From 2e9edfcd893643fd622bd848269483a196113e59 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 18 May 2021 11:30:01 +0200
Subject: [PATCH] commander: only override according to param

This got lost in the refactor earlier.
---
 src/modules/commander/Commander.cpp | 9 ++++++++-
 src/modules/commander/Commander.hpp | 9 ++++++++-
 2 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 1bd9ff2680..56106f6d92 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2407,13 +2407,20 @@ Commander::run()
 			}
 
 
+			const bool override_enabled =
+				((_param_com_rc_override.get() & static_cast<int32_t>(RcOverrideBits::AUTO_MODE_BIT))
+				 && _vehicle_control_mode.flag_control_auto_enabled)
+				|| ((_param_com_rc_override.get() & static_cast<int32_t>(RcOverrideBits::OFFBOARD_MODE_BIT))
+				    && _vehicle_control_mode.flag_control_offboard_enabled);
+
 			// Abort autonomous mode and switch to position mode if sticks are moved significantly
 			// but only if actually in air.
 			if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
 			    && !in_low_battery_failsafe && !_geofence_warning_action_on
 			    && _armed.armed
 			    && !_status_flags.rc_input_blocked
-			    && manual_control_setpoint.user_override) {
+			    && manual_control_setpoint.user_override
+			    && override_enabled) {
 				const transition_result_t posctl_result =
 					main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, _internal_state);
 
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 09b3fd7106..29b170f21d 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -186,6 +186,8 @@ private:
 		(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
 		(ParamInt<px4::params::COM_DL_LOSS_T>) _param_com_dl_loss_t,
 
+		(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_com_rc_override,
+
 		(ParamInt<px4::params::COM_HLDL_LOSS_T>) _param_com_hldl_loss_t,
 		(ParamInt<px4::params::COM_HLDL_REG_T>) _param_com_hldl_reg_t,
 
@@ -255,7 +257,7 @@ private:
 		(ParamInt<px4::params::CBRK_VELPOSERR>) _param_cbrk_velposerr,
 		(ParamInt<px4::params::CBRK_VTOLARMING>) _param_cbrk_vtolarming,
 
-		// Geofrence
+		// Geofence
 		(ParamInt<px4::params::GF_ACTION>) _param_geofence_action,
 
 		// Mavlink
@@ -275,6 +277,11 @@ private:
 		ALWAYS = 2
 	};
 
+	enum class RcOverrideBits : int32_t {
+		AUTO_MODE_BIT = (1 << 0),
+		OFFBOARD_MODE_BIT = (1 << 1),
+	};
+
 	/* Decouple update interval and hysteresis counters, all depends on intervals */
 	static constexpr uint64_t COMMANDER_MONITORING_INTERVAL{10_ms};