mirror of https://github.com/ArduPilot/ardupilot
Copter: ACRO bug fix from Jason
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@ -129,7 +129,7 @@ get_roll_rate_stabilized_ef(int32_t stick_angle)
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roll_axis = wrap_180_cd(roll_axis);
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roll_axis = wrap_180_cd(roll_axis);
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// ensure that we don't reach gimbal lock
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// ensure that we don't reach gimbal lock
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if (labs(roll_axis > 4500) && g.acro_trainer_enabled) {
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if (labs(roll_axis) > 4500 && g.acro_trainer_enabled) {
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roll_axis = constrain(roll_axis, -4500, 4500);
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roll_axis = constrain(roll_axis, -4500, 4500);
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angle_error = wrap_180_cd(roll_axis - ahrs.roll_sensor);
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angle_error = wrap_180_cd(roll_axis - ahrs.roll_sensor);
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} else {
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} else {
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