diff --git a/lander-team/tvc-test-code/src/main.cpp b/lander-team/tvc-test-code/src/main.cpp
index 0e890f9fd..9aa3cb476 100644
--- a/lander-team/tvc-test-code/src/main.cpp
+++ b/lander-team/tvc-test-code/src/main.cpp
@@ -14,8 +14,7 @@ float calc_height(float yaw, float pitch);
 float yaw_conv(float theta);
 float pitch_conv(float theta);
 
-void setup()
-{
+void setup() {
   delay(5000);
   yaw.attach(29);   // CHANGE MEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE
   pitch.attach(33); // CHANGE MEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE
@@ -31,8 +30,7 @@ void setup()
   Serial.println("Testing Servos");
 
   // Do a full range of movement of the servos
-  for (double pct = -100.0; pct <= 100.0; pct += 10.0)
-  {
+  for (double pct = -100.0; pct <= 100.0; pct += 10.0) {
     Serial.print(".");
     double yaw_pos = (pct / 100) * YAW_MAX;
     double pitch_pos = (pct / 100) * PITCH_MAX;
@@ -50,12 +48,10 @@ void setup()
   delay(1000);
 }
 
-void loop()
-{
+void loop() {
   Serial.print("Enter Yaw Coord: ");
   float yaw_pos = read_float();
-  if (abs(yaw_pos) > YAW_MAX)
-  {
+  if (abs(yaw_pos) > YAW_MAX) {
     Serial.println("Value too large, defaulting to maximum deflection");
     yaw_pos = YAW_MAX;
   }
@@ -64,8 +60,7 @@ void loop()
 
   Serial.print("Enter Pitch Coord: ");
   float pitch_pos = read_float();
-  if (abs(pitch_pos) > PITCH_MAX)
-  {
+  if (abs(pitch_pos) > PITCH_MAX) {
     Serial.println("Value too large, defaulting to maximum deflection");
     pitch_pos = PITCH_MAX;
   }
@@ -79,14 +74,15 @@ void loop()
   pitch.write(90 + pitch_conv(pitch_pos));
 
   Serial.print("Calculating current height");
-  for (int i = 0; i < 5; i++)
-  {
+  for (int i = 0; i < 5; i++) {
     Serial.print(".");
     delay(i * 100);
   }
   Serial.println("");
 
-  float height = 235 * (sin(yaw_pos * 3.14 / 180) + sin(pitch_pos * 3.14 / 180)) + zero_height;
+  float height =
+      235 * (sin(yaw_pos * 3.14 / 180) + sin(pitch_pos * 3.14 / 180)) +
+      zero_height;
 
   Serial.println("Please verify current height is correct: " + String(height) +
                  "\n");
@@ -94,43 +90,37 @@ void loop()
   read_float();
 }
 
-float read_float()
-{
+float read_float() {
   char line[80];
   int count = 0;
 
-  while (1)
-  {
-    if (Serial.available() > 0)
-    {
+  while (1) {
+    if (Serial.available() > 0) {
       line[count] = (char)Serial.read(); // store the char
       Serial.print(line[count]);
-      if (line[count++] == '\r')
-      {                     // if its a CR,
-        line[count] = '\0'; //  zero-terminate it
+      if (line[count++] == '\r') { // if its a CR,
+        line[count] = '\0';        //  zero-terminate it
         return String(line).toFloat();
       }
     }
   }
 }
 
-float yaw_conv(float thetad)
-{
-  //Serial.println(thetad);
+float yaw_conv(float thetad) {
+  // Serial.println(thetad);
   float h = .2875;
   float H = 1.6;
 
   float theta = thetad * 3.14 / 180;
 
-  return (2 * asin((H * sin(theta / 2)) / h)) * 180.0 / 3.14;
+  return -(2 * asin((H * sin(theta / 2)) / h)) * 180.0 / 3.14;
 }
-float pitch_conv(float thetad)
-{
-  //Serial.println(thetad);
+float pitch_conv(float thetad) {
+  // Serial.println(thetad);
   float h = .2875;
   float H = 1.2;
 
   float theta = thetad * 3.14 / 180;
 
-  return (2 * asin((H * sin(theta / 2)) / h)) * 180.0 / 3.14;
+  return -(2 * asin((H * sin(theta / 2)) / h)) * 180.0 / 3.14;
 }