autotune: enable autotune in mission mode

When operating fully autonomously (i.e., without manual control or a guaranteed link to the ground station), tuning a vehicle can be difficult since the current autotune process requires either RC input or a GCS command. For these scenarios, it it useful to be able to start autotune inside a mission.

docs/en/flight_modes_fw/mission.md

@@ -162,6 +162,10 @@ Mission Items:
 - [MAV_CMD_OBLIQUE_SURVEY](https://mavlink.io/en/messages/common.html#MAV_CMD_OBLIQUE_SURVEY)
 - [MAV_CMD_DO_SET_CAMERA_ZOOM](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_ZOOM)
 - [MAV_CMD_DO_SET_CAMERA_FOCUS](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_FOCUS)
+- [MAV_CMD_DO_AUTOTUNE_ENABLE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_AUTOTUNE_ENABLE)
+   - Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
+   - Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0).
+     Instead, the axis bitmask defined by [`FW_AT_AXES`](../advanced_config/parameter_reference.md#FW_AT_AXES) is used.
 
 GeoFence Definitions
 

docs/en/flight_modes_mc/mission.md

@@ -166,6 +166,9 @@ Mission Items:
 - [MAV_CMD_NAV_VTOL_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_TAKEOFF)
   - `MAV_CMD_NAV_VTOL_TAKEOFF.param2` (transition heading) is ignored.
     Instead the heading to the next waypoint is used for the transition heading. <!-- at LEAST until PX4 v1.13: https://github.com/PX4/PX4-Autopilot/issues/12660 -->
+- [MAV_CMD_DO_AUTOTUNE_ENABLE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_AUTOTUNE_ENABLE)
+   - Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
+   - Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0) .
 
 GeoFence Definitions
 

msg/versioned/VehicleCommand.msg

@@ -61,6 +61,7 @@ uint16 VEHICLE_CMD_DO_PARACHUTE=208 # Mission command to trigger a parachute. |a
 uint16 VEHICLE_CMD_DO_MOTOR_TEST=209 # Motor test command. |Instance (@range 1, )|throttle type|throttle|timeout [s]|Motor count|Test order|Unused|
 uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT=210 # Change to/from inverted flight. |inverted (0=normal, 1=inverted)|Unused|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_GRIPPER = 211 # Command to operate a gripper.
+uint16 VEHICLE_CMD_DO_AUTOTUNE_ENABLE = 212 # Enable autotune module. |1 to enable|Unused|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL=214 # Mission command to set TRIG_INTERVAL for this flight. |[m] Camera trigger distance|Shutter integration time (ms)|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220 # Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)|q2 - quaternion param #2, x (0 in null-rotation)|q3 - quaternion param #3, y (0 in null-rotation)|q4 - quaternion param #4, z (0 in null-rotation)|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_GUIDED_MASTER=221 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|

src/modules/commander/Commander.cpp

@@ -1550,6 +1550,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 	case vehicle_command_s::VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE:
 	case vehicle_command_s::VEHICLE_CMD_REQUEST_CAMERA_INFORMATION:
 	case vehicle_command_s::VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE:
+	case vehicle_command_s::VEHICLE_CMD_DO_AUTOTUNE_ENABLE:
 		/* ignore commands that are handled by other parts of the system */
 		break;
 

src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp

@@ -48,7 +48,6 @@ FwAutotuneAttitudeControl::FwAutotuneAttitudeControl(bool is_vtol) :
 	_actuator_controls_status_sub(is_vtol ? ORB_ID(actuator_controls_status_1) : ORB_ID(actuator_controls_status_0))
 {
 	_autotune_attitude_control_status_pub.advertise();
-	reset();
 }
 
 FwAutotuneAttitudeControl::~FwAutotuneAttitudeControl()
@@ -73,11 +72,6 @@ bool FwAutotuneAttitudeControl::init()
 	return true;
 }
 
-void FwAutotuneAttitudeControl::reset()
-{
-	_param_fw_at_start.reset();
-}
-
 void FwAutotuneAttitudeControl::Run()
 {
 	if (should_exit()) {
@@ -107,10 +101,23 @@ void FwAutotuneAttitudeControl::Run()
 		}
 	}
 
