Possible mistake in Pitch controller

Hi guys! I recently published an issue on github, but I was asked to discuss this in another place, so I’m bringing it here. Basically I found an inconsistent equation in the source code of the Pitch controller, when comparing it to the theory presented in the Ardupilot Pitch controller page. Here is the Issue:

I believe it to be quite relevant, and appreciate any explanations if possible :slight_smile: