From 54c827a7928b1301fd77c2d5ba5852e8b4ed6ea9 Mon Sep 17 00:00:00 2001
From: Dan Laks <dan@spektreworks.com>
Date: Fri, 10 Jul 2020 13:36:35 -0700
Subject: [PATCH] AP_ICEngine: Initialize start_chan_last_value and catch RC
 values less than 800

---
 libraries/AP_ICEngine/AP_ICEngine.cpp | 2 +-
 libraries/AP_ICEngine/AP_ICEngine.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp
index b45d4889ba..24af778cc8 100644
--- a/libraries/AP_ICEngine/AP_ICEngine.cpp
+++ b/libraries/AP_ICEngine/AP_ICEngine.cpp
@@ -171,7 +171,7 @@ void AP_ICEngine::update(void)
         // while ignoring tiny noise
         if (cvalue >= 1700) {
             cvalue = 2000;
-        } else if (cvalue <= 1300) {
+        } else if ((cvalue > 800) && (cvalue <= 1300)) {
             cvalue = 1300;
         } else {
             cvalue = 1500;
diff --git a/libraries/AP_ICEngine/AP_ICEngine.h b/libraries/AP_ICEngine/AP_ICEngine.h
index 4ce28e6d40..db3067fa3e 100644
--- a/libraries/AP_ICEngine/AP_ICEngine.h
+++ b/libraries/AP_ICEngine/AP_ICEngine.h
@@ -123,7 +123,7 @@ private:
     AP_Int16 options;
 
     // start_chan debounce
-    uint16_t start_chan_last_value;
+    uint16_t start_chan_last_value = 1500;
     uint32_t start_chan_last_ms;
 };