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AP_MotorsTri: use YAW_SV_REV to reverse yaw output

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This commit is contained in:
Randy Mackay 2016-02-18 15:55:11 +09:00
parent 13d727c2c6
commit 41c55ffbe7
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -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 {