From ac9414758956f966ba1bbb4990ef0c1da66f17e0 Mon Sep 17 00:00:00 2001
From: DTF UHF <dtfuhf@gmail.com>
Date: Fri, 14 Feb 2014 15:15:38 -0500
Subject: [PATCH] Have servos output midrc at startup instead of 1ms pulse
 (full deflection)

---
 src/drv_pwm.c | 2 +-
 src/drv_pwm.h | 1 +
 src/main.c    | 1 +
 3 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/drv_pwm.c b/src/drv_pwm.c
index e43a983227..46c258461e 100755
--- a/src/drv_pwm.c
+++ b/src/drv_pwm.c
@@ -376,7 +376,7 @@ bool pwmInit(drv_pwm_config_t *init)
 
             motors[numMotors++] = pwmOutConfig(port, mhz, hz / init->motorPwmRate, init->idlePulse);
         } else if (mask & TYPE_S) {
-            servos[numServos++] = pwmOutConfig(port, PWM_TIMER_MHZ, 1000000 / init->servoPwmRate, PULSE_1MS);
+            servos[numServos++] = pwmOutConfig(port, PWM_TIMER_MHZ, 1000000 / init->servoPwmRate, init->servoCenterPulse);
         }
     }
 
diff --git a/src/drv_pwm.h b/src/drv_pwm.h
index f79ba19cc3..8b597ca5b7 100755
--- a/src/drv_pwm.h
+++ b/src/drv_pwm.h
@@ -18,6 +18,7 @@ typedef struct drv_pwm_config_t {
     uint16_t servoPwmRate;
     uint16_t idlePulse;  // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm), 
                          // some higher value (used by 3d mode), or 0, for brushed pwm drivers.
+    uint16_t servoCenterPulse;
     uint16_t failsafeThreshold;
 } drv_pwm_config_t;
 
diff --git a/src/main.c b/src/main.c
index 7d3a3e5713..ee6a1ab73f 100755
--- a/src/main.c
+++ b/src/main.c
@@ -73,6 +73,7 @@ int main(void)
         pwm_params.idlePulse = mcfg.neutral3d;
     if (pwm_params.motorPwmRate > 500)
         pwm_params.idlePulse = 0; // brushed motors
+    pwm_params.servoCenterPulse = mcfg.midrc;
     pwm_params.failsafeThreshold = cfg.failsafe_detect_threshold;
     switch (mcfg.power_adc_channel) {
         case 1: