Build new IO firwamre binaries

The existing disarmed logic already handles disabled outputs
it makes sense to reuse it and not have lockdown handled
differently resulting in unexpeced corner cases.

src/drivers/px4io/px4io.cpp

@@ -335,8 +335,7 @@ private:
 		(ParamInt<px4::params::RC_RSSI_PWM_CHAN>) _param_rc_rssi_pwm_chan,
 		(ParamInt<px4::params::RC_RSSI_PWM_MAX>) _param_rc_rssi_pwm_max,
 		(ParamInt<px4::params::RC_RSSI_PWM_MIN>) _param_rc_rssi_pwm_min,
-		(ParamInt<px4::params::SENS_EN_THERMAL>) _param_sens_en_themal,
-		(ParamInt<px4::params::SYS_HITL>) _param_sys_hitl
+		(ParamInt<px4::params::SENS_EN_THERMAL>) _param_sens_en_themal
 	)
 };
 
@@ -474,9 +473,7 @@ int PX4IO::init()
 	}
 
 	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
-	if (_param_sys_hitl.get() <= 0) {
-		_mixing_output.setMaxTopicUpdateRate(MIN_TOPIC_UPDATE_INTERVAL);
-	}
+	_mixing_output.setMaxTopicUpdateRate(MIN_TOPIC_UPDATE_INTERVAL);
 
 	_px4io_status_pub.advertise();
 
@@ -525,9 +522,7 @@ void PX4IO::Run()
 	perf_count(_interval_perf);
 
 	/* if we have new control data from the ORB, handle it */
-	if (_param_sys_hitl.get() <= 0) {
-		_mixing_output.update();
-	}
+	_mixing_output.update();
 
 	if (hrt_elapsed_time(&_poll_last) >= 20_ms) {
 		/* run at 50 */
@@ -540,13 +535,11 @@ void PX4IO::Run()
 		io_publish_raw_rc();
 	}
 
-	if (_param_sys_hitl.get() <= 0) {
-		/* check updates on uORB topics and handle it */
-		if (_t_actuator_armed.updated()) {
-			io_set_arming_state();
+	/* check updates on uORB topics and handle it */
+	if (_t_actuator_armed.updated()) {
+		io_set_arming_state();
 
-			// TODO: throttle
-		}
+		// TODO: throttle
 	}
 
 	if (!_mixing_output.armed().armed) {
@@ -814,14 +807,6 @@ PX4IO::io_set_arming_state()
 			clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
 		}
 
-		// XXX this is for future support in the commander
-		// but can be removed if unneeded
-		// if (armed.termination_failsafe) {
-		// 	set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
-		// } else {
-		// 	clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
-		// }
-
 		if (armed.ready_to_arm) {
 			set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
 

src/modules/px4iofirmware/mixer.cpp

@@ -176,6 +176,14 @@ mixer_tick()
 		atomic_modify_clear(&r_status_flags, (PX4IO_P_STATUS_FLAGS_FAILSAFE));
 	}
 
+	const bool armed_output = should_arm || should_arm_nothrottle || (source == MIX_FAILSAFE);
+	const bool disarmed_output = (!armed_output && should_always_enable_pwm)
+				     || (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN);
+
+	if (disarmed_output) {
+		source = MIX_DISARMED;
+	}
+
 	/*
 	 * Run the mixers.
 	 */
@@ -219,9 +227,7 @@ mixer_tick()
 		isr_debug(5, "> PWM disabled");
 	}
 
-	if (mixer_servos_armed
-	    && (should_arm || should_arm_nothrottle || (source == MIX_FAILSAFE))
-	    && !(r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)) {
+	if (mixer_servos_armed && (armed_output || disarmed_output)) {
 		/* update the servo outputs. */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
 			up_pwm_servo_set(i, r_page_servos[i]);
@@ -234,22 +240,5 @@ mixer_tick()
 		} else if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) {
 			sbus1_output(_sbus_fd, r_page_servos, PX4IO_SERVO_COUNT);
 		}
-
-	} else if (mixer_servos_armed && (should_always_enable_pwm || (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN))) {
-		/* set the disarmed servo outputs. */
-		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
-			up_pwm_servo_set(i, r_page_servo_disarmed[i]);
-			/* copy values into reporting register */
-			r_page_servos[i] = r_page_servo_disarmed[i];
-		}
-
-		/* set S.BUS1 or S.BUS2 outputs */
-		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) {
-			sbus1_output(_sbus_fd, r_page_servo_disarmed, PX4IO_SERVO_COUNT);
-		}
-
-		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) {
-			sbus2_output(_sbus_fd, r_page_servo_disarmed, PX4IO_SERVO_COUNT);
-		}
 	}
 }