Copter: fixed ESC calibration on Pixhawk

this ensures motors are armed after safety is pressed, and also gives
print out of channel inputs and outputs on USB console for debug
purposes

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>

ArduCopter/setup.pde

@@ -468,14 +468,24 @@ init_esc()
     // reduce update rate to motors to 50Hz
     motors.set_update_rate(50);
 
-    // we enable the motors directly here instead of calling output_min because output_min would send a low signal to the ESC and disrupt the calibration process
-    motors.enable();
-    motors.armed(true);
+    uint32_t last_print_ms = 0;
     while(1) {
+        motors.armed(true);
+        motors.enable();
         read_radio();
-        delay(100);
+        delay(10);
         AP_Notify::flags.esc_calibration = true;
         motors.throttle_pass_through();
+        
+        uint32_t now = hal.scheduler->millis();
+        if (now - last_print_ms > 1000) {
+            hal.console->printf_P(PSTR("ESC cal input: %u %u %u %u  output: %u %u %u %u\n"),
+                                  (unsigned)hal.rcin->read(0), (unsigned)hal.rcin->read(1), 
+                                  (unsigned)hal.rcin->read(2), (unsigned)hal.rcin->read(3),
+                                  (unsigned)hal.rcout->read(0), (unsigned)hal.rcout->read(1), 
+                                  (unsigned)hal.rcout->read(2), (unsigned)hal.rcout->read(3));
+            last_print_ms = now;
+        }
     }
 }