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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/navigator/navigator_main.cpp
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@@ -823,6 +823,7 @@ void Navigator::run()
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
case vehicle_status_s::NAVIGATION_STATE_ACRO:
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
case vehicle_status_s::NAVIGATION_STATE_ALTITUDE_CRUISE:
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
case vehicle_status_s::NAVIGATION_STATE_TERMINATION: