remove avoidance library and logic

Signed-off-by: Silvan <silvan@auterion.com>

src/modules/commander/Commander.cpp

@@ -1717,8 +1717,6 @@ void Commander::updateParameters()
 		_vehicle_status.system_type = value_int32;
 	}
 
-	_vehicle_status.avoidance_system_required = _param_com_obs_avoid.get();
-
 	_auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s);
 
 	const bool is_rotary = is_rotary_wing(_vehicle_status) || (is_vtol(_vehicle_status)
@@ -1799,9 +1797,6 @@ void Commander::run()
 			_status_changed = true;
 		}
 
-		/* Update OA parameter */
-		_vehicle_status.avoidance_system_required = _param_com_obs_avoid.get();
-
 		handlePowerButtonState();
 
 		systemPowerUpdate();
@@ -2814,16 +2809,6 @@ void Commander::dataLinkCheck()
 				_vehicle_status.open_drone_id_system_present = true;
 				_vehicle_status.open_drone_id_system_healthy = healthy;
 			}
-
-			if (telemetry.heartbeat_component_obstacle_avoidance) {
-				if (_avoidance_system_lost) {
-					_avoidance_system_lost = false;
-					_status_changed = true;
-				}
-
-				_datalink_last_heartbeat_avoidance_system = telemetry.timestamp;
-				_vehicle_status.avoidance_system_valid = telemetry.avoidance_system_healthy;
-			}
 		}
 	}
 
@@ -2875,17 +2860,6 @@ void Commander::dataLinkCheck()
 		_open_drone_id_system_lost = true;
 		_status_changed = true;
 	}
-
-	// AVOIDANCE SYSTEM state check (only if it is enabled)
-	if (_vehicle_status.avoidance_system_required && !_onboard_controller_lost) {
-		// if heartbeats stop
-		if (!_avoidance_system_lost && (_datalink_last_heartbeat_avoidance_system > 0)
-		    && (hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > 5_s)) {
-
-			_avoidance_system_lost = true;
-			_vehicle_status.avoidance_system_valid = false;
-		}
-	}
 }
 
 void Commander::battery_status_check()

src/modules/commander/Commander.hpp

@@ -241,7 +241,6 @@ private:
 	Hysteresis _auto_disarm_killed{false};
 
 	hrt_abstime _datalink_last_heartbeat_open_drone_id_system{0};
-	hrt_abstime _datalink_last_heartbeat_avoidance_system{0};
 	hrt_abstime _datalink_last_heartbeat_gcs{0};
 	hrt_abstime _datalink_last_heartbeat_onboard_controller{0};
 	hrt_abstime _datalink_last_heartbeat_parachute_system{0};
@@ -268,7 +267,6 @@ private:
 	bool _failsafe_user_override_request{false}; ///< override request due to stick movements
 
 	bool _open_drone_id_system_lost{true};
-	bool _avoidance_system_lost{false};
 	bool _onboard_controller_lost{false};
 	bool _parachute_system_lost{true};
 
@@ -342,7 +340,6 @@ private:
 		(ParamBool<px4::params::COM_FORCE_SAFETY>)  _param_com_force_safety,
 		(ParamFloat<px4::params::COM_KILL_DISARM>)  _param_com_kill_disarm,
 		(ParamBool<px4::params::COM_MOT_TEST_EN>)   _param_com_mot_test_en,
-		(ParamBool<px4::params::COM_OBS_AVOID>)     _param_com_obs_avoid,
 		(ParamFloat<px4::params::COM_OBC_LOSS_T>)   _param_com_obc_loss_t,
 		(ParamInt<px4::params::COM_PREARM_MODE>)    _param_com_prearm_mode,
 		(ParamInt<px4::params::COM_RC_OVERRIDE>)    _param_com_rc_override,

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

@@ -121,27 +121,6 @@ void SystemChecks::checkAndReport(const Context &context, Report &reporter)
 		}
 	}
 
-	// avoidance system
-	if (context.status().avoidance_system_required) {
-		if (context.status().avoidance_system_valid) {
-			reporter.setIsPresent(health_component_t::avoidance);
-
-		} else {
-			/* EVENT
-			 * @description
-			 * <profile name="dev">
-			 * This check can be configured via <param>COM_OBS_AVOID</param> parameter.
-			 * </profile>
-			 */
-			reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_avoidance_not_ready"),
-						    events::Log::Error, "Avoidance system not ready");
-
-			if (reporter.mavlink_log_pub()) {
-				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Avoidance system not ready");
-			}
-		}
-	}
-
 	// VTOL in transition
 	if (context.status().is_vtol && !context.isArmed()) {
 		if (context.status().in_transition_mode) {

src/modules/commander/commander_params.c

@@ -640,14 +640,6 @@ PARAM_DEFINE_INT32(COM_RCL_EXCEPT, 0);
  */
 PARAM_DEFINE_INT32(COM_ACT_FAIL_ACT, 0);
 
-/**
- * Flag to enable obstacle avoidance.
- *
- * @boolean
- * @group Commander
- */
-PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
-
 /**
  * Expect and require a healthy MAVLink parachute system
  *