From 7b5bf532005afdf8ce1921e61fc4c7047c8df16a Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Thu, 18 Jul 2013 13:46:58 +0200 Subject: [PATCH] fixed channel reversals --- flight/modules/ManualControl/manualcontrol.c | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c index e70b064e1..bfd9fcb13 100644 --- a/flight/modules/ManualControl/manualcontrol.c +++ b/flight/modules/ManualControl/manualcontrol.c @@ -1089,27 +1089,27 @@ static void processArm(ManualControlCommandData *cmd, ManualControlSettingsData // Calc channel see assumptions7 switch (settings->Arming) { case MANUALCONTROLSETTINGS_ARMING_ROLLLEFT: - armingInputLevel = -1.0f * cmd->Roll; - break; - case MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT: armingInputLevel = 1.0f * cmd->Roll; break; - case MANUALCONTROLSETTINGS_ARMING_PITCHAFT: - armingInputLevel = -1.0f * cmd->Pitch; + case MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT: + armingInputLevel = -1.0f * cmd->Roll; break; case MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD: armingInputLevel = 1.0f * cmd->Pitch; break; + case MANUALCONTROLSETTINGS_ARMING_PITCHAFT: + armingInputLevel = -1.0f * cmd->Pitch; + break; case MANUALCONTROLSETTINGS_ARMING_YAWLEFT: - armingInputLevel = -1.0f * cmd->Yaw; + armingInputLevel = 1.0f * cmd->Yaw; break; case MANUALCONTROLSETTINGS_ARMING_YAWRIGHT: - armingInputLevel = 1.0f * cmd->Yaw; + armingInputLevel = -1.0f * cmd->Yaw; break; case MANUALCONTROLSETTINGS_ARMING_ACCESSORY0: case MANUALCONTROLSETTINGS_ARMING_ACCESSORY1: case MANUALCONTROLSETTINGS_ARMING_ACCESSORY2: - armingInputLevel = (float)armSwitch; + armingInputLevel = -1.0f * (float)armSwitch; break; }