From 70328e34af53887ef407ff23203ec27909b1494b Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 19 Oct 2023 09:06:52 +1300
Subject: [PATCH] Remove SYS_USE_IO param

The param is not really required anymore with the actuator
configuration. Also, when it is set to 0, RC doesn't work for some
boards which would be nice to avoid.

Signed-off-by: Julian Oes <julian@oes.ch>
---
 ROMFS/px4fmu_common/init.d/rcS                | 35 ++++++++-----------
 boards/ark/fmu-v6x/init/rc.board_defaults     |  7 ----
 .../cubeorange/init/rc.board_defaults         |  2 --
 .../cubeorangeplus/init/rc.board_defaults     |  2 --
 .../cubeyellow/init/rc.board_defaults         |  2 --
 .../durandal-v1/init/rc.board_defaults        |  2 --
 boards/holybro/pix32v5/init/rc.board_defaults |  2 --
 boards/mro/x21-777/init/rc.board_defaults     |  2 --
 boards/mro/x21/init/rc.board_defaults         |  2 --
 boards/px4/fmu-v2/init/rc.board_defaults      |  2 --
 boards/px4/fmu-v3/init/rc.board_defaults      |  2 --
 boards/px4/fmu-v4pro/init/rc.board_defaults   |  2 --
 boards/px4/fmu-v5/init/rc.board_defaults      |  7 ----
 boards/px4/fmu-v5x/init/rc.board_defaults     |  2 --
 boards/px4/fmu-v6c/init/rc.board_defaults     |  2 --
 boards/px4/fmu-v6x/init/rc.board_defaults     |  2 --
 boards/siyi/n7/init/rc.board_defaults         |  2 --
 .../smartap-airlink/init/rc.board_defaults    |  2 --
 boards/thepeach/k1/init/rc.board_defaults     |  2 --
 boards/thepeach/r1/init/rc.board_defaults     |  2 --
 src/drivers/px4io/px4io.cpp                   |  5 ++-
 src/drivers/px4io/px4io_params.c              | 12 -------
 22 files changed, 17 insertions(+), 83 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 1d75bf12a2b2..235875f21e50 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -274,32 +274,26 @@ else
 		. $FCONFIG
 	fi
 
-	#
-	# Start IO for PWM output or RC input if enabled
-	#
-	if param compare -s SYS_USE_IO 1
+	# Check if PX4IO present and update firmware if needed.
+	if [ -f $IOFW ]
 	then
-		# Check if PX4IO present and update firmware if needed.
-		if [ -f $IOFW ]
+		if ! px4io checkcrc ${IOFW}
 		then
-			if ! px4io checkcrc ${IOFW}
-			then
-				# tune Program PX4IO
-				tune_control play -t 16 # tune 16 = PROG_PX4IO
+			# tune Program PX4IO
+			tune_control play -t 16 # tune 16 = PROG_PX4IO
 
-				if px4io update ${IOFW}
+			if px4io update ${IOFW}
+			then
+				usleep 10000
+				tune_control stop
+				if px4io checkcrc ${IOFW}
 				then
-					usleep 10000
-					tune_control stop
-					if px4io checkcrc ${IOFW}
-					then
-						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
-					else
-						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
-					fi
+					tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
 				else
-					tune_control stop
+					tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 				fi
+			else
+				tune_control stop
 			fi
 		fi
 
@@ -310,6 +304,7 @@ else
 		fi
 	fi
 
+
 	#
 	# RC update (map raw RC input to calibrate manual control)
 	#  start before commander
diff --git a/boards/ark/fmu-v6x/init/rc.board_defaults b/boards/ark/fmu-v6x/init/rc.board_defaults
index 7a26ee01c8ee..87451b0c52ea 100644
--- a/boards/ark/fmu-v6x/init/rc.board_defaults
+++ b/boards/ark/fmu-v6x/init/rc.board_defaults
@@ -32,11 +32,4 @@ then
 	param set-default SENS_TEMP_ID 3014666
 fi
 
-if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
-then
-	param set-default SYS_USE_IO 0
-else
-	param set-default SYS_USE_IO 1
-fi
-
 safety_button start
diff --git a/boards/cubepilot/cubeorange/init/rc.board_defaults b/boards/cubepilot/cubeorange/init/rc.board_defaults
index 8ae2ed458b0e..7f961cd33e71 100644
--- a/boards/cubepilot/cubeorange/init/rc.board_defaults
+++ b/boards/cubepilot/cubeorange/init/rc.board_defaults
@@ -14,6 +14,4 @@ param set-default SENS_EN_THERMAL 0
 