+	if (_vehicle_command_sub.updated()) {
+		vehicle_command_s vehicle_command;
+
+		if (_vehicle_command_sub.copy(&vehicle_command)) {
+			if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_AUTOTUNE_ENABLE) {
+				if (fabsf(vehicle_command.param1 - 1.0f) < FLT_EPSILON && fabsf(vehicle_command.param2) < FLT_EPSILON) {
+					_vehicle_cmd_start_autotune = true;
+				}
+			}
+		}
+	}
+
 	_aux_switch_en = isAuxEnableSwitchEnabled();
+	_want_start_autotune = _vehicle_cmd_start_autotune || _aux_switch_en;
 
 	// new control data needed every iteration
-	if ((_state == state::idle && !_aux_switch_en)
+	if ((_state == state::idle && !_want_start_autotune)
 	    || !_vehicle_torque_setpoint_sub.updated()) {
 
 		return;
@@ -310,7 +317,8 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 
 	switch (_state) {
 	case state::idle:
-		if (_param_fw_at_start.get() || _aux_switch_en) {
+
+		if (_want_start_autotune) {
 
 			mavlink_log_info(&_mavlink_log_pub, "Autotune started");
 			_state = state::init;
@@ -540,8 +548,7 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 			orb_advert_t mavlink_log_pub = nullptr;
 			mavlink_log_info(&mavlink_log_pub, "Autotune returned to idle");
 			_state = state::idle;
-			_param_fw_at_start.set(false);
+			_vehicle_cmd_start_autotune = false;
-			_param_fw_at_start.commit();
 		}
 
 		break;
@@ -561,7 +568,7 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 			// Abort
 			mavlink_log_critical(&mavlink_log_pub, "Autotune aborted before finishing");
 			_state = state::fail;
-
+			_start_flight_mode = _nav_state;
 			_state_start_time = now;
 
 		} else if (timeout) {
@@ -589,10 +596,9 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 				break;
 			}
 
+			_start_flight_mode = _nav_state;
 			_state_start_time = now;
 		}
-
-
 	}
 }
 

src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp

@@ -58,6 +58,7 @@
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/autotune_attitude_control_status.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
+#include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_torque_setpoint.h>
 #include <mathlib/mathlib.h>
@@ -101,8 +102,6 @@ private:
 
 	void Run() override;
 
-	void reset();
-
 	void checkFilters();
 
 	void updateStateMachine(hrt_abstime now);
@@ -126,6 +125,7 @@ private:
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
 
 	uORB::PublicationData<autotune_attitude_control_status_s> _autotune_attitude_control_status_pub{ORB_ID(autotune_attitude_control_status)};
 
@@ -178,6 +178,8 @@ private:
 	uint8_t _nav_state{0};
 	uint8_t _start_flight_mode{0};
 	bool _aux_switch_en{false};
+	bool _vehicle_cmd_start_autotune{false};
+	bool _want_start_autotune{false};
 
 	orb_advert_t _mavlink_log_pub{nullptr};
 
@@ -215,7 +217,6 @@ private:
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::FW_AT_AXES>) _param_fw_at_axes,
-		(ParamBool<px4::params::FW_AT_START>) _param_fw_at_start,
 		(ParamInt<px4::params::FW_AT_MAN_AUX>) _param_fw_at_man_aux,
 		(ParamInt<px4::params::FW_AT_APPLY>) _param_fw_at_apply,
 

src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c

@@ -39,22 +39,7 @@
  * @author Mathieu Bresciani <mathieu@auterion.com>
  */
 
-/**
+
- * Start the autotuning sequence
- *
- * WARNING: this will inject steps to the rate controller
- * and can be dangerous. Only activate if you know what you
- * are doing, and in a safe environment.
- *
- * Any motion of the remote stick will abort the signal
- * injection and reset this parameter
- * Best is to perform the identification in position or
- * hold mode.
- *
- * @boolean
- * @group Autotune
- */
-PARAM_DEFINE_INT32(FW_AT_START, 0);
 
 /**
  * Controls when to apply the new gains

src/modules/mavlink/mavlink_mission.cpp

@@ -1538,6 +1538,12 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 			mission_item->params[0] = (uint16_t)mavlink_mission_item->param1;
 			break;
 
