From e99da22cbe964fe9d9700ff9e100410d8c2583f5 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 11 Jul 2022 18:45:14 -0400 Subject: [PATCH] delete CBRK_VELPOSERR circuit breaker --- msg/vehicle_status_flags.msg | 1 - src/lib/circuit_breaker/circuit_breaker.h | 1 - src/lib/circuit_breaker/circuit_breaker_params.c | 14 -------------- .../Arming/PreFlightCheck/checks/preArmCheck.cpp | 2 +- src/modules/commander/Commander.cpp | 5 +---- src/modules/commander/Commander.hpp | 1 - src/modules/commander/commander_params.c | 1 - 7 files changed, 2 insertions(+), 23 deletions(-) diff --git a/msg/vehicle_status_flags.msg b/msg/vehicle_status_flags.msg index 70b9adf46e..f5a02c92b3 100644 --- a/msg/vehicle_status_flags.msg +++ b/msg/vehicle_status_flags.msg @@ -29,7 +29,6 @@ bool circuit_breaker_engaged_power_check bool circuit_breaker_engaged_airspd_check bool circuit_breaker_flight_termination_disabled bool circuit_breaker_engaged_usb_check -bool circuit_breaker_engaged_posfailure_check # set to true when the position valid checks have been disabled bool circuit_breaker_vtol_fw_arming_check # set to true if for VTOLs arming in fixed-wing mode should be allowed bool offboard_control_signal_lost diff --git a/src/lib/circuit_breaker/circuit_breaker.h b/src/lib/circuit_breaker/circuit_breaker.h index 4029f2f7e9..9f5f1a1aa4 100644 --- a/src/lib/circuit_breaker/circuit_breaker.h +++ b/src/lib/circuit_breaker/circuit_breaker.h @@ -57,7 +57,6 @@ #define CBRK_AIRSPD_CHK_KEY 162128 #define CBRK_FLIGHTTERM_KEY 121212 #define CBRK_USB_CHK_KEY 197848 -#define CBRK_VELPOSERR_KEY 201607 #define CBRK_VTOLARMING_KEY 159753 #include diff --git a/src/lib/circuit_breaker/circuit_breaker_params.c b/src/lib/circuit_breaker/circuit_breaker_params.c index f19d6a33d7..197d641d10 100644 --- a/src/lib/circuit_breaker/circuit_breaker_params.c +++ b/src/lib/circuit_breaker/circuit_breaker_params.c @@ -149,20 +149,6 @@ PARAM_DEFINE_INT32(CBRK_BUZZER, 0); */ PARAM_DEFINE_INT32(CBRK_USB_CHK, 197848); -/** - * 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 - * - * @min 0 - * @max 201607 - * @category Developer - * @group Circuit Breaker - */ -PARAM_DEFINE_INT32(CBRK_VELPOSERR, 0); - /** * Circuit breaker for arming in fixed-wing mode check * diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp index 80c9cd8009..22c3b0735f 100644 --- a/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp +++ b/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp @@ -144,7 +144,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st param_get(param_find("COM_ARM_WO_GPS"), &_param_com_arm_wo_gps); const bool global_position_required = (_param_com_arm_wo_gps == 0); - if (global_position_required && !status_flags.circuit_breaker_engaged_posfailure_check) { + if (global_position_required) { if (!status_flags.global_position_valid) { if (prearm_ok) { if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Global position required"); } diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index fa0b8c4f46..41089463e3 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -3134,9 +3134,6 @@ Commander::get_circuit_breaker_params() _vehicle_status_flags.circuit_breaker_flight_termination_disabled = circuit_breaker_enabled_by_val( _param_cbrk_flightterm.get(), CBRK_FLIGHTTERM_KEY); - _vehicle_status_flags.circuit_breaker_engaged_posfailure_check = circuit_breaker_enabled_by_val( - _param_cbrk_velposerr.get(), - CBRK_VELPOSERR_KEY); _vehicle_status_flags.circuit_breaker_vtol_fw_arming_check = circuit_breaker_enabled_by_val( _param_cbrk_vtolarming.get(), CBRK_VTOLARMING_KEY); @@ -3988,7 +3985,7 @@ void Commander::battery_status_check() void Commander::estimator_check() { // Check if quality checking of position accuracy and consistency is to be performed - const bool run_quality_checks = !_vehicle_status_flags.circuit_breaker_engaged_posfailure_check; + const bool run_quality_checks = true; _local_position_sub.update(); _global_position_sub.update(); diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp index 4690c6182f..efbb767f70 100644 --- a/src/modules/commander/Commander.hpp +++ b/src/modules/commander/Commander.hpp @@ -254,7 +254,6 @@ private: (ParamInt) _param_cbrk_usb_chk, (ParamInt) _param_cbrk_airspd_chk, (ParamInt) _param_cbrk_flightterm, - (ParamInt) _param_cbrk_velposerr, (ParamInt) _param_cbrk_vtolarming, (ParamInt) _param_com_flt_time_max, diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index 15c98f8c09..dfaf38e36d 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -672,7 +672,6 @@ PARAM_DEFINE_INT32(COM_ARM_MIS_REQ, 0); * Position control navigation loss response. * * This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. - * Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes. * * @value 0 Altitude/Manual. Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL. * @value 1 Land/Terminate. Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.