AP_MotorsTri: use YAW_SV_REV to reverse yaw output

2016-02-18 15:55:11 +09:00 · 2016-02-18 15:55:11 +09:00 · 41c55ffbe7
commit 41c55ffbe7
parent 13d727c2c6
1 changed files with 5 additions and 0 deletions
--- a/libraries/AP_Motors/AP_MotorsTri.cpp
+++ b/libraries/AP_Motors/AP_MotorsTri.cpp
@ -346,6 +346,11 @@ void AP_MotorsTri::output_test(uint8_t motor_seq, int16_t pwm)
 int16_t AP_MotorsTri::calc_yaw_radio_output(float yaw_input, float yaw_input_max)
 {
    int16_t ret;
+
+    if (_yaw_reverse < 0) {
+        yaw_input = -yaw_input;
+    }
+
    if (yaw_input >= 0){
        ret = (_yaw_servo_trim + (yaw_input/yaw_input_max * (_yaw_servo_max - _yaw_servo_trim)));
    } else {