Replace CBRK_AIRSPD_CHK with SYS_HAS_NUM_ASPD

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

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -153,7 +153,6 @@ fi
 
 param set-default BAT1_N_CELLS 4
 
-param set-default CBRK_AIRSPD_CHK 0
 param set-default CBRK_SUPPLY_CHK 894281
 
 # disable check, no CPU load reported on posix yet

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -28,7 +28,7 @@ param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
 
-param set-default CBRK_AIRSPD_CHK 162128
+param set-default SYS_HAS_NUM_ASPD 0
 param set-default CBRK_IO_SAFETY 22027
 
 param set-default EKF2_GPS_POS_X -0.12

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -54,3 +54,5 @@ param set-default MIS_TKO_LAND_REQ 2
 # FW takeoff acceleration can easily exceed ublox GPS 2G default.
 #
 param set-default GPS_UBX_DYNMODEL 8
+
+param set-default SYS_HAS_NUM_ASPD 1 # by default require an airspeed sensor

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -10,9 +10,6 @@ set VEHICLE_TYPE rover
 # MAV_TYPE_GROUND_ROVER 10
 param set-default MAV_TYPE 10
 
-# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 2

ROMFS/px4fmu_common/init.d/rc.uuv_defaults

@@ -9,6 +9,3 @@ set VEHICLE_TYPE uuv
 
 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
-
-# UUV don't have an airspeed sensor, so disable checks around it
-param set-default CBRK_AIRSPD_CHK 162128

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -42,4 +42,6 @@ param set-default MPC_MAN_Y_MAX 90
 
 param set-default RTL_TYPE 1
 
+param set-default SYS_HAS_NUM_ASPD 1 # by default require an airspeed sensor
+
 param set-default WV_EN 1

src/lib/circuit_breaker/circuit_breaker.h

@@ -53,7 +53,6 @@
 #define CBRK_BUZZER_KEY         782097
 #define CBRK_SUPPLY_CHK_KEY	894281
 #define CBRK_IO_SAFETY_KEY	22027
-#define CBRK_AIRSPD_CHK_KEY	162128
 #define CBRK_FLIGHTTERM_KEY	121212
 #define CBRK_USB_CHK_KEY	197848
 #define CBRK_VTOLARMING_KEY	159753

src/lib/circuit_breaker/circuit_breaker_params.c

@@ -69,21 +69,6 @@ PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK, 0);
  */
 PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 22027);
 
-/**
- * Circuit breaker for airspeed sensor
- *
- * Setting this parameter to 162128 will disable the check for an airspeed sensor.
- * The sensor driver will not be started and it cannot be calibrated.
- * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
- *
- * @reboot_required true
- * @min 0
- * @max 162128
- * @category Developer
- * @group Circuit Breaker
- */
-PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0);
-
 /**
  * Circuit breaker for flight termination
  *

src/lib/parameters/param_translation.cpp

@@ -58,5 +58,20 @@ bool param_modify_on_import(bson_node_t node)
 		}
 	}
 
+	// 2023-12-06: translate CBRK_AIRSPD_CHK-> SYS_HAS_NUM_ASPD
+	{
+		if (strcmp("CBRK_AIRSPD_CHK", node->name) == 0) {
+			if (node->i32 == 162128) {
+				node->i32 = 0;
+
+				strcpy(node->name, "SYS_HAS_NUM_ASPD");
+				PX4_INFO("copying %s -> %s", "CBRK_AIRSPD_CHK", "SYS_HAS_NUM_ASPD");
+
+			}
+
+			return true;
+		}
+	}
+
 	return false;
 }

src/lib/systemlib/system_params.c

@@ -216,6 +216,19 @@ PARAM_DEFINE_INT32(SYS_HAS_MAG, 1);
  */
 PARAM_DEFINE_INT32(SYS_HAS_BARO, 1);
 
+/**
+ * Control if the vehicle has an airspeed sensor
+ *
+ * Set this to 0 if the board has no airspeed sensor.
+ * If set to 0, the preflight checks will not check for the presence of an
+ * airspeed sensor.
+ *
+ * @group System
+ * @min 0
+ * @max 1
+ */
+PARAM_DEFINE_INT32(SYS_HAS_NUM_ASPD, 0);
+
 /**
  * Number of distance sensors to check being available
  *

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

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -43,7 +43,7 @@ AirspeedChecks::AirspeedChecks()
 
 void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
 {
-	if (circuit_breaker_enabled_by_val(_param_cbrk_airspd_chk.get(), CBRK_AIRSPD_CHK_KEY) ||
+	if (_param_sys_has_num_aspd.get() <= 0 ||
 	    (context.status().vehicle_type != vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !context.status().is_vtol)) {
 		return;
 	}
@@ -102,7 +102,7 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
 		 * @description
 		 * <profile name="dev">
 		 * Most likely the airspeed selector module is not running.
-		 * This check can be configured via <param>CBRK_AIRSPD_CHK</param> parameter.
+		 * This check can be configured via <param>SYS_HAS_NUM_ASPD</param> parameter.
 		 * </profile>
 		 */
 		reporter.healthFailure(NavModes::All, health_component_t::differential_pressure,

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

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -52,6 +52,6 @@ private:
 	const param_t _param_fw_airspd_max_handle;
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
-					(ParamInt<px4::params::CBRK_AIRSPD_CHK>) _param_cbrk_airspd_chk
+					(ParamInt<px4::params::SYS_HAS_NUM_ASPD>) _param_sys_has_num_aspd
 				       )
 };