commander: PreFlightCheck param_find all parameters immediately

- this ensures the relevant parameters are marked active immediately
before parameter sync
 - fixes https://github.com/PX4/Firmware/issues/15872

src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp

@@ -47,11 +47,22 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
 {
 	bool success = true; // start with a pass and change to a fail if any test fails
 	bool ahrs_present = true;
-	float test_limit = 1.0f; // pass limit re-used for each test
 
 	int32_t mag_strength_check_enabled = 1;
 	param_get(param_find("COM_ARM_MAG_STR"), &mag_strength_check_enabled);
 
+	float hgt_test_ratio_limit = 1.f;
+	param_get(param_find("COM_ARM_EKF_HGT"), &hgt_test_ratio_limit);
+
+	float vel_test_ratio_limit = 1.f;
+	param_get(param_find("COM_ARM_EKF_VEL"), &vel_test_ratio_limit);
+
+	float pos_test_ratio_limit = 1.f;
+	param_get(param_find("COM_ARM_EKF_POS"), &pos_test_ratio_limit);
+
+	float mag_test_ratio_limit = 1.f;
+	param_get(param_find("COM_ARM_EKF_YAW"), &mag_test_ratio_limit);
+
 	bool gps_success = true;
 	bool gps_present = true;
 
@@ -99,9 +110,7 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
 	}
 
 	// check vertical position innovation test ratio
-	param_get(param_find("COM_ARM_EKF_HGT"), &test_limit);
-
-	if (status.hgt_test_ratio > test_limit) {
+	if (status.hgt_test_ratio > hgt_test_ratio_limit) {
 		if (report_fail) {
 			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Height estimate error");
 		}
@@ -111,9 +120,7 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
 	}
 
 	// check velocity innovation test ratio
-	param_get(param_find("COM_ARM_EKF_VEL"), &test_limit);
-
-	if (status.vel_test_ratio > test_limit) {
+	if (status.vel_test_ratio > vel_test_ratio_limit) {
 		if (report_fail) {
 			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Velocity estimate error");
 		}
@@ -123,9 +130,7 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
 	}
 
 	// check horizontal position innovation test ratio
-	param_get(param_find("COM_ARM_EKF_POS"), &test_limit);
-
-	if (status.pos_test_ratio > test_limit) {
+	if (status.pos_test_ratio > pos_test_ratio_limit) {
 		if (report_fail) {
 			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Position estimate error");
 		}
@@ -135,9 +140,7 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
 	}
 
 	// check magnetometer innovation test ratio
-	param_get(param_find("COM_ARM_EKF_YAW"), &test_limit);
-
-	if (status.mag_test_ratio > test_limit) {
+	if (status.mag_test_ratio > mag_test_ratio_limit) {
 		if (report_fail) {
 			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Yaw estimate error");
 		}
@@ -229,6 +232,12 @@ out:
 
 bool PreFlightCheck::ekf2CheckStates(orb_advert_t *mavlink_log_pub, const bool report_fail)
 {
+	float ekf_ab_test_limit = 1.0f; // pass limit re-used for each test
+	param_get(param_find("COM_ARM_EKF_AB"), &ekf_ab_test_limit);
+
+	float ekf_gb_test_limit = 1.0f; // pass limit re-used for each test
+	param_get(param_find("COM_ARM_EKF_GB"), &ekf_gb_test_limit);
+
 	// Get estimator states data if available and exit with a fail recorded if not
 	uORB::Subscription states_sub{ORB_ID(estimator_states)};
 	estimator_states_s states;
@@ -236,18 +245,15 @@ bool PreFlightCheck::ekf2CheckStates(orb_advert_t *mavlink_log_pub, const bool r
 	if (states_sub.copy(&states)) {
 
 		// check accelerometer delta velocity bias estimates
-		float test_limit = 1.0f; // pass limit re-used for each test
-		param_get(param_find("COM_ARM_EKF_AB"), &test_limit);
-
 		for (uint8_t index = 13; index < 16; index++) {
 			// allow for higher uncertainty in estimates for axes that are less observable to prevent false positives
 			// adjust test threshold by 3-sigma
 			float test_uncertainty = 3.0f * sqrtf(fmaxf(states.covariances[index], 0.0f));
 
