diff --git a/Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java b/Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
index 2190c139b..a6d11e8a1 100644
--- a/Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
+++ b/Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
@@ -37,10 +37,11 @@ public class CameraValues {
         HorizontalView = FastMath.atan(FastMath.tan(DiagonalView / 2) * (HorizontalRatio / DiagonalView)) * 2;
         VerticalView = FastMath.atan(FastMath.tan(DiagonalView/2) * (VerticalRatio / DiagonalView)) * 2;
         HorizontalFocalLength = ImageWidth / (2 * FastMath.tan(HorizontalView /2));
-        VerticalFocalLength = ImageWidth / (2 * FastMath.tan(VerticalView /2));
+        VerticalFocalLength = ImageHeight / (2 * FastMath.tan(VerticalView /2));
     }
     public double CalculatePitch(double PixelY, double centerY){
-        return (FastMath.toDegrees((FastMath.atan(PixelY - centerY) / VerticalFocalLength)) * -1);
+       double pitch =  (FastMath.toDegrees((FastMath.atan(PixelY - centerY) / VerticalFocalLength)));
+       return (pitch * -1);
     }
     public double CalculateYaw(double PixelX, double centerX){
         return FastMath.toDegrees(FastMath.atan(PixelX - centerX) / HorizontalFocalLength);
diff --git a/Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java b/Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
index 58dc77031..164d16e17 100644
--- a/Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
+++ b/Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
@@ -120,6 +120,9 @@ public class CameraProcess implements Runnable {
         if (currentPipeline == null) {
             return pipelineResult;
         }
+        if (!currentPipeline.orientation.equals("Normal")){
+            Core.flip(inputImage,inputImage,-1);
+        }
         if (ntDriverModeEntry.getBoolean(false)){
             inputImage.copyTo(outputImage);
             return pipelineResult;
@@ -149,9 +152,9 @@ public class CameraProcess implements Runnable {
                     } else {
                         pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.B) / currentPipeline.M;
                         pipelineResult.CalibratedY = finalRect.center.x * currentPipeline.M + currentPipeline.B;
-                        pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
-                        pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
                     }
+                    pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
+                    pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
                     // TODO Send pitch yaw distance and Raw Point using websockets to client for calib calc
                     drawContour(outputImage, finalRect);
                 }