Copter: AC_ATT correct yaw error calculation

11 years ago · 329118b7c9
1 changed files with 2 additions and 2 deletions
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@ -536,8 +536,8 @@ void AC_AttitudeControl::update_rate_bf_targets()
				@@ -536,8 +536,8 @@ void AC_AttitudeControl::update_rate_bf_targets()
        _rate_bf_target.z = constrain_float(_rate_bf_target.z,-_angle_rate_y_max,_angle_rate_y_max);
    }

-	_rate_bf_target.x += -_angle_bf_error.y * _ahrs.get_gyro().z;
-	_rate_bf_target.y +=  _angle_bf_error.x * _ahrs.get_gyro().z;
+	_rate_bf_target.x += _angle_bf_error.y * _ahrs.get_gyro().z;
+	_rate_bf_target.y += -_angle_bf_error.x * _ahrs.get_gyro().z;
 }

 //