feat(Commander): add preflight check for containing rally point for RTL_TYPE 5

Signed-off-by: Silvan <silvan@auterion.com>

msg/RtlStatus.msg

@@ -6,7 +6,7 @@ bool is_evaluation_pending 	      # flag if the RTL point needs reevaluation (e.
 bool has_vtol_approach 		      # flag if approaches are defined for current RTL_TYPE parameter setting
 
 uint8 rtl_type	      		      # Type of RTL chosen
-uint8 safe_point_index 		      # index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode
+uint8 safe_point_index 		      # index of the chosen safe point, UINT8_MAX if no rally point was chosen
 
 uint8 RTL_STATUS_TYPE_NONE=0       		# pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
 uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 	# chosen to directly go to a safe point or home position

src/modules/commander/HealthAndArmingChecks/CMakeLists.txt

@@ -56,6 +56,7 @@ px4_add_library(health_and_arming_checks
 	checks/manualControlCheck.cpp
 	checks/missionCheck.cpp
 	checks/modeCheck.cpp
+	checks/rallyPointCheck.cpp
 	checks/navigatorCheck.cpp
 	checks/offboardCheck.cpp
 	checks/openDroneIDCheck.cpp

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp

@@ -68,6 +68,7 @@
 #include "checks/geofenceCheck.hpp"
 #include "checks/flightTimeCheck.hpp"
 #include "checks/missionCheck.hpp"
+#include "checks/rallyPointCheck.hpp"
 #include "checks/rcAndDataLinkCheck.hpp"
 #include "checks/vtolCheck.hpp"
 #include "checks/offboardCheck.hpp"
@@ -158,6 +159,7 @@ private:
 	GeofenceChecks _geofence_checks;
 	FlightTimeChecks _flight_time_checks;
 	MissionChecks _mission_checks;
+	RallyPointChecks _rally_point_checks;
 	RcAndDataLinkChecks _rc_and_data_link_checks;
 	VtolChecks _vtol_checks;
 	OffboardChecks _offboard_checks;
@@ -166,7 +168,7 @@ private:
 	ExternalChecks _external_checks;
 #endif
 
-	HealthAndArmingCheckBase *_checks[40] = {
+	HealthAndArmingCheckBase *_checks[41] = {
 #ifndef CONSTRAINED_FLASH
 		&_external_checks,
 #endif
@@ -188,6 +190,7 @@ private:
 		&_manual_control_checks,
 		&_home_position_checks,
 		&_mission_checks,
+		&_rally_point_checks,
 		&_offboard_checks, // must be after _estimator_checks
 		&_mode_checks, // must be after _estimator_checks, _home_position_checks, _mission_checks, _offboard_checks, _external_checks
 		&_open_drone_id_checks,

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

@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "rallyPointCheck.hpp"
+
+RallyPointChecks::RallyPointChecks()
+	: _param_rtl_type_handle(param_find("RTL_TYPE"))
+{
+}
+
+void RallyPointChecks::checkAndReport(const Context &context, Report &reporter)
+{
+	int32_t rtl_type = 0;
+
+	if (param_get(_param_rtl_type_handle, &rtl_type) != 0 || rtl_type != 5) {
+		// Only enforce rally point requirement when RTL_TYPE == 5 (safe points only)
+		return;
+	}
+
+	rtl_status_s rtl_status;
+
+	if (!_rtl_status_sub.copy(&rtl_status) || rtl_status.safe_point_index == UINT8_MAX) {
+		/* EVENT
+		 * @description
+		 * Upload at least one rally point before arming, or change <param>RTL_TYPE</param>.
+		 *
+		 * <profile name="dev">
+		 * This check is active when RTL_TYPE is set to 5 (safe points only).
+		 * </profile>
+		 */
+		reporter.armingCheckFailure(NavModes::All, health_component_t::system,
+					    events::ID("check_rally_point_missing"),
+					    events::Log::Error, "No rally point available");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: No rally point available\t");
+		}
+	}
+}

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

@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "../Common.hpp"
+
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/rtl_status.h>
+#include <parameters/param.h>
+
+class RallyPointChecks : public HealthAndArmingCheckBase
+{
+public:
+	RallyPointChecks();
+	~RallyPointChecks() = default;
+
+	void checkAndReport(const Context &context, Report &reporter) override;
+
+private:
+	uORB::Subscription _rtl_status_sub{ORB_ID(rtl_status)};
+
+	const param_t _param_rtl_type_handle;
+};

src/modules/navigator/rtl.cpp

@@ -441,11 +441,16 @@ PositionYawSetpoint RTL::findClosestSafePoint(float min_dist, uint8_t &safe_poin
 				continue;
 			}
 
+			// Only look at rally points
+			if (mission_safe_point.nav_cmd != NAV_CMD_RALLY_POINT) {
+				continue;
+			}
+
 			// Ignore safepoints which are too close to the homepoint (only if home is an option to return to)
 			const bool far_from_home = get_distance_to_next_waypoint(_home_pos_sub.get().lat, _home_pos_sub.get().lon,
 						   mission_safe_point.lat, mission_safe_point.lon) > MAX_DIST_FROM_HOME_FOR_LAND_APPROACHES;
 
-			if (mission_safe_point.nav_cmd == NAV_CMD_RALLY_POINT && (far_from_home || (_param_rtl_type.get() == 5))) {
+			if (far_from_home || (_param_rtl_type.get() == 5)) {
 				const float dist{get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, mission_safe_point.lat, mission_safe_point.lon)};
 
 				PositionYawSetpoint safepoint_position;