From b159144e130f786202b80f8e1b5b8b0f9c923334 Mon Sep 17 00:00:00 2001
From: wmayer <wmayer@users.sourceforge.net>
Date: Wed, 27 Oct 2021 17:02:07 +0200
Subject: [PATCH] Base: [skip ci] handle gimbal lock when computing Euler
 angles

---
 src/Base/Rotation.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Base/Rotation.cpp b/src/Base/Rotation.cpp
index 646731561d02..67a6e5d52596 100644
--- a/src/Base/Rotation.cpp
+++ b/src/Base/Rotation.cpp
@@ -683,7 +683,7 @@ void Rotation::getYawPitchRoll(double& y, double& p, double& r) const
         // south pole
         y = 0.0;
         p = -D_PI/2.0;
-        r = -2.0 * atan2(quat[0],quat[3]);
+        r = 2.0 * atan2(quat[0],quat[3]);
     }
     else {
         y = atan2(2.0*(q01+q23),(q00+q33)-(q11+q22));