Rename manual_lockdown to kill for clarity

msg/ActuatorArmed.msg

@@ -4,6 +4,6 @@ bool armed		# Set to true if system is armed
 bool prearmed		# Set to true if the actuator safety is disabled but motors are not armed
 bool ready_to_arm	# Set to true if system is ready to be armed
 bool lockdown		# Set to true if actuators are forced to being disabled (due to emergency or HIL)
-bool manual_lockdown    # Set to true if manual throttle kill switch is engaged
+bool kill               # Set to true if manual throttle kill switch is engaged
 bool termination        # Send out failsafe (by default same as disarmed) output
 bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics

src/drivers/px4io/px4io.cpp

@@ -791,11 +791,11 @@ PX4IO::io_set_arming_state()
 			clear |= PX4IO_P_SETUP_ARMING_FMU_PREARMED;
 		}
 
-		if ((armed.lockdown || armed.manual_lockdown) && !_lockdown_override) {
+		if ((armed.lockdown || armed.kill) && !_lockdown_override) {
 			set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
 			_lockdown_override = true;
 
-		} else if (!(armed.lockdown || armed.manual_lockdown) && _lockdown_override) {
+		} else if (!(armed.lockdown || armed.kill) && _lockdown_override) {
 			clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
 			_lockdown_override = false;
 		}

src/drivers/uavcan/arming_status.cpp

@@ -66,7 +66,7 @@ void UavcanArmingStatus::periodic_update(const uavcan::TimerEvent &)
 	if (_actuator_armed_sub.update(&actuator_armed)) {
 		uavcan::equipment::safety::ArmingStatus cmd;
 
-		if (actuator_armed.lockdown || actuator_armed.manual_lockdown) {
+		if (actuator_armed.lockdown || actuator_armed.kill) {
 			cmd.status = cmd.STATUS_DISARMED;
 
 		} else if (actuator_armed.armed) {

src/lib/mixer_module/mixer_module.cpp

@@ -458,7 +458,7 @@ bool MixingOutput::update()
 
 	// Send output if any function mapped or one last disabling sample
 	if (!all_disabled || !_was_all_disabled) {
-		if (!_armed.armed && !_armed.manual_lockdown) {
+		if (!_armed.armed && !_armed.kill) {
 			_actuator_test.overrideValues(outputs, _max_num_outputs);
 		}
 
@@ -473,7 +473,7 @@ bool MixingOutput::update()
 void
 MixingOutput::limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updates)
 {
-	if (_armed.lockdown || _armed.manual_lockdown) {
+	if (_armed.lockdown || _armed.kill) {
 		// overwrite outputs in case of lockdown with disarmed values
 		for (size_t i = 0; i < _max_num_outputs; i++) {
 			_current_output_value[i] = _disarmed_value[i];

src/lib/mixer_module/mixer_module_tests.cpp

@@ -148,13 +148,13 @@ public:
 		_actuator_test_pub.publish(actuator_test);
 	}
 
-	void sendActuatorArmed(bool armed, bool termination = false, bool manual_lockdown = false, bool prearm = false)
+	void sendActuatorArmed(bool armed, bool termination = false, bool kill = false, bool prearm = false)
 	{
 		actuator_armed_s actuator_armed{};
 		actuator_armed.timestamp = hrt_absolute_time();
 		actuator_armed.armed = armed;
 		actuator_armed.termination = termination;
-		actuator_armed.manual_lockdown = manual_lockdown;
+		actuator_armed.kill = kill;
 		actuator_armed.prearmed = prearm;
 		_actuator_armed_pub.publish(actuator_armed);
 	}

src/modules/commander/Commander.cpp

@@ -93,7 +93,7 @@ static constexpr bool operator ==(const actuator_armed_s &a, const actuator_arme
 		a.prearmed == b.prearmed &&
 		a.ready_to_arm == b.ready_to_arm &&
 		a.lockdown == b.lockdown &&
-		a.manual_lockdown == b.manual_lockdown &&
+		a.kill == b.kill &&
 		a.termination == b.termination &&
 		a.in_esc_calibration_mode == b.in_esc_calibration_mode);
 }
@@ -1662,17 +1662,17 @@ void Commander::executeActionRequest(const action_request_s &action_request)
 		break;
 