+		case MAV_CMD_DO_AUTOTUNE_ENABLE:
+			mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
+			mission_item->params[0] = (uint16_t)mavlink_mission_item->param1;
+			mission_item->params[1] = (uint16_t)mavlink_mission_item->param2;
+			break;
+
 		default:
 			mission_item->nav_cmd = NAV_CMD_INVALID;
 			PX4_DEBUG("Unsupported command %d", mavlink_mission_item->command);
@@ -1627,6 +1633,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 		case MAV_CMD_CONDITION_DELAY:
 		case MAV_CMD_CONDITION_DISTANCE:
 		case MAV_CMD_DO_SET_ACTUATOR:
+		case MAV_CMD_DO_AUTOTUNE_ENABLE:
 		case MAV_CMD_COMPONENT_ARM_DISARM:
 			mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
 			break;

src/modules/mavlink/mavlink_receiver.cpp

@@ -622,46 +622,37 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
 		autotune_attitude_control_status_s status{};
 		_autotune_attitude_control_status_sub.copy(&status);
 
-		// if not busy enable via the parameter
+		// publish vehicle command once if:
-		// do not check the return value of the uORB copy above because the module
+		// - autotune is not already running
-		// starts publishing only when MC_AT_START is set
+		// - we are not in transition
+		// - autotune module is enabled
 		if (status.state == autotune_attitude_control_status_s::STATE_IDLE) {
 			vehicle_status_s vehicle_status{};
 			_vehicle_status_sub.copy(&vehicle_status);
 
 			if (!vehicle_status.in_transition_mode) {
-				param_t atune_start;
 
 				switch (vehicle_status.vehicle_type) {
 				case vehicle_status_s::VEHICLE_TYPE_FIXED_WING:
-					atune_start = param_find("FW_AT_START");
+					has_module = param_find("FW_AT_APPLY");
-
 					break;
 
 				case vehicle_status_s::VEHICLE_TYPE_ROTARY_WING:
-					atune_start = param_find("MC_AT_START");
+					has_module = param_find("MC_AT_APPLY");
-
 					break;
 
 				default:
-					atune_start = PARAM_INVALID;
+					has_module = false;
 					break;
 				}
 
-				if (atune_start == PARAM_INVALID) {
+				if (has_module) {
-					has_module = false;
+					_cmd_pub.publish(vehicle_command);
-
-				} else {
-					int32_t start = 1;
-					param_set(atune_start, &start);
 				}
-
-			} else {
-				has_module = false;
 			}
 		}
 
-		if (has_module) {
+		if (has_module && fabsf(vehicle_command.param1 - 1.f) <= FLT_EPSILON && fabsf(vehicle_command.param2) < FLT_EPSILON) {
 
 			// most are in progress
 			result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_IN_PROGRESS;
@@ -715,6 +706,10 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
 				break;
 			}
 
+		} else if (has_module && (fabsf(vehicle_command.param1 - 1.f) > FLT_EPSILON || fabsf(vehicle_command.param2) > FLT_EPSILON)) {
+
+			result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
+
 		} else {
 			result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
 		}

src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp

@@ -46,7 +46,6 @@ McAutotuneAttitudeControl::McAutotuneAttitudeControl() :
 	WorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
 	_autotune_attitude_control_status_pub.advertise();
-	reset();
 }
 
 McAutotuneAttitudeControl::~McAutotuneAttitudeControl()
@@ -56,7 +55,8 @@ McAutotuneAttitudeControl::~McAutotuneAttitudeControl()
 
 bool McAutotuneAttitudeControl::init()
 {
-	if (!_parameter_update_sub.registerCallback()) {
+
+	if (!_vehicle_torque_setpoint_sub.registerCallback()) {
 		PX4_ERR("callback registration failed");
 		return false;
 	}
@@ -66,11 +66,6 @@ bool McAutotuneAttitudeControl::init()
 	return true;
 }
 
-void McAutotuneAttitudeControl::reset()
-{
-	_param_mc_at_start.reset();
-}
-
 void McAutotuneAttitudeControl::Run()
 {
 	if (should_exit()) {
@@ -91,17 +86,12 @@ void McAutotuneAttitudeControl::Run()
 		updateStateMachine(hrt_absolute_time());
 	}
 
