Tricopter yaw servo reversed

Sven.F February 22, 2015 at 9:10am

Hey, yes you can reverse the yaw. Did you come right?

Sean O'Connor August 23, 2011 at 4:43pm

OK. Just for completeness, and to make it easier for others coming across this. This is the code fix:

#if FRAME_CONFIG == TRI_FRAME
// servo Yaw
g.rc_4.calc_pwm();

if(g.rc_4.get_reverse() == true)
{
APM_RC.OutputCh(CH_7, ( (-1 * (g.rc_4.radio_out - g.rc_4.radio_trim) ) + g.rc_4.radio_trim ) );

}
else
{
APM_RC.OutputCh(CH_7, g.rc_4.radio_out);
}
#endif

At line 831 in 2.0.38 in the ArduCopterMega.pde tab

This should let you reverse channel 4 in the planner by putting in a '-1' which will reverse the way the copter compensates with the yaw gyro.

Thank you Don for the fix!

mc_don July 5, 2011 at 4:56am

i have try to change CH4_rev to -1, the ruder can reverse.

but my 3Cs is still rotate yaw to left

I think, i must reverse the yaw gyro.

i use prop. CCW for left front and back. and CW for right front

any idea?

Sean O'Connor July 5, 2011 at 2:03am

Ahhh! Just got it to work! You need to reverse the RC4 channel NOT the RC7 -- RC4 is the input for yaw on a tricopter. You reverse the channel by replacing 1 with -1 as per the APM manual. It would be nice if a revision of this page http://code.google.com/p/ardupilot-mega/wiki/Reversing was in the ACM manual.

Sean O'Connor July 5, 2011 at 1:41am

I tried changing the value to/from: 1, 0, -1 -- there is no diffrnce between either of them. Maybe this function is disabled/not used in ACM2?

Sean O'Connor July 4, 2011 at 12:27pm

It's an anolog servo. Where about is the RC7_REV - I can't seem to find it?

mc_don July 4, 2011 at 10:57am

can we set reverse servo from configurator AMP by change value of RC7_REV?

Developer

Olivier ADLER July 4, 2011 at 6:59am

To keep things simple and if you have a digital servo, then you can program it for reverse operation.

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Tricopter yaw servo reversed

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