From a8f0291711098c9fa9edb1260f1e435f742878a6 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 13 Sep 2016 09:44:38 +0900
Subject: [PATCH] Copter: parameter conversion only for matrix multicopters

Single, Coax and Tri copter rate parameter conversions were incorrect
---
 ArduCopter/Parameters.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index d48af24311..976d23b298 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1129,7 +1129,7 @@ void Copter::convert_pid_parameters(void)
     // and motor libraries switch to accept inputs in -1 to +1 range instead of -4500 ~ +4500
     float pid_scaler = 1.27f;
 
-#if FRAME_CONFIG != HELI_FRAME
+#if FRAME_CONFIG == QUAD_FRAME || FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME  || FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
     // Multicopter x-frame gains are 40% lower because -1 or +1 input to motors now results in maximum rotation
     if (g.frame_orientation == AP_MOTORS_X_FRAME || g.frame_orientation == AP_MOTORS_V_FRAME || g.frame_orientation == AP_MOTORS_H_FRAME) {
         pid_scaler = 0.9f;