 param set-default -s SENS_TEMP_ID 2621474
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
diff --git a/boards/cubepilot/cubeorangeplus/init/rc.board_defaults b/boards/cubepilot/cubeorangeplus/init/rc.board_defaults
index 8ae2ed458b0e..7f961cd33e71 100644
--- a/boards/cubepilot/cubeorangeplus/init/rc.board_defaults
+++ b/boards/cubepilot/cubeorangeplus/init/rc.board_defaults
@@ -14,6 +14,4 @@ param set-default SENS_EN_THERMAL 0
 
 param set-default -s SENS_TEMP_ID 2621474
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
diff --git a/boards/cubepilot/cubeyellow/init/rc.board_defaults b/boards/cubepilot/cubeyellow/init/rc.board_defaults
index 54705e650d4f..6f39beb0c8ec 100644
--- a/boards/cubepilot/cubeyellow/init/rc.board_defaults
+++ b/boards/cubepilot/cubeyellow/init/rc.board_defaults
@@ -13,6 +13,4 @@ param set-default BAT2_A_PER_V 17
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
diff --git a/boards/holybro/durandal-v1/init/rc.board_defaults b/boards/holybro/durandal-v1/init/rc.board_defaults
index 2a3b2c0a7b38..49254efb15a4 100644
--- a/boards/holybro/durandal-v1/init/rc.board_defaults
+++ b/boards/holybro/durandal-v1/init/rc.board_defaults
@@ -11,5 +11,3 @@ param set-default BAT2_A_PER_V 36.367515152
 
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
-
-param set-default SYS_USE_IO 1
diff --git a/boards/holybro/pix32v5/init/rc.board_defaults b/boards/holybro/pix32v5/init/rc.board_defaults
index 94c582821480..c2300a50a770 100644
--- a/boards/holybro/pix32v5/init/rc.board_defaults
+++ b/boards/holybro/pix32v5/init/rc.board_defaults
@@ -9,7 +9,5 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
-param set-default SYS_USE_IO 1
-
 rgbled_pwm start
 safety_button start
diff --git a/boards/mro/x21-777/init/rc.board_defaults b/boards/mro/x21-777/init/rc.board_defaults
index e9fecd78a833..5d576dd74711 100644
--- a/boards/mro/x21-777/init/rc.board_defaults
+++ b/boards/mro/x21-777/init/rc.board_defaults
@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1
diff --git a/boards/mro/x21/init/rc.board_defaults b/boards/mro/x21/init/rc.board_defaults
index e9fecd78a833..5d576dd74711 100644
--- a/boards/mro/x21/init/rc.board_defaults
+++ b/boards/mro/x21/init/rc.board_defaults
@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1
diff --git a/boards/px4/fmu-v2/init/rc.board_defaults b/boards/px4/fmu-v2/init/rc.board_defaults
index e9fecd78a833..5d576dd74711 100644
--- a/boards/px4/fmu-v2/init/rc.board_defaults
+++ b/boards/px4/fmu-v2/init/rc.board_defaults
@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1
diff --git a/boards/px4/fmu-v3/init/rc.board_defaults b/boards/px4/fmu-v3/init/rc.board_defaults
index e9fecd78a833..5d576dd74711 100644
--- a/boards/px4/fmu-v3/init/rc.board_defaults
+++ b/boards/px4/fmu-v3/init/rc.board_defaults
@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1
diff --git a/boards/px4/fmu-v4pro/init/rc.board_defaults b/boards/px4/fmu-v4pro/init/rc.board_defaults
index 42378a19d727..8dd9df28d5a2 100644
--- a/boards/px4/fmu-v4pro/init/rc.board_defaults
+++ b/boards/px4/fmu-v4pro/init/rc.board_defaults
@@ -13,6 +13,4 @@ param set-default BAT2_A_PER_V 26.4
 param set-default EKF2_MULTI_IMU 2
 param set-default SENS_IMU_MODE 0
 
-param set-default SYS_USE_IO 1
-
 set LOGGER_BUF 64
diff --git a/boards/px4/fmu-v5/init/rc.board_defaults b/boards/px4/fmu-v5/init/rc.board_defaults
index 83c1976b74be..d7f8b05bd811 100644
--- a/boards/px4/fmu-v5/init/rc.board_defaults
+++ b/boards/px4/fmu-v5/init/rc.board_defaults
@@ -9,13 +9,6 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
-if ver hwtypecmp V5004000 V5006000
-then
-	param set-default SYS_USE_IO 0
-else
-	param set-default SYS_USE_IO 1
-fi
-
 if ver hwtypecmp V5005000 V5005002 V5006000 V5006002
 then
 	# CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs
diff --git a/boards/px4/fmu-v5x/init/rc.board_defaults b/boards/px4/fmu-v5x/init/rc.board_defaults
index 2ff61617b9ed..cf152b948eda 100644
--- a/boards/px4/fmu-v5x/init/rc.board_defaults
+++ b/boards/px4/fmu-v5x/init/rc.board_defaults
@@ -16,8 +16,6 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
-param set-default SYS_USE_IO 1
-
 if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
 then
 	# Skynode: use the "custom participant" config for uxrce_dds_client
diff --git a/boards/px4/fmu-v6c/init/rc.board_defaults b/boards/px4/fmu-v6c/init/rc.board_defaults
index 6418e5836d8b..f7dd26972135 100644
--- a/boards/px4/fmu-v6c/init/rc.board_defaults
+++ b/boards/px4/fmu-v6c/init/rc.board_defaults
@@ -9,5 +9,3 @@ param set-default BAT2_V_DIV 18.1
 
