HAL_Linux: try to stop PWMs before shutting down due to SIGTERM

ArduPilot · Sep 14, 2021 · 38e8020 · 38e8020
1 parent 6cb4e6b
commit 38e8020
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -419,6 +419,8 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
         callbacks->loop();
     }
 
+    // At least try to stop all PWM before shutting down
+    rcout->force_safety_on();
     rcin->teardown();
     I2CDeviceManager::from(i2c_mgr)->teardown();
     SPIDeviceManager::from(spi)->teardown();