IO firmware: Ensure that in case of lockdown only the lockdown code writes servo outputs

src/modules/px4iofirmware/mixer.cpp

@@ -235,7 +235,8 @@ mixer_tick(void)
 		}
 
 
-	} else if (source != MIX_NONE && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
+	} else if (source != MIX_NONE && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)
+			&& !(r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)) {
 
 		float	outputs[PX4IO_SERVO_COUNT];
 		unsigned mixed;
@@ -286,7 +287,8 @@ mixer_tick(void)
 		isr_debug(5, "> PWM disabled");
 	}
 
-	if (mixer_servos_armed && (should_arm || should_arm_nothrottle)) {
+	if (mixer_servos_armed && (should_arm || should_arm_nothrottle)
+		&& !(r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)) {
 		/* update the servo outputs. */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
 			up_pwm_servo_set(i, r_page_servos[i]);
@@ -306,6 +308,8 @@ mixer_tick(void)
 		/* set the disarmed servo outputs. */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
 			up_pwm_servo_set(i, r_page_servo_disarmed[i]);
+			/* copy values into reporting register */
+			r_page_servos[i] = r_page_servo_disarmed[i];
 		}
 
 		/* set S.BUS1 or S.BUS2 outputs */