From 9c616fcf63b850babc6a8d76f59a7d6f918c42db Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 13 Jun 2022 10:19:08 +0200
Subject: [PATCH] HACK to enable actuators in HITL

Mixers get loaded on normal output modules
the first actuator_outputs instance gets sent
to the simulator. No lockdown but the rest of
HIL stays.
---
 ROMFS/px4fmu_common/init.d/rc.interface               | 11 +----------
 .../Arming/ArmStateMachine/ArmStateMachine.cpp        |  3 +--
 src/modules/commander/Commander.cpp                   |  6 ++----
 3 files changed, 4 insertions(+), 16 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index fee6ad252c..55ecde2968 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -188,16 +188,7 @@ then
 
 	if [ $MIXER_AUX_FILE != none ]
 	then
-		# Append aux mixer to main device.
-		if param greater SYS_HITL 0
-		then
-			if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
-			then
-				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
-			else
-				echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
-			fi
-		fi
+		# Enable actuators in HITL
 		if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
 		then
 			if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
diff --git a/src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.cpp b/src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.cpp
index 70c06166bd..c5a5d1d2a5 100644
--- a/src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.cpp
+++ b/src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.cpp
@@ -127,8 +127,7 @@ transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &s
 		}
 
 		if (hil_enabled) {
-			/* enforce lockdown in HIL */
-			armed.lockdown = true;
+			// Enable actuators in HITL
 			status_flags.system_sensors_initialized = true;
 
 			/* recover from a prearm fail */
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index d51ea0aeb2..52142f8f0a 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2429,10 +2429,8 @@ Commander::run()
 			bool auto_disarm = _actuator_armed.manual_lockdown;
 
 			// auto disarm if locked down to avoid user confusion
-			//  skipped in HITL where lockdown is enabled for safety
-			if (_vehicle_status.hil_state != vehicle_status_s::HIL_STATE_ON) {
-				auto_disarm |= _actuator_armed.lockdown;
-			}
+			// Enable actuators in HITL
+			auto_disarm |= _armed.lockdown;
 
 			_auto_disarm_killed.set_state_and_update(auto_disarm, hrt_absolute_time());