From d7e24315cf1b7af12a6e2ac98a59de4da87dfd1c Mon Sep 17 00:00:00 2001
From: Rustom Jehangir <rustyj110@gmail.com>
Date: Mon, 18 Jan 2016 21:39:24 -0800
Subject: [PATCH] Sub: Fixed motor mix factors for vectored ROV

---
 libraries/AP_Motors/AP_MotorsBlueROV.cpp | 34 ++++++++++++------------
 1 file changed, 17 insertions(+), 17 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsBlueROV.cpp b/libraries/AP_Motors/AP_MotorsBlueROV.cpp
index 78e24ced71..18ad13ccf0 100644
--- a/libraries/AP_Motors/AP_MotorsBlueROV.cpp
+++ b/libraries/AP_Motors/AP_MotorsBlueROV.cpp
@@ -26,7 +26,7 @@ void AP_MotorsBlueROV::setup_motors()
     // call parent
     AP_Motors6DOF::setup_motors();
 
-#define BLUEROV_VERSION 1
+#define BLUEROV_VERSION 2
 
 #if ( BLUEROV_VERSION == 1)
     // hard coded config for BlueROV
@@ -84,50 +84,50 @@ void AP_MotorsBlueROV::setup_motors()
 		//Front left
 		MOT_1_ROLL_FACTOR = 0.0,
 		MOT_1_PITCH_FACTOR = 0.0,
-		MOT_1_YAW_FACTOR = -0.25,
+		MOT_1_YAW_FACTOR = -1.0,
 		MOT_1_THROTTLE_FACTOR = 0.0,
-		MOT_1_FORWARD_FACTOR = -1.0,
-		MOT_1_STRAFE_FACTOR = -1.0,
+		MOT_1_FORWARD_FACTOR = -0.5,
+		MOT_1_STRAFE_FACTOR = -0.5,
 
 		//Left, facing up
-		MOT_2_ROLL_FACTOR = 1.0,
+		MOT_2_ROLL_FACTOR = -1.0,
 		MOT_2_PITCH_FACTOR = 0.0,
 		MOT_2_YAW_FACTOR = 0.0,
-		MOT_2_THROTTLE_FACTOR = -1.0,
+		MOT_2_THROTTLE_FACTOR = -0.5,
 		MOT_2_FORWARD_FACTOR = 0.0,
 		MOT_2_STRAFE_FACTOR = 0.0,
 
 		//Back left
 		MOT_3_ROLL_FACTOR = 0,
 		MOT_3_PITCH_FACTOR = 0,
-		MOT_3_YAW_FACTOR = 0.25,
+		MOT_3_YAW_FACTOR = 1.0,
 		MOT_3_THROTTLE_FACTOR = 0.0,
-		MOT_3_FORWARD_FACTOR = 1.0,
-		MOT_3_STRAFE_FACTOR = -1.0,
+		MOT_3_FORWARD_FACTOR = 0.5,
+		MOT_3_STRAFE_FACTOR = -0.5,
 
 		//Back right
 		MOT_4_ROLL_FACTOR = 0,
 		MOT_4_PITCH_FACTOR = 0,
-		MOT_4_YAW_FACTOR = -0.25,
+		MOT_4_YAW_FACTOR = -1.0,
 		MOT_4_THROTTLE_FACTOR = 0.0,
-		MOT_4_FORWARD_FACTOR = 1.0,
-		MOT_4_STRAFE_FACTOR = 1.0,
+		MOT_4_FORWARD_FACTOR = 0.5,
+		MOT_4_STRAFE_FACTOR = -0.5,
 
 		//Right, facing up
-		MOT_5_ROLL_FACTOR = -1.0,
+		MOT_5_ROLL_FACTOR = 1.0,
 		MOT_5_PITCH_FACTOR = 0.0,
 		MOT_5_YAW_FACTOR = 0.0,
-		MOT_5_THROTTLE_FACTOR = -1.0,
+		MOT_5_THROTTLE_FACTOR = -0.5,
 		MOT_5_FORWARD_FACTOR = 0.0,
 		MOT_5_STRAFE_FACTOR = 0.0,
 
 		//Front right
 		MOT_6_ROLL_FACTOR = 0.0,
 		MOT_6_PITCH_FACTOR = 0.0,
-		MOT_6_YAW_FACTOR = 0.25,
+		MOT_6_YAW_FACTOR = 1.0,
 		MOT_6_THROTTLE_FACTOR = 0.0,
-		MOT_6_FORWARD_FACTOR = -1.0,
-		MOT_6_STRAFE_FACTOR = 1.0;
+		MOT_6_FORWARD_FACTOR = -0.5,
+		MOT_6_STRAFE_FACTOR = -0.5;
 
 #endif