Fix indentation inconsistency in bug_report.yml placeholder

Co-authored-by: farhangnaderi <46557204+farhangnaderi@users.noreply.github.com>
Initial plan
2026-06-05 02:10:04 +08:00 · 2026-01-14 05:13:40 +00:00 · 2026-01-14 05:11:45 +00:00 · 2026-01-13 17:36:30 -05:00 · 2026-01-13 10:57:54 -09:00 · 2026-01-12 18:42:51 +01:00
38 changed files with 599 additions and 1485 deletions
@@ -3,92 +3,45 @@ description: Create a report to help us improve
 title: "[Bug] "
 labels: ["bug-report"]
 body:
+  - type: markdown
+    attributes:
+      value: |
+        **Tips for a great bug report:**
+        - Describe what went wrong and what you expected
+        - Include a flight log link from [logs.px4.io](http://logs.px4.io/) if possible
+        - Mention your PX4 version, flight controller, and vehicle type if relevant
+
  - type: textarea
    attributes:
      label: Describe the bug
-      description: A clear and concise description of the bug.
+      description: A clear description of the bug and what you expected to happen.
+      placeholder: |
+        What happened and what did you expect instead?
+
+        Steps to reproduce (if applicable):
+        1.
+        2.
+        3.
    validations:
      required: true

  - type: textarea
    attributes:
-      label: To Reproduce
+      label: Flight Log / Additional Information
      description: |
-          Steps to reproduce the behavior.
-          1. Drone switched on '...'
-          2. Uploaded mission '....' (attach QGC mission file)
-          3. Took off '....'
-          4. See error
-    validations:
-      required: false
+          **Flight log** (highly recommended for flight-related issues):
+          - Upload to [PX4 Flight Review](http://logs.px4.io/) and paste the link

-  - type: textarea
-    attributes:
-      label: Expected behavior
-      description: A clear and concise description of what you expected to happen.
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-
-  - type: textarea
-    attributes:
-      label: Flight Log
-      description: |
-          *Always* provide a link to the flight log file:
-          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
-          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
-          - Share the link to the log (Copy and paste the URL of the log)
+          **Additional details** (if relevant):
+          - PX4 version (output of `ver all` in MAVLink Shell)
+          - Flight controller model
+          - Vehicle type (multicopter, fixed-wing, VTOL, etc.)
+          - Screenshots or media
      placeholder: |
-          # PASTE HERE THE LINK TO THE LOG
+        Flight log link:
+
+        Version:
+
+        Hardware:
    validations:
      required: false
-
-  - type: markdown
-    attributes:
-      value: |
-        ## Setup
-
-  - type: textarea
-    attributes:
-      label: Software Version
-      description: |
-          Which version of PX4 are you using?
-      placeholder: |
-          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
-    validations:
-      required: false
-
-  - type: input
-    attributes:
-      label: Flight controller
-      description: Specify your flight controller model (what type is it, where was it bought from, ...).
-    validations:
-      required: false
-
-  - type: dropdown
-    attributes:
-      label: Vehicle type
-      options:
-        - Multicopter
-        - Helicopter
-        - Fixed Wing
-        - Hybrid VTOL
-        - Airship/Balloon
-        - Rover
-        - Boat
-        - Submarine
-        - Other
-
-  - type: textarea
-    attributes:
-      label: How are the different components wired up (including port information)
-      description: Details about how all is wired.
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context about the problem here.
@@ -1,4 +1,4 @@
-blank_issues_enabled: false
+blank_issues_enabled: true
 contact_links:
  - name: Support Question
    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
@@ -16,7 +16,6 @@ control_allocator start
 fw_rate_control start
 fw_att_control start
 fw_mode_manager start
-fw_guidance_control start
 fw_lat_lon_control start
 airspeed_selector start

@@ -237,6 +237,12 @@ then
 	tla2528 start -X
 fi

+# Start TMP102 temperature sensor
+if param compare SENS_EN_TMP102 1
+then
+	tmp102 start -X
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -28,7 +28,6 @@ fi
 fw_rate_control start vtol
 fw_att_control start vtol
 fw_mode_manager start
-fw_guidance_control start
 fw_lat_lon_control start vtol
 fw_autotune_attitude_control start vtol

@@ -21,7 +21,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_GUIDANCE_CONTROL=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
@@ -121,21 +121,22 @@ PX4 and the receiver may also need to be configured in order to _detect RC loss_

