From ae9bf0afd31dbc57648d6a0f5c5f215c9b265db1 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 4 Jan 2022 12:09:16 -0500
Subject: [PATCH] delete PWM_SERVO_DISARM

---
 src/drivers/drv_pwm_output.h           |  3 ---
 src/drivers/pca9685_pwm_out/main.cpp   |  1 -
 src/drivers/pwm_out/PWMOut.cpp         |  9 ---------
 src/drivers/pwm_out_sim/PWMSim.cpp     |  3 ---
 src/drivers/px4io/px4io.cpp            |  6 ------
 src/systemcmds/esc_calib/esc_calib.cpp |  8 --------
 src/systemcmds/pwm/pwm.cpp             | 17 +----------------
 7 files changed, 1 insertion(+), 46 deletions(-)

diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 9be11c91cc..ba2976abfb 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -137,9 +137,6 @@ typedef uint16_t	servo_position_t;
  */
 #define _PWM_SERVO_BASE		0x2a00
 
-/** disarm all servo outputs (stop generating pulses) */
-#define PWM_SERVO_DISARM	_PX4_IOC(_PWM_SERVO_BASE, 1)
-
 /** get default servo update rate */
 #define PWM_SERVO_GET_DEFAULT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 2)
 
diff --git a/src/drivers/pca9685_pwm_out/main.cpp b/src/drivers/pca9685_pwm_out/main.cpp
index defaa4a401..1748134cdf 100644
--- a/src/drivers/pca9685_pwm_out/main.cpp
+++ b/src/drivers/pca9685_pwm_out/main.cpp
@@ -490,7 +490,6 @@ int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
 
 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
-	case PWM_SERVO_DISARM:
 		break;
 
 	default:
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index 41db3337be..0c01346477 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -761,15 +761,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 	case PWM_SERVO_CLEAR_ARM_OK:
 		break;
 
-	case PWM_SERVO_DISARM:
-
-		/* Ignore disarm if disarmed PWM is set already. */
-		if (_num_disarmed_set == 0) {
-			update_pwm_out_state(false);
-		}
-
-		break;
-
 	case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
 		*(uint32_t *)arg = _pwm_default_rate;
 		break;
diff --git a/src/drivers/pwm_out_sim/PWMSim.cpp b/src/drivers/pwm_out_sim/PWMSim.cpp
index 62fb497a98..64c9e3ef7f 100644
--- a/src/drivers/pwm_out_sim/PWMSim.cpp
+++ b/src/drivers/pwm_out_sim/PWMSim.cpp
@@ -94,9 +94,6 @@ PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 	lock();
 
 	switch (cmd) {
-	case PWM_SERVO_DISARM:
-		break;
-
 	case PWM_SERVO_SET_MIN_PWM: {
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
 
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index f60f02ab9d..c790f42ea6 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1634,12 +1634,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_IO_ARM_OK, 0);
 		break;
 
-	case PWM_SERVO_DISARM:
-		PX4_DEBUG("PWM_SERVO_DISARM");
-		/* clear the 'armed' bit */
-		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0);
-		break;
-
 	case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
 		PX4_DEBUG("PWM_SERVO_GET_DEFAULT_UPDATE_RATE");
 		/* get the default update rate */
diff --git a/src/systemcmds/esc_calib/esc_calib.cpp b/src/systemcmds/esc_calib/esc_calib.cpp
index d6e30031a0..7e1f4a1ed2 100644
--- a/src/systemcmds/esc_calib/esc_calib.cpp
+++ b/src/systemcmds/esc_calib/esc_calib.cpp
@@ -363,14 +363,6 @@ extern "C" __EXPORT int esc_calib_main(int argc, char *argv[])
 		px4_usleep(50000);
 	}
 
-	/* disarm */
-	ret = ioctl(fd, PWM_SERVO_DISARM, 0);
-
-	if (ret != OK) {
-		PX4_ERR("PWM_SERVO_DISARM");
-		goto cleanup;
-	}
-
 	printf("Outputs disarmed");
 
 	printf("ESC calibration finished\n");
diff --git a/src/systemcmds/pwm/pwm.cpp b/src/systemcmds/pwm/pwm.cpp
index b42e88fce4..325c01beac 100644
--- a/src/systemcmds/pwm/pwm.cpp
+++ b/src/systemcmds/pwm/pwm.cpp
@@ -111,7 +111,6 @@ $ pwm test -c 13 -p 1200
 
 
 	PRINT_MODULE_USAGE_NAME("pwm", "command");
-	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. "
@@ -305,21 +304,7 @@ pwm_main(int argc, char *argv[])
 
 	oneshot = !strcmp(command, "oneshot");
 
-	if (!strcmp(command, "disarm")) {
-		/* disarm, but do not revoke the SET_ARM_OK flag */
-		ret = px4_ioctl(fd, PWM_SERVO_DISARM, 0);
-
-		if (ret != OK) {
-			err(1, "PWM_SERVO_DISARM");
-		}
-
-		if (print_verbose) {
-			PX4_INFO("Outputs disarmed");
-		}
-
-		return 0;
-
-	} else if (oneshot || !strcmp(command, "rate")) {
+	if (oneshot || !strcmp(command, "rate")) {
 
 		/* Change alternate PWM rate or set oneshot
 		 * Either the "oneshot" command was used