How does Odysseus help his men overcome their fear as the ship approaches Scylla and Charybdis?

Odysseus talks to his men about how to avoid Charybdis, but he does not tell them about Scylla. He gives them a "pep talk" and reminds them how they were able to escape from the Cyclops.

He knows that if they get too close to the whirlpool he could lose the whole ship, so he wants the men to put all their effort into staying out of Charybdis. Unfortunately, in order to stay out of the whirlpool, they will have to sail close to the monster Scylla, which means that a few of them will be eaten by Scylla. Odysseus knows if he tells his men about Scylla, they will be overcome with fear and will not be able to navigate past Charybdis, so he only tells them about the whirlpool.