modeCheck: add warning when RC enabled but not present

src/modules/commander/HealthAndArmingChecks/Common.hpp

@@ -246,6 +246,8 @@ public:
 	void armingCheckFailure(NavModes required_modes, HealthComponentIndex component, uint32_t event_id,
 				const events::LogLevels &log_levels, const char *message);
 
+	void clearArmingBits(NavModes modes);
+
 	/**
 	 * Clear can_run bits for certain modes. This will prevent mode switching and trigger failsafe if the
 	 * mode is being run.
@@ -302,8 +304,6 @@ private:
 
 	NavModes reportedModes(NavModes required_modes);
 
-	void clearArmingBits(NavModes modes);
-
 	NavModes getModeGroup(uint8_t nav_state) const;
 
 	friend class HealthAndArmingChecks;

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

@@ -144,6 +144,10 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
 	}
 
 	if (reporter.failsafeFlags().manual_control_signal_lost && reporter.failsafeFlags().mode_req_manual_control != 0) {
+		const bool rc_disabled = (_param_com_rc_in_mode.get() == 4);
+		NavModes nav_modes = rc_disabled ? (NavModes)reporter.failsafeFlags().mode_req_manual_control : NavModes::None;
+		events::LogLevel log_level = rc_disabled ? events::Log::Error : events::Log::Warning;
+
 		/* EVENT
 		 * @description
 		 * Connect and enable stick input or use autonomous mode.
@@ -151,10 +155,11 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
 		 * Sticks can be enabled via <param>COM_RC_IN_MODE</param> parameter.
 		 * </profile>
 		 */
-		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_manual_control,
+		reporter.armingCheckFailure(nav_modes,
 					    health_component_t::remote_control,
 					    events::ID("check_modes_manual_control"),
-					    events::Log::Critical, "No manual control input");
+					    log_level, "No manual control input");
+		reporter.clearArmingBits((NavModes)reporter.failsafeFlags().mode_req_manual_control);
 		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_manual_control);
 	}
 

src/modules/commander/HealthAndArmingChecks/checks/modeCheck.hpp

@@ -49,6 +49,7 @@ private:
 	void checkArmingRequirement(const Context &context, Report &reporter);
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
-					(ParamBool<px4::params::COM_ARM_MIS_REQ>) _param_com_arm_mis_req
+					(ParamBool<px4::params::COM_ARM_MIS_REQ>) _param_com_arm_mis_req,
+					(ParamInt<px4::params::COM_RC_IN_MODE>) _param_com_rc_in_mode
 				       );
 };