From 999a71c4ddc53080875272fcef2c2f0c184d2777 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 26 Feb 2024 11:38:48 +0100
Subject: [PATCH] px4io: don't output on disabled PWM pins

Same logic as on the FMU PWM updateOutputs() in PWMOut.cpp
---
 src/drivers/px4io/px4io.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index bd6b5d1f31..e98a9c837d 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -364,6 +364,13 @@ PX4IO::~PX4IO()
 bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 			  unsigned num_outputs, unsigned num_control_groups_updated)
 {
+	for (size_t i = 0; i < num_outputs; i++) {
+		if (!_mixing_output.isFunctionSet(i)) {
+			// do not run any signal on disabled channels
+			outputs[i] = 0;
+		}
+	}
+
 	if (!_test_fmu_fail) {
 		/* output to the servos */
 		io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs);