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delete CBRK_VELPOSERR circuit breaker

This commit is contained in:
Daniel Agar 2022-07-11 18:45:14 -04:00
parent de74f45e2d
commit e99da22cbe
7 changed files with 2 additions and 23 deletions
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1
msg/vehicle_status_flags.msg
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@ -29,7 +29,6 @@ bool circuit_breaker_engaged_power_check
bool circuit_breaker_engaged_airspd_check
bool circuit_breaker_flight_termination_disabled
bool circuit_breaker_engaged_usb_check
bool circuit_breaker_engaged_posfailure_check # set to true when the position valid checks have been disabled
bool circuit_breaker_vtol_fw_arming_check # set to true if for VTOLs arming in fixed-wing mode should be allowed
bool offboard_control_signal_lost

1
src/lib/circuit_breaker/circuit_breaker.h
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@ -57,7 +57,6 @@
#define CBRK_AIRSPD_CHK_KEY 162128
#define CBRK_FLIGHTTERM_KEY 121212
#define CBRK_USB_CHK_KEY 197848
#define CBRK_VELPOSERR_KEY 201607
#define CBRK_VTOLARMING_KEY 159753
#include <stdint.h>

14
src/lib/circuit_breaker/circuit_breaker_params.c
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@ -149,20 +149,6 @@ PARAM_DEFINE_INT32(CBRK_BUZZER, 0);
*/
PARAM_DEFINE_INT32(CBRK_USB_CHK, 197848);
/**
* Circuit breaker for position error check
*
* Setting this parameter to 201607 will disable the position and velocity
* accuracy checks in the commander.
* WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
*
* @min 0
* @max 201607
* @category Developer
* @group Circuit Breaker
*/
PARAM_DEFINE_INT32(CBRK_VELPOSERR, 0);
/**
* Circuit breaker for arming in fixed-wing mode check
*

2
src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
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@ -144,7 +144,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
param_get(param_find("COM_ARM_WO_GPS"), &_param_com_arm_wo_gps);
const bool global_position_required = (_param_com_arm_wo_gps == 0);
if (global_position_required && !status_flags.circuit_breaker_engaged_posfailure_check) {
if (global_position_required) {
if (!status_flags.global_position_valid) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Global position required"); }

5
src/modules/commander/Commander.cpp
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@ -3134,9 +3134,6 @@ Commander::get_circuit_breaker_params()
_vehicle_status_flags.circuit_breaker_flight_termination_disabled = circuit_breaker_enabled_by_val(
_param_cbrk_flightterm.get(),
CBRK_FLIGHTTERM_KEY);
_vehicle_status_flags.circuit_breaker_engaged_posfailure_check = circuit_breaker_enabled_by_val(
_param_cbrk_velposerr.get(),
CBRK_VELPOSERR_KEY);
_vehicle_status_flags.circuit_breaker_vtol_fw_arming_check = circuit_breaker_enabled_by_val(
_param_cbrk_vtolarming.get(),
CBRK_VTOLARMING_KEY);
@ -3988,7 +3985,7 @@ void Commander::battery_status_check()
void Commander::estimator_check()
{
// Check if quality checking of position accuracy and consistency is to be performed
const bool run_quality_checks = !_vehicle_status_flags.circuit_breaker_engaged_posfailure_check;
const bool run_quality_checks = true;
_local_position_sub.update();
_global_position_sub.update();

1
src/modules/commander/Commander.hpp
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@ -254,7 +254,6 @@ private:
(ParamInt<px4::params::CBRK_USB_CHK>) _param_cbrk_usb_chk,
(ParamInt<px4::params::CBRK_AIRSPD_CHK>) _param_cbrk_airspd_chk,
(ParamInt<px4::params::CBRK_FLIGHTTERM>) _param_cbrk_flightterm,
(ParamInt<px4::params::CBRK_VELPOSERR>) _param_cbrk_velposerr,
(ParamInt<px4::params::CBRK_VTOLARMING>) _param_cbrk_vtolarming,
(ParamInt<px4::params::COM_FLT_TIME_MAX>) _param_com_flt_time_max,

1
src/modules/commander/commander_params.c
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@ -672,7 +672,6 @@ PARAM_DEFINE_INT32(COM_ARM_MIS_REQ, 0);
* Position control navigation loss response.
*
* This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control.
* Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.
*
* @value 0 Altitude/Manual. Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
* @value 1 Land/Terminate. Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.