From b2086d1e96c6026a60bbce2d446233f8819fc586 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 21 May 2022 18:45:33 +1000
Subject: [PATCH] HAL_ChibiOS: always start with safety enabled

we want it enabled during early boot to prevent incorrect ESC and
servo output
---
 libraries/AP_HAL_ChibiOS/RCOutput.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index 3177ba126a..3c37d8fd7e 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -140,9 +140,7 @@ void RCOutput::init()
     // setup default output rate of 50Hz
     set_freq(0xFFFF ^ ((1U<<chan_offset)-1), 50);
 
-#ifdef HAL_GPIO_PIN_SAFETY_IN
     safety_state = AP_HAL::Util::SAFETY_DISARMED;
-#endif
 
 #if RCOU_DSHOT_TIMING_DEBUG
     hal.gpio->pinMode(54, 1);