From 7d79bdfa05b53d4399213be2a4226ff29f4044a5 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 20 Mar 2024 18:41:28 +0100
Subject: [PATCH] batteryCheck: apply supply circuit breaker also to battery
 checks

This was the case in older versions of PX4.
---
 .../commander/HealthAndArmingChecks/checks/batteryCheck.cpp  | 5 +++++
 .../commander/HealthAndArmingChecks/checks/batteryCheck.hpp  | 3 ++-
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
index f13977199e..70d97c7f2c 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include "batteryCheck.hpp"
+#include <lib/circuit_breaker/circuit_breaker.h>
 
 #include <px4_platform_common/events.h>
 
@@ -89,6 +90,10 @@ static constexpr const char *battery_mode_str(battery_mode_t battery_mode)
 
 void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
 {
+	if (circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(), CBRK_SUPPLY_CHK_KEY)) {
+		return;
+	}
+
 	int battery_required_count = 0;
 	bool battery_has_fault = false;
 	// There are possibly multiple batteries, and we can't know which ones serve which purpose. So the safest
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.hpp
index 81f1058d35..64cf1ed5e6 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.hpp
@@ -57,6 +57,7 @@ private:
 	bool _battery_connected_at_arming[battery_status_s::MAX_INSTANCES] {};
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
-					(ParamFloat<px4::params::COM_ARM_BAT_MIN>) _param_arm_battery_level_min
+					(ParamFloat<px4::params::COM_ARM_BAT_MIN>) _param_arm_battery_level_min,
+					(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk
 				       )
 };