mixer_module: unified motorsActivated()

src/drivers/actuators/vertiq_io/vertiq_io.cpp

@@ -139,14 +139,6 @@ void VertiqIo::Run()
 	_mixing_output.update();
 	_mixing_output.updateSubscriptions(true);
 
-	//Go ahead and check to see if our actuator test has gotten anything new
-	if (_actuator_test_sub.updated()) {
-		_actuator_test_sub.copy(&_actuator_test);
-
-		//Our test is active if anyone is giving us commands through the actuator test
-		_actuator_test_active = _actuator_test.action == actuator_test_s::ACTION_DO_CONTROL;
-	}
-
 	//stop our timer
 	perf_end(_loop_perf);
 }
@@ -200,8 +192,7 @@ bool VertiqIo::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outpu
 {
 #ifdef CONFIG_USE_IFCI_CONFIGURATION
 
-	if (_mixing_output.armed().armed) {
-
+	if (_mixing_output.motorsActive()) {
 		if (_param_vertiq_arm_behavior.get() == FORCE_ARMING && _send_forced_arm) {
 			_broadcast_arming_handler.motor_armed_.set(*_serial_interface.GetIquartInterface(), 1);
 			_send_forced_arm = false;
@@ -214,9 +205,6 @@ bool VertiqIo::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outpu
 		//proper value when necessary
 		_transmission_message.telem_byte = _impossible_module_id;
 
-	} else if (_actuator_test_active) {
-		OutputControls(outputs);
-
 	} else {
 		//Put the modules into coast
 		switch (_param_vertiq_disarm_behavior.get()) {
@@ -240,8 +228,6 @@ bool VertiqIo::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outpu
 		if (!_send_forced_arm) {
 			_send_forced_arm = true;
 		}
-
-		_actuator_test_active = false;
 	}
 
 	//Publish our esc status to uORB

src/drivers/actuators/vertiq_io/vertiq_io.hpp

@@ -162,17 +162,12 @@ private:
 	uint32_t _telemetry_ids_2 = 0;
 
 	bool _send_forced_arm = true;
-	bool _actuator_test_active = false;
 
 	uORB::Publication<esc_status_s> _esc_status_pub{ORB_ID(esc_status)}; //We want to publish our ESC Status to anyone who will listen
 
 	// Subscriptions
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
-	//We need to know what's going on with the actuator test to make sure we handle it properly
-	uORB::Subscription _actuator_test_sub{ORB_ID(actuator_test)};
-	actuator_test_s _actuator_test;
-
 	//We need to bring in the parameters that we define in module.yaml in order to view them in the
 	//control station, as well as to use them in the firmware
 	DEFINE_PARAMETERS(

src/drivers/actuators/voxl_esc/voxl_esc.cpp

@@ -1392,7 +1392,7 @@ void VoxlEsc::Run()
 	_mixing_output.update();  //calls MixingOutput::limitAndUpdateOutputs which calls updateOutputs in this module
 
 	/* update output status if armed */
-	_outputs_on = _mixing_output.armed().armed;
+	_outputs_on = _mixing_output.motorsActive();
 
 	/* check for parameter updates */
 	if (!_outputs_on && _parameter_update_sub.updated()) {
@@ -1491,13 +1491,6 @@ void VoxlEsc::Run()
 		}
 	}
 
-	if (!_outputs_on) {
-		if (_actuator_test_sub.updated()) {
-			// values are set in ActuatorTest::update, we just need to enable outputs to let them through
-			_outputs_on = true;
-		}
-	}
-
 	/* Don't process commands if outputs on */
 	if (!_outputs_on) {
 		if (_current_cmd.valid()) {

src/drivers/actuators/voxl_esc/voxl_esc.hpp

@@ -211,7 +211,6 @@ private:
 	uORB::Subscription	_vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
 	uORB::Subscription	_manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};
-	uORB::Subscription	_actuator_test_sub{ORB_ID(actuator_test)};
 	uORB::Subscription	_led_update_sub{ORB_ID(led_control)};
 	uORB::Subscription	_esc_serial_passthru_sub{ORB_ID(esc_serial_passthru)};
 

src/drivers/dshot/DShot.cpp

@@ -526,7 +526,7 @@ void DShot::Run()
 
 	handle_vehicle_commands();
 
