From 6414887dcc7cdfdfa59c65b1c554ad0c9e58d170 Mon Sep 17 00:00:00 2001
From: vassilis <vassilis>
Date: Sun, 30 May 2010 01:58:15 +0000
Subject: [PATCH] Flight/ManualControl Added support for reversing inputs

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@685 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 .../Modules/ManualControl/manualcontrol.c     | 20 ++++++++++++++++---
 1 file changed, 17 insertions(+), 3 deletions(-)

diff --git a/flight/OpenPilot/Modules/ManualControl/manualcontrol.c b/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
index 4003b2182..72742b8e1 100644
--- a/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
+++ b/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
@@ -192,13 +192,27 @@ static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutr
 {
 	float valueScaled;
 	// Scale
-	if ( value >= neutral)
+	if ( (max > min && value >= neutral) || (min > max && value <= neutral) )
 	{
-		valueScaled = (float)(value-neutral)/(float)(max-neutral);
+		if ( max != neutral )
+		{
+			valueScaled = (float)(value-neutral)/(float)(max-neutral);
+		}
+		else
+		{
+			valueScaled = 0;
+		}
 	}
 	else
 	{
-		valueScaled = (float)(value-neutral)/(float)(neutral-min);
+		if ( min != neutral )
+		{
+			valueScaled = (float)(value-neutral)/(float)(neutral-min);
+		}
+		else
+		{
+			valueScaled = 0;
+		}
 	}
 	// Bound
 	if ( valueScaled > 1.0 )