From d35ce21594eddaea55bb2bd7d4f54afee9a684f8 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Wed, 17 Mar 2021 21:53:18 +0100
Subject: [PATCH] PWM out: Ensure correct loading on single-bank targets

---
 ROMFS/px4fmu_common/init.d/rc.interface | 1 -
 src/drivers/pwm_out/PWMOut.cpp          | 4 ++--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index a4530c2ae1..3bbcda9746 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -180,7 +180,6 @@ then
 	if [ $MIXER_AUX_FILE != none ]
 	then
 		# Start the output module
-		$OUTPUT_CMD start
 		if $OUTPUT_CMD mode_${AUX_MODE}
 		then
 			# Append aux mixer to main device.
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index 948fe5bbfa..4b37d31d86 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -1983,8 +1983,8 @@ int PWMOut::custom_command(int argc, char *argv[])
 	}
 
 
-	/* start the FMU if not running */
-	if (!is_running()) {
+	/* start pwm_out if not running */
+	if (_objects[0].load() == nullptr) {
 		int ret = PWMOut::task_spawn(argc, argv);
 
 		if (ret) {