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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
2025-09-18 15:50:10 +02:00
parent 5c5bf0b83d
commit d2e4d85bce
37 changed files with 216 additions and 27 deletions
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src/modules/manual_control/ManualControl.cpp
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@@ -590,6 +590,7 @@ int8_t ManualControl::navStateFromParam(int32_t param_value)
case 13: return vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND;
case 14: return vehicle_status_s::NAVIGATION_STATE_ORBIT;
case 15: return vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF;
case 16: return vehicle_status_s::NAVIGATION_STATE_ALTITUDE_CRUISE;
case 100: return vehicle_status_s::NAVIGATION_STATE_EXTERNAL1;
case 101: return vehicle_status_s::NAVIGATION_STATE_EXTERNAL2;