From 1739ecc981a9e363783dc2ce4317822444ce4276 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 3 Jan 2022 18:07:23 -0500
Subject: [PATCH] delete PWM_SERVO_SET_FORCE_FAILSAFE

---
 src/drivers/drv_pwm_output.h |  3 ---
 src/drivers/px4io/px4io.cpp  | 15 ---------------
 src/systemcmds/pwm/pwm.cpp   | 27 ---------------------------
 3 files changed, 45 deletions(-)

diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 0cde334c6a..15bfd39e29 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -194,9 +194,6 @@ typedef uint16_t	servo_position_t;
 /** force safety switch off (to disable use of safety switch) */
 #define PWM_SERVO_SET_FORCE_SAFETY_OFF		_PX4_IOC(_PWM_SERVO_BASE, 25)
 
-/** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */
-#define PWM_SERVO_SET_FORCE_FAILSAFE		_PX4_IOC(_PWM_SERVO_BASE, 26)
-
 /** make failsafe non-recoverable (termination) if it occurs */
 #define PWM_SERVO_SET_TERMINATION_FAILSAFE	_PX4_IOC(_PWM_SERVO_BASE, 27)
 
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 83ad3dd89d..5e1230d0a1 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1768,21 +1768,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
 		break;
 
-	case PWM_SERVO_SET_FORCE_FAILSAFE:
-		PX4_DEBUG("PWM_SERVO_SET_FORCE_FAILSAFE");
-
-		/* force failsafe mode instantly */
-		if (arg == 0) {
-			/* clear force failsafe flag */
-			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, 0);
-
-		} else {
-			/* set force failsafe flag */
-			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
-		}
-
-		break;
-
 	case PWM_SERVO_SET_TERMINATION_FAILSAFE:
 		PX4_DEBUG("PWM_SERVO_SET_TERMINATION_FAILSAFE");
 
diff --git a/src/systemcmds/pwm/pwm.cpp b/src/systemcmds/pwm/pwm.cpp
index 54f6f9cdaa..529af8900e 100644
--- a/src/systemcmds/pwm/pwm.cpp
+++ b/src/systemcmds/pwm/pwm.cpp
@@ -115,9 +115,6 @@ $ pwm test -c 13 -p 1200
 	PRINT_MODULE_USAGE_COMMAND_DESCR("disarm", "Disarm output");
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print current configuration of all channels");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("forcefail", "Force Failsafe mode. "
-                                         "PWM outputs are set to failsafe values.");
-	PRINT_MODULE_USAGE_ARG("on|off", "Turn on or off", false);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("terminatefail", "Enable Termination Failsafe mode. "
                                          "While this is true, "
                                          "any failsafe that occurs will be unrecoverable (even if recovery conditions are met).");
@@ -861,30 +858,6 @@ err_out_no_test:
 
 		return 0;
 
-	} else if (!strcmp(command, "forcefail")) {
-
-		if (argc < 3) {
-			PX4_ERR("arg missing [on|off]");
-			return 1;
-
-		} else {
-
-			if (!strcmp(argv[2], "on")) {
-				/* force failsafe */
-				ret = px4_ioctl(fd, PWM_SERVO_SET_FORCE_FAILSAFE, 1);
-
-			} else {
-				/* disable failsafe */
-				ret = px4_ioctl(fd, PWM_SERVO_SET_FORCE_FAILSAFE, 0);
-			}
-
-			if (ret != OK) {
-				PX4_ERR("FAILED setting forcefail %s", argv[2]);
-			}
-		}
-
-		return 0;
-
 	} else if (!strcmp(command, "terminatefail")) {
 
 		if (argc < 3) {