From e05de48e2d059759314588bd25970c3a6ec91d25 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Thu, 8 Sep 2011 04:58:42 +0000
Subject: [PATCH] Adding reverse to Channel Raw output (unscaled output) to fix
 camera reversing.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3297 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/RC_Channel/RC_Channel.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 677f928531..24fae0f5ea 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -80,7 +80,7 @@ RC_Channel::set_pwm(int pwm)
 		if(radio_in == 0)
 			radio_in = pwm;
 		else
-			radio_in = ((pwm + radio_in) >> 1);		// Small filtering
+			radio_in = (pwm + radio_in) >> 1;		// Small filtering
 	}else{
 		radio_in = pwm;
 	}
@@ -124,7 +124,7 @@ RC_Channel::calc_pwm(void)
 
 	}else if(_type == RC_CHANNEL_ANGLE_RAW){
 		pwm_out 	= (float)servo_out * .1;
-		radio_out 	= pwm_out + 1500;
+		radio_out 	= (pwm_out * _reverse) + 1500;
 
 	}else{
 		pwm_out 	= angle_to_pwm();