Copter: Employ heli_radio_passthrough() for servo setup

ArduCopter/flight_mode.pde

@@ -241,6 +241,9 @@ static void exit_mode(uint8_t old_control_mode, uint8_t new_control_mode)
     if (old_control_mode == ACRO) {
         attitude_control.use_flybar_passthrough(false);
     }
+
+    // reset RC Passthrough to motors
+    motors.reset_radio_passthrough();
 #endif //HELI_FRAME
 }
 

ArduCopter/heli.pde

@@ -157,4 +157,10 @@ static void heli_update_rotor_speed_targets()
     }
 }
 
+// heli_radio_passthrough send RC inputs direct into motors library for use during manual passthrough for helicopter setup
+static void heli_radio_passthrough()
+{
+    motors.set_radio_passthrough(channel_roll->control_in, channel_pitch->control_in, channel_throttle->control_in, channel_yaw->control_in);
+}
+
 #endif  // FRAME_CONFIG == HELI_FRAME

ArduCopter/heli_control_acro.pde

@@ -36,6 +36,9 @@ static void heli_acro_run()
         attitude_control.relax_bf_rate_controller();
     }   
 
+    // send RC inputs direct into motors library for use during manual passthrough for helicopter setup
+    heli_radio_passthrough();
+
     if (!motors.has_flybar()){
         // convert the input to the desired body frame rate
         get_pilot_desired_angle_rates(channel_roll->control_in, channel_pitch->control_in, channel_yaw->control_in, target_roll, target_pitch, target_yaw);

ArduCopter/heli_control_stabilize.pde

@@ -36,7 +36,10 @@ static void heli_stabilize_run()
         heli_flags.init_targets_on_arming=false;
         attitude_control.relax_bf_rate_controller();
     }
-    
+
+    // send RC inputs direct into motors library for use during manual passthrough for helicopter setup
+    heli_radio_passthrough();
+
     // apply SIMPLE mode transform to pilot inputs
     update_simple_mode();