AP_Mount: Topotek pitch rate direction fix

ArduPilot · Jan 4, 2025 · a2c9002 · a2c9002
1 parent 5f8a655
commit a2c9002
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/AP_Mount/AP_Mount_Topotek.cpp b/libraries/AP_Mount/AP_Mount_Topotek.cpp
@@ -845,7 +845,7 @@ void AP_Mount_Topotek::send_rate_target(const MountTarget& rate_rads)
 
     // convert and constrain rates
     const uint8_t roll_angle_speed = constrain_int16(degrees(rate_rads.roll) * ANGULAR_VELOCITY_CONVERSION, -99, 99);
-    const uint8_t pitch_angle_speed = constrain_int16(degrees(rate_rads.pitch) * ANGULAR_VELOCITY_CONVERSION, -99, 99);
+    const uint8_t pitch_angle_speed = constrain_int16(-degrees(rate_rads.pitch) * ANGULAR_VELOCITY_CONVERSION, -99, 99);
     const uint8_t yaw_angle_speed = constrain_int16(degrees(rate_rads.yaw) * ANGULAR_VELOCITY_CONVERSION, -99, 99);
 
     // send stop rotation command three times if target roll, pitch and yaw are zero