px4io: moving mixing to FMU side

Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Daniel Agar <daniel@agar.ca>

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -120,8 +120,6 @@ then
 
 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
-
-	param set SYS_RESTART_TYPE 2
 fi
 
 param set-default BAT1_N_CELLS 4

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -42,7 +42,6 @@ px4_add_romfs_files(
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
-	rc.io
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -56,7 +56,6 @@ param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
 
 param set-default SDLOG_DIRS_MAX 7
-param set-default SYS_RESTART_TYPE 2
 
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234

ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo

@@ -48,7 +48,6 @@ param set-default CBRK_IO_SAFETY    22027
 param set-default CBRK_SUPPLY_CHK   894281
 
 # RC configuration
-param set-default RC_MAP_MODE_SW    5
 param set-default RC_MAP_PITCH      2
 param set-default RC_MAP_ROLL       1
 param set-default RC_MAP_THROTTLE   3

ROMFS/px4fmu_common/init.d/rc.interface

@@ -17,6 +17,10 @@ set OUTPUT_DEV none
 set OUTPUT_AUX_DEV /dev/pwm_output1
 set OUTPUT_EXTRA_DEV /dev/pwm_output0
 
+# set these before starting the modules
+param set PWM_AUX_OUT ${PWM_AUX_OUT}
+param set PWM_MAIN_OUT ${PWM_OUT}
+
 #
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
 # mixer to mount (override the airframe-specific MIXER_AUX setting).
@@ -78,9 +82,16 @@ then
 		fi
 	fi
 
-	if [ $OUTPUT_MODE = io ]
+	#
+	# Start IO for PWM output or RC input if needed.
+	#
+	if [ $IO_PRESENT = yes ]
 	then
-		. ${R}etc/init.d/rc.io
+		if ! px4io start
+		then
+			echo "PX4IO start failed"
+			tune_control play -t 18 # PROG_PX4IO_ERR
+		fi
 	fi
 
 	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
@@ -91,17 +102,6 @@ then
 			tune_control play error
 		fi
 	fi
-
-	#
-	# Start IO for RC input if needed.
-	#
-	if [ $IO_PRESENT = yes ]
-	then
-		if [ $OUTPUT_MODE != io ]
-		then
-			. ${R}etc/init.d/rc.io
-		fi
-	fi
 fi
 
 if [ $MIXER != none -a $MIXER != skip ]
@@ -212,8 +212,6 @@ then
 	fi
 fi
 
-param set PWM_AUX_OUT ${PWM_AUX_OUT}
-
 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
 	if [ $PWM_OUT != none ]
@@ -226,8 +224,6 @@ then
 	fi
 fi
 
-param set PWM_MAIN_OUT ${PWM_OUT}
-
 if [ $EXTRA_MIXER_MODE != none ]
 then
 

ROMFS/px4fmu_common/init.d/rc.io

@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# PX4IO interface init script.
-#
-
-# If $OUTPUT_MODE indicated Hardware-int-the-loop simulation, px4io should not publish actuator_outputs,
-# instead, pwm_out_sim will publish that uORB
-if [ $OUTPUT_MODE = hil ]
-then
-    set HIL_ARG $OUTPUT_MODE
-fi
-
-if [ $IO_PRESENT = yes ]
-then
-	if px4io start $HIL_ARG
-	then
-		# Allow PX4IO to recover from midair restarts.
-		px4io recovery
-	else
-		echo "PX4IO start failed"
-		tune_control play -t 18 # PROG_PX4IO_ERR
-	fi
-fi

ROMFS/px4fmu_test/init.d/rcS

@@ -70,14 +70,6 @@ then
 	set io_file /etc/extras/px4_io-v2_default.bin
 fi
 
-if px4io start
-then
-	echo "PX4IO OK"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} px4io_start"
-fi
-
 if px4io checkcrc $io_file
 then
 	echo "PX4IO CRC OK"
@@ -104,6 +96,15 @@ else
 	fi
 fi
 
+if px4io start
+then
+	echo "PX4IO OK"
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} px4io_start"
+fi
+
+
 #
 # The presence of this file suggests we're running a mount stress test
 #