diff --git a/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin b/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin index 957f0f13a1..5a0796406f 100755 Binary files a/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin and b/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin differ diff --git a/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin b/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin index 4d29f3a041..b7fcd9dab2 100755 Binary files a/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin and b/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin differ diff --git a/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin b/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin index 4d29f3a041..b7fcd9dab2 100755 Binary files a/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin and b/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin differ diff --git a/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin b/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin index 957f0f13a1..5a0796406f 100755 Binary files a/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin and b/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin differ diff --git a/boards/holybro/pix32v5/extras/px4_io-v2_default.bin b/boards/holybro/pix32v5/extras/px4_io-v2_default.bin index 957f0f13a1..5a0796406f 100755 Binary files a/boards/holybro/pix32v5/extras/px4_io-v2_default.bin and b/boards/holybro/pix32v5/extras/px4_io-v2_default.bin differ diff --git a/boards/mro/x21-777/extras/px4_io-v2_default.bin b/boards/mro/x21-777/extras/px4_io-v2_default.bin index 957f0f13a1..5a0796406f 100755 Binary files a/boards/mro/x21-777/extras/px4_io-v2_default.bin and b/boards/mro/x21-777/extras/px4_io-v2_default.bin differ diff --git a/boards/mro/x21/extras/px4_io-v2_default.bin b/boards/mro/x21/extras/px4_io-v2_default.bin index 957f0f13a1..5a0796406f 100755 Binary files a/boards/mro/x21/extras/px4_io-v2_default.bin and b/boards/mro/x21/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v2/extras/px4_io-v2_default.bin b/boards/px4/fmu-v2/extras/px4_io-v2_default.bin index 957f0f13a1..5a0796406f 100755 Binary files a/boards/px4/fmu-v2/extras/px4_io-v2_default.bin and b/boards/px4/fmu-v2/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v3/extras/px4_io-v2_default.bin b/boards/px4/fmu-v3/extras/px4_io-v2_default.bin index 957f0f13a1..5a0796406f 100755 Binary files a/boards/px4/fmu-v3/extras/px4_io-v2_default.bin and b/boards/px4/fmu-v3/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin b/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin index 957f0f13a1..5a0796406f 100755 Binary files a/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin and b/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v5/extras/px4_io-v2_default.bin b/boards/px4/fmu-v5/extras/px4_io-v2_default.bin index 957f0f13a1..5a0796406f 100755 Binary files a/boards/px4/fmu-v5/extras/px4_io-v2_default.bin and b/boards/px4/fmu-v5/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin b/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin index 957f0f13a1..5a0796406f 100755 Binary files a/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin and b/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v6c/extras/px4_io-v2_default.bin b/boards/px4/fmu-v6c/extras/px4_io-v2_default.bin index 957f0f13a1..5a0796406f 100755 Binary files a/boards/px4/fmu-v6c/extras/px4_io-v2_default.bin and b/boards/px4/fmu-v6c/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin b/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin index 957f0f13a1..5a0796406f 100755 Binary files a/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin and b/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin differ diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 9fc40dcbde..db6e14844a 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -180,15 +180,19 @@ mixer_tick() * Run the mixers. */ if (source == MIX_FAILSAFE) { - /* copy failsafe values to the servo outputs */ + // Set failsafe value if the PWM output isn't disabled for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { - r_page_servos[i] = r_page_servo_failsafe[i]; + if (r_page_servos[i] != 0) { + r_page_servos[i] = r_page_servo_failsafe[i]; + } } } else if (source == MIX_DISARMED) { - /* copy disarmed values to the servo outputs */ + // Set disarmed value if the PWM output isn't disabled for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { - r_page_servos[i] = r_page_servo_disarmed[i]; + if (r_page_servos[i] != 0) { + r_page_servos[i] = r_page_servo_disarmed[i]; + } } }