Stabilise working wrong way

ArduPlane Plane 4.5
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My Pixhawk is mounted upside-down and I have set AHRS_ORIENTATION to ROLL180.

When in stabilise mode the control surfaces all work the wrong way.

How can I sort this? Thanks.

2
  1. Make sure ROLL180 is correct (FC is upside down and facing forward), artificial horizon should move as expected in Mission Planner
  2. use servo reverses to get correct behavior in FBWA when tilting the plane (rudder should turn with ailerons to counteract turning unless you disabled rudder mixing)
  3. configure your radio to match what the plane is doing, at this stage do not touch servo configuration only AP inputs or radio.
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