From 69be1725b69c7892145f9e1a9b74885e9c03b263 Mon Sep 17 00:00:00 2001
From: dheideman <dheideman@socal.rr.com>
Date: Mon, 18 Sep 2017 11:42:53 -0700
Subject: [PATCH] Sub: Disable input hold on disarm

---
 ArduSub/Sub.h        | 1 +
 ArduSub/joystick.cpp | 8 ++++++++
 ArduSub/motors.cpp   | 3 +++
 3 files changed, 12 insertions(+)

diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 3994062d47..e59845e21d 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -643,6 +643,7 @@ private:
     void handle_jsbutton_press(uint8_t button,bool shift=false,bool held=false);
     JSButton* get_button(uint8_t index);
     void default_js_buttons(void);
+    void clear_input_hold();
     void init_barometer(bool save);
     void read_barometer(void);
     void init_rangefinder(void);
diff --git a/ArduSub/joystick.cpp b/ArduSub/joystick.cpp
index 90c10a6571..a0f13a1761 100644
--- a/ArduSub/joystick.cpp
+++ b/ArduSub/joystick.cpp
@@ -550,3 +550,11 @@ void Sub::set_neutral_controls()
 
     hal.rcin->set_overrides(channels, 10);
 }
+
+void Sub::clear_input_hold()
+{
+    xTrim = 0;
+    yTrim = 0;
+    zTrim = 0;
+    input_hold_engaged = false;
+}
diff --git a/ArduSub/motors.cpp b/ArduSub/motors.cpp
index cb2704df2c..5180cf075c 100644
--- a/ArduSub/motors.cpp
+++ b/ArduSub/motors.cpp
@@ -120,6 +120,9 @@ void Sub::init_disarm_motors()
     // disable gps velocity based centrefugal force compensation
     ahrs.set_correct_centrifugal(false);
     hal.util->set_soft_armed(false);
+
+    // clear input holds
+    clear_input_hold();
 }
 
 // motors_output - send output to motors library which will adjust and send to ESCs and servos