Add Altitude Cruise mode

-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>

src/modules/fw_mode_manager/CMakeLists.txt

@@ -41,7 +41,7 @@ set(POSCONTROL_DEPENDENCIES
 	SlewRate
 	tecs
 	motion_planning
-    	performance_model
+	performance_model
 	Sticks
 )
 

src/modules/fw_mode_manager/FixedWingModeManager.cpp

@@ -1953,17 +1953,12 @@ FixedWingModeManager::Run()
 
 	perf_begin(_loop_perf);
 
-	if (_vehicle_status_sub.updated()) {
-
-		if (_vehicle_status_sub.update(&_vehicle_status)) {
-			_nav_state = _vehicle_status.nav_state;
-		}
-	}
+	_vehicle_status_sub.update(&_vehicle_status);
 
 	/* only run controller if position changed and we are not running an external mode*/
 
-	const bool is_external_nav_state = (_nav_state >= vehicle_status_s::NAVIGATION_STATE_EXTERNAL1)
-					   && (_nav_state <= vehicle_status_s::NAVIGATION_STATE_EXTERNAL8);
+	const bool is_external_nav_state = (_vehicle_status.nav_state >= vehicle_status_s::NAVIGATION_STATE_EXTERNAL1)
+					   && (_vehicle_status.nav_state <= vehicle_status_s::NAVIGATION_STATE_EXTERNAL8);
 
 	if (is_external_nav_state) {
 		// this will cause the configuration handler to publish immediately the next time an internal flight

src/modules/fw_mode_manager/FixedWingModeManager.hpp

@@ -246,8 +246,6 @@ private:
 
 	// VEHICLE STATES
 
-	uint8_t _nav_state;
-
 	double _current_latitude{0};
 	double _current_longitude{0};
 	float _current_altitude{0.f};