From fd10c6ffff2caae342758a15c24ddfb373ec9c28 Mon Sep 17 00:00:00 2001 From: peabody124 Date: Fri, 10 Dec 2010 17:14:35 +0000 Subject: [PATCH] Guidance: Small sign error git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2209 ebee16cc-31ac-478f-84a7-5cbb03baadba --- flight/OpenPilot/Modules/Guidance/guidance.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/OpenPilot/Modules/Guidance/guidance.c b/flight/OpenPilot/Modules/Guidance/guidance.c index e619b2455..4a3e74e49 100644 --- a/flight/OpenPilot/Modules/Guidance/guidance.c +++ b/flight/OpenPilot/Modules/Guidance/guidance.c @@ -249,7 +249,7 @@ static void updateVtolDesiredAttitude() // Project the north and east command signals into the pitch and roll based on yaw. For this to behave well the // craft should move similarly for 5 deg roll versus 5 deg pitch attitudeDesired.Pitch = bound(-northCommand * cosf(attitudeActual.Yaw * M_PI / 180) + - eastCommand * sinf(attitudeActual.Yaw * M_PI / 180), + -eastCommand * sinf(attitudeActual.Yaw * M_PI / 180), -stabSettings.PitchMax, stabSettings.PitchMax); attitudeDesired.Roll = bound(-northCommand * sinf(attitudeActual.Yaw * M_PI / 180) + eastCommand * cosf(attitudeActual.Yaw * M_PI / 180),