 	case action_request_s::ACTION_UNKILL:
-		if (_actuator_armed.manual_lockdown) {
+		if (_actuator_armed.kill) {
 			mavlink_log_info(&_mavlink_log_pub, "Kill disengaged\t");
 			events::send(events::ID("commander_kill_sw_disengaged"), events::Log::Info, "Kill disengaged");
 			_status_changed = true;
-			_actuator_armed.manual_lockdown = false;
+			_actuator_armed.kill = false;
 		}
 
 		break;
 
 	case action_request_s::ACTION_KILL:
-		if (!_actuator_armed.manual_lockdown) {
+		if (!_actuator_armed.kill) {
 			const char kill_switch_string[] = "Kill engaged\t";
 			events::LogLevels log_levels{events::Log::Info};
 
@@ -1687,7 +1687,7 @@ void Commander::executeActionRequest(const action_request_s &action_request)
 			events::send(events::ID("commander_kill_sw_engaged"), log_levels, "Kill engaged");
 
 			_status_changed = true;
-			_actuator_armed.manual_lockdown = true;
+			_actuator_armed.kill = true;
 		}
 
 		break;
@@ -1897,7 +1897,7 @@ void Commander::run()
 		_actuator_armed.ready_to_arm = _vehicle_status.pre_flight_checks_pass || isArmed();
 		_actuator_armed.lockdown = ((_vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON)
 					    || _multicopter_throw_launch.isThrowLaunchInProgress());
-		// _actuator_armed.manual_lockdown // action_request_s::ACTION_KILL
+		// _actuator_armed.kill // action_request_s::ACTION_KILL
 		_actuator_armed.termination = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
 		// _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION
 
@@ -2285,7 +2285,7 @@ void Commander::handleAutoDisarm()
 		}
 
 		// Auto disarm after 5 seconds if kill switch is engaged
-		bool auto_disarm = _actuator_armed.manual_lockdown;
+		bool auto_disarm = _actuator_armed.kill;
 
 		// auto disarm if locked down to avoid user confusion
 		//  skipped in HITL where lockdown is enabled for safety
@@ -2299,7 +2299,7 @@ void Commander::handleAutoDisarm()
 		_auto_disarm_killed.set_state_and_update(auto_disarm, hrt_absolute_time());
 
 		if (_auto_disarm_killed.get_state()) {
-			if (_actuator_armed.manual_lockdown) {
+			if (_actuator_armed.kill) {
 				disarm(arm_disarm_reason_t::kill_switch, true);
 
 			} else {

src/modules/commander/HealthAndArmingChecks/checks/systemCheck.cpp

@@ -42,7 +42,7 @@ void SystemChecks::checkAndReport(const Context &context, Report &reporter)
 	actuator_armed_s actuator_armed;
 
 	if (_actuator_armed_sub.copy(&actuator_armed)) {
-		if (actuator_armed.termination || actuator_armed.manual_lockdown) {
+		if (actuator_armed.termination || actuator_armed.kill) {
 			/* EVENT
 			 */
 			reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_flight_term_active"),

src/modules/mavlink/streams/HEARTBEAT.hpp

@@ -119,9 +119,8 @@ private:
 			}
 
 			// system_status overrides
-			if (actuator_armed.termination
+			if (actuator_armed.termination || actuator_armed.kill
-			    || (actuator_armed.lockdown && vehicle_status.hil_state == vehicle_status_s::HIL_STATE_OFF)
+			    || (actuator_armed.lockdown && vehicle_status.hil_state == vehicle_status_s::HIL_STATE_OFF)) {
-			    || actuator_armed.manual_lockdown) {
 
 				system_status = MAV_STATE_FLIGHT_TERMINATION;
 			}