diff --git a/EKF/drag_fusion.cpp b/EKF/drag_fusion.cpp index 69614943cd..9f87cfafde 100644 --- a/EKF/drag_fusion.cpp +++ b/EKF/drag_fusion.cpp @@ -92,7 +92,7 @@ void Ekf::fuseDrag() const float mea_acc = _drag_sample_delayed.accelXY(axis_index) - _state.delta_vel_bias(axis_index) / _dt_ekf_avg; // predicted drag force sign is opposite to predicted wind relative velocity - const float drag_sign = (rel_wind_body(axis_index) >= 0.f) ? 1.f : -1.f; + const float drag_sign = (rel_wind_body(axis_index) >= 0.f) ? -1.f : 1.f; float pred_acc; // predicted drag acceleration if (axis_index == 0) {