From 44c89971099de98a3ee7e54717c103556359e573 Mon Sep 17 00:00:00 2001
From: Claudio Micheli <claudio@auterion.com>
Date: Thu, 12 Mar 2026 05:17:54 +0100
Subject: [PATCH] Commander: Only Warn the user about traffic avoidance system
 loss if COM_ARM_TRAFF is set

Signed-off-by: Claudio Micheli <claudio@auterion.com>
---
 src/modules/commander/Commander.cpp | 2 +-
 src/modules/commander/Commander.hpp | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 2b46f30e66..2291783118 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2969,7 +2969,7 @@ void Commander::dataLinkCheck()
 	}
 
 	// Traffic avoidance system (ADSB/FLARM)
-	if ((hrt_elapsed_time(&_datalink_last_heartbeat_traffic_avoidance_system) > 5_s)
+	if ((_param_com_arm_traff.get() > 0) && (hrt_elapsed_time(&_datalink_last_heartbeat_traffic_avoidance_system) > 5_s)
 	    && !_traffic_avoidance_system_lost) {
 		mavlink_log_critical(&_mavlink_log_pub, "Traffic avoidance system lost\t");
 		events::send(events::ID("commander_traffic_avoidance_lost"), events::Log::Critical, "Traffic avoidance system lost");
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index db6aa1d65d..5555fc69fc 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -350,6 +350,8 @@ private:
 		(ParamInt<px4::params::COM_FLIGHT_UUID>)    _param_com_flight_uuid,
 		(ParamInt<px4::params::COM_TAKEOFF_ACT>)    _param_com_takeoff_act,
 		(ParamFloat<px4::params::COM_CPU_MAX>)      _param_com_cpu_max,
-		(ParamBool<px4::params::COM_ARM_ON_BOOT>)   _param_com_arm_on_boot
+		(ParamBool<px4::params::COM_ARM_ON_BOOT>)   _param_com_arm_on_boot,
+		(ParamFloat<px4::params::COM_CPU_MAX>)      _param_com_cpu_max,
+		(ParamInt<px4::params::COM_ARM_TRAFF>)      _param_com_arm_traff
 	)
 };