Bugfix for 3D inverted flight using a tricopter. The yaw servo now should reverse when the throttle is lower than the midpoint.
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@ -546,6 +546,12 @@ static void airplaneMixer(void)
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void mixTable(void)
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{
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uint32_t i;
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int8_t yawDirection3D = 1;
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// Reverse yaw servo when inverted in 3D mode
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if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig->midrc)) {
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yawDirection3D = -1;
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}
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if (motorCount > 3) {
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// prevent "yaw jump" during yaw correction
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@ -572,7 +578,7 @@ void mixTable(void)
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break;
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case MIXER_TRI:
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servo[5] = (servoDirection(5, 1) * axisPID[YAW]) + determineServoMiddleOrForwardFromChannel(5); // REAR
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servo[5] = (servoDirection(5, 1) * axisPID[YAW] * yawDirection3D) + determineServoMiddleOrForwardFromChannel(5); // REAR
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break;
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case MIXER_GIMBAL:
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