ef_level.y = -constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
 
         // Calculate trainer mode earth frame rate command for yaw

ArduCopter/control_sport.cpp

@@ -40,11 +40,15 @@ void Copter::sport_run()
     float target_roll_rate = channel_roll->get_control_in() * g.acro_rp_p;
     float target_pitch_rate = channel_pitch->get_control_in() * g.acro_rp_p;
 
-    int32_t roll_angle = wrap_180_cd(ahrs.roll_sensor);
+    // get attitude targets
+    const Vector3f att_target = attitude_control->get_att_target_euler_cd();
+
+    // Calculate trainer mode earth frame rate command for roll
+    int32_t roll_angle = wrap_180_cd(att_target.x);
     target_roll_rate -= constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
 
     // Calculate trainer mode earth frame rate command for pitch
-    int32_t pitch_angle = wrap_180_cd(ahrs.pitch_sensor);
+    int32_t pitch_angle = wrap_180_cd(att_target.y);
     target_pitch_rate -= constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
 
     if (roll_angle > aparm.angle_max){