Fix yaw inversion with rcCommmand[YAW] (#63)

Yaw inversion was done before rcCommand calculation,
making rcCommand[YAW] reversed. This caused reversed
yaw direction in stick commands and OSD/CMS control.

Now yaw is reversed in setpoint calculation, so that
rcInput, rcCommand and rcDeflection all have the same
yaw direction, while setpoint and gyro are reversed.

src/main/fc/rc.c

@@ -198,10 +198,6 @@ void updateRcCommands(void)
         // Center point
         data = rcInput[axis] - rcControlsConfig()->rc_center;
 
-        // RC yaw rate and gyro yaw rate have opposite signs
-        if (axis == FD_YAW)
-            data = -data;
-
         // Apply deadband
         data = fapplyDeadband(data, rcDeadband[axis]);
         range = rcControlsConfig()->rc_deflection - rcDeadband[axis];

src/main/flight/setpoint.c

@@ -182,7 +182,13 @@ void setpointUpdate(void)
     DEBUG_AXIS(SETPOINT, FD_PITCH, 1, sp.deflection[FD_PITCH] * 1000);
 
     for (int axis = 0; axis < 4; axis++) {
-        float SP = sp.limited[axis] = slewLimit(sp.limited[axis], sp.deflection[axis], sp.accelLimit[axis]);
+        float SP = sp.deflection[axis];
+
+        // rcCommand[YAW] CW direction is positive, while gyro[YAW] is negative
+        if (axis == FD_YAW)
+            SP = -SP;
+
+        SP = sp.limited[axis] = slewLimit(sp.limited[axis], SP, sp.accelLimit[axis]);
         DEBUG_AXIS(SETPOINT, axis, 2, SP * 1000);
 
         SP = sp.deflection[axis] = filterApply(&sp.filter[axis], SP);