From b5de26c1f233f21ddbb99cea34c5d1f1996ff3ec Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Wed, 12 Jan 2022 15:43:57 -0300
Subject: [PATCH] AP_Hal_Linux: PCA9685: do not shutdown

Shutting down causes the pulses to be cut short, often causing
ESCs to interpret this pulse
---
 libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp b/libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp
index cf84ba4652..3a6b7dab2f 100644
--- a/libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp
+++ b/libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp
@@ -173,8 +173,6 @@ bool RCOutput_PCA9685::force_safety_on() {
     }
     /* Shutdown before sleeping. */
     _dev->write_register(PCA9685_RA_ALL_LED_OFF_H, PCA9685_ALL_LED_OFF_H_SHUT);
-    /* Put PCA9685 to sleep */
-    _dev->write_register(PCA9685_RA_MODE1, PCA9685_MODE1_SLEEP_BIT);
 
     _dev->get_semaphore()->give();
     return true;