From da3d4cdab8a358c4850f321b5e0a58d246f0b2bc Mon Sep 17 00:00:00 2001
From: edouard <edouard>
Date: Tue, 21 Dec 2010 20:05:56 +0000
Subject: [PATCH] GCS Control Gadget: After double checks on actual quad,
 correct pitch sign now implemented.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2266 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 .../src/plugins/gcscontrol/gcscontrolgadget.cpp  | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/ground/src/plugins/gcscontrol/gcscontrolgadget.cpp b/ground/src/plugins/gcscontrol/gcscontrolgadget.cpp
index b93e7cbce..602dadb01 100644
--- a/ground/src/plugins/gcscontrol/gcscontrolgadget.cpp
+++ b/ground/src/plugins/gcscontrol/gcscontrolgadget.cpp
@@ -96,19 +96,19 @@ void GCSControlGadget::manualControlCommandUpdated(UAVObject * obj) {
     switch (controlsMode) {
     case 1:
         // Mode 1: LeftX = Yaw, LeftY = Pitch, RightX = Roll, RightY = Throttle
-        emit sticksChangedRemotely(yaw,pitch,roll,throttle);
+        emit sticksChangedRemotely(yaw,-pitch,roll,throttle);
         break;
     case 2:
         // Mode 2: LeftX = Yaw, LeftY = Throttle, RightX = Roll, RightY = Pitch
-        emit sticksChangedRemotely(yaw,throttle,roll,pitch);
+        emit sticksChangedRemotely(yaw,throttle,roll,-pitch);
         break;
     case 3:
         // Mode 3: LeftX = Roll, LeftY = Pitch, RightX = Yaw, RightY = Throttle
-        emit sticksChangedRemotely(roll,pitch,yaw,throttle);
+        emit sticksChangedRemotely(roll,-pitch,yaw,throttle);
         break;
     case 4:
         // Mode 4: LeftX = Roll, LeftY = Throttle, RightX = Yaw, RightY = Pitch;
-        emit sticksChangedRemotely(roll,throttle,yaw,pitch);
+        emit sticksChangedRemotely(roll,throttle,yaw,-pitch);
         break;
     }
 }
@@ -133,28 +133,28 @@ void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double r
     case 1:
         // Mode 1: LeftX = Yaw, LeftY = Pitch, RightX = Roll, RightY = Throttle
         newRoll = rightX;
-        newPitch = leftY;
+        newPitch = -leftY;
         newYaw = leftX;
         newThrottle = rightY;
         break;
     case 2:
         // Mode 2: LeftX = Yaw, LeftY = Throttle, RightX = Roll, RightY = Pitch
         newRoll = rightX;
-        newPitch = rightY;
+        newPitch = -rightY;
         newYaw = leftX;
         newThrottle = leftY;
         break;
     case 3:
         // Mode 3: LeftX = Roll, LeftY = Pitch, RightX = Yaw, RightY = Throttle
         newRoll = leftX;
-        newPitch = leftY;
+        newPitch = -leftY;
         newYaw = rightX;
         newThrottle = rightY;
         break;
     case 4:
         // Mode 4: LeftX = Roll, LeftY = Throttle, RightX = Yaw, RightY = Pitch;
         newRoll = leftX;
-        newPitch = rightY;
+        newPitch = -rightY;
         newYaw = rightX;
         newThrottle = leftY;
         break;