From 5e86be131c5d3231b8cc157e673f77d9c9a6173d Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Thu, 30 Apr 2026 23:40:44 +0200
Subject: [PATCH] fix(commander): Remove COM_OBC_LOSS_T (#27261)

hardcoding the default 5 second timeout.
---
 ROMFS/px4fmu_common/init.d-posix/rcS                  |  4 ----
 .../amovlab_f410/amovlabf410_drone_v1.15.4.params     |  1 -
 src/modules/commander/Commander.cpp                   |  2 +-
 src/modules/commander/Commander.hpp                   |  1 -
 src/modules/commander/commander_params.yaml           | 11 -----------
 5 files changed, 1 insertion(+), 18 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 9c7c428ff8..8ce56eb640 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -198,10 +198,6 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 1.0" | bc)
 	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
-
-	COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
-	echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
-	param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
 fi
 
 # Autostart ID
diff --git a/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params b/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
index b31a34f073..309fa4045b 100644
--- a/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
+++ b/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
@@ -309,7 +309,6 @@
 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
 1	1	COM_OBS_AVOID	0	6
 1	1	COM_OF_LOSS_T	1.000000000000000000	9
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index f8c7f0f535..4671480295 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2976,7 +2976,7 @@ void Commander::dataLinkCheck()
 
 	// ONBOARD CONTROLLER data link loss failsafe
 	if ((_datalink_last_heartbeat_onboard_controller > 0)
-	    && (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > (_param_com_obc_loss_t.get() * 1_s))
+	    && (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > 5_s)
 	    && !_onboard_controller_lost) {
 
 		mavlink_log_critical(&_mavlink_log_pub, "Connection to mission computer lost\t");
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 20af57787e..fec5aefaab 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -343,7 +343,6 @@ private:
 		(ParamBool<px4::params::COM_HOME_EN>)       _param_com_home_en,
 		(ParamBool<px4::params::COM_HOME_IN_AIR>)   _param_com_home_in_air,
 		(ParamBool<px4::params::COM_FORCE_SAFETY>)  _param_com_force_safety,
-		(ParamFloat<px4::params::COM_OBC_LOSS_T>)   _param_com_obc_loss_t,
 		(ParamInt<px4::params::COM_PREARM_MODE>)    _param_com_prearm_mode,
 		(ParamInt<px4::params::COM_RC_OVERRIDE>)    _param_com_rc_override,
 		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time,
diff --git a/src/modules/commander/commander_params.yaml b/src/modules/commander/commander_params.yaml
index 2ff924f4ad..9859224f50 100644
--- a/src/modules/commander/commander_params.yaml
+++ b/src/modules/commander/commander_params.yaml
@@ -233,17 +233,6 @@ parameters:
         6: Terminate
         7: Disarm
       default: 0
-    COM_OBC_LOSS_T:
-      description:
-        short: Onboard computer connection loss timeout
-        long: Time-out to wait when onboard computer connection is lost before warning
-          about loss connection
-      type: float
-      default: 5.0
-      unit: s
-      min: 0
-      max: 60
-      increment: 0.01
     COM_ARM_IMU_ACC:
       description:
         short: Max accelerometer inconsistency for arming