From cefe9affd32f432fc14c3d3af9d5af2fafc7cf98 Mon Sep 17 00:00:00 2001
From: ethomas999 <ethomas997@etsphere.com>
Date: Sat, 4 Mar 2017 00:44:33 -0500
Subject: [PATCH] Fixed sign of angleTrim value

---
 src/main/flight/pid.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index c656f6fb2d..c4ddafa6fd 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -277,7 +277,7 @@ static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPit
     errorAngle += GPS_angle[axis];
 #endif
     errorAngle = constrainf(errorAngle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit);
-    errorAngle = (errorAngle - ((attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f));
+    errorAngle = errorAngle - ((attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f);
     if(FLIGHT_MODE(ANGLE_MODE)) {
         // ANGLE mode - control is angle based, so control loop is needed
         currentPidSetpoint = errorAngle * levelGain;