-	// new control data needed every iteration
-	if (_state == state::idle
-	    || !_vehicle_torque_setpoint_sub.updated()) {
-		return;
-	}
-
 	if (_vehicle_status_sub.updated()) {
 		vehicle_status_s vehicle_status;
 
 		if (_vehicle_status_sub.copy(&vehicle_status)) {
 			_armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
+			_nav_state = vehicle_status.nav_state;
 		}
 	}
 
@@ -113,6 +103,24 @@ void McAutotuneAttitudeControl::Run()
 		}
 	}
 
+	if (_vehicle_command_sub.updated()) {
+		vehicle_command_s vehicle_command;
+
+		if (_vehicle_command_sub.copy(&vehicle_command)) {
+			if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_AUTOTUNE_ENABLE) {
+				if (fabsf(vehicle_command.param1 - 1.0f) < FLT_EPSILON && fabsf(vehicle_command.param2) < FLT_EPSILON) {
+					_vehicle_cmd_start_autotune = true;
+				}
+			}
+		}
+	}
+
+	// new control data needed every iteration
+	if ((_state == state::idle && !_vehicle_cmd_start_autotune)
+	    || !_vehicle_torque_setpoint_sub.updated()) {
+		return;
+	}
+
 	vehicle_torque_setpoint_s vehicle_torque_setpoint;
 	vehicle_angular_velocity_s angular_velocity;
 
@@ -271,7 +279,7 @@ void McAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 
 	switch (_state) {
 	case state::idle:
-		if (_param_mc_at_start.get()) {
+		if (_vehicle_cmd_start_autotune) {
 			if (registerActuatorControlsCallback()) {
 				_state = state::init;
 
@@ -280,6 +288,7 @@ void McAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 			}
 
 			_state_start_time = now;
+			_start_flight_mode = _nav_state;
 		}
 
 		break;
@@ -438,17 +447,23 @@ void McAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 		break;
 	}
 
-	// In case of convergence timeout or pilot intervention,
+	// In case of convergence timeout, pilot intervention or mode change,
 	// the identification sequence is aborted immediately
 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
 
+	const bool timeout = (now - _state_start_time) > 20_s;
+	const bool mode_changed = (_start_flight_mode != _nav_state);
+	const bool pilot_intervention = ((fabsf(manual_control_setpoint.roll) > 0.05f)
+					 || (fabsf(manual_control_setpoint.pitch) > 0.05f));
+
+	const bool should_abort = timeout || mode_changed || pilot_intervention;
+
 	if (_state != state::wait_for_disarm
-	    && _state != state::idle
+	    && _state != state::idle && should_abort) {
-	    && (((now - _state_start_time) > 20_s)
+
-		|| (fabsf(manual_control_setpoint.roll) > 0.05f)
-		|| (fabsf(manual_control_setpoint.pitch) > 0.05f))) {
 		_state = state::fail;
+		_start_flight_mode = _nav_state;
 		_state_start_time = now;
 	}
 }
@@ -580,8 +595,7 @@ void McAutotuneAttitudeControl::saveGainsToParams()
 
 void McAutotuneAttitudeControl::stopAutotune()
 {
-	_param_mc_at_start.set(false);
+	_vehicle_cmd_start_autotune = false;
-	_param_mc_at_start.commit();
 	_vehicle_torque_setpoint_sub.unregisterCallback();
 }
 

src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.hpp

@@ -56,6 +56,7 @@
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/autotune_attitude_control_status.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
+#include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_torque_setpoint.h>
 #include <mathlib/mathlib.h>
@@ -86,8 +87,6 @@ public:
 private:
 	void Run() override;
 
-	void reset();
-
 	void checkFilters();
 
 	void updateStateMachine(hrt_abstime now);
@@ -109,6 +108,7 @@ private:
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
 
 	uORB::PublicationData<autotune_attitude_control_status_s> _autotune_attitude_control_status_pub{ORB_ID(autotune_attitude_control_status)};
 
@@ -137,6 +137,9 @@ private:
 	int8_t _signal_sign{0};
 
 	bool _armed{false};
+	uint8_t _nav_state{0};
+	uint8_t _start_flight_mode{0};
+	bool _vehicle_cmd_start_autotune{false};
 
 	matrix::Vector3f _kid{};
 	matrix::Vector3f _rate_k{};
@@ -177,7 +180,6 @@ private:
 	perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")};
 