 ![Safety - RC Loss (QGC)](../../assets/qgc/setup/safety/safety_rc_loss.png)

-The QGCroundControl Safety UI allows you to set the [failsafe action](#failsafe-actions) and [RC Loss timeout](#COM_RC_LOSS_T).
-Users that want to disable the RC loss failsafe in specific automatic modes (mission, hold, offboard) can do so using the parameter [COM_RCL_EXCEPT](#COM_RCL_EXCEPT).
+The QGCroundControl Safety UI allows you to set the [failsafe action](#failsafe-actions) and [manual control loss timeout](#COM_RC_LOSS_T).
+Users that want to disable this failsafe in specific modes can do so using the parameter [COM_RCL_EXCEPT](#COM_RCL_EXCEPT).

 Additional (and underlying) parameter settings are shown below.

 | Parameter                                                                                             | Setting                     | Description                                                                                                                                                                                                                                                                                                                                                                                              |
 | ----------------------------------------------------------------------------------------------------- | --------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T)    | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the old manual control setpoint until the timeout triggers.                                                                                                                                              |
+| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T)    | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the last known stick position until the timeout triggers.                                                                                                                                              |
 | <a id="COM_FAIL_ACT_T"></a>[COM_FAIL_ACT_T](../advanced_config/parameter_reference.md#COM_FAIL_ACT_T) | Failsafe Reaction Delay     | Delay in seconds between failsafe condition being triggered (`COM_RC_LOSS_T`) and failsafe action (RTL, Land, Hold). In this state the vehicle waits in hold mode for the manual control source to reconnect. This might be set longer for long-range flights so that intermittent connection loss doesn't immediately invoke the failsafe. It can be to zero so that the failsafe triggers immediately. |
 | <a id="NAV_RCL_ACT"></a>[NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT)          | Failsafe Action             | Disabled, Loiter, Return, Land, Disarm, Terminate.                                                                                                                                                                                                                                                                                                                                                       |
-| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC Loss Exceptions          | Set the modes in which manual control loss is ignored: Mission, Hold, Offboard.                                                                                                                                                                                                                                                                                                                          |
+| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC Loss Exceptions          | Set modes in which manual control loss is ignored.                                                                                                                                                                                                                                                                                                                        |

 ## Data Link Loss Failsafe

-The Data Link Loss failsafe is triggered if a telemetry link (connection to ground station) is lost.
+The Data Link Loss failsafe is triggered if the connection to the last MAVLink ground station like QGroundControl is lost.
+Users that want to disable this failsafe in specific modes can do so using the parameter [COM_DLL_EXCEPT](#COM_DLL_EXCEPT).

 ![Safety - Data Link Loss (QGC)](../../assets/qgc/setup/safety/safety_data_link_loss.png)

@@ -145,12 +146,7 @@ The settings and underlying parameters are shown below.
 | ---------------------- | ------------------------------------------------------------------------ | --------------------------------------------------------------------------------- |
 | Data Link Loss Timeout | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T) | Amount of time after losing the data connection before the failsafe will trigger. |
 | Failsafe Action        | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT)     | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate.                   |
-
-The following settings also apply, but are not displayed in the QGC UI.
-
-| Setting                                                     | Parameter                                                                  | Description                                          |
-| ----------------------------------------------------------- | -------------------------------------------------------------------------- | ---------------------------------------------------- |
-| <a id="COM_DLL_EXCEPT"></a>Mode exceptions for DLL failsafe | [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | Set modes where DL loss will not trigger a failsafe. |
+| <a id="COM_DLL_EXCEPT"></a>Mode exceptions for DLL failsafe | [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | Set modes in which data link loss is ignored. |

 ## Geofence Failsafe

@@ -108,7 +108,6 @@ set(msg_files
 	GimbalManagerSetAttitude.msg
 	GimbalManagerSetManualControl.msg
 	GimbalManagerStatus.msg
-	GlobalPathSetpoint.msg
 	GpioConfig.msg
 	GpioIn.msg
 	GpioOut.msg
@@ -1,16 +0,0 @@
-# Path setpoint in NED frame
-# Input to Guidance controller
-# Needs to be kinematically consistent and feasible for smooth flight.
-# setting a value to NaN means the state should not be controlled
-
-uint32 MESSAGE_VERSION = 0
-
-uint64 timestamp # time since system start (microseconds)
-
-float64 lat			# Latitude, (degrees)
-float64 lon			# Longitude, (degrees)
-float32 alt			# Altitude AMSL, (meters)
-# NED local world frame
-float32[3] tangent # Unit vector tangent to path
-float height_rate
-float32 curvature
@@ -267,6 +267,7 @@


