message: Display accel X,Y,Z
diff: @@ -202,14 +202,12 @@ class MultirotorDynamics {
  double euler[3] = { _x[6], _x[8], _x[10] };
  bodyZToInertial(-_U1/m(), euler, _inertialAccel);
  - // Negate accel Z for NED coordinates
  - _inertialAccel[2] = -_inertialAccel[2];
  + sprintf_s(_message, "AX: %+3.3f AY: %+3.3f AZ: %+3.3f",
  + _inertialAccel[0], _inertialAccel[1], _inertialAccel[2]);
  - sprintf_s(_message, "%+3.3f", _inertialAccel[2]);
  -
  - // We're airborne once net vertical acceleration goes above G
  + // We're airborne vertical acceleration goes below G
  if (!_airborne) {
  - _airborne = _inertialAccel[2] > g;
  + _airborne = _inertialAccel[2] < -g;
  }
  // Once airborne, we can update dynamics
  @@ -228,7 +226,7 @@ class MultirotorDynamics {
  /* y' */ _x[STATE_Y_DOT],
  /* y'' */ _inertialAccel[1],
  /* z' */ _x[STATE_Z_DOT],
  - /* z'' */ g - _inertialAccel[2],
  + /* z'' */ g + _inertialAccel[2],
  /* phi' */ phidot,
  /* phi'' */ psidot*thedot*(Iy()-Iz())/Ix() - Jr()/Ix()*thedot*_Omega + l()/Ix()*_U2,
  /* theta' */ thedot,
  