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

@@ -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}

boards/mro/x21-777/nuttx-config/nsh/defconfig

@@ -198,9 +198,9 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART4_RXBUFSIZE=1200
+CONFIG_UART4_RXDMA=n
+CONFIG_UART4_TXBUFSIZE=1200
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_SERIAL_CONSOLE=y
@@ -225,10 +225,10 @@ CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_RXDMA=y
 CONFIG_USART3_TXBUFSIZE=3000
 CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USART6_TXDMA=y
+CONFIG_USART6_RXBUFSIZE=1200
+CONFIG_USART6_RXDMA=n
+CONFIG_USART6_TXBUFSIZE=1200
+CONFIG_USART6_TXDMA=n
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500

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 */

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());