I'm running a modified version of the PX4 software on a Pixracer. The PWM outputs are set to control slow-moving flaps, rather than rotors, so safety is not really an issue here. However, if these flaps malfunction in flight, it could lead to catastrophic failure of the vehicle. I'm wondering if it's possible to disable HIL lockdown to allow the servos to move in HIL and make testing software changes easier and safer.
I've tried commenting out all the lines that set "armed->lockdown = true", but it hasn't worked. I tried using the debug cable and sending "commander lockdown off", but it didn't work. I've also tried logging the "actuator_armed" topic, and checking the "lockdown" and "manual_lockdown" fields, but they seem to indicate lockdown is off. I have tested and confirmed that the servos work properly outside of HIL.
Any help would be greatly appreciated.