From 96c7d9dde8f5713ba8e4b135336589a7043e706f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 11 Oct 2016 20:30:08 +1100
Subject: [PATCH] RC_Channel: make output_trim() go via _radio_out

this ensures that _radio_out always contains the value that would be
output to the channel. This will be used by the SRV_Channels object
---
 libraries/RC_Channel/RC_Channel.cpp | 5 +++--
 libraries/RC_Channel/RC_Channel.h   | 2 +-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 76458ba691..9fe2626faa 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -482,9 +482,10 @@ void RC_Channel::output() const
     hal.rcout->write(_ch_out, _radio_out);
 }
 
-void RC_Channel::output_trim() const
+void RC_Channel::output_trim()
 {
-    hal.rcout->write(_ch_out, _radio_trim);
+    _radio_out = _radio_trim;
+    output();
 }
 
 void RC_Channel::output_trim_all()
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 4608a2a7f5..190ac13584 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -106,7 +106,7 @@ public:
     int16_t     pwm_to_range_dz(uint16_t dead_zone);
     int16_t     range_to_pwm();
     void        output() const;
-    void        output_trim() const;
+    void        output_trim();
     static void output_trim_all();
     static void setup_failsafe_trim_mask(uint16_t chmask);
     static void setup_failsafe_trim_all();