AP_HAL_ChibiOS: add iomcu support for reversible mask

check armed state on iomcu before sending dshot packets

libraries/AP_HAL_ChibiOS/RCOutput.cpp

@@ -1637,9 +1637,8 @@ void RCOutput::dshot_send(pwm_group &group, rcout_timer_t cycle_start_us, rcout_
     bdshot_prepare_for_next_pulse(group);
 #endif
     bool safety_on = hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED;
-#if !defined(IOMCU_FW)
     bool armed = hal.util->get_soft_armed();
-#endif
+
     memset((uint8_t *)group.dma_buffer, 0, DSHOT_BUFFER_LENGTH);
 
     for (uint8_t i=0; i<4; i++) {
@@ -1683,12 +1682,12 @@ void RCOutput::dshot_send(pwm_group &group, rcout_timer_t cycle_start_us, rcout_
             if (value != 0) {
                 value += DSHOT_ZERO_THROTTLE;
             }
-#if !defined(IOMCU_FW)
+
             if (!armed) {
                 // when disarmed we always send a zero value
                 value = 0;
             }
-#endif
+
             // according to sskaug requesting telemetry while trying to arm may interfere with the good frame calc
             bool request_telemetry = telem_request_mask & chan_mask;
             uint16_t packet = create_dshot_packet(value, request_telemetry,