part 3 of the great sensor axis unfucking. careful flight testing may commence.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@400 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/cli.c

@@ -124,6 +124,7 @@ const clivalue_t valueTable[] = {
     { "align_gyro", VAR_UINT8, &mcfg.gyro_align, 0, 8 },
     { "align_acc", VAR_UINT8, &mcfg.acc_align, 0, 8 },
     { "align_mag", VAR_UINT8, &mcfg.mag_align, 0, 8 },
+    { "yaw_control_direction", VAR_INT8, &mcfg.yaw_control_direction, -1, 1 },
     { "acc_hardware", VAR_UINT8, &mcfg.acc_hardware, 0, 4 },
     { "moron_threshold", VAR_UINT8, &mcfg.moron_threshold, 0, 128 },
     { "gyro_lpf", VAR_UINT16, &mcfg.gyro_lpf, 0, 256 },

src/config.c

@@ -13,7 +13,7 @@ master_t mcfg;  // master config struct with data independent from profiles
 config_t cfg;   // profile config struct
 const char rcChannelLetters[] = "AERT1234";
 
-static const uint8_t EEPROM_CONF_VERSION = 50;
+static const uint8_t EEPROM_CONF_VERSION = 51;
 static uint32_t enabledSensors = 0;
 static void resetConf(void);
 
@@ -181,6 +181,7 @@ static void resetConf(void)
     mcfg.acc_align = ALIGN_DEFAULT;
     mcfg.mag_align = ALIGN_DEFAULT;
     mcfg.acc_hardware = ACC_DEFAULT;     // default/autodetect
+    mcfg.yaw_control_direction = 1;
     mcfg.moron_threshold = 32;
     mcfg.gyro_smoothing_factor = 0x00141403;     // default factors of 20, 20, 3 for R/P/Y
     mcfg.vbatscale = 110;

src/mixer.c

@@ -321,17 +321,17 @@ void mixTable(void)
     // motors for non-servo mixes
     if (numberMotor > 1)
         for (i = 0; i < numberMotor; i++)
-            motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + cfg.yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
+            motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -cfg.yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
 
     // airplane / servo mixes
     switch (mcfg.mixerConfiguration) {
         case MULTITYPE_BI:
-            servo[4] = constrain(1500 + (cfg.yaw_direction * axisPID[YAW]) + axisPID[PITCH], 1020, 2000);   //LEFT
+            servo[4] = constrain(1500 + (-cfg.yaw_direction * axisPID[YAW]) + axisPID[PITCH], 1020, 2000);   //LEFT
-            servo[5] = constrain(1500 + (cfg.yaw_direction * axisPID[YAW]) - axisPID[PITCH], 1020, 2000);   //RIGHT
+            servo[5] = constrain(1500 + (-cfg.yaw_direction * axisPID[YAW]) - axisPID[PITCH], 1020, 2000);   //RIGHT
             break;
 
         case MULTITYPE_TRI:
-            servo[5] = constrain(cfg.tri_yaw_middle + cfg.yaw_direction * axisPID[YAW], cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
+            servo[5] = constrain(cfg.tri_yaw_middle + -cfg.yaw_direction * axisPID[YAW], cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
             break;
 
         case MULTITYPE_GIMBAL:

src/mw.c

@@ -125,6 +125,7 @@ void annexCode(void)
             prop1 = 100 - (uint16_t) cfg.rollPitchRate * tmp / 500;
             prop1 = (uint16_t) prop1 *prop2 / 100;
         } else {                // YAW
+            tmp *= -mcfg.yaw_control_direction; //change control direction for yaw needed with new gyro orientation
             if (cfg.yawdeadband) {
                 if (tmp > cfg.yawdeadband) {
                     tmp -= cfg.yawdeadband;

src/mw.h

@@ -254,6 +254,7 @@ typedef struct master_t {
     sensor_align_e gyro_align;              // gyro alignment
     sensor_align_e acc_align;               // acc alignment
     sensor_align_e mag_align;               // mag alignment
+    int8_t yaw_control_direction;           // change control direction of yaw (inverted, normal)
     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
     uint16_t gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
     uint16_t gyro_cmpf_factor;              // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.