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Fix servo throttle mix outputting wrong position when disarmed #11318

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Fix servo throttle mix outputting wrong position when disarmed #11318

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23 changes: 10 additions & 13 deletions src/main/flight/servos.c
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Original file line number Diff line number Diff line change
Expand Up @@ -425,6 +425,16 @@ void servoMixer(float dT)
simulatorData.input[INPUT_STABILIZED_THROTTLE] = input[INPUT_STABILIZED_THROTTLE];
#endif

/*
* When disarmed, force throttle inputs to minimum so the mixer pipeline
* computes the correct safe servo position accounting for servo reversal
* and negative mixer weights.
*/
if (!ARMING_FLAG(ARMED)) {
input[INPUT_STABILIZED_THROTTLE] = -500;
input[INPUT_RC_THROTTLE] = -500;
}

for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servo[i] = 0;
}
Expand Down Expand Up @@ -487,19 +497,6 @@ void servoMixer(float dT)
servo[i] = constrain(servo[i], servoParams(i)->min, servoParams(i)->max);
}

/*
* When not armed, apply servo low position to all outputs that include a throttle or stabilizet throttle in the mix
*/
if (!ARMING_FLAG(ARMED)) {
for (int i = 0; i < servoRuleCount; i++) {
const uint8_t target = currentServoMixer[i].targetChannel;
const uint8_t from = currentServoMixer[i].inputSource;

if (from == INPUT_STABILIZED_THROTTLE || from == INPUT_RC_THROTTLE) {
servo[target] = motorConfig()->mincommand;
}
}
}
}

#define SERVO_AUTOTRIM_TIMER_MS 2000
Expand Down