CBRK_VELPOSERR doesn't bypass checks

[tuloski]

Using this circuit breaker doesn't actually bypass the checks.
It just skips the checks, so that if the position validity was false it will never be true so the copter won't arm or takeoff or whatever it has to do with a valid position.

I don't think that is the correct behavior.
Here: https://github.com/PX4/Firmware/blob/327354705b3519472dd493e687b014ce44c6415d/src/modules/commander/Commander.cpp#L4412-L4431
I'd add at the end an:

else {
status_flags.condition_global_position_valid = true;
status_flags.condition_local_position_valid = true;
status_flags.condition_local_velocity_valid = true;
}

[julianoes]

Thanks for the issue. I think what you're saying is correct. Would you mind creating a pull request to fix it? Thanks.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

[wangwwno1]

I have fixed this bug in 1.13.2:

PX4-Autopilot/src/modules/commander/Commander.cpp

Line 4051 in 46a12a0

const bool run_quality_checks = !_status_flags.circuit_breaker_engaged_posfailure_check;

by simply add the _have_taken_off_since_arming flag after the circuit breaker condition.

	const bool run_quality_checks = !_status_flags.circuit_breaker_engaged_posfailure_check || !_have_taken_off_since_arming;

This change will force the commander to pass the check at least once, then disable it after the copter is in air.

However, the CBRK_VELPOSERR param has been removed in the 1.14-beta1 branch. Perhaps we can just close this issue?
https://github.com/PX4/PX4-Autopilot/blob/c5dc1221b68352725630cbda5c04bc0f5c3c1617/src/lib/circuit_breaker/circuit_breaker_params.c

[junwoo091400]

However, the CBRK_VELPOSERR param has been removed in the 1.14-beta1 branch. Perhaps we can just close this issue?

If we don't care about backporting this bugfix to the affected versions in the past, yes it would make sense to close it

[junwoo091400]

Closing since we don't plan on backporting this fix for v1.13