From 04c2d0fe97e5362c9f3cd4f763fc096266c45b3e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Igor=20Mi=C5=A1i=C4=87?= <igy1000mb@gmail.com>
Date: Mon, 13 Jun 2022 11:27:23 +0200
Subject: [PATCH] drivers/pwm_out: set default failsafe values

---
 src/drivers/drv_pwm_output.h   | 5 +++++
 src/drivers/pwm_out/PWMOut.cpp | 8 ++++++++
 2 files changed, 13 insertions(+)

diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 43721f9cb0..d6096d1f52 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -86,6 +86,11 @@ struct pwm_output_values {
  */
 #define PWM_MOTOR_OFF	900
 
+/**
+ * Default value for a servo stop
+ */
+#define PWM_SERVO_STOP	1500
+
 /**
  * Default minimum PWM in us
  */
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index f32f579597..27d1a9ed70 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -613,6 +613,14 @@ void PWMOut::update_params()
 						int32_t pwm_fail_new = _mixing_output.failsafeValue(i);
 						param_set(param_find(str), &pwm_fail_new);
 					}
+
+				} else {
+					if (pwm_default_channel_mask & 1 << i) {
+						_mixing_output.failsafeValue(i) = PWM_MOTOR_OFF;
+
+					} else {
+						_mixing_output.failsafeValue(i) = PWM_SERVO_STOP;
+					}
 				}
 
 			} else {