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AP_ToshibaCAN: ensure motors are off when vehicle is disarmed

This commit is contained in:
Randy Mackay 2019-08-10 12:39:11 +09:00
parent ac237eea4b
commit fbf5ecfe8c
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp
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@ -401,9 +401,11 @@ void AP_ToshibaCAN::update()
// take semaphore and update outputs
{
WITH_SEMAPHORE(_rc_out_sem);
const bool armed = hal.util->get_soft_armed();
for (uint8_t i = 0; i < MIN(TOSHIBACAN_MAX_NUM_ESCS, 16); i++) {
SRV_Channel *c = SRV_Channels::srv_channel(i);
if (c == nullptr) {
if (!armed || (c == nullptr)) {
_scaled_output[i] = 0;
} else {
uint16_t pwm_out = c->get_output_pwm();