Support reversible mask in iomcu

[andyp1per]

We were sending the command but not coping when actually sending the dshot packet

[tridge]

I think we also need the armed state? so we can send dshot value 0 when disarmed. Not doing that for 3D ESCs is dangerous
We have the flag P_SETUP_ARMING_FMU_ARMED left over from earlier versions of IOMCU but we don't seem to use it, I think we need to check hal.util->get_soft_armed() and send that flag over to the IOMCU, otherwise reversible ESCs are too dangerous

Note we do this:

so on FMU we do send 0 always when not armed, on IOMCU we don't as far as I can see

[andyp1per]

I think we also need the armed state? so we can send dshot value 0 when disarmed. Not doing that for 3D ESCs is dangerous We have the flag P_SETUP_ARMING_FMU_ARMED left over from earlier versions of IOMCU but we don't seem to use it, I think we need to check hal.util->get_soft_armed() and send that flag over to the IOMCU, otherwise reversible ESCs are too dangerous

Note we do this: so on FMU we do send 0 always when not armed, on IOMCU we don't as far as I can see

Good catch! Now I understand why @bugobliterator commented this out on IOMCU. It's a little more subtle as the armed state needs to be propagated as well, but certainly doable.

[andyp1per]

I verified with a Saleae that:

• disarmed + safety - no output
• disarmed + safety disabled - zeros output
• armed - zero throttle output

[tridge]

minor changes, but main problem is that the resulting DShot signal is wrong on IOMCU, it is idle high whereas DShot is supposed to be idle low

[tridge]

testing on Pixhawk6x-bdshot with Sub, with 10% throttle:

OUT1 is IOMCU, OUT9 is FMU
note that the signal is idle-high on IOMCU, and AM32 doesn't recognise it:

[andyp1per]

I have now tested this successfully on a CubeOrangePlus

[tridge]

@andyp1per I've been testing this with both BLHeli32 and AM32 ESCs on a Pixhawk6X-bdshot board, testing with rover
It all works on FMU, but on IOMCU we never send the command code to set the ESC to 3D mode.

[rmackay9]

I discussed with @andyp1per and it only affects rover and sub and he thinks it's best that we wait for 4.6 which will start beta testing soon anyway