Discussions

I think there is a pitch inversion inside all motors_xxxx.pde files. (tested with 2.0.44 after full eeprom erase).

For example for Quad X we have :

// left
        motor_out[CH_3]         = g.rc_3.radio_out + roll_out + pitch_out;    // FRONT
        motor_out[CH_2]         = g.rc_3.radio_out + roll_out - pitch_out;    // BACK

// right
        motor_out[CH_1]        = g.rc_3.radio_out - roll_out + pitch_out;  // FRONT
        motor_out[CH_4]     = g.rc_3.radio_out - roll_out - pitch_out;    // BACK

And i think we should have :

// left
        motor_out[CH_3]         = g.rc_3.radio_out + roll_out - pitch_out;    // FRONT
        motor_out[CH_2]         = g.rc_3.radio_out + roll_out + pitch_out;    // BACK

// right
        motor_out[CH_1]        = g.rc_3.radio_out - roll_out - pitch_out;  // FRONT
        motor_out[CH_4]     = g.rc_3.radio_out - roll_out + pitch_out;    // BACK

Don't know why this has never been reported. Or perhpas i'm fully wrong and i missed something.

I've double checked my frame, my motor connections, my APM setup and orientation, all is ok.

I can confirm this problem with motor tests from the CLI, and making the hand flight test.

To correct the situation, i need to enable he pitch channel reverse parameter.