message: Accelerometer Z = -G at rest
diff: @@ -16,8 +16,8 @@ void Accelerometer::computeImuAcceleration(
  double imuLinearAccelerationXYZ[3],
  double G)
  {
  - // Subtract vertical acceleration from earth gravity to simulate accelerometer
  - double wdot = G - verticalAcceleration;
  + // Subtract earth gravity from vertical acceleration to simulate accelerometer
  + double wdot = verticalAcceleration - G;
  // Store stuff in a readable format
  double phi = rotation[0]; // bank angle
  