From 0577af2e944a0f53919aeb1367d580f744004b2c Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 28 May 2015 17:38:55 -0700
Subject: [PATCH] Hotfix for sprung-loaded throttles and RC calibration:
 Enforce correct trim value

---
 src/AutoPilotPlugins/PX4/RadioComponentController.cc | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/AutoPilotPlugins/PX4/RadioComponentController.cc b/src/AutoPilotPlugins/PX4/RadioComponentController.cc
index 914c706f5..e642f84cc 100644
--- a/src/AutoPilotPlugins/PX4/RadioComponentController.cc
+++ b/src/AutoPilotPlugins/PX4/RadioComponentController.cc
@@ -428,6 +428,13 @@ void RadioComponentController::_inputStickMin(enum rcCalFunctions function, int
             } else {
                 _rgChannelInfo[channel].rcMin = value;
             }
+
+            // Check if this is throttle and set trim accordingly
+            if (function == rcCalFunctionThrottle) {
+                _rgChannelInfo[channel].rcTrim = value;
+            }
+            // XXX to support configs which can reverse they need to check a reverse
+            // flag here and not do this.
             
             _advanceState();
         }
-- 
2.22.0