From 6b3e3aa363f2cf8425fa06d8e7db4d30422d1886 Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Wed, 14 Aug 2024 14:45:50 +0200
Subject: [PATCH] Commander: improve param description of COM_POSCTL_NAVL and
 rename Manual-->Stabilized

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 src/modules/commander/commander_params.c    | 28 +++++++++------------
 src/modules/commander/failsafe/failsafe.cpp |  2 +-
 src/modules/commander/failsafe/failsafe.h   |  2 +-
 3 files changed, 14 insertions(+), 18 deletions(-)

diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 0b20831a6e..72dadca8fa 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -338,14 +338,14 @@ PARAM_DEFINE_INT32(COM_QC_ACT, 0);
  * The offboard loss failsafe will only be entered after a timeout,
  * set by COM_OF_LOSS_T in seconds.
  *
- * @value  0 Position mode
- * @value  1 Altitude mode
- * @value  2 Manual
- * @value  3 Return mode
- * @value  4 Land mode
- * @value  5 Hold mode
- * @value  6 Terminate
- * @value  7 Disarm
+ * @value 0 Position mode
+ * @value 1 Altitude mode
+ * @value 2 Stabilized
+ * @value 3 Return mode
+ * @value 4 Land mode
+ * @value 5 Hold mode
+ * @value 6 Terminate
+ * @value 7 Disarm
  * @group Commander
  */
 PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
@@ -453,16 +453,12 @@ PARAM_DEFINE_FLOAT(COM_RC_STICK_OV, 30.0f);
 PARAM_DEFINE_INT32(COM_ARM_MIS_REQ, 0);
 
 /**
- * Position control navigation loss response.
+ * Position mode navigation loss response
  *
- * This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control.
+ * This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control in manual Position mode.
  *
- * If Altitude/Manual is selected: assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
- *
- * If Land/Descend is selected: assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to Descend.
- *
- * @value 0 Altitude/Manual
- * @value 1 Land/Descend
+ * @value 0 Altitude mode
+ * @value 1 Land mode (descend)
  *
  * @group Commander
  */
diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp
index f868d67408..926bdfe44d 100644
--- a/src/modules/commander/failsafe/failsafe.cpp
+++ b/src/modules/commander/failsafe/failsafe.cpp
@@ -292,7 +292,7 @@ FailsafeBase::Action Failsafe::fromOffboardLossActParam(int param_value, uint8_t
 		user_intended_mode = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
 		break;
 
-	case offboard_loss_failsafe_mode::Manual:
+	case offboard_loss_failsafe_mode::Stabilized:
 		action = Action::FallbackStab;
 		user_intended_mode = vehicle_status_s::NAVIGATION_STATE_STAB;
 		break;
diff --git a/src/modules/commander/failsafe/failsafe.h b/src/modules/commander/failsafe/failsafe.h
index 1c1b8bd865..742b84ce36 100644
--- a/src/modules/commander/failsafe/failsafe.h
+++ b/src/modules/commander/failsafe/failsafe.h
@@ -70,7 +70,7 @@ private:
 	enum class offboard_loss_failsafe_mode : int32_t {
 		Position_mode = 0,
 		Altitude_mode = 1,
-		Manual = 2,
+		Stabilized = 2,
 		Return_mode = 3,
 		Land_mode = 4,
 		Hold_mode = 5,