From 17e77535bfc44046820d86ca79bbb90298a858a9 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 14 Feb 2016 19:51:43 +0100
Subject: [PATCH] Enable new PWM disarmed setting which allows to pick the
 single throttle channel. Servos stay unpowered until safety is disabled, ESC
 gets a standby pulse

---
 .../init.d/13005_vtol_AAERT_quad              |  7 ++----
 ROMFS/px4fmu_common/init.d/rc.interface       | 25 +++++++++++++------
 ROMFS/px4fmu_common/init.d/rcS                |  1 +
 3 files changed, 21 insertions(+), 12 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
index c2f2b297b2..69252ef5fe 100644
--- a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
@@ -38,11 +38,8 @@ set PWM_OUT 1234
 set PWM_RATE 400
 
 set MIXER_AUX vtol_AAERT
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1000
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
+set PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
 
 set MAV_TYPE 22
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 0c471808a8..b9b79a9e5f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -147,6 +147,7 @@ then
 			set FAILSAFE_AUX none
 		fi
 
+		# Set min / max for aux out and rates
 		if [ $PWM_AUX_OUT != none ]
 		then
 			#
@@ -157,13 +158,6 @@ then
 				pwm rate -c $PWM_AUX_OUT -r $PWM_AUX_RATE -d $OUTPUT_AUX_DEV
 			fi
 
-			#
-			# Set disarmed, min and max PWM_AUX values
-			#
-			if [ $PWM_AUX_DISARMED != none ]
-			then
-				pwm disarmed -c $PWM_AUX_OUT -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV
-			fi
 			if [ $PWM_AUX_MIN != none ]
 			then
 				pwm min -c $PWM_AUX_OUT -p $PWM_AUX_MIN -d $OUTPUT_AUX_DEV
@@ -174,6 +168,23 @@ then
 			fi
 		fi
 
+		# Set disarmed values for aux out
+
+		# Transitional support until all configs
+		# are updated
+		if [ $PWM_ACHDIS == none ]
+		then
+			set PWM_ACHDIS ${PWM_AUX_OUT}
+		fi
+
+		#
+		# Set disarmed, min and max PWM_AUX values
+		#
+		if [ $PWM_AUX_DISARMED != none -a $PWM_ACHDIS != none ]
+		then
+			pwm disarmed -c $PWM_ACHDIS -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV
+		fi
+
 		if [ $FAILSAFE_AUX != none ]
 		then
 			pwm failsafe -d $OUTPUT_AUX_DEV $FAILSAFE
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index a41a4c2203..4c30a07364 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -182,6 +182,7 @@ then
 	set PWM_MAX none
 	set PWM_AUX_OUT none
 	set PWM_AUX_RATE none
+	set PWM_ACHDIS none
 	set PWM_AUX_DISARMED none
 	set PWM_AUX_MIN none
 	set PWM_AUX_MAX none