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Fix for reversed pitch in SIMPLE mode.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1779 f9c3cf11-9bcb-44bc-f272-b75c42450872
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jasonshort 2011-03-17 05:05:16 +00:00
parent 42caba7d8e
commit 94d34ad117
1 changed files with 2 additions and 2 deletions
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4
ArduCopterMega/navigation.pde
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@ -104,8 +104,8 @@ void calc_waypoint_nav()
//Serial.printf("X%2.4f, Y%2.4f ", cos_nav_x, sin_nav_y); //Serial.printf("X%2.4f, Y%2.4f ", cos_nav_x, sin_nav_y);
// rotate the vector // rotate the vector
nav_roll = (float)nav_lat * cos_nav_x; nav_roll = (float)nav_lat * cos_nav_x;
nav_pitch = (float)nav_lat * sin_nav_y; nav_pitch = -(float)nav_lat * sin_nav_y;
//Serial.printf("R%ld, P%ld ", nav_roll, nav_pitch); //Serial.printf("R%ld, P%ld ", nav_roll, nav_pitch);