From beac0c0ea9d520a436e905e8dcfc89965eb23ce3 Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Mon, 23 Aug 2010 04:12:14 +0000
Subject: [PATCH] AHRS: Get the signs for the simple algorithm correct

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1385 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/AHRS/ahrs.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c
index d5f448956..dfaafdf8a 100644
--- a/flight/AHRS/ahrs.c
+++ b/flight/AHRS/ahrs.c
@@ -353,8 +353,8 @@ int main()
       /***************** SIMPLE ATTITUDE FROM NORTH AND ACCEL ************/
       /* Very simple computation of the heading and attitude from accel. */
       rpy[2] = atan2((mag_data.raw.axis[0]), (-1 * mag_data.raw.axis[1])) * 180 / M_PI;
-      rpy[1] = -atan2(accel_data.filtered.x, accel_data.filtered.z) * 180 / M_PI;
-      rpy[0] = -atan2(accel_data.filtered.y,accel_data.filtered.z) * 180 / M_PI;
+      rpy[1] = atan2(accel_data.filtered.x, accel_data.filtered.z) * 180 / M_PI;
+      rpy[0] = atan2(accel_data.filtered.y,accel_data.filtered.z) * 180 / M_PI;
       
       RPY2Quaternion(rpy,q);
       attitude_data.quaternion.q1 = q[0];