servos.c: Correct servo throttle off when disarmed

iNavFlight · Oct 1, 2023 · e4bd847 · e4bd847
1 parent d04536a
commit e4bd847
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/main/flight/servos.c b/src/main/flight/servos.c
@@ -376,8 +376,9 @@ void servoMixer(float dT)
             const uint8_t target = currentServoMixer[i].targetChannel;
             const uint8_t from = currentServoMixer[i].inputSource;
 
+            // Translate minimum throttle values to -500 ... +500 servo range for use below.
             if (from == INPUT_STABILIZED_THROTTLE || from == INPUT_RC_THROTTLE) {
-                servo[target] = motorConfig()->mincommand;
+                servo[target] = motorConfig()->mincommand - servoParams(target)->middle;
             }
         }
     }