-			if (fabsf(states.states[index]) > test_limit + test_uncertainty) {
+			if (fabsf(states.states[index]) > ekf_ab_test_limit + test_uncertainty) {
 
 				if (report_fail) {
-					PX4_ERR("state %d: |%.8f| > %.8f + %.8f", index, (double)states.states[index], (double)test_limit,
+					PX4_ERR("state %d: |%.8f| > %.8f + %.8f", index, (double)states.states[index], (double)ekf_ab_test_limit,
 						(double)test_uncertainty);
 					mavlink_log_critical(mavlink_log_pub, "Preflight Fail: High Accelerometer Bias");
 				}
@@ -257,11 +263,11 @@ bool PreFlightCheck::ekf2CheckStates(orb_advert_t *mavlink_log_pub, const bool r
 		}
 
 		// check gyro delta angle bias estimates
-		param_get(param_find("COM_ARM_EKF_GB"), &test_limit);
 
-		if (fabsf(states.states[10]) > test_limit
-		    || fabsf(states.states[11]) > test_limit
-		    || fabsf(states.states[12]) > test_limit) {
+
+		if (fabsf(states.states[10]) > ekf_gb_test_limit
+		    || fabsf(states.states[11]) > ekf_gb_test_limit
+		    || fabsf(states.states[12]) > ekf_gb_test_limit) {
 
 			if (report_fail) {
 				mavlink_log_critical(mavlink_log_pub, "Preflight Fail: High Gyro Bias");

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

@@ -44,15 +44,18 @@
 bool PreFlightCheck::imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
 		const bool report_status)
 {
+	float accel_test_limit = 1.f;
+	param_get(param_find("COM_ARM_IMU_ACC"), &accel_test_limit);
+
+	float gyro_test_limit = 1.f;
+	param_get(param_find("COM_ARM_IMU_GYR"), &gyro_test_limit);
+
 	// Get sensor_preflight data if available and exit with a fail recorded if not
 	uORB::SubscriptionData<sensors_status_imu_s> sensors_status_imu_sub{ORB_ID(sensors_status_imu)};
 	const sensors_status_imu_s &imu = sensors_status_imu_sub.get();
 
 	// Use the difference between IMU's to detect a bad calibration.
 	// If a single IMU is fitted, the value being checked will be zero so this check will always pass.
-	float accel_test_limit = 1.f;
-	param_get(param_find("COM_ARM_IMU_ACC"), &accel_test_limit);
-
 	for (unsigned i = 0; i < (sizeof(imu.accel_inconsistency_m_s_s) / sizeof(imu.accel_inconsistency_m_s_s[0])); i++) {
 		if (imu.accel_device_ids[i] != 0) {
 			if (imu.accel_device_ids[i] == imu.accel_device_id_primary) {
@@ -87,9 +90,6 @@ bool PreFlightCheck::imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_
 	}
 
 	// Fail if gyro difference greater than 5 deg/sec and notify if greater than 2.5 deg/sec
-	float gyro_test_limit = 1.f;
-	param_get(param_find("COM_ARM_IMU_GYR"), &gyro_test_limit);
-
 	for (unsigned i = 0; i < (sizeof(imu.gyro_inconsistency_rad_s) / sizeof(imu.gyro_inconsistency_rad_s[0])); i++) {
 		if (imu.gyro_device_ids[i] != 0) {
 			if (imu.gyro_device_ids[i] == imu.gyro_device_id_primary) {

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

@@ -68,6 +68,9 @@ bool PreFlightCheck::powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_sta
 	const system_power_s &system_power = system_power_sub.get();
 
 	if (system_power.timestamp != 0) {
+		int32_t required_power_module_count = 0;
+		param_get(param_find("COM_POWER_COUNT"), &required_power_module_count);
+
 		// Check avionics rail voltages (if USB isn't connected)
 		if (!system_power.usb_connected) {
 			float avionics_power_rail_voltage = system_power.voltage5v_v;
@@ -94,9 +97,6 @@ bool PreFlightCheck::powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_sta
 
 			const int power_module_count = countSetBits(system_power.brick_valid);
 
-			int32_t required_power_module_count = 0;
-			param_get(param_find("COM_POWER_COUNT"), &required_power_module_count);
-
 			if (power_module_count < required_power_module_count) {
 				success = false;
 
@@ -105,7 +105,6 @@ bool PreFlightCheck::powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_sta
 							     power_module_count, required_power_module_count);
 				}
 			}
-
 		}
 
 	} else {