From 12f5f3f96e0a749126da108b592306c140f84da6 Mon Sep 17 00:00:00 2001
From: unknown <rmackay9@rmackay9-PC.(none)>
Date: Sat, 5 Nov 2011 12:31:30 +0800
Subject: [PATCH] TradHeli - fix to allow tail servo to be reversed.  Also
 increase max movement of tail servo to 45 degrees.

---
 ArduCopter/Attitude.pde | 8 ++++++--
 ArduCopter/heli.pde     | 5 +----
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 2d222dd159..24a5cf416c 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -72,15 +72,19 @@ get_stabilize_yaw(long target_angle)
 		error 		= rate - (long)(degrees(omega.z) * 100.0);
 		rate 		= g.pi_rate_yaw.get_pi(error, G_Dt);
 	}
+	
+	// output control:
+	return (int)constrain(rate, -4500, 4500);
 #else
 	// Rate P:
 	error 			= rate - (long)(degrees(omega.z) * 100.0);
 	rate 			= g.pi_rate_yaw.get_pi(error, G_Dt);
 	//Serial.printf("%d\t%d\n", (int)error, (int)rate);
-#endif
-
+	
 	// output control:
 	return (int)constrain(rate, -2500, 2500);
+#endif
+
 }
 
 #define ALT_ERROR_MAX 300
diff --git a/ArduCopter/heli.pde b/ArduCopter/heli.pde
index 4dd3719b29..0d0cad434c 100644
--- a/ArduCopter/heli.pde
+++ b/ArduCopter/heli.pde
@@ -100,10 +100,7 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
 	if( g.heli_servo_3.get_reverse() )
 	    g.heli_servo_3.servo_out = 3000 - g.heli_servo_3.servo_out;
 
-	if( g.heli_servo_4.get_reverse() )
-		g.heli_servo_4.servo_out = -yaw_out;  // should probably just use rc_4 directly like we do for a tricopter
-	else
-		g.heli_servo_4.servo_out = yaw_out;
+	g.heli_servo_4.servo_out = yaw_out;
 
 	// use servo_out to calculate pwm_out and radio_out
 	g.heli_servo_1.calc_pwm();