Disarm PWM ESCs before reboot

2026-05-27 18:27:05 +08:00 · 2025-02-10 18:16:48 +01:00
parent 55f51d7e7e
commit 047578a844
48 changed files with 287 additions and 52 deletions
@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }