Merge pull request #1233 from PX4/circuitbrkairspd

circuit_breakers: added param to disable airspeed check

src/modules/commander/commander.cpp

@@ -736,6 +736,7 @@ int commander_thread_main(int argc, char *argv[])
 
 	// CIRCUIT BREAKERS
 	status.circuit_breaker_engaged_power_check = false;
+	status.circuit_breaker_engaged_airspd_check = false;
 
 	/* publish initial state */
 	status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
@@ -977,6 +978,7 @@ int commander_thread_main(int argc, char *argv[])
 				param_get(_param_component_id, &(status.component_id));
 
 				status.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY);
+				status.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY);
 
 				status_changed = true;
 

src/modules/commander/state_machine_helper.cpp

@@ -669,7 +669,9 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 		goto system_eval;
 	}
 
-	if (!status->is_rotary_wing) {
+	/* Perform airspeed check only if circuit breaker is not
+	 * engaged and it's not a rotary wing */
+	if (!status->circuit_breaker_engaged_airspd_check && !status->is_rotary_wing) {
 		/* accel done, close it */
 		close(fd);
 		fd = orb_subscribe(ORB_ID(airspeed));

src/modules/systemlib/circuit_breaker.c

@@ -83,6 +83,18 @@ PARAM_DEFINE_INT32(CBRK_RATE_CTRL, 0);
  */
 PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 0);
 
+/**
+ * Circuit breaker for airspeed sensor
+ *
+ * Setting this parameter to 162128 will disable the check for an airspeed sensor.
+ * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ *
+ * @min 0
+ * @max 162128
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0);
+
 bool circuit_breaker_enabled(const char* breaker, int32_t magic)
 {
 	int32_t val;

src/modules/systemlib/circuit_breaker.h

@@ -52,6 +52,7 @@
 #define CBRK_SUPPLY_CHK_KEY	894281
 #define CBRK_RATE_CTRL_KEY	140253
 #define CBRK_IO_SAFETY_KEY	22027
+#define CBRK_AIRSPD_CHK_KEY	162128
 
 #include <stdbool.h>
 

src/modules/uORB/topics/vehicle_status.h

@@ -226,6 +226,7 @@ struct vehicle_status_s {
 	uint16_t errors_count4;
 
 	bool circuit_breaker_engaged_power_check;
+	bool circuit_breaker_engaged_airspd_check;
 };
 
 /**