consider scale parameters in rc calibration code

src/modules/commander/rc_calibration.cpp

@@ -79,18 +79,26 @@ int do_trim_calibration(orb_advert_t *mavlink_log_pub)
 	float yaw_trim_active;
 	param_get(param_find("TRIM_YAW"), &yaw_trim_active);
 
+	/* get manual control scale values */
+	float roll_scale;
+	param_get(param_find("FW_MAN_R_SC"), &roll_scale);
+	float pitch_scale;
+	param_get(param_find("FW_MAN_P_SC"), &pitch_scale);
+	float yaw_scale;
+	param_get(param_find("FW_MAN_Y_SC"), &yaw_scale);
+
 	/* set parameters: the new trim values are the combination of active trim values
 	   and the values coming from the remote control of the user
 	*/
-	float p = sp.y + roll_trim_active;
+	float p = sp.y * roll_scale + roll_trim_active;
 	int p1r = param_set(param_find("TRIM_ROLL"), &p);
 	/*
 	 we explicitly swap sign here because the trim is added to the actuator controls
 	 which are moving in an inverse sense to manual pitch inputs
 	*/
-	p = -sp.x + pitch_trim_active;
+	p = -sp.x * pitch_scale + pitch_trim_active;
 	int p2r = param_set(param_find("TRIM_PITCH"), &p);
-	p = sp.r + yaw_trim_active;
+	p = sp.r * yaw_scale + yaw_trim_active;
 	int p3r = param_set(param_find("TRIM_YAW"), &p);
 
 	/* store to permanent storage */