From 519e9033475c1d3377136db1ee3b77b8e7247b1c Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Wed, 8 Mar 2017 10:59:19 +1100
Subject: [PATCH] systemlib: Add circuit breaker parameter for position error
 checks

---
 src/modules/systemlib/circuit_breaker.h        |  1 +
 src/modules/systemlib/circuit_breaker_params.c | 14 ++++++++++++++
 2 files changed, 15 insertions(+)

diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h
index b4d9b5d1c6..dc403ceb72 100644
--- a/src/modules/systemlib/circuit_breaker.h
+++ b/src/modules/systemlib/circuit_breaker.h
@@ -57,6 +57,7 @@
 #define CBRK_ENGINEFAIL_KEY	284953
 #define CBRK_GPSFAIL_KEY	240024
 #define CBRK_USB_CHK_KEY	197848
+#define CBRK_VELPOSERR_KEY	201607
 
 #include <stdbool.h>
 
diff --git a/src/modules/systemlib/circuit_breaker_params.c b/src/modules/systemlib/circuit_breaker_params.c
index 74817bb195..2a8d863cbf 100644
--- a/src/modules/systemlib/circuit_breaker_params.c
+++ b/src/modules/systemlib/circuit_breaker_params.c
@@ -169,3 +169,17 @@ PARAM_DEFINE_INT32(CBRK_BUZZER, 0);
  * @group Circuit Breaker
  */
 PARAM_DEFINE_INT32(CBRK_USB_CHK, 0);
+
+/**
+ * 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
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 201607
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_VELPOSERR, 0);