From 9fd14dbf94d9353ed07ffac95000aa0a0f5cf171 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 16 Feb 2022 17:17:23 +0000
Subject: [PATCH] Plane: quadplane: set IO failsafe limit for all motors

---
 ArduPlane/quadplane.cpp | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 5c8d939cfe..460d7fb889 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -701,11 +701,8 @@ bool QuadPlane::setup(void)
 
     // setup the trim of any motors used by AP_Motors so I/O board
     // failsafe will disable motors
-    for (uint8_t i=0; i<8; i++) {
-        SRV_Channel::Aux_servo_function_t func = SRV_Channels::get_motor_function(i);
-        SRV_Channels::set_failsafe_pwm(func, motors->get_pwm_output_min());
-    }
-
+    uint16_t mask = plane.quadplane.motors->get_motor_mask();
+    hal.rcout->set_failsafe_pwm(mask, plane.quadplane.motors->get_pwm_output_min());
 
     // default QAssist state as set with Q_OPTIONS
     if ((options & OPTION_Q_ASSIST_FORCE_ENABLE) != 0) {