Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

remove the yaw inversion in 3D mode when platform is set to ROVER #3128

Merged
merged 2 commits into from
Apr 27, 2018
Merged

remove the yaw inversion in 3D mode when platform is set to ROVER #3128

Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
06c7413
remove the yaw inversion in 3D mode when platform is set to ROVER
eephyne Apr 26, 2018
23a5bf1
reversing the condition to only enable yaw inversion for multirotor a…
eephyne Apr 26, 2018
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions src/main/flight/servos.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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) {
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

@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?

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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

Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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.

Copy link
Contributor Author

@eephyne eephyne Apr 26, 2018 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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

input[INPUT_STABILIZED_YAW] *= -1;
}
}
Expand Down