 #define DRV_TEMP_DEVTYPE_MCP9808	0xEE
+#define DRV_TEMP_DEVTYPE_TMP102		0xF0

 #define DRV_DEVTYPE_UNUSED		0xff

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015-2025 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2026 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,18 +32,14 @@
 ############################################################################

 px4_add_module(
-	MODULE modules__fw_guidance_control
-	MAIN fw_guidance_control
+	MODULE drivers__temperature_sensor__tmp102
+	MAIN tmp102
+	COMPILE_FLAGS
 	SRCS
-		FixedWingGuidanceControl.cpp
-		FixedWingGuidanceControl.hpp
-		ControllerConfigurationHandler.cpp
-		ControllerConfigurationHandler.hpp
+		tmp102_main.cpp
+		tmp102.cpp
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
-		npfg
-		SlewRate
-		tecs
-		motion_planning
-		performance_model
-		Sticks
+		px4_work_queue
 	)
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_TEMPERATURE_SENSOR_TMP102
+	bool "TMP102 temperature sensor"
+	default n
+	---help---
+		Enable support for the TMP102 temperature sensor
@@ -0,0 +1,15 @@
+__max_num_config_instances: &max_num_config_instances 1
+
+module_name: TMP102
+
+parameters:
+  - group: Sensors
+    definitions:
+      SENS_EN_TMP102:
+        description:
+            short: Enable TMP102
+            long: |
+                Enable the driver for the TMP102 temperature sensor
+        type: boolean
+        reboot_required: true
+        default: 0
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "tmp102.h"
+
+TMP102::TMP102(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample")),
+	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
+{
+}
+
+TMP102::~TMP102()
+{
+	ScheduleClear();
+	perf_free(_cycle_perf);
+	perf_free(_comms_errors);
+}
+
+void TMP102::RunImpl()
+{
+	if (should_exit()) {
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_cycle_perf);
+
+	float temperature = read_temperature();
+
+	if (std::isnan(temperature)) {
+		perf_count(_comms_errors);
+
+	} else {
+		sensor_temp_s _sensor_temp{};
+		_sensor_temp.timestamp = hrt_absolute_time();
+		_sensor_temp.temperature = temperature;
+		_sensor_temp.device_id = get_device_id();
+		_sensor_temp_pub.publish(_sensor_temp);
+	}
+
+	perf_end(_cycle_perf);
+}
+
+int TMP102::probe()
+{
+	uint16_t conf_reg;
+
+	for (int i = 0; i < 3; i++) {
+		if (read_reg(TMP102_CONFIG_REG, conf_reg) == PX4_OK && (conf_reg | 0x0020) == DEFAULT_CONFIG_REG) { // Mask the AL bit
+			return PX4_OK;
+		}
+
+		px4_sleep(1);
+	}
+
+	return PX4_ERROR;
+}
+
+int TMP102::init()
+{
+	int ret = I2C::init();
+
+	if (ret != PX4_OK) {
+		PX4_ERR("TMP102, I2C init failed");
+		return ret;
+	}
+
+	_sensor_temp_pub.advertise();
+	ScheduleOnInterval(250_ms); // DEFAULT SAMPLE RATE IS 4HZ => 250ms INTERVAL
+	return PX4_OK;
+}
+
+float TMP102::read_temperature()
+{
+	uint16_t tmp_data;
+
+	if (read_reg(TMP102_TEMP_REG, tmp_data) != PX4_OK) {
+		return NAN;
+	}
+
+	float temperature = ((int16_t)(tmp_data) >> 4) * 0.0625f;
+	return temperature;
+}
+
+int TMP102::read_reg(uint8_t reg, uint16_t &data)
+{
+	uint8_t tmp_data[2];
+	tmp_data[0] = reg;
+
+	if (transfer(tmp_data, 1, nullptr, 0) != PX4_OK) { // Set the PR to the desired register
+		return PX4_ERROR;
+	}
+
+	int ret = transfer(nullptr, 0, tmp_data, 2); // Read the data from the desired register
+	data = (tmp_data[0] << 8) | tmp_data[1];
+	return ret;
+}
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2013-2025 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -30,4 +30,44 @@
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
+#pragma once

