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Fix assist mode reversing yaw issue #741

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Fix assist mode reversing yaw issue #741

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6 changes: 3 additions & 3 deletions src/cfclient/utils/input/__init__.py
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Original file line number Diff line number Diff line change
@@ -453,7 +453,7 @@ def read_input(self):
vx = data.roll
vy = data.pitch
vz = data.thrust
yawrate = data.yaw
yawrate = -data.yaw
# The odd use of vx and vy is to map forward on the
# physical joystick to positive X-axis
self.assisted_input_updated.call(vy, -vx, vz, yawrate)
@@ -473,7 +473,7 @@ def read_input(self):
if self._target_height < MIN_HOVER_HEIGHT:
self._target_height = MIN_HOVER_HEIGHT

yawrate = data.yaw
yawrate = -data.yaw
# The odd use of vx and vy is to map forward on the
# physical joystick to positive X-axis
self.hover_input_updated.call(vy, -vx, yawrate,
@@ -499,7 +499,7 @@ def read_input(self):
and data.assistedControl:
roll = data.roll + self.trim_roll
pitch = data.pitch + self.trim_pitch
yawrate = data.yaw
yawrate = -data.yaw
# Scale thrust to a value between -1.0 to 1.0
vz = (data.thrust - 32767) / 32767.0
# Integrate velocity setpoint