-	if (!_mixing_output.armed().armed) {
+	if (!_mixing_output.motorsActive()) {
 		if (_reversible_outputs != _mixing_output.reversibleOutputs()) {
 			_reversible_outputs = _mixing_output.reversibleOutputs();
 			update_params();

src/drivers/px4io/px4io.cpp

@@ -542,7 +542,7 @@ void PX4IO::Run()
 		// TODO: throttle
 	}
 
-	if (!_mixing_output.armed().armed) {
+	if (!_mixing_output.motorsActive()) {
 		/* vehicle command */
 		if (_t_vehicle_command.updated()) {
 			vehicle_command_s cmd{};
@@ -693,8 +693,7 @@ void PX4IO::update_params()
 
 	updateParams();
 
-	if (!_mixing_output.armed().armed) {
-
+	if (!_mixing_output.motorsActive()) {
 		// Automatically set the PWM rate and disarmed value when a channel is first set to a servo
 		if (!_first_update_cycle) {
 			for (size_t i = 0; i < _max_actuators; i++) {

src/drivers/uavcan/arming_status.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022-2025 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/drivers/uavcan/arming_status.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
 *
-*   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+*   Copyright (c) 2022-2025 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions

src/drivers/voxl2_io/voxl2_io.cpp

@@ -544,7 +544,7 @@ void Voxl2IO::Run()
 	_mixing_output.update(); //calls MixingOutput::limitAndUpdateOutputs which calls updateOutputs in this module
 
 	/* update PWM status if armed or if disarmed PWM values are set */
-	_pwm_on = _mixing_output.armed().armed;
+	_pwm_on = _mixing_output.motorsActive();
 
 	//receive packets from voxl_io board
 	receive_uart_packets();

src/lib/mixer_module/mixer_module.cpp

@@ -427,10 +427,6 @@ bool MixingOutput::update()
 		if (_ignore_lockdown) {
 			_armed.lockdown = false;
 		}
-
-		/* Update the armed status and check that we're not locked down.
-		 * We also need to arm throttle for the ESC calibration. */
-		_throttle_armed = (_armed.armed && !_armed.lockdown) || _armed.in_esc_calibration_mode;
 	}
 
 	// only used for sitl with lockstep
@@ -502,7 +498,7 @@ MixingOutput::limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updat
 
 	} else {
 		// the output limit call takes care of out of band errors, NaN and constrains
-		output_limit_calc(_throttle_armed || _actuator_test.inTestMode(), _max_num_outputs, outputs);
+		output_limit_calc(motorsActive(), _max_num_outputs, outputs);
 	}
 
 	// We must calibrate the PWM and Oneshot ESCs to a consistent range of 1000-2000us (gets mapped to 125-250us for Oneshot)

src/lib/mixer_module/mixer_module.hpp

@@ -162,7 +162,12 @@ public:
 
 	void setMaxTopicUpdateRate(unsigned max_topic_update_interval_us);
 
-	const actuator_armed_s &armed() const { return _armed; }
+	bool motorsActive() const
+	{
+		const bool lockdown = _armed.lockdown || _armed.termination || _armed.kill;
+		const bool need_to_activate = _armed.armed || _armed.in_esc_calibration_mode || _actuator_test.inTestMode();
+		return !lockdown && need_to_activate;
+	}
 
 	void setAllFailsafeValues(uint16_t value);
 	void setAllDisarmedValues(uint16_t value);
@@ -266,7 +271,6 @@ private:
 
 	unsigned _max_topic_update_interval_us{0}; ///< max topic update interval (0=unlimited)
 
-	bool _throttle_armed{false};
 	bool _ignore_lockdown{false}; ///< if true, ignore the _armed.lockdown flag (for HIL outputs)
 
 	const SchedulingPolicy _scheduling_policy;