payload deliverer: remove PD_GRIPPER_EN as unnecessary, reduce gripper timeout to 1s

src/modules/payload_deliverer/module.yaml

@@ -5,13 +5,6 @@ parameters:
       definitions:
 
         # Gripper configuration
-        PD_GRIPPER_EN:
-            description:
-                short: Enable Gripper actuation in Payload Deliverer
-            type: boolean
-            default: 0
-            reboot_required: true
-
         PD_GRIPPER_TYPE:
             description:
                 short: Type of Gripper (Servo, etc.)
@@ -34,4 +27,4 @@ parameters:
             type: float
             unit: s
             min: 0
-            default: 3
+            default: 1

src/modules/payload_deliverer/payload_deliverer.cpp

@@ -54,7 +54,7 @@ bool PayloadDeliverer::init()
 void PayloadDeliverer::configure_gripper()
 {
 	// If gripper instance is invalid, and user enabled the gripper, try initializing it
-	if (!_gripper.is_valid() && _param_gripper_enable.get()) {
+	if (!_gripper.is_valid()) {
 		GripperConfig config{};
 		config.type = (GripperConfig::GripperType)_param_gripper_type.get();
 		config.sensor = GripperConfig::GripperSensorType::NONE; // Feedback sensor isn't supported for now

src/modules/payload_deliverer/payload_deliverer.h

@@ -104,7 +104,7 @@ private:
 	/**
 	 * @brief Initialize or deinitialize gripper instance based on parameter settings
 	 *
-	 * Depending on `PD_GRIPPER_EN` and the state of `_gripper` instance, this function will
+	 * Depending on the state of `_gripper` instance, this function will
 	 * either try to initialize or de-initialize the gripper appropriately.
 	 */
 	void configure_gripper();
@@ -159,7 +159,6 @@ private:
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::PD_GRIPPER_TO>)	_param_gripper_timeout_s,
-		(ParamInt<px4::params::PD_GRIPPER_TYPE>)	_param_gripper_type,
-		(ParamBool<px4::params::PD_GRIPPER_EN>)		_param_gripper_enable
+		(ParamInt<px4::params::PD_GRIPPER_TYPE>)	_param_gripper_type
 	)
 };