- orient *= SGQuatd::fromAngleAxisDeg(180, SGVec3d(0, 1, 0));
- orient *= SGQuatd::fromYawPitchRollDeg(-_heading_deg, _pitch_deg, -_roll_deg);
- SGMatrixd rotation(inverse(orient));
- _transform->setTransform(position, rotation);
+ orient *= SGQuatd::fromYawPitchRollDeg(_heading_deg, _pitch_deg, _roll_deg);
+ // Convert to the scenegraph orientation where we just rotate around
+ // the y axis 180 degrees.
+ orient *= SGQuatd::fromRealImag(0, SGVec3d(0, 1, 0));
+
+ _transform->setAttitude(toOsg(orient));