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mode: control auto set home from an external mode

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The mode executor can run land mode which updates the home position to the landing location. This
can be not the desirable behavior and the home position should stay at the original location.

A flag is added to the configuration overrides to control if the home position is updated or not.
This commit is contained in:
Michael Schaeuble
2025-11-24 10:29:47 +01:00
committed by Beat Küng
parent a2299b02c8
commit d97a8d7d3b
6 changed files with 73 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+4 -3
View File
@@ -638,7 +638,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
events::send<events::px4::enums::arm_disarm_reason_t>(events::ID("commander_armed_by"), events::Log::Info,
"Armed by {1}", calling_reason);
if (_param_com_home_en.get() && !_mission_in_progress) {
if (_param_com_home_en.get() && !_mission_in_progress && !_config_overrides.disable_auto_set_home) {
_home_position.setHomePosition();
}
@@ -1850,7 +1850,8 @@ void Commander::run()
_mission_in_progress = (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION)
&& !_mission_result_sub.get().finished;
_home_position.update(_param_com_home_en.get(), !isArmed() && _vehicle_land_detected.landed && !_mission_in_progress);
_home_position.update(_param_com_home_en.get(), !isArmed() && _vehicle_land_detected.landed && !_mission_in_progress
&& !_config_overrides.disable_auto_set_home);
handleAutoDisarm();
@@ -2140,7 +2141,7 @@ void Commander::landDetectorUpdate()
}
// automatically set or update home position
if (_param_com_home_en.get() && !_mission_in_progress) {
if (_param_com_home_en.get() && !_mission_in_progress && !_config_overrides.disable_auto_set_home) {
// set the home position when taking off
if (!_vehicle_land_detected.landed) {
if (was_landed) {
src/modules/commander/ModeManagement.cpp
+4
View File
@@ -563,6 +563,10 @@ void ModeManagement::updateActiveConfigOverrides(uint8_t nav_state, config_overr
current_overrides.disable_auto_disarm = true;
}
if (executor_overrides.disable_auto_set_home) {
current_overrides.disable_auto_set_home = true;
}
if (executor_overrides.defer_failsafes) {
current_overrides.defer_failsafes = true;
current_overrides.defer_failsafes_timeout_s = executor_overrides.defer_failsafes_timeout_s;