Rename force_failsafe to termination for clarity

msg/ActuatorArmed.msg

@@ -5,5 +5,5 @@ bool prearmed		# Set to true if the actuator safety is disabled but motors are n
 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 force_failsafe	# Set to true if the actuators are forced to the failsafe position
+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

@@ -800,7 +800,7 @@ PX4IO::io_set_arming_state()
 			_lockdown_override = false;
 		}
 
-		if (armed.force_failsafe) {
+		if (armed.termination) {
 			set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
 
 		} else {

src/lib/mixer_module/mixer_module.cpp

@@ -83,7 +83,7 @@ MixingOutput::MixingOutput(const char *param_prefix, uint8_t max_num_outputs, Ou
 	_armed.prearmed = false;
 	_armed.ready_to_arm = false;
 	_armed.lockdown = false;
-	_armed.force_failsafe = false;
+	_armed.termination = false;
 	_armed.in_esc_calibration_mode = false;
 
 	px4_sem_init(&_lock, 0, 1);
@@ -479,8 +479,8 @@ MixingOutput::limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updat
 			_current_output_value[i] = _disarmed_value[i];
 		}
 
-	} else if (_armed.force_failsafe) {
+	} else if (_armed.termination) {
-		// overwrite outputs in case of force_failsafe with _failsafe_value values
+		// Overwrite outputs with _failsafe_value when terminated
 		for (size_t i = 0; i < _max_num_outputs; i++) {
 			_current_output_value[i] = actualFailsafeValue(i);
 		}

src/lib/mixer_module/mixer_module_tests.cpp

@@ -148,12 +148,12 @@ public:
 		_actuator_test_pub.publish(actuator_test);
 	}
 
-	void sendActuatorArmed(bool armed, bool force_failsafe = false, bool manual_lockdown = false, bool prearm = false)
+	void sendActuatorArmed(bool armed, bool termination = false, bool manual_lockdown = false, bool prearm = false)
 	{
 		actuator_armed_s actuator_armed{};
 		actuator_armed.timestamp = hrt_absolute_time();
 		actuator_armed.armed = armed;
-		actuator_armed.force_failsafe = force_failsafe;
+		actuator_armed.termination = termination;
 		actuator_armed.manual_lockdown = manual_lockdown;
 		actuator_armed.prearmed = prearm;
 		_actuator_armed_pub.publish(actuator_armed);

src/modules/commander/Commander.cpp

@@ -94,7 +94,7 @@ static constexpr bool operator ==(const actuator_armed_s &a, const actuator_arme
 		a.ready_to_arm == b.ready_to_arm &&
 		a.lockdown == b.lockdown &&
 		a.manual_lockdown == b.manual_lockdown &&
-		a.force_failsafe == b.force_failsafe &&
+		a.termination == b.termination &&
 		a.in_esc_calibration_mode == b.in_esc_calibration_mode);
 }
 static_assert(sizeof(actuator_armed_s) == 16, "actuator_armed equality operator review");
@@ -1898,11 +1898,11 @@ void Commander::run()
 		_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.force_failsafe = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
+		_actuator_armed.termination = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
 		// _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION
 
-		// if force_failsafe activated send parachute command
+		// Send parachute command upon termination
-		if (!actuator_armed_prev.force_failsafe && _actuator_armed.force_failsafe && isArmed()) {
+		if (!actuator_armed_prev.termination && _actuator_armed.termination && isArmed()) {
 			send_parachute_command();
 		}
 

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.force_failsafe || actuator_armed.manual_lockdown) {
+		if (actuator_armed.termination || actuator_armed.manual_lockdown) {
 			/* EVENT
 			 */
 			reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_flight_term_active"),

src/modules/mavlink/streams/HEARTBEAT.hpp

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