Added float for CH6_Y6_SCALING value.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1903 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/ArduCopterMega.pde

@@ -269,6 +269,8 @@ float sin_nav_y, cos_nav_x;					// used in calc_waypoint_nav
 bool simple_bearing_is_set = false;
 long initial_simple_bearing;				// used for Simple mode
 
+float Y6_scaling = Y6_MOTOR_SCALER;
+
 // Airspeed
 // --------
 int		airspeed;							// m/s * 100
@@ -1198,6 +1200,6 @@ void tuning(){
 		g.pid_sonar_throttle.kD((float)g.rc_6.control_in / 1000.0); //  0 to 1
 
 	#elif CHANNEL_6_TUNING == CH6_Y6_SCALING
-		g.Y6_scaling.set((float)g.rc_6.control_in / 1000.0)
+		Y6_scaling = (float)g.rc_6.control_in / 1000.0;
 	#endif
 }

ArduCopterMega/motors.pde

@@ -164,15 +164,15 @@ set_servos_4()
 			int pitch_out 		=  g.rc_2.pwm_out / 2;
 
 			//left
-			motor_out[CH_2]		= ((g.rc_3.radio_out * Y6_MOTOR_SCALER) + roll_out + pitch_out);  // CCW TOP
+			motor_out[CH_2]		= ((g.rc_3.radio_out * Y6_scaling) + roll_out + pitch_out);  // CCW TOP
 			motor_out[CH_3]		=  g.rc_3.radio_out + roll_out + pitch_out;			// CW
 
 			//right
-			motor_out[CH_7]		= ((g.rc_3.radio_out * Y6_MOTOR_SCALER) - roll_out + pitch_out);	// CCW TOP
+			motor_out[CH_7]		= ((g.rc_3.radio_out * Y6_scaling) - roll_out + pitch_out);	// CCW TOP
 			motor_out[CH_1]		=  g.rc_3.radio_out - roll_out + pitch_out;			// CW
 
 			//back
-			motor_out[CH_8]     = ((g.rc_3.radio_out * Y6_MOTOR_SCALER) - g.rc_2.pwm_out);	// CCW TOP
+			motor_out[CH_8]     = ((g.rc_3.radio_out * Y6_scaling) - g.rc_2.pwm_out);	// CCW TOP
 			motor_out[CH_4] 	=  g.rc_3.radio_out - g.rc_2.pwm_out;			// CW
 
 			//yaw