From c4cc02b3f2fa67d90b610dc5984ff4a63c23f3a7 Mon Sep 17 00:00:00 2001
From: Roman <bapstroman@gmail.com>
Date: Thu, 26 Jan 2017 10:36:28 +0100
Subject: [PATCH] yaw controller: fix bug where roll for turn coordination was
 constrained wrongly

Signed-off-by: Roman <bapstroman@gmail.com>
---
 attitude_fw/ecl_yaw_controller.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/attitude_fw/ecl_yaw_controller.cpp b/attitude_fw/ecl_yaw_controller.cpp
index 344fe2de50..3472d57628 100644
--- a/attitude_fw/ecl_yaw_controller.cpp
+++ b/attitude_fw/ecl_yaw_controller.cpp
@@ -110,7 +110,7 @@ float ECL_YawController::control_attitude_impl_openloop(const struct ECL_Control
 		}
 	}
 
-	constrained_roll = math::constrain(constrained_roll, -ctl_data.roll_setpoint, ctl_data.roll_setpoint);
+	constrained_roll = math::constrain(constrained_roll, -fabsf(ctl_data.roll_setpoint), fabsf(ctl_data.roll_setpoint));
 
 
 	if (!inverted) {