From b2c81aceee457475de29b52f4645792edcf27ea9 Mon Sep 17 00:00:00 2001
From: les <les>
Date: Tue, 5 Oct 2010 14:47:48 +0000
Subject: [PATCH] Actuator: Fixed motors not going to min throttle in failsafe.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1884 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/OpenPilot/Modules/Actuator/actuator.c | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/flight/OpenPilot/Modules/Actuator/actuator.c b/flight/OpenPilot/Modules/Actuator/actuator.c
index 97f3e3c7f..39e286f9a 100644
--- a/flight/OpenPilot/Modules/Actuator/actuator.c
+++ b/flight/OpenPilot/Modules/Actuator/actuator.c
@@ -357,10 +357,22 @@ static void setFailsafe()
 
 	ActuatorCommandGet(&command);
 	ActuatorSettingsGet(&settings);
-	// Reset ActuatorCommand to neutral values
+
+	MixerSettingsData mixerSettings;
+	MixerSettingsGet (&mixerSettings);
+	Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer0Type; //pointer to array of mixers in UAVObjects
+
+	// Reset ActuatorCommand to safe values
 	for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
 	{
-		command.Channel[n] = settings.ChannelNeutral[n];
+		if(mixers[n].type == MIXERSETTINGS_MIXER0TYPE_MOTOR)
+		{
+			command.Channel[n] = settings.ChannelMin[n];
+		}
+		else
+		{
+			command.Channel[n] = settings.ChannelNeutral[n];
+		}
 	}
 
 	// Set alarm