From 5984857751eed5267009ee8b33358a42b71da6e4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 May 2023 17:28:57 +1000
Subject: [PATCH] AP_ADSB: correct climbRate in SageTechMXS

down vs up issue
---
 libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp b/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
index 2e389f83af..37aec8df7d 100644
--- a/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
+++ b/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
@@ -334,9 +334,10 @@ void AP_ADSB_Sagetech_MXS::auto_config_operating()
 
     mxs_state.op.identOn = false;
 
-    float vertRate;
-    if (AP::ahrs().get_vert_pos_rate_D(vertRate)) {
-        mxs_state.op.climbRate = vertRate * SAGETECH_SCALE_M_PER_SEC_TO_FT_PER_MIN;
+    float vertRateD;
+    if (AP::ahrs().get_vert_pos_rate_D(vertRateD)) {
+        // convert from down to up, and scale appropriately:
+        mxs_state.op.climbRate = -vertRateD * SAGETECH_SCALE_M_PER_SEC_TO_FT_PER_MIN;
         mxs_state.op.climbValid = true;
     } else {
         mxs_state.op.climbValid = false;