From 94d34ad1173138b802fb6338215d7144d73c4ef6 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Thu, 17 Mar 2011 05:05:16 +0000
Subject: [PATCH] Fix for reversed pitch in SIMPLE mode.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1779 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/navigation.pde | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopterMega/navigation.pde b/ArduCopterMega/navigation.pde
index fb121422ab..fdb571957c 100644
--- a/ArduCopterMega/navigation.pde
+++ b/ArduCopterMega/navigation.pde
@@ -104,8 +104,8 @@ void calc_waypoint_nav()
 	//Serial.printf("X%2.4f, Y%2.4f ", cos_nav_x, sin_nav_y);
 
 	// rotate the vector
-	nav_roll 	= (float)nav_lat * cos_nav_x;
-	nav_pitch 	= (float)nav_lat * sin_nav_y;
+	nav_roll 	=  (float)nav_lat * cos_nav_x;
+	nav_pitch 	= -(float)nav_lat * sin_nav_y;
 
 	//Serial.printf("R%ld, P%ld ", nav_roll, nav_pitch);