From e64eec1fb3481ef20985c38c8a84c529644b8dd5 Mon Sep 17 00:00:00 2001
From: RexBerry <59031902+RexBerry@users.noreply.github.com>
Date: Thu, 14 Nov 2024 18:15:52 -0600
Subject: [PATCH] Fix roll in gimbal rotation #29

---
 flight/camera.py | 14 ++++++--------
 1 file changed, 6 insertions(+), 8 deletions(-)

diff --git a/flight/camera.py b/flight/camera.py
index ffca31bb..899039a5 100644
--- a/flight/camera.py
+++ b/flight/camera.py
@@ -153,7 +153,9 @@ async def mapping_move_to(
         info: dict[str, CameraParameters] = {}
 
         drone.gimbal.rotate(
-            -drone.attitude.pitch - 90, 0, heading  # pitch is relative to the drone
+            -drone.attitude.pitch - 90,
+            -drone.attitude.roll,
+            heading,  # pitch and roll are relative to the drone
         )
         await asyncio.sleep(1.0)
 
@@ -183,9 +185,7 @@ async def mapping_move_to(
         next_interval_count: int = 1
         while not goto_task.done():
             # Keep gimbal pointed straight down
-            drone.gimbal.rotate(
-                -drone.attitude.pitch - 90, 0, heading  # pitch is relative to the drone
-            )
+            drone.gimbal.rotate(-drone.attitude.pitch - 90, -drone.attitude.roll, heading)
 
             position: dronekit.LocationGlobalRelative = drone.location.global_relative_frame
 
@@ -206,9 +206,7 @@ async def mapping_move_to(
 
             await asyncio.sleep(0.25)
 
-        drone.gimbal.rotate(
-            -drone.attitude.pitch - 90, 0, heading  # pitch is relative to the drone
-        )
+        drone.gimbal.rotate(-drone.attitude.pitch - 90, -drone.attitude.roll, heading)
         await asyncio.sleep(1.0)
 
         camera_parameters = await self._get_camera_parameters(drone)
@@ -271,7 +269,7 @@ async def odlc_move_to(
             # Point the gimbal straight down
             drone.gimbal.rotate(
                 -drone.gimbal.pitch - 90,  # pitch is relative to the drone
-                drone.gimbal.roll,
+                -drone.gimbal.roll,
                 heading,
             )