+#include <stdint.h>
+#include <drivers/device/i2c.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <uORB/topics/sensor_temp.h>
+#include <uORB/PublicationMulti.hpp>
+#include <lib/perf/perf_counter.h>
+#include <drivers/drv_hrt.h>
+
+using namespace time_literals;
+
+#define TMP102_TEMP_REG 0x00
+#define TMP102_CONFIG_REG 0x01
+#define TMP102_TLOW_REG 0x02
+#define TMP102_THIGH_REG 0x03
+
+constexpr uint16_t DEFAULT_CONFIG_REG = 0x60A0; // 12-bit resolution, comparator mode, active low, 4Hz
+
+class TMP102 : public device::I2C, public I2CSPIDriver<TMP102>
+{
+public:
+	TMP102(const I2CSPIDriverConfig &config);
+	~TMP102() override;
+
+	int init() override;
+	int probe() override;
+	void RunImpl();
+	static void print_usage();
+
+protected:
+	void print_status();
+
+private:
+	uORB::PublicationMulti<sensor_temp_s> _sensor_temp_pub{ORB_ID(sensor_temp)};
+	perf_counter_t		_cycle_perf;
+	perf_counter_t		_comms_errors;
+
+	float read_temperature();
+	int read_reg(uint8_t address, uint16_t &data);
+};
@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file tmp102_main.cpp
+ * @author Philipp Engljaehringer
+ *
+ * Driver for the TMP102 Temperature Sensor connected via I2C.
+ */
+
+#include "tmp102.h"
+#include <px4_platform_common/module.h>
+
+void TMP102::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("tmp102", "driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x48);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+void TMP102::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_cycle_perf);
+	perf_print_counter(_comms_errors);
+}
+
+extern "C" int tmp102_main(int argc, char *argv[])
+{
+	using ThisDriver = TMP102;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 400000;
+	cli.i2c_address = 0x48;
+
+	const char *verb = cli.parseDefaultArguments(argc, argv);
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_TEMP_DEVTYPE_TMP102);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}
@@ -43,8 +43,6 @@
 #include <drivers/drv_hrt.h>
 #include <lib/atmosphere/atmosphere.h>

-#define MOTOR_BIT(x) (1<<(x))
-
 using namespace time_literals;

 UavcanEscController::UavcanEscController(uavcan::INode &node) :
@@ -47,13 +47,9 @@
 #include <uavcan/uavcan.hpp>
 #include <uavcan/equipment/esc/RawCommand.hpp>
 #include <uavcan/equipment/esc/Status.hpp>
-#include <lib/perf/perf_counter.h>
 #include <uORB/PublicationMulti.hpp>
-#include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/esc_status.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/uavcan/node_info.hpp>
-#include <parameters/param.h>
+#include "../node_info.hpp"

 class UavcanEscController
 {
@@ -66,10 +66,9 @@ void UavcanArmingStatus::periodic_update(const uavcan::TimerEvent &)
 	if (_actuator_armed_sub.update(&actuator_armed)) {
 		uavcan::equipment::safety::ArmingStatus cmd;

-		if (actuator_armed.lockdown || actuator_armed.kill) {
-			cmd.status = cmd.STATUS_DISARMED;
+		bool lockdown_active = actuator_armed.lockdown || actuator_armed.termination || actuator_armed.kill;

-		} else if (actuator_armed.armed) {
+		if (!lockdown_active && (actuator_armed.armed || _is_actuator_test_running)) {
 			cmd.status = cmd.STATUS_FULLY_ARMED;

 		} else {
@@ -57,6 +57,8 @@ public:
 	 */
 	int init();

+	void setActuatorTestRunning(bool running) {_is_actuator_test_running = running;}
+
 private:
 	/*
 	 * Max update rate to avoid exessive bus traffic
@@ -80,4 +82,5 @@ private:

 	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};

+	bool _is_actuator_test_running = false;
 };
@@ -969,6 +969,10 @@ UavcanNode::Run()
 		}
 	}