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
-
-param set-default SYS_USE_IO 1
diff --git a/boards/px4/fmu-v6x/init/rc.board_defaults b/boards/px4/fmu-v6x/init/rc.board_defaults
index d277bd771cb9..b94e5f78e679 100644
--- a/boards/px4/fmu-v6x/init/rc.board_defaults
+++ b/boards/px4/fmu-v6x/init/rc.board_defaults
@@ -16,8 +16,6 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
-param set-default SYS_USE_IO 1
-
 if ver hwtypecmp V6X009010 V6X010010
 then
 	# Skynode: use the "custom participant" config for uxrce_dds_client
diff --git a/boards/siyi/n7/init/rc.board_defaults b/boards/siyi/n7/init/rc.board_defaults
index a7d3d20bf9ea..24b5d9d8030b 100644
--- a/boards/siyi/n7/init/rc.board_defaults
+++ b/boards/siyi/n7/init/rc.board_defaults
@@ -10,5 +10,3 @@ param set-default BAT1_A_PER_V 36.367515152
 
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
-
-param set-default SYS_USE_IO 1
diff --git a/boards/sky-drones/smartap-airlink/init/rc.board_defaults b/boards/sky-drones/smartap-airlink/init/rc.board_defaults
index c581f8c741f9..212c72657f44 100644
--- a/boards/sky-drones/smartap-airlink/init/rc.board_defaults
+++ b/boards/sky-drones/smartap-airlink/init/rc.board_defaults
@@ -25,8 +25,6 @@ param set-default BAT_V_OFFS_CURR 0.413
 # Disable safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default SYS_USE_IO 1
-
 safety_button start
 
 set LOGGER_BUF 32
diff --git a/boards/thepeach/k1/init/rc.board_defaults b/boards/thepeach/k1/init/rc.board_defaults
index 5d8a3c182ba1..f22fa838f49e 100644
--- a/boards/thepeach/k1/init/rc.board_defaults
+++ b/boards/thepeach/k1/init/rc.board_defaults
@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
-
-param set-default SYS_USE_IO 1
diff --git a/boards/thepeach/r1/init/rc.board_defaults b/boards/thepeach/r1/init/rc.board_defaults
index 5d8a3c182ba1..f22fa838f49e 100644
--- a/boards/thepeach/r1/init/rc.board_defaults
+++ b/boards/thepeach/r1/init/rc.board_defaults
@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
-
-param set-default SYS_USE_IO 1
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index ca5470a89b8e..3e24fc48ba5b 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -336,8 +336,7 @@ class PX4IO : public cdev::CDev, public ModuleBase<PX4IO>, public OutputModuleIn
 		(ParamInt<px4::params::RC_RSSI_PWM_MAX>) _param_rc_rssi_pwm_max,
 		(ParamInt<px4::params::RC_RSSI_PWM_MIN>) _param_rc_rssi_pwm_min,
 		(ParamInt<px4::params::SENS_EN_THERMAL>) _param_sens_en_themal,
-		(ParamInt<px4::params::SYS_HITL>) _param_sys_hitl,
-		(ParamInt<px4::params::SYS_USE_IO>) _param_sys_use_io
+		(ParamInt<px4::params::SYS_HITL>) _param_sys_hitl
 	)
 };
 
@@ -468,7 +467,7 @@ int PX4IO::init()
 	}
 
 	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
-	if (_param_sys_hitl.get() <= 0 && _param_sys_use_io.get() == 1) {
+	if (_param_sys_hitl.get() <= 0) {
 		_mixing_output.setMaxTopicUpdateRate(MIN_TOPIC_UPDATE_INTERVAL);
 	}
 
diff --git a/src/drivers/px4io/px4io_params.c b/src/drivers/px4io/px4io_params.c
index ef1c1ee6ab92..b390bdb18a29 100644
--- a/src/drivers/px4io/px4io_params.c
+++ b/src/drivers/px4io/px4io_params.c
@@ -42,18 +42,6 @@
 #include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
-/**
- * Set usage of IO board
- *
- * Can be used to use a configure the use of the IO board.
- *
- * @value 0 IO PWM disabled (RC only)
- * @value 1 IO enabled (RC & PWM)
- * @reboot_required true
- * @group System
- */
-PARAM_DEFINE_INT32(SYS_USE_IO, 0);
-
 /**
  * S.BUS out
  *