Copter: bug fix to sport roll pitch control

ArduCopter/control_sport.pde

@@ -39,15 +39,14 @@ static void sport_run()
     // calculate rate requests
     target_roll_rate = g.rc_1.control_in * g.acro_rp_p;
     target_pitch_rate = g.rc_2.control_in * g.acro_rp_p;
-    
+
     int32_t roll_angle = wrap_180_cd(ahrs.roll_sensor);
-    target_roll_rate = -constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
+    target_roll_rate -= constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
 
     // Calculate trainer mode earth frame rate command for pitch
     int32_t pitch_angle = wrap_180_cd(ahrs.pitch_sensor);
-    target_pitch_rate = -constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
+    target_pitch_rate -= constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
 
-    
     if (roll_angle > aparm.angle_max){
         target_roll_rate -=  g.acro_rp_p*(roll_angle-aparm.angle_max);
     }else if (roll_angle < -aparm.angle_max) {
@@ -80,6 +79,7 @@ static void sport_run()
         // move throttle to minimum to keep us on the ground
         attitude_control.set_throttle_out(0, false);
     }else{
+
         // call attitude controller
         attitude_control.rate_ef_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);