tap_esc: fix output order for quadrotor

8 years ago · c5100b6273
1 changed files with 7 additions and 0 deletions
--- a/src/drivers/tap_esc/tap_esc.cpp
+++ b/src/drivers/tap_esc/tap_esc.cpp
@ -711,6 +711,13 @@ TAP_ESC::cycle()
				@@ -711,6 +711,13 @@ TAP_ESC::cycle()
 			motor_out[6] = RPMSTOPPED;
 			motor_out[7] = RPMSTOPPED;

+		} else if (num_outputs == 4) {
+
+			motor_out[0] = _outputs.output[2];
+			motor_out[2] = _outputs.output[0];
+			motor_out[1] = _outputs.output[1];
+			motor_out[3] = _outputs.output[3];
+
 		} else {

 			// Use the system defaults