SAFETY issue -- servos.c: Correct servo throttle *off* when disarmed (not full throttle at disarm) #9330
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sensei-hacker
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@sensei-hacker this might be a better solution #9413 |
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what do you think? |
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Looks good and tests good. |
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When disarmed, the existing code is intended to set "servo" outputs that use throttle to minimum:
servo[target] = motorConfig()->mincommand;Which was expected to set the value to 1000.
However, the range at that point is intended to be -500 to +500.
servoParams(target)->middle is added a few lines later.
Therefore this ended up setting them to minimum + middle = 2500. Ie full throttle when disarmed.
PR subtracts servoParams(target)->middle, to offset the fact it's added a few lines later.
Tested by me and by INAV Discord user "driftingS13".