Hi there i’m facing a big prbolem due to the position hold quadcopter.

i can stabilize the position of quadcopter if my heading is equal to 0 degree.

because in this degree the longitude is parallel to axis Y and the latitude IS paralel to X axis.

so i do the pitch to correct the Y axis (latitude) and the roll to correct the X axis(longitude).

the problem is when my heading is not equal to 0, for example 120 degree. in that angle the quadcopter don’t hold the position it drift to the right or the left.

i want to know id there a math function that componsate the change of the heading angle with longitude and latitude.

please help

thanks