From 03bdc460d8c5bd9d31a3e9075061e52792904bc2 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 3 Jan 2022 18:23:01 -0500
Subject: [PATCH] drivers/px4io: PWM_SERVO_GET_FAILSAFE_PWM don't get registers
 directly

---
 src/drivers/px4io/px4io.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 217b93ae00..ea2c05af5d 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1656,10 +1656,8 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
 			pwm->channel_count = _max_actuators;
 
-			ret = io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, _max_actuators);
-
-			if (ret != OK) {
-				ret = -EIO;
+			for (unsigned i = 0; i < _max_actuators; i++) {
+				pwm->values[i] = _mixing_output.failsafeValue(i);
 			}
 
 			break;