remove the yaw inversion in 3D mode when platform is set to ROVER

[eephyne]

Yaw inversion in not wanted when used for steering in ROVER mode.
This simply deactivate this.
Its a fix to wait until there is a real support for rover, since 3d mode is the only way to use reversable esc.

[DzikuVx]

@eephyne maybe it would make more sense to reverse this condition? So then yaw would be reversed only for platform_type multirotor and tricopter? So boats, rovers and other and whatever would not have it? What do you thing?

[eephyne]

thats indeed a better way to do it. you sure its useful only for multirotor and tricopter ?

[DzikuVx]

I'm not even sure there are 3D Tricopters. If so then only Multirotors would reverse it
@stronnag ? I'm even thinking about decoupling 3D Mode from yaw reversal and renaming it to "Reversible motors" or something. But small steps.

[eephyne]

shouldn't we add also helicopter ? even if I seriously doubt there is anybody using inav on a helicopter…

[flounderscore]

To my understanding you only need yaw inversion, because the rotation direction of the props change on a multi-rotor. On a collective pitch helicopter this is not the case and yaw acts the same way as flying right-side-up. I have a friend who experimented with 3d tricopters at some point. From what I recall it was definitely possible (and needs yaw reversal), but the rudder servo has to quickly jump to a new position when the motors are reverse inverted. I believe someone from the flight test crew was working on that whole 3d tricopter thing.

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On Thu, Apr 26, 2018 at 11:49 AM eephyne ***@***.***> wrote: ***@***.**** commented on this pull request. ------------------------------ In src/main/flight/servos.c <#3128 (comment)>: > @@ -381,8 +381,8 @@ void servoMixer(float dT) input[INPUT_STABILIZED_PITCH] = axisPID[PITCH]; input[INPUT_STABILIZED_YAW] = axisPID[YAW]; - // Reverse yaw servo when inverted in 3D mode - if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc)) { + // Reverse yaw servo when inverted in 3D mode except in ROVER mode + if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc) && mixerConfig()->platformType != PLATFORM_ROVER) { shouldn't we add also helicopter ? even if I seriously doubt there is anybody using inave on a helicopter… — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#3128 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ANiDSRpaYuk2x1xR5vqpK5Y2FVwkczTAks5tsex2gaJpZM4TlYZ3> .

[eephyne]

So multirotor and tricopter are enough then

[eephyne]

hum, since my esc burned out after rapidly testing my change, I could not test it in depth. (burn not related).
But I moved to adding another fc to another car (in betaflight because there is no target in inav (FF_PIKOBLX).
I added the same modification and it turn out that I need yaw inversion in reverse BUT, reverse only for stabilization, not for manual steering, so my code is not good but the default one neither.
I did'nt have the time for searching where exactly I need to change something but I will.
Its also showed me another issue, when braking you put the throttle in reverse until the car is stopped, but the fc take that as an inversion. After thinking a bit , the only solution I see for that is to monitor acceleration and do not reverse steering if there is any acceleration at the moment of going below 1500 in throttle.
Since this is a specific behavior to car (maybe boat ? I don't know if they have braking function). Its probably the point where you need a feature for this mode.
I'm not good enought right now to do that, But I'll investigate and try to.
But first I need to add piko_blx target.