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Merge pull request #3882 from mikeller/fix_yaw_direction

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Fixed yaw direction after #3873.
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Michael Keller 2017-08-18 00:15:47 +12:00 • committed by GitHub
commit b64ab340a7
1 changed files with 1 additions and 1 deletions
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src/main/flight/mixer.c
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@ -595,7 +595,7 @@ void mixTable(uint8_t vbatPidCompensation)
float scaledAxisPidPitch = float scaledAxisPidPitch =
constrainf((axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH]) / PID_MIXER_SCALING, -pidSumLimit, pidSumLimit); constrainf((axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH]) / PID_MIXER_SCALING, -pidSumLimit, pidSumLimit);
float scaledAxisPidYaw = float scaledAxisPidYaw =
constrainf((axisPID_P[FD_YAW] + axisPID_I[FD_YAW]) / PID_MIXER_SCALING, -pidSumLimitYaw, pidSumLimitYaw); -constrainf((axisPID_P[FD_YAW] + axisPID_I[FD_YAW]) / PID_MIXER_SCALING, -pidSumLimitYaw, pidSumLimitYaw);
if (isMotorsReversed()) { if (isMotorsReversed()) {
scaledAxisPidRoll = -scaledAxisPidRoll; scaledAxisPidRoll = -scaledAxisPidRoll;
scaledAxisPidPitch = -scaledAxisPidPitch; scaledAxisPidPitch = -scaledAxisPidPitch;