From f571b34fd743b283ad4687b58bc3f89af0f78e70 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 10 Apr 2017 14:51:00 +1000
Subject: [PATCH] AP_Motors: setup RC speed for tailsitters

---
 libraries/AP_Motors/AP_MotorsTailsitter.cpp | 9 +++++++++
 libraries/AP_Motors/AP_MotorsTailsitter.h   | 5 +----
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsTailsitter.cpp b/libraries/AP_Motors/AP_MotorsTailsitter.cpp
index d6d0067c58..bd24a60125 100644
--- a/libraries/AP_Motors/AP_MotorsTailsitter.cpp
+++ b/libraries/AP_Motors/AP_MotorsTailsitter.cpp
@@ -35,6 +35,15 @@ void AP_MotorsTailsitter::init(motor_frame_class frame_class, motor_frame_type f
     _flags.initialised_ok = (frame_class == MOTOR_FRAME_TAILSITTER);
 }
 
+
+/// Constructor
+AP_MotorsTailsitter::AP_MotorsTailsitter(uint16_t loop_rate, uint16_t speed_hz) :
+    AP_MotorsMulticopter(loop_rate, speed_hz)
+{
+    SRV_Channels::set_rc_frequency(SRV_Channel::k_throttleLeft, speed_hz);
+    SRV_Channels::set_rc_frequency(SRV_Channel::k_throttleRight, speed_hz);
+}
+
 void AP_MotorsTailsitter::output_to_motors()
 {
     if (!_flags.initialised_ok) {
diff --git a/libraries/AP_Motors/AP_MotorsTailsitter.h b/libraries/AP_Motors/AP_MotorsTailsitter.h
index d66805f5c4..cbd3c9e263 100644
--- a/libraries/AP_Motors/AP_MotorsTailsitter.h
+++ b/libraries/AP_Motors/AP_MotorsTailsitter.h
@@ -12,10 +12,7 @@ class AP_MotorsTailsitter : public AP_MotorsMulticopter {
 public:
 
     /// Constructor
-    AP_MotorsTailsitter(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
-        AP_MotorsMulticopter(loop_rate, speed_hz)
-    {
-    };
+    AP_MotorsTailsitter(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
 
     // init
     void init(motor_frame_class frame_class, motor_frame_type frame_type);