Merge branch 'main' into pr-warn-sdlog-ineffective

src/modules/commander/HealthAndArmingChecks/checks/sdcardCheck.cpp

@@ -178,5 +178,45 @@ void SdCardChecks::checkAndReport(const Context &context, Report &reporter)
 #endif /* CONFIG_MODULES_TASK_WATCHDOG */
 
 #endif /* __PX4_NUTTX */
+	// Check if SDLOG parameters are set to non-default values while SD card logging is disabled
+	int32_t sdlog_backend = 0;
+	param_get(_param_sdlog_backend, &sdlog_backend);
+	const bool sdcard_logging_enabled = (sdlog_backend & 1) != 0;
+
+	if (!sdcard_logging_enabled) {
+		// Check if any SDLOG parameter differs from its default
+		const param_t sdlog_params[] = {_param_sdlog_mode, _param_sdlog_profile, _param_sdlog_mission, _param_sdlog_dirs_max};
+		bool sdlog_params_changed = false;
+
+		for (auto p : sdlog_params) {
+			int32_t val, def;
+
+			if (param_get(p, &val) == 0 && param_get_default_value(p, &def) == 0 && val != def) {
+				sdlog_params_changed = true;
+				break;
+			}
+		}
+
+		if (sdlog_params_changed) {
+
+			/* EVENT
+			 * @description
+			 * SD logging parameters (SDLOG_*) have been modified, but SD card logging
+			 * is not enabled in <param>SDLOG_BACKEND</param>.
+			 *
+			 * <profile name="dev">
+			 * These parameters will have no effect.
+			 * </profile>
+			 */
+			reporter.healthFailure(NavModes::None, health_component_t::logging,
+					       events::ID("check_sdlog_params_no_sdcard"),
+					       events::Log::Warning, "SDLOG parameters ineffective without SD card logging");
+
+			if (reporter.mavlink_log_pub()) {
+				mavlink_log_warning(reporter.mavlink_log_pub(), "SDLOG parameters set but SD card logging disabled");
+			}
+		}
+	}
+
 #endif /* PX4_STORAGEDIR */
 }

src/modules/commander/HealthAndArmingChecks/checks/sdcardCheck.hpp

@@ -55,6 +55,13 @@ private:
 #endif
 #endif
 
+	// SDLOG parameters are from logger module, access via param_find
+	param_t _param_sdlog_backend{param_find("SDLOG_BACKEND")};
+	param_t _param_sdlog_mode{param_find("SDLOG_MODE")};
+	param_t _param_sdlog_profile{param_find("SDLOG_PROFILE")};
+	param_t _param_sdlog_mission{param_find("SDLOG_MISSION")};
+	param_t _param_sdlog_dirs_max{param_find("SDLOG_DIRS_MAX")};
+
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
 					(ParamInt<px4::params::COM_ARM_SDCARD>) _param_com_arm_sdcard,
 					(ParamBool<px4::params::COM_ARM_HFLT_CHK>) _param_com_arm_hardfault_check