===== Механизм работы сервами и газом - =====

==== Для однокоптера - ====

            M1 CCW
            |
            |
                                             .
            M2 (Servo)
            |
            |
     M5 ---- ---- M3
    (Servo) | (Servo)
            |
            M4 (Servo)


  MotorOut1 = RxInCollective;
  MotorOut2 = 840;  // 840
  MotorOut3 = 840;  // 840
  MotorOut4 = 945;  // 840 + 840/8
  MotorOut5 = 945;  // 840 + 840/8

  MotorOut2+= RxInRoll;
  MotorOut4-= RxInRoll;

  MotorOut3+= RxInPitch;
  MotorOut5-= RxInPitch;

  MotorOut2+= RxInYaw;
  MotorOut3+= RxInYaw;
  MotorOut4+= RxInYaw;
  MotorOut5+= RxInYaw;

==== Для двойного коптера - ====


            M1 CCW
            |
            M2 CW
            |
                                              .
            |
            |
  M5/M3 ----+----
    (Servo) |
            |
         M6/M4 (Servo)

  MotorOut1 = RxInCollective;
  MotorOut2 = RxInCollective;
  MotorOut3 = 500;
  MotorOut4 = 500;

  MotorOut4+= RxInRoll;

  MotorOut3+= RxInPitch;

  MotorOut1-= RxInYaw;
  MotorOut2+= RxInYaw;
  
==== Для бикоптера - ====

        / ----  \
       /    |    \
     M1 CW  |     M2 CCW
            |
     M3     |       M4
   (Servo)  |   (Servo)
   
  MotorOut1 = RxInCollective;
  MotorOut2 = RxInCollective;
  MotorOut3 = 500;
  MotorOut4 = 500;

  RxInRoll = (RxInRoll * 7) >> 3;  // Approximation of sin(60) without div
  MotorOut1+= RxInRoll;
  MotorOut2-= RxInRoll;
      
  MotorOut3-= SERVO_REVERSE RxInPitch;
  MotorOut4+= SERVO_REVERSE RxInPitch;
    
  MotorOut3+= SERVO_REVERSE(RxInYaw >> 1);
  MotorOut4+= SERVO_REVERSE(RxInYaw >> 1);