From c6fd5a79281b10f2d6abc258f2f50e2e6294db5c Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Wed, 7 Apr 2021 11:35:20 +0200
Subject: [PATCH] ignore roll

---
 src/main/flight/imu.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index 3401e3b00c..7373dc26b4 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -504,7 +504,7 @@ static float imuCalculateAccelerometerWeight(const float dT)
     float accWeight_RateIgnore = 1.0f;
 
     if (ARMING_FLAG(ARMED) && STATE(FIXED_WING_LEGACY) && imuConfig()->acc_ignore_rate) {
-        const float rotRateMagnitude = sqrtf(vectorNormSquared(&imuMeasuredRotationBF));
+        const float rotRateMagnitude = sqrtf(sq(imuMeasuredRotationBF.y) + sq(imuMeasuredRotationBF.z));
         const float rotRateMagnitudeFiltered = pt1FilterApply4(&rotRateFilter, rotRateMagnitude, IMU_CENTRIFUGAL_LPF, dT);
 
         if (imuConfig()->acc_ignore_slope) {