Disarm PWM ESCs before reboot on v5x/v6x

PX4 · Feb 4, 2025 · 83bce44 · 83bce44
1 parent 48c0992
commit 83bce44
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Showing 2 changed files with 12 additions and 2 deletions.
diff --git a/boards/px4/fmu-v5x/src/init.cpp b/boards/px4/fmu-v5x/src/init.cpp
@@ -145,8 +145,13 @@ __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) insure 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(400);
 	}
 }
 

diff --git a/boards/px4/fmu-v6x/src/init.cpp b/boards/px4/fmu-v6x/src/init.cpp
@@ -145,8 +145,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) insure 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(400);
 	}
 }