SITL: fixed sign of magnetic inclination

9 years ago · b7395ee74b
1 changed files with 1 additions and 1 deletions
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@ -167,7 +167,7 @@ void Aircraft::update_mag_field_bf()
				@@ -167,7 +167,7 @@ void Aircraft::update_mag_field_bf()
    // create a field vector and rotate to the required orientation
    Vector3f mag_ef(1e3f * intensity, 0, 0);
    Matrix3f R;
-    R.from_euler(0, ToRad(inclination), ToRad(declination));
+    R.from_euler(0, -ToRad(inclination), ToRad(declination));
    mag_ef = R * mag_ef;

    // calculate frame height above ground