From 549ed60ec888650f0f9e2bdb4325ac70f82917ff Mon Sep 17 00:00:00 2001
From: corvus <corvus>
Date: Sat, 17 Jul 2010 21:38:14 +0000
Subject: [PATCH] bugfix HiTL-IL2: roll angle reading was reversed. Needed to
 be fixed in order for navigation to work.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1127 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 ground/src/plugins/hitlil2/il2bridge.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/src/plugins/hitlil2/il2bridge.cpp b/ground/src/plugins/hitlil2/il2bridge.cpp
index d1391a054..3e7265e52 100644
--- a/ground/src/plugins/hitlil2/il2bridge.cpp
+++ b/ground/src/plugins/hitlil2/il2bridge.cpp
@@ -142,7 +142,7 @@ void Il2Bridge::transmitUpdate()
 {
     // Read ActuatorDesired from autopilot
     ActuatorDesired::DataFields actData = actDesired->getData();
-    float ailerons = -actData.Roll;
+    float ailerons = actData.Roll;
     float elevator = actData.Pitch;
     float rudder = actData.Yaw;
     float throttle = actData.Throttle*2-1.0;
@@ -299,7 +299,7 @@ void Il2Bridge::processUpdate(QString& data)
 		    current.azimuth=value;
 		    break;
 	        case 46:
-		    current.roll=value;
+		    current.roll=-value;
 		    break;
 	        case 48:
 		    current.pitch=value;