From 30d5ff2d3d35d6dd9ef97ad1e96c03265162b301 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 8 Nov 2018 15:20:17 +1100
Subject: [PATCH] AP_WheelEncoder: set pin to input before attaching interrupt

this fixes input on AUX6 on CubeBlack
---
 libraries/AP_WheelEncoder/WheelEncoder_Quadrature.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_WheelEncoder/WheelEncoder_Quadrature.cpp b/libraries/AP_WheelEncoder/WheelEncoder_Quadrature.cpp
index 20ed2576ce..4b03289fc1 100644
--- a/libraries/AP_WheelEncoder/WheelEncoder_Quadrature.cpp
+++ b/libraries/AP_WheelEncoder/WheelEncoder_Quadrature.cpp
@@ -48,6 +48,7 @@ void AP_WheelEncoder_Quadrature::update_pin(uint8_t &pin,
 
     // install interrupt handler on rising or falling edge of gpio for pin a
     if (new_pin != (uint8_t)-1) {
+        hal.gpio->pinMode(pin, HAL_GPIO_INPUT);
         if (!hal.gpio->attach_interrupt(
                 pin,
                 FUNCTOR_BIND_MEMBER(&AP_WheelEncoder_Quadrature::irq_handler,