Commander: remove preflight check for transition switch

This check enforced setting a VTOL transition switch if an RC as used on a VTOL.
It comes from a time when the only way to transtion was through the RC switch,
whereas now we have also a mavlink message in place for it, so enforcing it is
no longer needed.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp

@@ -201,7 +201,7 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
 	param_get(param_find("COM_RC_IN_MODE"), &com_rc_in_mode);
 
 	if (com_rc_in_mode == 0) {
-		if (rcCalibrationCheck(mavlink_log_pub, report_failures, status.is_vtol) != OK) {
+		if (rcCalibrationCheck(mavlink_log_pub, report_failures) != OK) {
 			if (report_failures) {
 				mavlink_log_critical(mavlink_log_pub, "RC calibration check failed");
 			}

src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp

@@ -106,7 +106,7 @@ private:
 	static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status);
 	static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool optional,
 				  const bool report_fail, const bool prearm, const bool max_airspeed_check_en, const float arming_max_airspeed_allowed);
-	static int rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool report_fail, bool isVTOL);
+	static int rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool report_fail);
 	static bool powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
 			       const bool prearm);
 	static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool optional,

src/modules/commander/Arming/PreFlightCheck/checks/rcCalibrationCheck.cpp

@@ -52,7 +52,7 @@
  */
 #define RC_INPUT_HIGHEST_MAX_US	3500
 
-int PreFlightCheck::rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool report_fail, bool isVTOL)
+int PreFlightCheck::rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool report_fail)
 {
 	char nbuf[20];
 	param_t _parameter_handles_min, _parameter_handles_trim, _parameter_handles_max,
@@ -67,29 +67,6 @@ int PreFlightCheck::rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool repor
 
 	unsigned j = 0;
 
-	/* if VTOL, check transition switch mapping */
-	if (isVTOL) {
-		param_t trans_parm = param_find("RC_MAP_TRANS_SW");
-
-		if (trans_parm == PARAM_INVALID) {
-			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC_MAP_TRANS_SW PARAMETER MISSING."); }
-
-			/* give system time to flush error message in case there are more */
-			px4_usleep(100000);
-			map_fail_count++;
-
-		} else {
-			int32_t transition_switch;
-			param_get(trans_parm, &transition_switch);
-
-			if (transition_switch < 1) {
-				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Transition switch RC_MAP_TRANS_SW not set."); }
-
-				map_fail_count++;
-			}
-		}
-	}
-
 	/* first check channel mappings */
 	while (rc_map_mandatory[j] != nullptr) {