From a8929cd74641a1f78bde5d4f8beaa3c18ed04d3b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 27 Nov 2013 20:31:21 +0900
Subject: [PATCH] Copter: more complete RC output reporting to GCS

Radio outputs are pulled from hal.rcout instead of from motors library
which provides more complete reporting because it includes output from
sources like the camera and mount libraries.
---
 ArduCopter/GCS_Mavlink.pde | 25 +++++++++++++++++--------
 1 file changed, 17 insertions(+), 8 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index e744a9897a..38e6a7b3fb 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -413,18 +413,27 @@ static void NOINLINE send_radio_in(mavlink_channel_t chan)
 
 static void NOINLINE send_radio_out(mavlink_channel_t chan)
 {
+    uint8_t i;
+    uint16_t rcout[8];
+    hal.rcout->read(rcout,8);
+    // clear out unreasonable values
+    for (i=0; i<8; i++) {
+        if (rcout[i] > 10000) {
+            rcout[i] = 0;
+        }
+    }
     mavlink_msg_servo_output_raw_send(
         chan,
         micros(),
         0, // port
-        motors.motor_out[AP_MOTORS_MOT_1],
-        motors.motor_out[AP_MOTORS_MOT_2],
-        motors.motor_out[AP_MOTORS_MOT_3],
-        motors.motor_out[AP_MOTORS_MOT_4],
-        motors.motor_out[AP_MOTORS_MOT_5],
-        motors.motor_out[AP_MOTORS_MOT_6],
-        motors.motor_out[AP_MOTORS_MOT_7],
-        motors.motor_out[AP_MOTORS_MOT_8]);
+        rcout[0],
+        rcout[1],
+        rcout[2],
+        rcout[3],
+        rcout[4],
+        rcout[5],
+        rcout[6],
+        rcout[7]);
 }
 
 static void NOINLINE send_vfr_hud(mavlink_channel_t chan)