From 05bbe16f374786e29fbdc288ecdd8d5988091698 Mon Sep 17 00:00:00 2001
From: Louis-Guillaume DUBOIS <contact@lgdubois.fr>
Date: Mon, 1 Jun 2015 17:18:17 +0200
Subject: [PATCH] try to correct commander_atan - not working

---
 src/commander_atan.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/commander_atan.cpp b/src/commander_atan.cpp
index 3032f3b..72128d4 100644
--- a/src/commander_atan.cpp
+++ b/src/commander_atan.cpp
@@ -106,12 +106,12 @@ class Run
       {
         if(msg->normal.z > 0)
         {
-          in.y = msg->normal.x;
+          in.y = - msg->normal.x;
           in.x = msg->normal.y;
         } else
         {
           in.y = - msg->normal.x;
-          in.x = - msg->normal.y;
+          in.x = msg->normal.y;
         }
         in.z = msg->altitude - neutral_z;
         in.th = msg->angle;