From 3c6d9d69764104ac3528cbc122f38a55e0915c66 Mon Sep 17 00:00:00 2001
From: andrew <andrew>
Date: Mon, 30 Aug 2010 01:16:00 +0000
Subject: [PATCH] =?UTF-8?q?manual=20control=20was=20mapping=20tx=20input?=
 =?UTF-8?q?=20as=20-180=C2=BA=20->=20180=C2=BA=20for=20AttitudeDesired.Yaw?=
 =?UTF-8?q?.=20The=20Wiki=20(http://wiki.openpilot.org/Unit=5FStandards)?=
 =?UTF-8?q?=20states=20this=20should=20be=200=20-=20360=C2=BA=20Made=20the?=
 =?UTF-8?q?=20code=20match=20the=20wiki.?=
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1463 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/OpenPilot/Modules/ManualControl/manualcontrol.c | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/flight/OpenPilot/Modules/ManualControl/manualcontrol.c b/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
index fe480d630..4981789b0 100644
--- a/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
+++ b/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
@@ -197,7 +197,14 @@ static void manualControlTask(void* parameters)
 		{
 			attitude.Roll = cmd.Roll*stabSettings.RollMax;
 			attitude.Pitch = cmd.Pitch*stabSettings.PitchMax;
-			attitude.Yaw = cmd.Yaw*180.0;
+			if (cmd.Yaw<0)
+			{
+				attitude.Yaw = 360 + (cmd.Yaw*180.0);
+			}
+			else
+			{
+				attitude.Yaw = (cmd.Yaw*180.0);
+			}
 			attitude.Throttle = cmd.Throttle*stabSettings.ThrottleMax;
 			AttitudeDesiredSet(&attitude);
 		}