From 554d965a2d3c272af7aa2bf3227f6a6ddfcda61e Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Tue, 9 Aug 2022 13:18:40 +0200
Subject: [PATCH] Helicopter: use absolute value for yaw compensation from
 collective pitch

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

diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
index bd2bff61c1..801e941446 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
@@ -137,8 +137,8 @@ void ActuatorEffectivenessHelicopter::updateSetpoint(const matrix::Vector<float,
 	float pitch_cmd = control_sp(ControlAxis::PITCH);
 
 	actuator_sp(0) = throttle;
-
-	actuator_sp(1) = control_sp(ControlAxis::YAW) + collective_pitch * _geometry.yaw_collective_pitch_scale;
+	actuator_sp(1) = control_sp(ControlAxis::YAW)
+			 + fabsf(collective_pitch) * _geometry.yaw_collective_pitch_scale;
 
 	for (int i = 0; i < _geometry.num_swash_plate_servos; i++) {
 		actuator_sp(_first_swash_plate_servo_index + i) = collective_pitch