The timer encoder interface can not be used, because the PWMs on the same timer would be based on the encoder's counter value. The encoder counter has to be implemented in software.
The servo output signal is high while the pin driving Q4 is uninitialized (floating). This can cause the servo to turn to the end position in DFU mode.
Workaround: pull up the gate of Q4 to the +3V3 rail. 10 kΩ should be fine.
The servo should be connected to another timer. We changed it to PB10
Q4is uninitialized (floating). This can cause the servo to turn to the end position in DFU mode. Workaround: pull up the gate ofQ4to the+3V3rail. 10 kΩ should be fine.PB10