From 90f689cfa13329615b249d2d25907510e44c8940 Mon Sep 17 00:00:00 2001
From: Corvus Corax <corvuscorax@cybertrench.com>
Date: Sun, 8 Dec 2013 10:44:17 +0100
Subject: [PATCH] throttle does not accelerate downwards but upwards - switched
 sign

---
 flight/modules/AltitudeHold/altitudehold.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flight/modules/AltitudeHold/altitudehold.c b/flight/modules/AltitudeHold/altitudehold.c
index 84abe76f4..ffe5b5cc3 100644
--- a/flight/modules/AltitudeHold/altitudehold.c
+++ b/flight/modules/AltitudeHold/altitudehold.c
@@ -171,7 +171,7 @@ static void altitudeHoldTask(void)
     }
 
     // acceleration control loop
-    float throttle = startThrottle + pid_apply_setpoint(&accelpid, 1.0f, rotatedAccelDesired, accelStateDown, 1000 / DESIRED_UPDATE_RATE_MS);
+    float throttle = startThrottle - pid_apply_setpoint(&accelpid, 1.0f, rotatedAccelDesired, accelStateDown, 1000 / DESIRED_UPDATE_RATE_MS);
 
     if (throttle >= 1.0f) {
         throttle = 1.0f;