Carry over RCCal fix to Stable

src/qgcunittest/PX4RCCalibrationTest.cc

@@ -438,8 +438,9 @@ void PX4RCCalibrationTest::_channelHomePosition(void)
         _mockUAS->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMCenterPoint);
     }
     
-    // Throttle to low position (throttle is not reversed)/
-    _mockUAS->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionThrottle], _testMinValue);
+    // Throttle to min - 1 (throttle is not reversed). We do this so that the trim value is below the min value. This should end up
+    // being validated and raised to min value. If not, something is wrong with RC Cal code.
+    _mockUAS->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionThrottle], _testMinValue - 1);
 }
 
 void PX4RCCalibrationTest::_validateParameters(void)

src/ui/px4_configuration/PX4RCCalibration.cc

@@ -860,7 +860,14 @@ void PX4RCCalibration::_validateCalibration(void)
                     case rcCalFunctionYaw:
                     case rcCalFunctionRoll:
                     case rcCalFunctionPitch:
+                        // Make sure trim is within min/max
+                        if (info->rcTrim < info->rcMin) {
+                            info->rcTrim = info->rcMin;
+                        } else if (info->rcTrim > info->rcMax) {
+                            info->rcTrim = info->rcMax;
+                        }
                         break;
+                        
                     default:
                         // Non-attitude control channels have calculated trim
                         info->rcTrim = info->rcMin + ((info->rcMax - info->rcMin) / 2);
@@ -881,7 +888,6 @@ void PX4RCCalibration::_validateCalibration(void)
 
 
 /// @brief Saves the rc calibration values to the board parameters.
-///     @param trimsOnly true: write only trim values, false: write all calibration values
 void PX4RCCalibration::_writeCalibration(void)
 {
     if (!_mav) return;