From bb45b0c38afa3affd0029fb2410c518cb04e3baf Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Sat, 4 Sep 2010 02:19:02 +0000
Subject: [PATCH] Ground/GCSControl: Swapped sign conventions of sticks to
 match the sign convention of roll/pitch/yaw.  I.e. now right on the roll
 causes a + roll, pulling down on the pitch causes + pitch.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1516 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 ground/src/plugins/gcscontrol/joystickcontrol.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ground/src/plugins/gcscontrol/joystickcontrol.cpp b/ground/src/plugins/gcscontrol/joystickcontrol.cpp
index abaff6c55..1d10f87c5 100644
--- a/ground/src/plugins/gcscontrol/joystickcontrol.cpp
+++ b/ground/src/plugins/gcscontrol/joystickcontrol.cpp
@@ -90,7 +90,7 @@ void JoystickControl::mccChanged(UAVObject*)
     {
         ManualControlCommand::DataFields data = getMCC()->getData();
         double x = (data.Yaw + 1) / 2 * scene()->sceneRect().width();
-        double y = (-data.Pitch + 1) / 2 * scene()->sceneRect().height();
+        double y = (data.Pitch + 1) / 2 * scene()->sceneRect().height();
         m_joystickEnd->setPos(x-m_joystickEnd->boundingRect().width()/2,y-m_joystickEnd->boundingRect().height()/2);
     }
     else if( this->objectName() == QString("widgetRightStick"))
@@ -161,7 +161,7 @@ void JoystickControl::updateMCC(QPointF point)
     QRectF sceneSize = scene()->sceneRect();
 
     double x = 2 * ( point.x() / sceneSize.width() - .5 );
-    double y = -2 * ( point.y() / sceneSize.height() - .5);
+    double y = 2 * ( point.y() / sceneSize.height() - .5);
     x = qBound( (double) -1, x, (double) 1);
     y = qBound( (double) -1, y, (double) 1);
     if( this->objectName() == QString("widgetLeftStick"))
@@ -177,7 +177,7 @@ void JoystickControl::updateMCC(QPointF point)
     {
 
         ManualControlCommand::DataFields data = getMCC()->getData();
-        data.Throttle = y;
+        data.Throttle = -y;
         data.Roll = x;
         getMCC()->setData(data);
     }