From b1c7ec9aacdec0dbeaec2abbb6467059794a681e Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Tue, 11 Aug 2015 15:12:16 -0400
Subject: [PATCH] AP_MotorsHeli: run RSC Control function in Output Min
 function

Move Output_Min() function into Heli_Single class as it will eventually be overloaded by other helicopter class types.
---
 libraries/AP_Motors/AP_MotorsHeli.cpp        | 13 -------------
 libraries/AP_Motors/AP_MotorsHeli.h          |  2 +-
 libraries/AP_Motors/AP_MotorsHeli_Single.cpp | 16 ++++++++++++++++
 libraries/AP_Motors/AP_MotorsHeli_Single.h   |  3 +++
 4 files changed, 20 insertions(+), 14 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
index b37fe011c3..31ebb87c31 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli.cpp
@@ -178,19 +178,6 @@ void AP_MotorsHeli::output()
     }
 };
 
-// output_min - sets servos to neutral point
-void AP_MotorsHeli::output_min()
-{
-    // move swash to mid
-    move_swash(0,0,500,0);
-
-    // override limits flags
-    limit.roll_pitch = true;
-    limit.yaw = true;
-    limit.throttle_lower = true;
-    limit.throttle_upper = false;
-}
-
 // parameter_check - check if helicopter specific parameters are sensible
 bool AP_MotorsHeli::parameter_check() const
 {
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index f9cb8055b1..e7ee7bd654 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -88,7 +88,7 @@ public:
     virtual void enable() = 0;
 
     // output_min - sets servos to neutral point
-    void output_min();
+    virtual void output_min() = 0;
 
     // output_test - spin a motor at the pwm value specified
     //  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index 7d79bd095e..5fdff974bd 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -250,6 +250,22 @@ uint16_t AP_MotorsHeli_Single::get_motor_mask()
     return (1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << AP_MOTORS_HELI_SINGLE_AUX | 1U << AP_MOTORS_HELI_SINGLE_RSC);
 }
 
+// output_min - sets servos to neutral point
+void AP_MotorsHeli_Single::output_min()
+{
+    // move swash to mid
+    move_swash(0,0,500,0);
+
+    _main_rotor.output(ROTOR_CONTROL_STOP);
+    _tail_rotor.output(ROTOR_CONTROL_STOP);
+
+    // override limits flags
+    limit.roll_pitch = true;
+    limit.yaw = true;
+    limit.throttle_lower = true;
+    limit.throttle_upper = false;
+}
+
 // sends commands to the motors
 void AP_MotorsHeli_Single::output_armed_stabilizing()
 {
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.h b/libraries/AP_Motors/AP_MotorsHeli_Single.h
index 645ddecc7a..edcc4d265c 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.h
@@ -81,6 +81,9 @@ public:
     //  pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
     void output_test(uint8_t motor_seq, int16_t pwm);
 
+    // output_min - sets servos to neutral point
+    void output_min();
+
     // allow_arming - returns true if main rotor is spinning and it is ok to arm
     bool allow_arming() const;