From 53ee7d861d1c1bdd9e4e30a219957af8e61ce5f1 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 29 Aug 2021 13:15:52 +0100
Subject: [PATCH] AP_HAL_ChibiOS: remove safe PWM

---
 libraries/AP_HAL_ChibiOS/RCOutput.cpp | 24 +++---------------------
 libraries/AP_HAL_ChibiOS/RCOutput.h   |  7 -------
 2 files changed, 3 insertions(+), 28 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index c0ffa23c94..adbef52761 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -508,7 +508,7 @@ void RCOutput::write(uint8_t chan, uint16_t period_us)
 
     if (safety_state == AP_HAL::Util::SAFETY_DISARMED && !(safety_mask & (1U<<chan))) {
         // implement safety pwm value
-        period_us = safe_pwm[chan];
+        period_us = 0;
     }
 
     chan -= chan_offset;
@@ -555,7 +555,7 @@ void RCOutput::push_local(void)
 
                 if (safety_on && !(safety_mask & (1U<<(chan+chan_offset)))) {
                     // safety is on, overwride pwm
-                    period_us = safe_pwm[chan+chan_offset];
+                    period_us = 0;
                 }
 
                 if (group.current_mode == MODE_PWM_BRUSHED) {
@@ -1372,7 +1372,7 @@ void RCOutput::dshot_send(pwm_group &group, uint32_t time_out_us)
 
             if (safety_on && !(safety_mask & (1U<<(chan+chan_offset)))) {
                 // safety is on, overwride pwm
-                pwm = safe_pwm[chan+chan_offset];
+                pwm = 0;
             }
 
             const uint16_t chan_mask = (1U<<chan);
@@ -1956,24 +1956,6 @@ void RCOutput::force_safety_off(void)
 #endif
 }
 
-/*
-  set PWM to send to a set of channels when the safety switch is
-  in the safe state
-*/
-void RCOutput::set_safety_pwm(uint32_t chmask, uint16_t period_us)
-{
-#if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_enabled()) {
-        iomcu.set_safety_pwm(chmask, period_us);
-    }
-#endif
-    for (uint8_t i=0; i<16; i++) {
-        if (chmask & (1U<<i)) {
-            safe_pwm[i] = period_us;
-        }
-    }
-}
-
 /*
   update safety state
  */
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.h b/libraries/AP_HAL_ChibiOS/RCOutput.h
index 9591a3cd44..2a56b90623 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.h
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.h
@@ -87,12 +87,6 @@ public:
      */
     void force_safety_off(void) override;
 
-    /*
-      set PWM to send to a set of channels when the safety switch is
-      in the safe state
-     */
-    void set_safety_pwm(uint32_t chmask, uint16_t period_us) override;
-
     bool enable_px4io_sbus_out(uint16_t rate_hz) override;
 
     /*
@@ -514,7 +508,6 @@ private:
                 && _dshot_current_command.cycle > 0;
     }
 #endif
-    uint16_t safe_pwm[max_channels]; // pwm to use when safety is on
     bool corked;
     // mask of channels that are running in high speed
     uint16_t fast_channel_mask;