From 61f2e18e2eece48cbef43ee08c7d1628c8b7a105 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 21 Nov 2012 13:19:32 +1100
Subject: [PATCH] APM: allow ailerons to move fully during servo demo

---
 ArduPlane/Attitude.pde | 4 ++++
 ArduPlane/failsafe.pde | 6 +++++-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index 3e3f991873..6fc9691e61 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -508,10 +508,13 @@ static void set_servos(void)
 #endif
 }
 
+static bool demoing_servos;
+
 static void demo_servos(byte i) {
 
     while(i > 0) {
         gcs_send_text_P(SEVERITY_LOW,PSTR("Demo Servos!"));
+        demoing_servos = true;
 #if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
         APM_RC.OutputCh(1, 1400);
         mavlink_delay(400);
@@ -519,6 +522,7 @@ static void demo_servos(byte i) {
         mavlink_delay(200);
         APM_RC.OutputCh(1, 1500);
 #endif
+        demoing_servos = false;
         mavlink_delay(400);
         i--;
     }
diff --git a/ArduPlane/failsafe.pde b/ArduPlane/failsafe.pde
index 50c267f92e..1aa2048152 100644
--- a/ArduPlane/failsafe.pde
+++ b/ArduPlane/failsafe.pde
@@ -39,7 +39,11 @@ void failsafe_check(uint32_t tnow)
         // pass RC inputs to outputs every 20ms
         last_timestamp = tnow;
         APM_RC.clearOverride();
-        for (uint8_t ch=0; ch<4; ch++) {
+        uint8_t start_ch = 0;
+        if (demoing_servos) {
+            start_ch = 1;
+        }
+        for (uint8_t ch=start_ch; ch<4; ch++) {
             APM_RC.OutputCh(ch, APM_RC.InputCh(ch));
         }
         RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_manual);