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refactor(sensor_gps_sim): drop SYS_FAILURE_EN gate from failure injector

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The failure injector is SITL-only; the system-wide enable gate isn't
needed here. Gating will be revisited when extending injection to the
real GPS driver in a follow-up.
This commit is contained in:
gguidone
2026-05-28 15:52:07 +02:00
committed by Gennaro Guidone
parent 4701d1bee8
commit 6f9e072e4b
2 changed files with 0 additions and 22 deletions
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19
src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp
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@@ -45,7 +45,6 @@ SensorGpsSim::SensorGpsSim() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
{
_param_sys_failure_en = param_find("SYS_FAILURE_EN");
}
SensorGpsSim::~SensorGpsSim()
@@ -244,26 +243,8 @@ void SensorGpsSim::publishWithFailures(int instance, sensor_gps_s gps, sensor_gp
void SensorGpsSim::check_failure_injection()
{
int32_t sys_failure_en = 0;
const bool enabled = _param_sys_failure_en != PARAM_INVALID
&& param_get(_param_sys_failure_en, &sys_failure_en) == PX4_OK
&& sys_failure_en == 1;
vehicle_command_s vehicle_command;
if (!enabled) {
// Clear any active failures so disabling the param at runtime
// stops injection instead of latching the previous state.
_gps_blocked_mask = 0;
_gps_stuck_mask = 0;
_gps_wrong_mask = 0;
// Drain queued commands so re-enabling doesn't replay them.
while (_vehicle_command_sub.update(&vehicle_command)) {}
return;
}
while (_vehicle_command_sub.update(&vehicle_command)) {
const int failure_unit = static_cast<int>(lroundf(vehicle_command.param1));
const int failure_type = static_cast<int>(lroundf(vehicle_command.param2));

3
src/modules/simulation/sensor_gps_sim/SensorGpsSim.hpp
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@@ -34,7 +34,6 @@
#pragma once
#include <lib/perf/perf_counter.h>
#include <parameters/param.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
@@ -102,8 +101,6 @@ private:
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
param_t _param_sys_failure_en{PARAM_INVALID};
uint8_t _gps_blocked_mask{0};
uint8_t _gps_stuck_mask{0};
uint8_t _gps_wrong_mask{0};