From 0a0e191284e2509fa7139378aefa13581fca4580 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 5 Jan 2016 09:38:02 +1100
Subject: [PATCH] Plane: init rc output after quadplane setup

this ensures first PWM pulses are correct
---
 ArduPlane/radio.cpp  | 3 +--
 ArduPlane/system.cpp | 5 ++++-
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/radio.cpp b/ArduPlane/radio.cpp
index 4629b605bd..c80205d2b3 100644
--- a/ArduPlane/radio.cpp
+++ b/ArduPlane/radio.cpp
@@ -46,8 +46,6 @@ void Plane::init_rc_in()
     channel_pitch->set_default_dead_zone(30);
     channel_rudder->set_default_dead_zone(30);
     channel_throttle->set_default_dead_zone(30);
-
-    update_aux();
 }
 
 /*
@@ -69,6 +67,7 @@ void Plane::init_rc_out()
         channel_throttle->enable_out();
     }
     channel_rudder->enable_out();
+    update_aux();
     RC_Channel_aux::enable_aux_servos();
 
     // Initialization of servo outputs
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index a65c316f5c..91791dee54 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -196,7 +196,6 @@ void Plane::init_ardupilot()
     gps.init(&DataFlash, serial_manager);
 
     init_rc_in();               // sets up rc channels from radio
-    init_rc_out();              // sets up the timer libs
 
     relay.init();
 
@@ -234,6 +233,10 @@ void Plane::init_ardupilot()
     startup_ground();
 
     quadplane.setup();
+
+    // don't initialise rc output until after quadplane is setup as
+    // that can change initial values of channels
+    init_rc_out();
     
     // choose the nav controller
     set_nav_controller();