From 2ba6e7af35b406292ff61a43a30d4e29de624330 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 18 Apr 2017 09:40:49 +1000
Subject: [PATCH] Copter: fixed aux servos in RC failsafe

we should always output to channels
---
 ArduCopter/motors.cpp | 9 +++++++++
 ArduCopter/radio.cpp  | 3 ---
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index bb3e9c2f18..9eb9ea474f 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -292,6 +292,12 @@ void Copter::motors_output()
 
     // output any servo channels
     SRV_Channels::calc_pwm();
+
+    // cork now, so that all channel outputs happen at once
+    hal.rcout->cork();
+    
+    // update output on any aux channels, for manual passthru
+    SRV_Channels::output_ch_all();
     
     // check if we are performing the motor test
     if (ap.motor_test) {
@@ -309,6 +315,9 @@ void Copter::motors_output()
         // send output signals to motors
         motors->output();
     }
+
+    // push all channels
+    hal.rcout->push();
 }
 
 // check for pilot stick input to trigger lost vehicle alarm
diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp
index 1054e3b8d4..dcd467af8b 100644
--- a/ArduCopter/radio.cpp
+++ b/ArduCopter/radio.cpp
@@ -99,9 +99,6 @@ void Copter::read_radio()
             ap.rc_receiver_present = true;
         }
 
-        // update output on any aux channels, for manual passthru
-        SRV_Channels::output_ch_all();
-
         // pass pilot input through to motors (used to allow wiggling servos while disarmed on heli, single, coax copters)
         radio_passthrough_to_motors();