From 3443a7817d2d1ef641b0e5a64fb2a915cbe9155d Mon Sep 17 00:00:00 2001
From: "deweibel@gmail.com"
 <deweibel@gmail.com@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Thu, 27 Jan 2011 18:16:22 +0000
Subject: [PATCH] Add reversing for PWM outputs in angle_to_pwm case.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1566 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/RC_Channel/RC_Channel.cpp | 23 +++++++++++++++++++----
 libraries/RC_Channel/RC_Channel.h   |  1 +
 2 files changed, 20 insertions(+), 4 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 954ad1601f..378cbc973e 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -40,6 +40,13 @@ RC_Channel::set_reverse(bool reverse)
 	else _reverse = 1;
 }
 
+bool
+RC_Channel::get_reverse(void)
+{
+	if (_reverse==-1) return 1;
+	else return 0;
+}
+
 void
 RC_Channel::set_filter(bool filter)
 {
@@ -179,10 +186,18 @@ RC_Channel::pwm_to_angle()
 int16_t
 RC_Channel::angle_to_pwm()
 {
-	if(servo_out < 0)
-		return ((long)servo_out * (long)(radio_max - radio_trim)) / (long)_high;
-	else
-		return ((long)servo_out * (long)(radio_trim - radio_min)) / (long)_high;
+	if(_reverse == -1)
+	{
+		if(servo_out < 0)
+			return ( -1 * ((long)servo_out * (long)(radio_max - radio_trim)) / (long)_high);
+		else
+			return ( -1 * ((long)servo_out * (long)(radio_trim - radio_min)) / (long)_high);
+	} else {
+		if(servo_out > 0)
+			return ((long)servo_out * (long)(radio_max - radio_trim)) / (long)_high;
+		else
+			return ((long)servo_out * (long)(radio_trim - radio_min)) / (long)_high;
+	}
 
 		//return (((float)servo_out / (float)_high) * (float)(radio_max - radio_trim));
 		//return (((float)servo_out / (float)_high) * (float)(radio_trim - radio_min));
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 37ca3713bb..00653bc764 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -52,6 +52,7 @@ class RC_Channel{
 	void 		set_range(int low, int high);
 	void 		set_angle(int angle);
 	void 		set_reverse(bool reverse);
+	bool		get_reverse(void);
 
 	// read input from APM_RC - create a control_in value
 	void 		set_pwm(int pwm);