drift = ((atan2(Vyy,Vxx)*SGD_RADIANS_TO_DEGREES)-psi);
yvvr = ((actslope - pitch_value)*factor);
vel_y = ((actslope -pitch_value) * cos(roll_value) + drift*sin(roll_value))*factor;
vel_x = (-(actslope -pitch_value)*sin(roll_value) + drift*cos(roll_value))*
drift = ((atan2(Vyy,Vxx)*SGD_RADIANS_TO_DEGREES)-psi);
yvvr = ((actslope - pitch_value)*factor);
vel_y = ((actslope -pitch_value) * cos(roll_value) + drift*sin(roll_value))*factor;
vel_x = (-(actslope -pitch_value)*sin(roll_value) + drift*cos(roll_value))*