refactor(commander): remove unused parameter COM_LKDOWN_TKO

docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params

@@ -307,7 +307,6 @@
 1	1	COM_HOME_EN	1	6
 1	1	COM_HOME_IN_AIR	0	6
 1	1	COM_IMB_PROP_ACT	0	6
-1	1	COM_LKDOWN_TKO	3.000000000000000000	9
 1	1	COM_LOW_BAT_ACT	0	6
 1	1	COM_OBC_LOSS_T	5.000000000000000000	9
 1	1	COM_OBL_RC_ACT	0	6

src/modules/commander/commander_params.yaml

@@ -575,20 +575,6 @@ parameters:
       default: 1
       min: 0
       max: 4
-    COM_LKDOWN_TKO:
-      description:
-        short: Timeout for detecting a failure after takeoff
-        long: |-
-          A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to disarm the vehicle
-          if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R.
-          The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW).
-          A zero or negative value means that the check is disabled.
-      type: float
-      default: 3.0
-      unit: s
-      min: -1.0
-      max: 5.0
-      decimal: 3
     COM_ARM_SDCARD:
       description:
         short: Enable FMU SD card detection check

src/modules/commander/failsafe/failsafe.cpp

@@ -607,8 +607,9 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 
 
 	// Handle fails during spoolup just after arming
-	if ((_armed_time != 0)
+	const hrt_abstime spoolup = static_cast<hrt_abstime>(_param_com_spoolup_time.get() * 1_s);
-	    && (time_us < _armed_time + static_cast<hrt_abstime>(_param_com_spoolup_time.get() * 1_s))
+
+	if ((_armed_time != 0) && (time_us < _armed_time + spoolup)
 	   ) {
 		_last_state_fd_esc_arming = checkFailsafe(_caller_id_fd_esc_arming, _last_state_fd_esc_arming,
 					    status_flags.fd_esc_arming_failure,
@@ -619,9 +620,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 	}
 
 	// Handle fails during the early takeoff phase
-	if ((_armed_time != 0)
+	if ((_armed_time != 0) && (time_us < _armed_time + spoolup + 3_s)
-	    && (time_us < _armed_time
-		+ static_cast<hrt_abstime>((_param_com_lkdown_tko.get() + _param_com_spoolup_time.get()) * 1_s))
 	   ) {
 		CHECK_FAILSAFE(status_flags, fd_critical_failure, ActionOptions(Action::Disarm).cannotBeDeferred());
 

src/modules/commander/failsafe/failsafe.h

@@ -201,7 +201,6 @@ private:
 					(ParamInt<px4::params::GF_ACTION>)  	_param_gf_action,
 					(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time,
 					(ParamInt<px4::params::COM_IMB_PROP_ACT>) _param_com_imb_prop_act,
-					(ParamFloat<px4::params::COM_LKDOWN_TKO>) _param_com_lkdown_tko,
 					(ParamInt<px4::params::CBRK_FLIGHTTERM>) _param_cbrk_flightterm,
 					(ParamInt<px4::params::COM_ACT_FAIL_ACT>) _param_com_actuator_failure_act,
 					(ParamInt<px4::params::COM_LOW_BAT_ACT>) _param_com_low_bat_act,