From 8c47b0c087a87db47428910a5684d5514b5fe2c2 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Mon, 30 Jul 2012 15:43:05 -0700
Subject: [PATCH] ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw
 coupling.

---
 ArduCopter/Attitude.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 9c9a04d75f..52828ac3a2 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -848,7 +848,7 @@ void roll_pitch_toy()
 		// Linear equation for Yaw:Speed to Roll
 		// default is 1000, lower for more roll action
 		//roll_rate = ((float)g_gps->ground_speed / 600) * (float)yaw_rate;
-		roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40;
+		roll_rate = -((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40;
 		//Serial.printf("roll_rate: %d\n",roll_rate);
 
 		// limit roll rate to 15, 30, or 45 deg per second.