From e49f6fb8a63bcb7caffe0c36b2038a33480f47bc Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Thu, 13 Oct 2016 19:41:56 -0400
Subject: [PATCH] Sub: initialize scale factor for dead zones correctly

---
 ArduSub/defines.h    | 2 ++
 ArduSub/joystick.cpp | 2 +-
 ArduSub/radio.cpp    | 2 ++
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/ArduSub/defines.h b/ArduSub/defines.h
index f8c371ba50..293a961474 100644
--- a/ArduSub/defines.h
+++ b/ArduSub/defines.h
@@ -507,3 +507,5 @@ enum ThrowModeState {
 #define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
 #define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
 #define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)
+
+#define JOYSTICK_INITIAL_GAIN 0.5
diff --git a/ArduSub/joystick.cpp b/ArduSub/joystick.cpp
index 6bf09fbc14..2db69f6f52 100644
--- a/ArduSub/joystick.cpp
+++ b/ArduSub/joystick.cpp
@@ -21,7 +21,7 @@ namespace {
 	int16_t video_switch = 1100;
 	int16_t x_last, y_last, z_last;
 	uint16_t buttons_prev;
-	float gain = 0.5;
+	float gain = JOYSTICK_INITIAL_GAIN;
 	float maxGain = 1.0;
 	float minGain = 0.25;
 	int8_t numGainSettings = 4;
diff --git a/ArduSub/radio.cpp b/ArduSub/radio.cpp
index 6eb8deb2d4..26c5611cbf 100644
--- a/ArduSub/radio.cpp
+++ b/ArduSub/radio.cpp
@@ -56,6 +56,8 @@ void Sub::init_rc_in()
     	ch->save_eeprom();
     }
 
+    RC_Channel::scale_dead_zones(JOYSTICK_INITIAL_GAIN);
+
     //set auxiliary servo ranges
 //    g.rc_5.set_range(0,1000);
 //    g.rc_6.set_range(0,1000);