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Report nav_state of mission executor via MAVLink

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This commit is contained in:
Matthias Grob
2026-02-06 14:10:40 +01:00
parent fe91ace0bb
commit adc9a6d35d
10 changed files with 272 additions and 10 deletions
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src/modules/commander/Commander.cpp
+3 -2
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@@ -2408,9 +2408,10 @@ bool Commander::handleModeIntentionAndFailsafe()
_mode_management.setFailsafeState(_failsafe.selectedAction() > FailsafeBase::Action::Warn);
_vehicle_status.nav_state_user_intention = _mode_management.getNavStateReplacementIfValid(_user_mode_intention.get(),
false);
_vehicle_status.nav_state = _mode_management.getNavStateReplacementIfValid(FailsafeBase::modeFromAction(
_failsafe.selectedAction(), _user_mode_intention.get()));
_vehicle_status.nav_state =
_mode_management.getNavStateReplacementIfValid(FailsafeBase::modeFromAction(_failsafe.selectedAction(), _user_mode_intention.get()));
_vehicle_status.executor_in_charge = _mode_management.modeExecutorInCharge(); // Set this in sync with nav_state
_vehicle_status.nav_state_display = _mode_management.getNavStateDisplay(_vehicle_status.nav_state);
switch (_failsafe.selectedAction()) {
case FailsafeBase::Action::Disarm: