From 4ab490bd5017c6dd132b4422aecda597a5c8cd38 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sat, 26 Jan 2013 13:16:24 -0800
Subject: [PATCH] Only update the servo output values when we are armed.

---
 apps/px4io/mixer.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp
index 91a9145759..79b32009e4 100644
--- a/apps/px4io/mixer.cpp
+++ b/apps/px4io/mixer.cpp
@@ -220,12 +220,6 @@ mixer_tick(void)
 	}
 #endif
 
-	/*
-	 * Update the servo outputs.
-	 */
-	for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
-		up_pwm_servo_set(i, r_page_servos[i]);
-
 	/*
 	 * Decide whether the servos should be armed right now.
 	 *
@@ -243,6 +237,12 @@ mixer_tick(void)
 		up_pwm_servo_arm(true);
 		mixer_servos_armed = true;
 
+		/*
+		 * Update the servo outputs.
+		 */
+		for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
+			up_pwm_servo_set(i, r_page_servos[i]);
+
 	} else if (!should_arm && mixer_servos_armed) {
 		/* armed but need to disarm */
 		up_pwm_servo_arm(false);