How does this function send pwm to the motors?

ArduCopter
1

void RCOutput::push(void)
{
corked = false;
push_local();
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
iomcu.push();
}
#endif
}

2

check the push_local() function that the one that update the pwm or in the iomcu for the board that got it

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