From 1e7da5064f726529be58c561d722b7e9733857f5 Mon Sep 17 00:00:00 2001
From: jgoppert <james.goppert@gmail.com>
Date: Mon, 26 Oct 2015 15:59:36 -0400
Subject: [PATCH] Fixed LPE bug for accel bias estimation.

---
 .../local_position_estimator/BlockLocalPositionEstimator.cpp   | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
index 08cf51fb5c..f3295e1fc9 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
@@ -749,8 +749,7 @@ void BlockLocalPositionEstimator::predict()
 	if (_integrate.get() && _sub_att.get().R_valid) {
 		Matrix3f R_att(_sub_att.get().R);
 		Vector3f a(_sub_sensor.get().accelerometer_m_s2);
-		Vector3f b(_x(X_bx), _x(X_by), _x(X_bz));
-		_u = R_att * (a - b);
+		_u = R_att * a;
 		_u(U_az) += 9.81f; // add g
 
 	} else {