Props-In setting as bool

src/main/fc/fc_msp.c

@@ -1419,7 +1419,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP2_INAV_MIXER:
-        sbufWriteU8(dst, mixerConfig()->yaw_motor_direction);
+        sbufWriteU8(dst, mixerConfig()->motorDirectionInverted);
         sbufWriteU16(dst, 0);
         sbufWriteU8(dst, mixerConfig()->platformType);
         sbufWriteU8(dst, mixerConfig()->hasFlaps);
@@ -2749,7 +2749,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         break;
 
     case MSP2_INAV_SET_MIXER:
-        mixerConfigMutable()->yaw_motor_direction = sbufReadU8(src);
+        mixerConfigMutable()->motorDirectionInverted = sbufReadU8(src);
         sbufReadU16(src); // Was yaw_jump_prevention_limit
         mixerConfigMutable()->platformType = sbufReadU8(src);
         mixerConfigMutable()->hasFlaps = sbufReadU8(src);

src/main/fc/settings.yaml

@@ -685,9 +685,9 @@ groups:
   - name: PG_MIXER_CONFIG
     type: mixerConfig_t
     members:
-      - name: yaw_motor_direction
+      - name: motor_direction_inverted
-        min: -1
+        field: motorDirectionInverted
-        max: 1
+        type: bool
       - name: platform_type
         field: platformType
         type: uint8_t

src/main/flight/mixer.c

@@ -63,6 +63,7 @@ static EXTENDED_FASTRAM uint8_t motorCount = 0;
 EXTENDED_FASTRAM int mixerThrottleCommand;
 static EXTENDED_FASTRAM int throttleIdleValue = 0;
 static EXTENDED_FASTRAM int motorValueWhenStopped = 0;
+static EXTENDED_FASTRAM int8_t motorYawMultiplier = 1;
 
 PG_REGISTER_WITH_RESET_TEMPLATE(reversibleMotorsConfig_t, reversibleMotorsConfig, PG_REVERSIBLE_MOTORS_CONFIG, 0);
 
@@ -72,10 +73,10 @@ PG_RESET_TEMPLATE(reversibleMotorsConfig_t, reversibleMotorsConfig,
     .neutral = 1460
 );
 
-PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 2);
+PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 3);
 
 PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
-    .yaw_motor_direction = 1,
+    .motorDirectionInverted = 0,
     .platformType = PLATFORM_MULTIROTOR,
     .hasFlaps = false,
     .appliedMixerPreset = -1, //This flag is not available in CLI and used by Configurator only
@@ -245,6 +246,12 @@ void mixerInit(void)
     } else {
         motorRateLimitingApplyFn = nullMotorRateLimiting;
     }
+
+    if (mixerConfig()->motorDirectionInverted) {
+        motorYawMultiplier = -1;
+    } else {
+        motorYawMultiplier = 1;
+    }
 }
 
 void mixerResetDisarmedMotors(void)
@@ -354,7 +361,7 @@ void FAST_CODE NOINLINE mixTable(const float dT)
         rpyMix[i] =
             (input[PITCH] * currentMixer[i].pitch +
             input[ROLL] * currentMixer[i].roll +
-            -mixerConfig()->yaw_motor_direction * input[YAW] * currentMixer[i].yaw) * mixerScale;
+            -motorYawMultiplier * input[YAW] * currentMixer[i].yaw) * mixerScale;
 
         if (rpyMix[i] > rpyMixMax) rpyMixMax = rpyMix[i];
         if (rpyMix[i] < rpyMixMin) rpyMixMin = rpyMix[i];

src/main/flight/mixer.h

@@ -63,7 +63,7 @@ typedef struct motorMixer_s {
 PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer);
 
 typedef struct mixerConfig_s {
-    int8_t yaw_motor_direction;
+    int8_t motorDirectionInverted;
     uint8_t platformType;
     bool hasFlaps;
     int16_t appliedMixerPreset;