修正yaw方向

[Rui-Xiaoyu]

Summary by Sourcery

Bug Fixes:

• Fix inverted gimbal yaw control by adjusting the sign of the right-stick horizontal input scaling.

[sourcery-ai]

Reviewer's guide (collapsed on small PRs)

Reviewer's Guide

Adjusts the yaw control calculation so that the yaw direction aligns correctly with the remote control input while keeping pitch logic unchanged.

Flow diagram for updated yaw calculation in VT13

flowchart LR
  RC_ch_r_x[Remote control ch_r_x input]
  VT13_CH_VALUE_MID[VT13_CH_VALUE_MID]
  INV_FULL_RANGE[INV_FULL_RANGE]

  RC_ch_r_x --> Subtract_mid
  VT13_CH_VALUE_MID --> Subtract_mid
  Subtract_mid[Compute ch_r_x_minus_mid]

  Subtract_mid --> Multiply_gain
  INV_FULL_RANGE --> Multiply_gain
  Multiply_gain[Compute yaw = 2.0f * ch_r_x_minus_mid * INV_FULL_RANGE]

  Multiply_gain --> Set_output_yaw[Set output_data.gimbal.yaw]

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File-Level Changes

Change	Details	Files
Invert yaw direction by removing the leading negative sign from the yaw scaling calculation.	Change yaw output calculation to multiply the right-stick X channel offset by +2.0f instead of -2.0f Retain the same scaling factor INV_FULL_RANGE and mid-point VT13_CH_VALUE_MID for consistency with existing input normalization	VT13.hpp

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