{"action":"opened","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1922","repository_url":"https://api.github.com/repos/cleanflight/cleanflight","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1922/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1922/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1922/events","html_url":"https://github.com/cleanflight/cleanflight/issues/1922","id":138359982,"number":1922,"title":"Flying_Wing profile stabilization output reversal","user":{"login":"jamesomega","id":17628467,"avatar_url":"https://avatars.githubusercontent.com/u/17628467?v=3","gravatar_id":"","url":"https://api.github.com/users/jamesomega","html_url":"https://github.com/jamesomega","followers_url":"https://api.github.com/users/jamesomega/followers","following_url":"https://api.github.com/users/jamesomega/following{/other_user}","gists_url":"https://api.github.com/users/jamesomega/gists{/gist_id}","starred_url":"https://api.github.com/users/jamesomega/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jamesomega/subscriptions","organizations_url":"https://api.github.com/users/jamesomega/orgs","repos_url":"https://api.github.com/users/jamesomega/repos","events_url":"https://api.github.com/users/jamesomega/events{/privacy}","received_events_url":"https://api.github.com/users/jamesomega/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2016-03-04T02:46:11Z","updated_at":"2016-03-04T02:46:11Z","closed_at":null,"body":"I'm trying to set up a flying wing but I can't reverse the Roll stabilization direction with `smix reverse`. Unfortunately, I can't code firmware so I can only describe the problem rather than pin point it.\r\n\r\nTo get my control directions correct I reversed Servo 3 by adjusting the Direction and Rate drop down on the servo tab to -100% or:\r\n\r\n`servo 3 1000 2000 1500 45 45 -100 -1`\r\n\r\nFlying wing/elevon mixes can differ based on the direction the servos are facing or if they're embedded on the top or bottom of the wing, but here are the correct control surface directions (as observed from behind):\r\nPitch Up - Both elevons pitch up.\r\nPitch Down - Both elevons pitch down.\r\nRoll Left - Left (servo 3) elevon pitches up, Right (servo 4) elevon pitches down.\r\nRoll Right - Left elevon (servo 3) pitches down, Right elevon (servo 4) pitches up.\r\nAlso as demonstrated here: https://www.youtube.com/watch?v=bf-DtHmZbSY\r\n\r\nWhen engaging Angle mode to test PID compensation direction, pitch compensates the correct direction (drop the nose and elevons pitch upward), but roll compensation is reversed (drop one side and elevon drops downward with it). The stabilization force direction should be easily changed by using:\r\n\r\n`smix reverse 3 0 r`\r\n`smix reverse 4 0 r`\r\n\r\nBut loading the flying_wing smix profile reveals that it uses (0) Stabilized ROLL and (1) Stabilized PITCH as input sources instead of (4) RC ROLL and (5) RC PITCH. The above smix reverse lines flip the roll stabilization effect AND the servo direction instead of just the roll stabilization by itself.\r\n\r\nAttempting to replace the mix with:\r\n`mixer customairplane`\r\n`smix 0 3 4 100 0 0 100 0`\r\n`smix 1 3 5 100 0 0 100 0`\r\n`smix 2 4 4 -100 0 0\t100 0`\r\n`smix 3 4 5 100 0 0 100 0`\r\n`smix 4 6 3 100 0 0 100 0`\r\n\r\n...resulted in the correct RC and servo control direction (with Servo 3 still reversed), but there was no stabilization happening in any stabilized mode as if passthrough was permanently enabled.\r\n\r\nAlso, this might be a good UI alternative for the servo tab when a fixed wing craft profile is selected:\r\n![control_surfaces](https://cloud.githubusercontent.com/assets/17628467/13516334/17e48236-e16e-11e5-8a11-336ac8a8c6cb.jpg)\r\n\r\nAre there other methods to reversing roll stabilization without also reversing servo rates?"}}