Merge pull request #42 from toppers/fix-no41

fix #41
toppers · Dec 8, 2023 · 01ad1ce · 01ad1ce
2 parents 890f464 + 1f10bd3
commit 01ad1ce
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/hakoniwa/src/assets/drone/physics/ground_frame/drone_dynamics_ground_frame.cpp b/hakoniwa/src/assets/drone/physics/ground_frame/drone_dynamics_ground_frame.cpp
@@ -27,7 +27,7 @@ void DroneDynamicsGroundFrame::run_y(const DroneThrustType &thrust, const DroneT
     this->next_velocity.data.y = 
         this->delta_time_sec *  
         ( 
-            - (thrust.data /  this->param_mass ) * ( this->cache.cos_phi * this->cache.sin_theta * this->cache.sin_psi - this->cache.sin_phi * this->cache.sin_psi )
+            - (thrust.data /  this->param_mass ) * ( this->cache.cos_phi * this->cache.sin_theta * this->cache.sin_psi - this->cache.sin_phi * this->cache.cos_psi )
             - this->param_drag * this->velocity.data.y
         ) 
         +