From fbf5ecfe8c1279980a4d867fb0384a92b6b93d72 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 10 Aug 2019 12:39:11 +0900
Subject: [PATCH] AP_ToshibaCAN: ensure motors are off when vehicle is disarmed

---
 libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp b/libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp
index 10bea6c730..1006aa0f5f 100644
--- a/libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp
+++ b/libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp
@@ -401,9 +401,11 @@ void AP_ToshibaCAN::update()
     // take semaphore and update outputs
     {
         WITH_SEMAPHORE(_rc_out_sem);
+        const bool armed = hal.util->get_soft_armed();
         for (uint8_t i = 0; i < MIN(TOSHIBACAN_MAX_NUM_ESCS, 16); i++) {
             SRV_Channel *c = SRV_Channels::srv_channel(i);
             if (c == nullptr) {
+            if (!armed || (c == nullptr)) {
                 _scaled_output[i] = 0;
             } else {
                 uint16_t pwm_out = c->get_output_pwm();