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| Rev 2122 | Rev 2126 | ||
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| Line 113... | Line 113... | ||
| 113 | 113 | ||
| 114 | // These params are just left the same in all modes. In MANUAL and RATE the results are ignored anyway. |
114 | // These params are just left the same in all modes. In MANUAL and RATE the results are ignored anyway. |
| Line 115... | Line 115... | ||
| 115 | int32_t tmp; |
115 | int32_t tmp; |
| 116 | 116 | ||
| Line 117... | Line 117... | ||
| 117 | tmp = ((int32_t)controls[CONTROL_ELEVATOR] * staticParams.stickIElevator) >> LOG_STICK_SCALE; |
117 | tmp = ((int32_t)controls[CONTROL_ELEVATOR] * staticParams.stickIElevator) >> LOG_STICK_SCALE; |
| 118 | if (reverse[PITCH]) target[PITCH] -= tmp; else target[PITCH] += tmp; |
118 | if (reverse[PITCH]) target[PITCH] += tmp; else target[PITCH] -= tmp; |
| Line 119... | Line 119... | ||
| 119 | 119 | ||
| 120 | tmp = ((int32_t)controls[CONTROL_AILERONS] * staticParams.stickIAilerons) >> LOG_STICK_SCALE; |
120 | tmp = ((int32_t)controls[CONTROL_AILERONS] * staticParams.stickIAilerons) >> LOG_STICK_SCALE; |
| Line 121... | Line 121... | ||
| 121 | if (reverse[ROLL]) target[ROLL] -= tmp; else target[ROLL] += tmp; |
121 | if (reverse[ROLL]) target[ROLL] += tmp; else target[ROLL] -= tmp; |
| 122 | 122 | ||
| 123 | tmp = ((int32_t)controls[CONTROL_RUDDER] * staticParams.stickIRudder) >> LOG_STICK_SCALE; |
123 | tmp = ((int32_t)controls[CONTROL_RUDDER] * staticParams.stickIRudder) >> LOG_STICK_SCALE; |
| 124 | if (reverse[YAW]) target[YAW] -= tmp; else target[YAW] += tmp; |
124 | if (reverse[YAW]) target[YAW] += tmp; else target[YAW] -= tmp; |