added circuit_breaker_enabled_by_val()

added and using circuit_breaker_enabled_by_val() where possible instead of circuit_breaker_enabled() which search for cbrk parameters by name, which is extensive process.

src/lib/circuit_breaker/circuit_breaker.cpp

@@ -53,3 +53,8 @@ bool circuit_breaker_enabled(const char *breaker, int32_t magic)
 
 	return (PX4_PARAM_GET_BYNAME(breaker, &val) == 0) && (val == magic);
 }
+
+bool circuit_breaker_enabled_by_val(int32_t breaker_val, int32_t magic)
+{
+	return (breaker_val == magic);
+}

src/lib/circuit_breaker/circuit_breaker.h

@@ -64,6 +64,7 @@
 __BEGIN_DECLS
 
 extern "C" __EXPORT bool circuit_breaker_enabled(const char *breaker, int32_t magic);
+extern "C" __EXPORT bool circuit_breaker_enabled_by_val(int32_t breaker_val, int32_t magic);
 
 __END_DECLS
 

src/lib/mixer_module/mixer_module.cpp

@@ -89,7 +89,7 @@ void MixingOutput::updateParams()
 {
 	ModuleParams::updateParams();
 
-	bool safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
+	bool safety_disabled = circuit_breaker_enabled_by_val(_param_cbrk_io_safety.get(), CBRK_IO_SAFETY_KEY);
 
 	if (safety_disabled) {
 		_safety_off = true;

src/lib/mixer_module/mixer_module.hpp

@@ -234,7 +234,9 @@ class MixingOutput : public ModuleParams
 		(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode,   ///< multicopter air-mode
 		(ParamFloat<px4::params::MOT_SLEW_MAX>) _param_mot_slew_max,
 		(ParamFloat<px4::params::THR_MDL_FAC>) _param_thr_mdl_fac, ///< thrust to pwm modelling factor
-		(ParamInt<px4::params::MOT_ORDERING>) _param_mot_ordering
+		(ParamInt<px4::params::MOT_ORDERING>) _param_mot_ordering,
+		(ParamInt<px4::params::CBRK_IO_SAFETY>) _param_cbrk_io_safety
+
 	)
 };
 

src/modules/commander/Commander.cpp

@@ -188,8 +188,6 @@ void usage(const char *reason);
 void control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed,
 			 const uint8_t battery_warning, const cpuload_s *cpuload_local);
 
-void get_circuit_breaker_params();
-
 bool stabilization_required();
 
 void print_reject_mode(const char *msg);
@@ -2469,17 +2467,15 @@ Commander::run()
 }
 
 void
-get_circuit_breaker_params()
+Commander::get_circuit_breaker_params()
 {
-	status_flags.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY);
-	status_flags.circuit_breaker_engaged_usb_check = circuit_breaker_enabled("CBRK_USB_CHK", CBRK_USB_CHK_KEY);
-	status_flags.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY);
-	status_flags.circuit_breaker_engaged_enginefailure_check = circuit_breaker_enabled("CBRK_ENGINEFAIL",
-			CBRK_ENGINEFAIL_KEY);
-	status_flags.circuit_breaker_engaged_gpsfailure_check = circuit_breaker_enabled("CBRK_GPSFAIL", CBRK_GPSFAIL_KEY);
-	status_flags.circuit_breaker_flight_termination_disabled = circuit_breaker_enabled("CBRK_FLIGHTTERM",
-			CBRK_FLIGHTTERM_KEY);
-	status_flags.circuit_breaker_engaged_posfailure_check = circuit_breaker_enabled("CBRK_VELPOSERR", CBRK_VELPOSERR_KEY);
+	status_flags.circuit_breaker_engaged_power_check = circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(), CBRK_SUPPLY_CHK_KEY);
+	status_flags.circuit_breaker_engaged_usb_check = circuit_breaker_enabled_by_val(_param_cbrk_usb_chk.get(), CBRK_USB_CHK_KEY);
+	status_flags.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled_by_val(_param_cbrk_airspd_chk.get(), CBRK_AIRSPD_CHK_KEY);
+	status_flags.circuit_breaker_engaged_enginefailure_check = circuit_breaker_enabled_by_val(_param_cbrk_enginefail.get(), CBRK_ENGINEFAIL_KEY);
+	status_flags.circuit_breaker_engaged_gpsfailure_check = circuit_breaker_enabled_by_val(_param_cbrk_gpsfail.get(), CBRK_GPSFAIL_KEY);
+	status_flags.circuit_breaker_flight_termination_disabled = circuit_breaker_enabled_by_val(_param_cbrk_flightterm.get(), CBRK_FLIGHTTERM_KEY);
+	status_flags.circuit_breaker_engaged_posfailure_check = circuit_breaker_enabled_by_val(_param_cbrk_velposerr.get(), CBRK_VELPOSERR_KEY);
 }
 
 void

src/modules/commander/Commander.hpp

@@ -97,6 +97,8 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 	// TODO: only temporarily static until low priority thread is removed
 	static bool preflight_check(bool report);
 
+	void get_circuit_breaker_params();
+
 private:
 
 	DEFINE_PARAMETERS(
@@ -114,7 +116,7 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 		(ParamFloat<px4::params::COM_HOME_V_T>) _param_com_home_v_t,
 
 		(ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
-		(ParamFloat<px4::params::COM_POS_FS_EPV>) _param_com_pos_fs_epv,
+		(ParamFloat<px4::params::COM_POS_FS_EPV>) _param_com_pos_fs_epv, 	/*Not realy used for now*/
 		(ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,
 		(ParamInt<px4::params::COM_POSCTL_NAVL>) _param_com_posctl_navl,	/* failsafe response to loss of navigation accuracy */
 
@@ -142,8 +144,15 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 		(ParamInt<px4::params::COM_OBL_ACT>) _param_com_obl_act,
 		(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act,
 
-		(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode
+		(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode,
 
+		(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
+		(ParamInt<px4::params::CBRK_USB_CHK>) _param_cbrk_usb_chk,
+		(ParamInt<px4::params::CBRK_AIRSPD_CHK>) _param_cbrk_airspd_chk,
+		(ParamInt<px4::params::CBRK_ENGINEFAIL>) _param_cbrk_enginefail,
+		(ParamInt<px4::params::CBRK_GPSFAIL>) _param_cbrk_gpsfail,
+		(ParamInt<px4::params::CBRK_FLIGHTTERM>) _param_cbrk_flightterm,
+		(ParamInt<px4::params::CBRK_VELPOSERR>) _param_cbrk_velposerr
 	)
 
 	enum class PrearmedMode {

src/modules/mc_att_control/mc_att_control.hpp

@@ -265,7 +265,10 @@ class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>
 		_param_mpc_thr_hover,			/**< throttle at which vehicle is at hover equilibrium */
 		(ParamInt<px4::params::MPC_THR_CURVE>) _param_mpc_thr_curve,				/**< throttle curve behavior */
 
-		(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode
+		(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode,
+
+		(ParamInt<px4::params::CBRK_RATE_CTRL>) _param_cbrk_rate_ctrl
+
 	)
 
 	bool _is_tailsitter{false};

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -131,7 +131,7 @@ MulticopterAttitudeControl::parameters_updated()
 
 	_man_tilt_max = math::radians(_param_mpc_man_tilt_max.get());
 
-	_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
+	_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled_by_val(_param_cbrk_rate_ctrl.get(), CBRK_RATE_CTRL_KEY);
 }
 
 void