Change Y6 motor mixing

[bfretless]

Hello, first post here. I have a Crius AIO Pro V2 and GPS coming for my 650mm Y6. It';s presently running a KK2 board. Will load Multiwii 2.3 on the Crius. The KK2 runs all top motors CCW and all bottoms CW. Would like to make the Crius do the same, both because i think it helps with Y6 yaw issues, and to save having to buy new props.

I';ve read the wiki and searched. Looks like the mixing table is where I';d edit to change this. Can anyone help me understand what to change? Basically I want to switch both rear motors'; direction of rotation.

Bill

[bfretless]

So, it looks like in output.cpp function mixTable() that this #define:

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#define PIDMIX(X,Y,Z) rcCommand[THROTTLE] + axisPID[ROLL]*X + axisPID[PITCH]*Y + YAW_DIRECTION * axisPID[YAW]*Z

uses the third term for yaw control. Since I would be changing the direction of rotation of both rear motors, I should alter the direction of yaw output for those motors.

So where the code is presently

#elif defined( Y6 )
    motor[0] = PIDMIX(+0,+4/3,+1); //REAR
    motor[1] = PIDMIX(-1,-2/3,-1); //RIGHT
    motor[2] = PIDMIX(+1,-2/3,-1); //LEFT
    motor[3] = PIDMIX(+0,+4/3,-1); //UNDER_REAR
    motor[4] = PIDMIX(-1,-2/3,+1); //UNDER_RIGHT
    motor[5] = PIDMIX(+1,-2/3,+1); //UNDER_LEFT

I would edit the rear motor parameters thus:

#elif defined( Y6 )
    motor[0] = PIDMIX(+0,+4/3,-1); //REAR
    motor[1] = PIDMIX(-1,-2/3,-1); //RIGHT
    motor[2] = PIDMIX(+1,-2/3,-1); //LEFT
    motor[3] = PIDMIX(+0,+4/3,+1); //UNDER_REAR
    motor[4] = PIDMIX(-1,-2/3,+1); //UNDER_RIGHT
    motor[5] = PIDMIX(+1,-2/3,+1); //UNDER_LEFT

And I noticed that I can put all this in a MY_PRIVATE_MIXING file as an include.

Can anyone confirm that I';m on the right track?