delete CBRK_VELPOSERR circuit breaker

msg/vehicle_status_flags.msg

@@ -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

src/lib/circuit_breaker/circuit_breaker.h

@@ -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>

src/lib/circuit_breaker/circuit_breaker_params.c

@@ -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
  *

src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp

@@ -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"); }

src/modules/commander/Commander.cpp

@@ -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();

src/modules/commander/Commander.hpp

@@ -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,

src/modules/commander/commander_params.c

@@ -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.