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SAFETY issue -- servos.c: Correct servo throttle *off* when disarmed (not full throttle at disarm) #9330

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merged 1 commit into from Oct 27, 2023
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SAFETY issue -- servos.c: Correct servo throttle *off* when disarmed (not full throttle at disarm) #9330

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3 changes: 2 additions & 1 deletion src/main/flight/servos.c
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Expand Up @@ -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;
}
}
}
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