+#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
+	_arming_status_controller.setActuatorTestRunning(_mixing_interface_esc.isActuatorTestRunning());
+#endif
+
 	perf_end(_cycle_perf);

 	pthread_mutex_unlock(&_node_mutex);
@@ -136,6 +136,8 @@ public:

 	MixingOutput &mixingOutput() { return _mixing_output; }

+	bool isActuatorTestRunning() const { return _mixing_output.isActuatorTestRunning(); }
+
 protected:
 	void Run() override;
 private:
@@ -163,6 +163,7 @@ public:
 	void setMaxTopicUpdateRate(unsigned max_topic_update_interval_us);

 	const actuator_armed_s &armed() const { return _armed; }
+	bool isActuatorTestRunning() const { return _actuator_test.inTestMode(); }

 	void setAllFailsafeValues(uint16_t value);
 	void setAllDisarmedValues(uint16_t value);
@@ -607,13 +607,14 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
 /**
 * Manual control loss exceptions
 *
- * Specify modes where manual control loss is ignored and no failsafe is triggered.
+ * Specify modes in which stick input is ignored and no failsafe action is triggered.
 * External modes requiring stick input will still failsafe.
+ * Auto modes are: Hold, Takeoff, Land, RTL, Descend, Follow Target, Precland, Orbit.
 *
 * @min 0
 * @max 31
 * @bit 0 Mission
- * @bit 1 Hold
+ * @bit 1 Auto modes
 * @bit 2 Offboard
 * @bit 3 External Mode
 * @bit 4 Altitude Cruise
@@ -624,13 +625,16 @@ PARAM_DEFINE_INT32(COM_RCL_EXCEPT, 0);
 /**
 * Datalink loss exceptions
 *
- * Specify modes in which datalink loss is ignored and the failsafe action not triggered.
+ * Specify modes in which ground control station connection loss is ignored and no failsafe action is triggered.
+ * See also COM_RCL_EXCEPT.
 *
 * @min 0
- * @max 7
+ * @max 31
 * @bit 0 Mission
- * @bit 1 Hold
+ * @bit 1 Auto modes
 * @bit 2 Offboard
+ * @bit 3 External Mode
+ * @bit 4 Altitude Cruise
 * @group Commander
 */
 PARAM_DEFINE_INT32(COM_DLL_EXCEPT, 0);
@@ -182,21 +182,23 @@
                        <tr>
                            <td><label for="intended_nav_state">Intended Mode:&nbsp;</label></td>
                            <td><select id="intended_nav_state">
-                                <option value="0">MANUAL</option>
-                                <option value="10">ACRO</option>
-                                <option value="15">STAB</option>
-                                <option value="1">ALTCTL</option>
-                                <option value="2" selected>POSCTL</option>
-                                <option value="3">AUTO_MISSION</option>
-                                <option value="4">AUTO_LOITER</option>
-                                <option value="5">AUTO_RTL</option>
-                                <option value="17">AUTO_TAKEOFF</option>
-                                <option value="18">AUTO_LAND</option>
-                                <option value="19">AUTO_FOLLOW_TARGET</option>
-                                <option value="20">AUTO_PRECLAND</option>
-                                <option value="22">AUTO_VTOL_TAKEOFF</option>
-                                <option value="14">OFFBOARD</option>
-                                <option value="21">ORBIT</option>
+                                <option value="0">Manual</option>
+                                <option value="10">Acro</option>
+                                <option value="15">Stabilized</option>
+                                <option value="1">Altitude</option>
+                                <option value="8">Altitude Cruise</option>
+                                <option value="2" selected>Position</option>
+                                <option value="3">Mission</option>
+                                <option value="4">Hold</option>
+                                <option value="5">Return</option>
+                                <option value="17">Takeoff</option>
+                                <option value="18">Land</option>
+                                <option value="19">Follow</option>
+                                <option value="20">Precision Land</option>
+                                <option value="22">VTOL Takeoff</option>
+                                <option value="14">Offboard</option>
+                                <option value="21">Orbit</option>
+                                <option value="23">External 1</option>
                            </select>
                            </td>
                            <td></td>
@@ -442,18 +442,53 @@ FailsafeBase::ActionOptions Failsafe::fromRemainingFlightTimeLowActParam(int par
 	return options;
 }

