commander: add config overrides

msg/CMakeLists.txt

@@ -60,6 +60,7 @@ set(msg_files
 	CellularStatus.msg
 	CollisionConstraints.msg
 	CollisionReport.msg
+	ConfigOverrides.msg
 	ControlAllocatorStatus.msg
 	Cpuload.msg
 	DatamanRequest.msg

msg/ConfigOverrides.msg

@@ -0,0 +1,19 @@
+# Configurable overrides by (external) modes or mode executors
+uint64 timestamp		# time since system start (microseconds)
+
+bool disable_auto_disarm         # Prevent the drone from automatically disarming after landing (if configured)
+
+bool defer_failsafes             # Defer all failsafes that can be deferred (until the flag is cleared)
+int16 defer_failsafes_timeout_s  # Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout
+
+
+int8 SOURCE_TYPE_MODE = 0
+int8 SOURCE_TYPE_MODE_EXECUTOR = 1
+int8 source_type
+
+uint8 source_id                  # ID depending on source_type
+
+uint8 ORB_QUEUE_LENGTH = 4
+
+# TOPICS config_overrides config_overrides_request
+

msg/VehicleStatus.msg

@@ -88,8 +88,13 @@ uint8 VEHICLE_TYPE_FIXED_WING = 2
 uint8 VEHICLE_TYPE_ROVER = 3
 uint8 VEHICLE_TYPE_AIRSHIP = 4
 
+uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
+uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
+uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe
+
 bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
 bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
+uint8 failsafe_defer_state # one of FAILSAFE_DEFER_STATE_*
 
 # Link loss
 bool gcs_connection_lost              # datalink to GCS lost