From 840247251d04a08e0c822d638463ac6c12f5761f Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Fri, 22 Dec 2017 09:37:09 +0100
Subject: [PATCH] ControlMath: sign fix

---
 src/modules/mc_pos_control/Utility/ControlMath.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/mc_pos_control/Utility/ControlMath.cpp b/src/modules/mc_pos_control/Utility/ControlMath.cpp
index e7f2210d80..8406b25171 100644
--- a/src/modules/mc_pos_control/Utility/ControlMath.cpp
+++ b/src/modules/mc_pos_control/Utility/ControlMath.cpp
@@ -123,7 +123,7 @@ void constrainPIDu(matrix::Vector3f &u, bool stop_I[2], const float Ulimits[2],
 		stop_I[0] = true;
 		u(0) = 0.0f;
 		u(1) = 0.0f;
-		u(2) = Ulimits[0];
+		u(2) = -Ulimits[0]; //N-E-D frame
 
 	} else if (u.length() >= Ulimits[0]) {