From 8f8615e6c210cfad9f6a1f19cc0c1c4e336bb927 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 11 Jul 2022 18:48:25 -0400
Subject: [PATCH] delete CBRK_RATE_CTRL

---
 src/lib/circuit_breaker/circuit_breaker.h         |  1 -
 src/lib/circuit_breaker/circuit_breaker_params.c  | 15 ---------------
 .../mc_rate_control/MulticopterRateControl.cpp    |  4 +---
 .../mc_rate_control/MulticopterRateControl.hpp    |  5 +----
 4 files changed, 2 insertions(+), 23 deletions(-)

diff --git a/src/lib/circuit_breaker/circuit_breaker.h b/src/lib/circuit_breaker/circuit_breaker.h
index 9f5f1a1aa4..01cad483f6 100644
--- a/src/lib/circuit_breaker/circuit_breaker.h
+++ b/src/lib/circuit_breaker/circuit_breaker.h
@@ -52,7 +52,6 @@
 
 #define CBRK_BUZZER_KEY         782097
 #define CBRK_SUPPLY_CHK_KEY	894281
-#define CBRK_RATE_CTRL_KEY	140253
 #define CBRK_IO_SAFETY_KEY	22027
 #define CBRK_AIRSPD_CHK_KEY	162128
 #define CBRK_FLIGHTTERM_KEY	121212
diff --git a/src/lib/circuit_breaker/circuit_breaker_params.c b/src/lib/circuit_breaker/circuit_breaker_params.c
index 197d641d10..f33159943a 100644
--- a/src/lib/circuit_breaker/circuit_breaker_params.c
+++ b/src/lib/circuit_breaker/circuit_breaker_params.c
@@ -56,21 +56,6 @@
  */
 PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK, 0);
 
-/**
- * Circuit breaker for rate controller output
- *
- * Setting this parameter to 140253 will disable the rate
- * controller uORB publication.
- * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
- *
- * @reboot_required true
- * @min 0
- * @max 140253
- * @category Developer
- * @group Circuit Breaker
- */
-PARAM_DEFINE_INT32(CBRK_RATE_CTRL, 0);
-
 /**
  * Circuit breaker for IO safety
  *
diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp
index e639b9d153..02a54c9155 100644
--- a/src/modules/mc_rate_control/MulticopterRateControl.cpp
+++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp
@@ -94,8 +94,6 @@ MulticopterRateControl::parameters_updated()
 	// manual rate control acro mode rate limits
 	_acro_rate_max = Vector3f(radians(_param_mc_acro_r_max.get()), radians(_param_mc_acro_p_max.get()),
 				  radians(_param_mc_acro_y_max.get()));
-
-	_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled_by_val(_param_cbrk_rate_ctrl.get(), CBRK_RATE_CTRL_KEY);
 }
 
 void
@@ -207,7 +205,7 @@ MulticopterRateControl::Run()
 		}
 
 		// run the rate controller
-		if (_vehicle_control_mode.flag_control_rates_enabled && !_actuators_0_circuit_breaker_enabled) {
+		if (_vehicle_control_mode.flag_control_rates_enabled) {
 
 			// reset integral if disarmed
 			if (!_vehicle_control_mode.flag_armed || _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
diff --git a/src/modules/mc_rate_control/MulticopterRateControl.hpp b/src/modules/mc_rate_control/MulticopterRateControl.hpp
index 02197a689c..d3a0be95f1 100644
--- a/src/modules/mc_rate_control/MulticopterRateControl.hpp
+++ b/src/modules/mc_rate_control/MulticopterRateControl.hpp
@@ -124,7 +124,6 @@ private:
 	vehicle_control_mode_s	_vehicle_control_mode{};
 	vehicle_status_s	_vehicle_status{};
 
-	bool _actuators_0_circuit_breaker_enabled{false};	/**< circuit breaker to suppress output */
 	bool _landed{true};
 	bool _maybe_landed{true};
 
@@ -176,8 +175,6 @@ private:
 		(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _param_mc_acro_supexpo,		/**< superexpo stick curve shape (roll & pitch) */
 		(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _param_mc_acro_supexpoy,		/**< superexpo stick curve shape (yaw) */
 
-		(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en,
-
-		(ParamInt<px4::params::CBRK_RATE_CTRL>) _param_cbrk_rate_ctrl
+		(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en
 	)
 };