Diff: outputs_copter.h

Revision:

1:1e3318a30ddd

Parent:

0:62a1c91a859a

Child:

2:90292f8bd179

diff -r 62a1c91a859a -r 1e3318a30ddd outputs_copter.h
--- a/outputs_copter.h	Fri Feb 18 22:28:05 2011 +0000
+++ b/outputs_copter.h	Fri Feb 25 01:35:24 2011 +0000
@@ -38,9 +38,9 @@
 #endif
 
     Out0.pulsewidth_us(1000 + (int16)( PWM[FrontC] * PWMScale ) );
-    Out1.pulsewidth_us(1000 + (int16)( PWM[LeftC] * PWMScale ) );
-    Out2.pulsewidth_us(1000 + (int16)( PWM[RightC] * PWMScale ) );
-    Out3.pulsewidth_us(1000 + (int16)( PWM[BackC] * PWMScale ) );
+    Out1.pulsewidth_us(1000 + (int16)( PWM[RightC] * PWMScale ) );
+    Out2.pulsewidth_us(1000 + (int16)( PWM[BackC] * PWMScale ) );
+    Out3.pulsewidth_us(1000 + (int16)( PWM[LeftC] * PWMScale ) );
                       
 #ifdef MULTICOPTER
     // in X3D and Holger-Mode, K2 (left motor) is SDA, K3 (right) is SCL.
@@ -66,13 +66,13 @@
                 I2CESC.stop();
             }
         else
-            if ( P[ESCType] == ESCX3D ) {
+           if ( P[ESCType] == ESCX3D ) {
                 I2CESC.start();
                 r = I2CESC.write(0x10);                // one command, 4 data bytes
                 r += I2CESC.write( PWM[FrontC] );
+                r += I2CESC.write( PWM[RightC] );
                 r += I2CESC.write( PWM[BackC] );
                 r += I2CESC.write( PWM[LeftC] );
-                r += I2CESC.write( PWM[RightC] );
                 ESCI2CFail[0] += r;
                 //  other ESCs if a Hexacopter
                 I2CESC.stop();