From 91c7663ca2973ecd130bb28b263f6079b357b3b5 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Tue, 11 Aug 2015 11:01:11 -0400
Subject: [PATCH] AP_MotorsHeli: Set range of new RSC Servo object.

---
 libraries/AP_Motors/AP_MotorsHeli_RSC.cpp    | 7 +++++++
 libraries/AP_Motors/AP_MotorsHeli_RSC.h      | 3 +++
 libraries/AP_Motors/AP_MotorsHeli_Single.cpp | 4 ++++
 3 files changed, 14 insertions(+)

diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
index fe195aade5..20f3de3715 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
@@ -21,6 +21,13 @@
 
 extern const AP_HAL::HAL& hal;
 
+// init_servo - servo initialization on start-up
+void AP_MotorsHeli_RSC::init_servo()
+{
+    // set servo range
+    _servo_output.set_range(0,1000);
+}
+
 // recalc_scalers - recalculates various scalers used.  Should be called at about 1hz to allow users to see effect of changing parameters
 void AP_MotorsHeli_RSC::recalc_scalers()
 {
diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.h b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
index 4d8a605683..f06c4eddf2 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
@@ -22,6 +22,9 @@ public:
         _loop_rate(loop_rate)
     {};
 
+    // init_servo - servo initialization on start-up
+    void        init_servo();
+
     // set_critical_speed
     void        set_critical_speed(int16_t critical_speed) { _critical_speed = critical_speed; }
     
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index e721333e2e..241d851a70 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -367,6 +367,10 @@ void AP_MotorsHeli_Single::init_servos()
     init_swash_servo (_swash_servo_3);
 
     _yaw_servo.set_angle(4500);
+
+    // set main rotor servo range
+    // tail rotor servo use range as set in vehicle code for rc7
+    _main_rotor.init_servo();
 }
 
 // calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position