From 74d2a14f72aba2554702a58cbc58f1ca7f775eb6 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 22 Apr 2019 13:38:37 +0900
Subject: [PATCH] Rover: fix omni tri steering and lateral factors

---
 APMrover2/AP_MotorsUGV.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/APMrover2/AP_MotorsUGV.cpp b/APMrover2/AP_MotorsUGV.cpp
index 8317085eae..43bb9d8de1 100644
--- a/APMrover2/AP_MotorsUGV.cpp
+++ b/APMrover2/AP_MotorsUGV.cpp
@@ -190,8 +190,8 @@ void AP_MotorsUGV::setup_motors()
 
     case FRAME_TYPE_OMNI3:
         _motors_num = 3;
-        add_motor(0, 1.0f, 1.0f, -1.0f);
-        add_motor(1, 0.0f, 1.0f, 1.0f);
+        add_motor(0, 1.0f, -1.0f, -1.0f);
+        add_motor(1, 0.0f, -1.0f, 1.0f);
         add_motor(2, 1.0f, 1.0f, 1.0f);
         break;