fly316/PX4-Autopilot
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9 Commits

Author SHA1 Message Date
Mahima Yoga 96904636f3 commander: prevent setting nav_state to takeoff after disarming (#25735) 
* commander: prevent setting nav_state after disarming to takeoff

* wrap in function
 2025-10-10 09:59:26 -08:00
Matthias Grob e0cdcdb436 Remove COM_POSCTL_NAVL 
In an effort to reduce configuration space.
I've not seen use for this option.
If a pilot flies manually in position mode he has some visual reference of the vehicle and can do better than an autonomous mode without position reference.
Also by now we have nudging in Descend mode so the pilot can still give input and the only difference is it automatically goes down instead of the pilot having to descend by stick to land.
 2025-09-08 09:41:52 +02:00
Beat Küng df11aa1d69 fix commander: handle mode executor correctly on disarm 
There were a number of cases where the state was not correct or not as
desired after disarming, when running an external mode 'MyMission' with
executor:
- run MyMission, which triggers Hold, then Land
  - before: Mode: Hold, executor_in_charge: 1
  - after:  Mode: MyMission, executor_in_charge: 1
- run MyMission, then user switches to RTL
  - before: Mode: MyMission, executor_in_charge: 0
  - after:  Mode: MyMission, executor_in_charge: 1
- run MyMission, then while in Hold mode, low battery failsafe (RTL)
  - before: Mode: Hold, executor_in_charge: 1
  - after:  Mode: MyMission, executor_in_charge: 1
- run MyMission, then stop external mode (terminate the process)
  - before: Mode: (mode not available), executor_in_charge: 0
  - after:  Mode: Hold, executor_in_charge: 0

This case is unchanged:
- run MyMission, then low battery failsafe (RTL)
  - before: Mode: MyMission, executor_in_charge: 1
  - after:  Mode: MyMission, executor_in_charge: 1
 2025-08-21 10:06:30 +02:00
Marco Hauswirth 1f5a9e526c dont change mode_change-flag if mode was not allowed to change 2025-02-28 14:23:58 +01:00
Silvan Fuhrer 97561d7802 Commander: never allow to switch out of Terminate state with user intend 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-07-26 09:53:07 +02:00
Silvan Fuhrer ee8030de56 Commander: do not switch out of Terminte after disarm 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-07-26 09:53:07 +02:00
Beat Küng fbbccf6997 commander: implement external modes and mode executors 2023-11-15 13:18:58 +01:00
Beat Küng 8e4c5884ec fix commander: need to check for valid mode change even if already the same 
Fixes the following case:
- user intention set to X
- failsafe triggers, mode = Y
- can_run for X becomes false
- user tries to switch to X
  -> need to re-evaluate can_run
 2023-02-01 08:48:09 +01:00
Beat Küng 455b885f86 commander: use new failsafe state machine and add user intention class 2022-10-11 22:31:20 -04:00