fix(commander): Remove COM_IMB_PROP_ACT (#27260)

and hardcode the default warning. The feature can still be disabled by setting FD_IMB_PROP_THR to zero.

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

@@ -111,7 +111,7 @@ void FailureDetectorChecks::checkAndReport(const Context &context, Report &repor
 		 * Check that all propellers are mounted correctly and are not damaged.
 		 *
 		 * <profile name="dev">
-		 * This check can be configured via <param>FD_IMB_PROP_THR</param> and <param>COM_IMB_PROP_ACT</param> parameters.
+		 * This check can be configured via <param>FD_IMB_PROP_THR</param> parameter.
 		 * </profile>
 		 */
 		reporter.healthFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_imbalanced_prop"),

src/modules/commander/commander_params.yaml

@@ -179,20 +179,6 @@ parameters:
       min: 0.0
       max: 25.0
       decimal: 1
-    COM_IMB_PROP_ACT:
-      description:
-        short: Imbalanced propeller failsafe mode
-        long: |-
-          Action the system takes when an imbalanced propeller is detected by the failure detector.
-          See also FD_IMB_PROP_THR to set the failure threshold.
-      type: enum
-      values:
-        -1: Disabled
-        0: Warning
-        1: Return
-        2: Land
-      default: 0
-      increment: 1
     COM_OF_LOSS_T:
       description:
         short: Offboard connection loss timeout

src/modules/commander/failsafe/failsafe.cpp

@@ -126,33 +126,6 @@ FailsafeBase::ActionOptions Failsafe::fromGfActParam(int param_value)
 	return options;
 }
 
-FailsafeBase::ActionOptions Failsafe::fromImbalancedPropActParam(int param_value)
-{
-	ActionOptions options{};
-
-	switch (imbalanced_propeller_failsafe_mode(param_value)) {
-	case imbalanced_propeller_failsafe_mode::Disabled:
-	default:
-		options.action = Action::None;
-		break;
-
-	case imbalanced_propeller_failsafe_mode::Warning:
-		options.action = Action::Warn;
-		break;
-
-	case imbalanced_propeller_failsafe_mode::Return:
-		options.action = Action::RTL;
-		options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
-		break;
-
-	case imbalanced_propeller_failsafe_mode::Land:
-		options.action = Action::Land;
-		options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
-		break;
-	}
-
-	return options;
-}
 
 FailsafeBase::ActionOptions Failsafe::fromActuatorFailureActParam(int param_value)
 {
@@ -672,7 +645,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 		CHECK_FAILSAFE(status_flags, fd_alt_loss, Action::Warn);
 	}
 
-	CHECK_FAILSAFE(status_flags, fd_imbalanced_prop, fromImbalancedPropActParam(_param_com_imb_prop_act.get()));
+	CHECK_FAILSAFE(status_flags, fd_imbalanced_prop, Action::Warn);
 	CHECK_FAILSAFE(status_flags, fd_motor_failure, fromActuatorFailureActParam(_param_com_actuator_failure_act.get()));
 
 

src/modules/commander/failsafe/failsafe.h

@@ -88,13 +88,6 @@ private:
 		Terminate = 4,
 	};
 
-	enum class imbalanced_propeller_failsafe_mode : int32_t {
-		Disabled = -1,
-		Warning = 0,
-		Return = 1,
-		Land = 2,
-	};
-
 	enum class geofence_violation_action : int32_t {
 		None = 0,
 		Warning = 1,
@@ -169,7 +162,6 @@ private:
 	static ActionOptions fromNavDllOrRclActParam(int param_value);
 
 	static ActionOptions fromGfActParam(int param_value);
-	static ActionOptions fromImbalancedPropActParam(int param_value);
 	static ActionOptions fromActuatorFailureActParam(int param_value);
 	static ActionOptions fromBatteryWarningActParam(int param_value, uint8_t battery_warning);
 	static ActionOptions fromQuadchuteActParam(int param_value);
@@ -210,7 +202,6 @@ private:
 					(ParamInt<px4::params::COM_RC_IN_MODE>) _param_com_rc_in_mode,
 					(ParamInt<px4::params::GF_ACTION>)  	_param_gf_action,
 					(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time,
-					(ParamInt<px4::params::COM_IMB_PROP_ACT>) _param_com_imb_prop_act,
 					(ParamFloat<px4::params::COM_LKDOWN_TKO>) _param_com_lkdown_tko,
 					(ParamInt<px4::params::CBRK_FLIGHTTERM>) _param_cbrk_flightterm,
 					(ParamInt<px4::params::COM_ACT_FAIL_ACT>) _param_com_actuator_failure_act,