From 0015747af93d017f8c1572972c408ded8a3a1478 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 1 Apr 2013 11:41:52 +0900
Subject: [PATCH] Copter: ACRO bug fix from Jason
---
ArduCopter/Attitude.pde | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 9896ab103..1918c053a 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -129,7 +129,7 @@ get_roll_rate_stabilized_ef(int32_t stick_angle)
roll_axis = wrap_180(roll_axis);
// ensure that we don't reach gimbal lock
- if (labs(roll_axis > 4500) && g.acro_trainer_enabled) {
+ if (labs(roll_axis) > 4500 && g.acro_trainer_enabled) {
roll_axis = constrain(roll_axis, -4500, 4500);
angle_error = wrap_180(roll_axis - ahrs.roll_sensor);
} else {
--
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