Hi,I've encountered a problem with the 2.0.42 software when used with a tricopter.It seems that the yaw input direction is reversed with respect to the stabilisation control direction. I can fix it by patching the code (see below) but I'm wondering what is happening.Here is my situation:My frame is a sexycopter.com foldable tri frame with GoPro mount. I use rc-timer 750 kV motors, 20A controllers, 10x5 props and a 2200 mAh battery. I have moved the yaw servo from the top the bottom of the tail boom to reverse control direction.I have no internet at the copter location so I couldn't use MegaPlanner to upload, therefore I downloaded the 2.0.42 source .zip, modified the APM_config.h to #define FRAME_CONFIG TRI_FRAME and compiled and uploaded using arduino.I ran setup, and configured radio, compass, sonar etc. Everything went fine with default settings.If I rotate the frame, the servo for the yaw control moves the prop to the correct side of the tail boom. Also the position of the rudder stick for arming the motors is according to the wiki and when I move the copter the megaplanner HUD is showing sensor readings that are correct.However when I give yaw (rudder) input the prop moves to the wrong side of the tail boom, yaw input seems reversed.I confirmed this in flight, the copter flies stable, but moves in the opposite direction when giving yaw input.If I change of Attitude.pde (around line 190) like so:// set nav_yaw + or - the current location#if FRAME_CONFIG == TRI_FRAME// counter yaw input direction for TRI ??_yaw = dcm.yaw_sensor-(long)yaw_input;#else_yaw = dcm.yaw_sensor+(long)yaw_input;#endifthis fixes the problem for me, but I don't believe this should be needed. Why should a tri be different from other configurations in this respect?Can anyone tell me what is happening?Yours,Gerrit Jan.P.S. I just saw that 2.0.43 is avalable, I'll see what that does too..
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Hi, I tried 2.0.43.
This has the same problem and the same fix also solves the problem for me.