VTOL TAKEOFF: Add Config to deactivate, and deactivate on all boards except fmu_v5x and sitl.

QGC does not support VTOL takeoff and thus this is used to safe flash space.

boards/px4/fmu-v5x/default.px4board

@@ -84,6 +84,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y

boards/px4/sitl/default.px4board

@@ -49,6 +49,7 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y

src/modules/commander/Commander.cpp

@@ -994,6 +994,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 		break;
 
 	case vehicle_command_s::VEHICLE_CMD_NAV_VTOL_TAKEOFF:
+#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
 
 		/* ok, home set, use it to take off */
 		if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF)) {
@@ -1004,6 +1005,9 @@ Commander::handle_command(const vehicle_command_s &cmd)
 			cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 		}
 
+#else
+		cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
+#endif // CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
 		break;
 
 	case vehicle_command_s::VEHICLE_CMD_NAV_LAND: {

src/modules/navigator/CMakeLists.txt

@@ -34,27 +34,34 @@
 add_subdirectory(GeofenceBreachAvoidance)
 add_subdirectory(MissionFeasibility)
 
+set(NAVIGATOR_SOURCES
+	navigator_main.cpp
+	navigator_mode.cpp
+	mission_base.cpp
+	mission_block.cpp
+	mission.cpp
+	loiter.cpp
+	rtl.cpp
+	rtl_direct.cpp
+	rtl_direct_mission_land.cpp
+	rtl_mission_fast.cpp
+	rtl_mission_fast_reverse.cpp
+	takeoff.cpp
+	land.cpp
+	precland.cpp
+	mission_feasibility_checker.cpp
+	geofence.cpp)
+
+if(CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF)
+	set(NAVIGATOR_SOURCES
+		${NAVIGATOR_SOURCES}
+		vtol_takeoff.cpp)
+endif()
+
 px4_add_module(
 	MODULE modules__navigator
 	MAIN navigator
-	SRCS
-		navigator_main.cpp
-		navigator_mode.cpp
-		mission_base.cpp
-		mission_block.cpp
-		mission.cpp
-		loiter.cpp
-		rtl.cpp
-		rtl_direct.cpp
-		rtl_direct_mission_land.cpp
-		rtl_mission_fast.cpp
-		rtl_mission_fast_reverse.cpp
-		takeoff.cpp
-		land.cpp
-		precland.cpp
-		mission_feasibility_checker.cpp
-		geofence.cpp
-		vtol_takeoff.cpp
+	SRCS ${NAVIGATOR_SOURCES}
 	DEPENDS
 		dataman_client
 		geo

src/modules/navigator/Kconfig

@@ -10,3 +10,12 @@ menuconfig USER_NAVIGATOR
 	depends on BOARD_PROTECTED && MODULES_NAVIGATOR
 	---help---
 		Put navigator in userspace memory
+
+menuconfig MODE_NAVIGATOR_VTOL_TAKEOFF
+	bool "Include VTOL takeoff mode support"
+	default n
+	depends on MODULES_NAVIGATOR
+	---help---
+		Add VTOL takeoff mode to enable support for MAV_CMD_NAV_VTOL_TAKEOFF.
+		The VTOL takes off in MC mode and transition to FW. The mode ends with
+		an infinite loiter

src/modules/navigator/navigator.h

@@ -49,7 +49,9 @@
 #include "navigator_mode.h"
 #include "rtl.h"
 #include "takeoff.h"
+#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
 #include "vtol_takeoff.h"
+#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
 
 #include "navigation.h"
 
@@ -341,7 +343,9 @@ private:
 	Mission		_mission;			/**< class that handles the missions */
 	Loiter		_loiter;			/**< class that handles loiter */
 	Takeoff		_takeoff;			/**< class for handling takeoff commands */
+#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
 	VtolTakeoff	_vtol_takeoff;			/**< class for handling VEHICLE_CMD_NAV_VTOL_TAKEOFF command */
+#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
 	Land		_land;			/**< class for handling land commands */
 	PrecLand	_precland;			/**< class for handling precision land commands */
 	RTL 		_rtl;				/**< class that handles RTL */

src/modules/navigator/navigator_main.cpp

@@ -75,7 +75,9 @@ Navigator::Navigator() :
 	_mission(this),
 	_loiter(this),
 	_takeoff(this),
+#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
 	_vtol_takeoff(this),
+#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
 	_land(this),
 	_precland(this),
 	_rtl(this)
@@ -87,7 +89,9 @@ Navigator::Navigator() :
 	_navigation_mode_array[3] = &_takeoff;
 	_navigation_mode_array[4] = &_land;
 	_navigation_mode_array[5] = &_precland;
+#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
 	_navigation_mode_array[6] = &_vtol_takeoff;
+#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
 
 	/* iterate through navigation modes and initialize _mission_item for each */
 	for (unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
@@ -575,6 +579,8 @@ void Navigator::run()
 
 				// CMD_NAV_TAKEOFF is acknowledged by commander
 
+#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
+
 			} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_VTOL_TAKEOFF) {
 
 				_vtol_takeoff.setTransitionAltitudeAbsolute(cmd.param7);
@@ -584,6 +590,7 @@ void Navigator::run()
 
 				// loiter height is the height above takeoff altitude at which the vehicle will establish on a loiter circle
 				_vtol_takeoff.setLoiterHeight(cmd.param1);
+#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
 
 			} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_LAND_START) {
 
@@ -723,10 +730,13 @@ void Navigator::run()
 			navigation_mode_new = &_takeoff;
 			break;
 
+#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
+
 		case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
 			_pos_sp_triplet_published_invalid_once = false;
 			navigation_mode_new = &_vtol_takeoff;
 			break;
+#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
 
 		case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
 			_pos_sp_triplet_published_invalid_once = false;