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Add Altitude Cruise mode

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-add new NAVIGATION_STATE_ALTITUDE_VOYAGER
-this mode does require manual control to enter
-but you can disable the manual control loss failsafe to continue
flying in case of manual control loss
-for MC: in throttle and yaw are controlled like in Altitude mode,
the tilt is controlled via integrated rate input (similar to Acro,
but with tilt limit)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2025-08-15 16:41:38 +02:00
parent 5c5bf0b83d
commit d2e4d85bce
37 changed files with 216 additions and 27 deletions
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src/modules/commander/Commander.cpp
+7 -1
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@@ -380,6 +380,9 @@ int Commander::custom_command(int argc, char *argv[])
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_POSCTL,
PX4_CUSTOM_SUB_MODE_POSCTL_SLOW);
} else if (!strcmp(argv[1], "altitude_cruise")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_ALTITUDE_CRUISE);
} else if (!strcmp(argv[1], "auto:mission")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_MISSION);
@@ -794,6 +797,9 @@ Commander::handle_command(const vehicle_command_s &cmd)
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTITUDE_CRUISE) {
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_ALTITUDE_CRUISE;
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
switch (custom_sub_mode) {
default:
@@ -3026,7 +3032,7 @@ The commander module contains the state machine for mode switching and failsafe
PRINT_MODULE_USAGE_COMMAND("land");
PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition");
PRINT_MODULE_USAGE_COMMAND_DESCR("mode", "Change flight mode");
PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|altctl|posctl|position:slow|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1",
PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|altctl|posctl|altitude_cruise|position:slow|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1",
"Flight mode", false);
PRINT_MODULE_USAGE_COMMAND("pair");
PRINT_MODULE_USAGE_COMMAND("termination");