From 8850e4b9a14e3c01bd120a82eade10b47aa8086f Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Wed, 22 Aug 2018 00:18:36 -0700
Subject: [PATCH] SRV_Channel: Remove the trim_all interface, constrain
 failsafes to non motor outputs

---
 libraries/SRV_Channel/SRV_Channel.h    |  5 +----
 libraries/SRV_Channel/SRV_Channels.cpp | 13 ++++---------
 2 files changed, 5 insertions(+), 13 deletions(-)

diff --git a/libraries/SRV_Channel/SRV_Channel.h b/libraries/SRV_Channel/SRV_Channel.h
index 06242aafb4..a6906972fb 100644
--- a/libraries/SRV_Channel/SRV_Channel.h
+++ b/libraries/SRV_Channel/SRV_Channel.h
@@ -312,11 +312,8 @@ public:
         flags.k_throttle_reversible = true;
     }
 
-    // set all outputs to the TRIM value
-    static void output_trim_all(void);
-
     // setup IO failsafe for all channels to trim
-    static void setup_failsafe_trim_all(void);
+    static void setup_failsafe_trim_all_non_motors(void);
 
     // set output for all channels matching the given function type, allow radio_trim to center servo
     static void set_output_pwm_trimmed(SRV_Channel::Aux_servo_function_t function, int16_t value);
diff --git a/libraries/SRV_Channel/SRV_Channels.cpp b/libraries/SRV_Channel/SRV_Channels.cpp
index f13fc7ed18..a677df5387 100644
--- a/libraries/SRV_Channel/SRV_Channels.cpp
+++ b/libraries/SRV_Channel/SRV_Channels.cpp
@@ -178,17 +178,12 @@ void SRV_Channels::save_trim(void)
     trimmed_mask = 0;
 }
 
-void SRV_Channels::output_trim_all(void)
-{
-    for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
-        channels[i].set_output_pwm(channels[i].servo_trim);
-    }
-}
-
-void SRV_Channels::setup_failsafe_trim_all(void)
+void SRV_Channels::setup_failsafe_trim_all_non_motors(void)
 {
     for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
-        hal.rcout->set_failsafe_pwm(1U<<channels[i].ch_num, channels[i].servo_trim);
+        if (!SRV_Channel::is_motor(channels[i].get_function())) {
+            hal.rcout->set_failsafe_pwm(1U<<channels[i].ch_num, channels[i].servo_trim);
+        }
     }
 }