From e92dbad35894b793f32e3018fc0776b164e2305b Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Sun, 16 Apr 2017 18:22:08 -0400
Subject: [PATCH] Sub: Fixup rcin initialization

---
 ArduSub/joystick.cpp | 4 ++--
 ArduSub/radio.cpp    | 5 +++++
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/ArduSub/joystick.cpp b/ArduSub/joystick.cpp
index b35908d021..b807aee3f7 100644
--- a/ArduSub/joystick.cpp
+++ b/ArduSub/joystick.cpp
@@ -559,11 +559,11 @@ void Sub::set_neutral_controls()
 {
     int16_t channels[11];
 
-    for (uint8_t i = 0; i < 7; i++) {
+    for (uint8_t i = 0; i < 6; i++) {
         channels[i] = 1500;
     }
 
-    for (uint8_t i = 7; i < 11; i++) {
+    for (uint8_t i = 6; i < 11; i++) {
         channels[i] = 0xffff;
     }
 
diff --git a/ArduSub/radio.cpp b/ArduSub/radio.cpp
index 4a5e4d6a36..96f1c652b2 100644
--- a/ArduSub/radio.cpp
+++ b/ArduSub/radio.cpp
@@ -30,6 +30,11 @@ void Sub::init_rc_in()
     for (int i = 0; i < 6; i++) {
         hal.rcin->set_override(i, 1500);
     }
+
+    hal.rcin->set_override(7, g.cam_tilt_center); // camera tilt channel
+    hal.rcin->set_override(8, 1100); // lights 1 channel
+    hal.rcin->set_override(9, 1100); // lights 2 channel
+    hal.rcin->set_override(10, 1100); // video switch
 #endif
 }