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AP_Motors - allow tail servo to be reversed. Closes ArduCopter issue #228

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This commit is contained in:
rmackay9 2012-04-21 23:07:57 +09:00
parent fd2409a730
commit 11a384a7ff
1 changed files with 5 additions and 1 deletions
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4
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -128,7 +128,11 @@ void AP_MotorsTri::output_armed()
// also send out to tail command (we rely on any auto pilot to have updated the rc_yaw->radio_out to the correct value)
// note we do not save the radio_out to the motor_out array so it may not appear in the ch7out in the status screen of the mission planner
if( _rc_yaw->get_reverse() == true ) {
_rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_trim - (_rc_yaw->radio_out - _rc_yaw->radio_trim));
}else{
_rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_out);
}
// InstantPWM
if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {