commander: use circuit breaker params directly in arming checks

src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp

@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include "airspeedCheck.hpp"
+#include <lib/circuit_breaker/circuit_breaker.h>
 
 using namespace time_literals;
 
@@ -42,7 +43,7 @@ AirspeedChecks::AirspeedChecks()
 
 void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
 {
-	if (context.status().circuit_breaker_engaged_airspd_check ||
+	if (circuit_breaker_enabled_by_val(_param_cbrk_airspd_chk.get(), CBRK_AIRSPD_CHK_KEY) ||
 	    (context.status().vehicle_type != vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !context.status().is_vtol)) {
 		return;
 	}

src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp

@@ -53,6 +53,7 @@ private:
 	const param_t _param_fw_airspd_trim_handle;
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
+					(ParamInt<px4::params::CBRK_AIRSPD_CHK>) _param_cbrk_airspd_chk,
 					(ParamBool<px4::params::COM_ARM_ARSP_EN>) _param_com_arm_arsp_en
 				       )
 };

src/modules/commander/HealthAndArmingChecks/checks/powerCheck.cpp

@@ -32,12 +32,13 @@
  ****************************************************************************/
 
 #include "powerCheck.hpp"
+#include <lib/circuit_breaker/circuit_breaker.h>
 
 using namespace time_literals;
 
 void PowerChecks::checkAndReport(const Context &context, Report &reporter)
 {
-	if (context.status().circuit_breaker_engaged_power_check) {
+	if (circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(), CBRK_SUPPLY_CHK_KEY)) {
 		return;
 	}
 

src/modules/commander/HealthAndArmingChecks/checks/powerCheck.hpp

@@ -50,6 +50,7 @@ private:
 	uORB::Subscription _system_power_sub{ORB_ID(system_power)};
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
+					(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
 					(ParamInt<px4::params::COM_POWER_COUNT>) _param_com_power_count
 				       )
 };

src/modules/commander/HealthAndArmingChecks/checks/systemCheck.cpp

@@ -34,6 +34,7 @@
 #include "systemCheck.hpp"
 
 #include "../../Arming/ArmAuthorization/ArmAuthorization.h"
+#include <lib/circuit_breaker/circuit_breaker.h>
 #include <uORB/topics/vehicle_command_ack.h>
 
 void SystemChecks::checkAndReport(const Context &context, Report &reporter)
@@ -54,7 +55,7 @@ void SystemChecks::checkAndReport(const Context &context, Report &reporter)
 	}
 
 	// USB not connected
-	if (!context.status().circuit_breaker_engaged_usb_check && context.status().usb_connected) {
+	if (!circuit_breaker_enabled_by_val(_param_cbrk_usb_chk.get(), CBRK_USB_CHK_KEY) && context.status().usb_connected) {
 		/* EVENT
 		 * @description
 		 * Flying with USB is not safe. Disconnect it and reboot the FMU.
@@ -206,7 +207,7 @@ void SystemChecks::checkAndReport(const Context &context, Report &reporter)
 			}
 		}
 
-		if (!context.status().circuit_breaker_vtol_fw_arming_check
+		if (!circuit_breaker_enabled_by_val(_param_cbrk_vtolarming.get(), CBRK_VTOLARMING_KEY)
 		    && context.status().vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 			/* EVENT
 			 * @description

src/modules/commander/HealthAndArmingChecks/checks/systemCheck.hpp

@@ -50,6 +50,8 @@ private:
 	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
+					(ParamInt<px4::params::CBRK_VTOLARMING>) _param_cbrk_vtolarming,
+					(ParamInt<px4::params::CBRK_USB_CHK>) _param_cbrk_usb_chk,
 					(ParamBool<px4::params::COM_ARM_MIS_REQ>) _param_com_arm_mis_req,
 					(ParamBool<px4::params::COM_ARM_WO_GPS>) _param_com_arm_wo_gps,
 					(ParamBool<px4::params::COM_ARM_CHK_ESCS>) _param_com_arm_chk_escs,