 	DEFINE_PARAMETERS(
-		(ParamBool<px4::params::MC_AT_START>) _param_mc_at_start,
 		(ParamFloat<px4::params::MC_AT_SYSID_AMP>) _param_mc_at_sysid_amp,
 		(ParamInt<px4::params::MC_AT_APPLY>) _param_mc_at_apply,
 		(ParamFloat<px4::params::MC_AT_RISE_TIME>) _param_mc_at_rise_time,

src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control_params.c

@@ -47,24 +47,6 @@
  */
 PARAM_DEFINE_INT32(MC_AT_EN, 0);
 
-/**
- * Start the autotuning sequence
- *
- * WARNING: this will inject steps to the rate controller
- * and can be dangerous. Only activate if you know what you
- * are doing, and in a safe environment.
- *
- * Any motion of the remote stick will abort the signal
- * injection and reset this parameter
- * Best is to perform the identification in position or
- * hold mode.
- * Increase the amplitude of the injected signal using
- * MC_AT_SYSID_AMP for more signal/noise ratio
- *
- * @boolean
- * @group Autotune
- */
-PARAM_DEFINE_INT32(MC_AT_START, 0);
 
 /**
  * Amplitude of the injected signal

src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp

@@ -257,6 +257,7 @@ bool FeasibilityChecker::checkMissionItemValidity(mission_item_s &mission_item,
 	    mission_item.nav_cmd != NAV_CMD_CONDITION_GATE &&
 	    mission_item.nav_cmd != NAV_CMD_DO_WINCH &&
 	    mission_item.nav_cmd != NAV_CMD_DO_GRIPPER &&
+	    mission_item.nav_cmd != NAV_CMD_DO_AUTOTUNE_ENABLE &&
 	    mission_item.nav_cmd != NAV_CMD_DO_JUMP &&
 	    mission_item.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
 	    mission_item.nav_cmd != NAV_CMD_DO_SET_HOME &&

src/modules/navigator/mission_block.cpp

@@ -83,6 +83,7 @@ MissionBlock::is_mission_item_reached_or_completed()
 	case NAV_CMD_DO_MOUNT_CONTROL:
 	case NAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE:
 	case NAV_CMD_COMPONENT_ARM_DISARM:
+	case NAV_CMD_DO_AUTOTUNE_ENABLE:
 	case NAV_CMD_DO_SET_ROI:
 	case NAV_CMD_DO_SET_ROI_LOCATION:
 	case NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET:

src/modules/navigator/navigation.h

@@ -73,6 +73,7 @@ enum NAV_CMD {
 	NAV_CMD_DO_MOUNT_CONFIGURE = 204,
 	NAV_CMD_DO_MOUNT_CONTROL = 205,
 	NAV_CMD_DO_GRIPPER = 211,
+	NAV_CMD_DO_AUTOTUNE_ENABLE = 212,
 	NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL = 214,
 	NAV_CMD_DO_SET_CAM_TRIGG_DIST = 206,
 	NAV_CMD_OBLIQUE_SURVEY = 260,

src/modules/navigator/navigator_main.cpp

@@ -759,6 +759,21 @@ void Navigator::run()
 				reset_cruising_speed();
 				set_cruising_throttle();
 			}
+
+			else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_AUTOTUNE_ENABLE) {
+
+
+				if (fabsf(cmd.param1 - 1.f) > FLT_EPSILON) {
+					// only support enabling autotune (consistent with autotune module)
+					events::send(events::ID("navigator_autotune_unsupported_input"), {events::Log::Warning, events::LogInternal::Warning},
+						     "Provided autotune command is not supported. To enable autotune in mission, set param1 to 1");
+
+				} else if (fabsf(cmd.param2) > FLT_EPSILON) {
+					// warn user about axis selection
+					events::send(events::ID("navigator_autotune_unsupported_ax"), {events::Log::Warning, events::LogInternal::Info},
+						     "Autotune axis selection not supported through Mission. Use FW_AT_AXES to set axes for fixed-wing vehicles");
+				}
+			}
 		}
 
 #if CONFIG_NAVIGATOR_ADSB