From 3d16ca7144b222724233256943b86a73483d3dcb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 19 Sep 2017 16:38:14 +1000
Subject: [PATCH] Plane: fixed MANUAL_RCMASK

ensure it only applies in MANUAL, and fixed input scaling in px4io
---
 ArduPlane/px4_mixer.cpp | 8 ++++++++
 ArduPlane/servos.cpp    | 2 +-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/px4_mixer.cpp b/ArduPlane/px4_mixer.cpp
index 439af12d75..c5a32843e4 100644
--- a/ArduPlane/px4_mixer.cpp
+++ b/ArduPlane/px4_mixer.cpp
@@ -269,6 +269,7 @@ bool Plane::setup_failsafe_mixing(void)
     enum AP_HAL::Util::safety_state old_state = hal.util->safety_switch_state();
     struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 8};
     unsigned mixer_status = 0;
+    uint16_t manual_mask = uint16_t(g2.manual_rc_mask.get());
 
     buf = (char *)malloc(buf_size);
     if (buf == nullptr) {
@@ -365,6 +366,13 @@ bool Plane::setup_failsafe_mixing(void)
             config.rc_max = 1813; // round 1812.5 up to grant > 1750
             config.rc_min = 1000;
             config.rc_trim = 1500;
+        } else if (manual_mask & (1U<<i)) {
+            // use fixed limits for manual_mask channels
+            config.rc_assignment = i;
+            config.rc_reverse = i==1?true:false;
+            config.rc_max = PX4_LIM_RC_MAX;
+            config.rc_min = PX4_LIM_RC_MIN;
+            config.rc_trim = 1500;
         } else {
             config.rc_assignment = i;
         }
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 8be3a8589f..eb52cb6047 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -663,7 +663,7 @@ void Plane::servos_output(void)
     servo_output_mixers();
 
     // support MANUAL_RCMASK
-    if (g2.manual_rc_mask.get() != 0) {
+    if (g2.manual_rc_mask.get() != 0 && control_mode == MANUAL) {
         SRV_Channels::copy_radio_in_out_mask(uint16_t(g2.manual_rc_mask.get()));
     }