+bool Failsafe::isFailsafeIgnored(uint8_t user_intended_mode, int32_t exception_mask_parameter)
+{
+	switch (user_intended_mode) {
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
+		return exception_mask_parameter & (int)LinkLossExceptionBits::Mission;
+
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
+	case vehicle_status_s::NAVIGATION_STATE_DESCEND:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
+	case vehicle_status_s::NAVIGATION_STATE_ORBIT:
+		return exception_mask_parameter & (int)LinkLossExceptionBits::AutoModes;
+
+	case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
+		return exception_mask_parameter & (int)LinkLossExceptionBits::Offboard;
+
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL1:
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL2:
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL3:
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL4:
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL5:
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL6:
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL7:
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL8:
+		return exception_mask_parameter & (int)LinkLossExceptionBits::ExternalMode;
+
+	case vehicle_status_s::NAVIGATION_STATE_ALTITUDE_CRUISE:
+		return exception_mask_parameter & (int)LinkLossExceptionBits::AltitudeCruise;
+
+	default:
+		return false;
+	}
+}
+
 void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 				 const failsafe_flags_s &status_flags)
 {
 	updateArmingState(time_us, state.armed, status_flags);

-	const bool in_forward_flight = state.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
-				       || state.vtol_in_transition_mode;
-
 	// Do not enter failsafe while doing a vtol takeoff after the vehicle has started a transition and before it reaches the loiter
 	// altitude. The vtol takeoff navigaton mode will set mission_finished to true as soon as the loiter is established
-	const bool ignore_any_link_loss_vtol_takeoff_fixedwing = state.user_intended_mode ==
-			vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF
+	const bool in_forward_flight = (state.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) || state.vtol_in_transition_mode;
+	const bool ignore_any_link_loss_vtol_takeoff_fixedwing = (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF)
 			&& in_forward_flight && !state.mission_finished;

 	// Manual control (RC or joystick) loss
@@ -462,59 +497,23 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 		_manual_control_lost_at_arming = false;
 	}

-	const bool rc_loss_ignored_mission = state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION
-					     && (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::Mission);
-	const bool rc_loss_ignored_loiter = state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER
-					    && (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::Hold);
-	const bool rc_loss_ignored_offboard = state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
-					      && (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::Offboard);
-	const bool rc_loss_ignored_takeoff = (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF ||
-					      state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF)
-					     && (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::Hold);
-	const bool rc_loss_ignored_altitude_cruise = (state.user_intended_mode ==
-			vehicle_status_s::NAVIGATION_STATE_ALTITUDE_CRUISE
-			&& (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::AltitudeCruise));
-
-	const bool rc_loss_ignored_external_mode =
-		(state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL1 ||
-		 state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL2 ||
-		 state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL3 ||
-		 state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL4 ||
-		 state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL5 ||
-		 state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL6 ||
-		 state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL7 ||
-		 state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL8)
-		&& (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::ExternalMode);
-
-	const bool rc_loss_ignored = rc_loss_ignored_mission || rc_loss_ignored_loiter || rc_loss_ignored_offboard ||
-				     rc_loss_ignored_takeoff || rc_loss_ignored_external_mode || ignore_any_link_loss_vtol_takeoff_fixedwing
-				     || _manual_control_lost_at_arming || rc_loss_ignored_altitude_cruise;
+	const bool rc_loss_ignored = isFailsafeIgnored(state.user_intended_mode, _param_com_rcl_except.get())
+				     || ignore_any_link_loss_vtol_takeoff_fixedwing || _manual_control_lost_at_arming;

 	if (_param_com_rc_in_mode.get() != int32_t(RcInMode::DisableManualControl) && !rc_loss_ignored) {
 		CHECK_FAILSAFE(status_flags, manual_control_signal_lost,
 			       fromNavDllOrRclActParam(_param_nav_rcl_act.get()).causedBy(Cause::ManualControlLoss));
 	}

-	// GCS connection loss
+	// Ground control station connection loss
 	const bool dll_loss_ignored_land = state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND
 					   || state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND;

-	const bool dll_loss_ignored_mission = state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION
-					      && (_param_com_dll_except.get() & (int)DatalinkLossExceptionBits::Mission);
-	const bool dll_loss_ignored_loiter = state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER
-					     && (_param_com_dll_except.get() & (int)DatalinkLossExceptionBits::Hold);
-	const bool dll_loss_ignored_offboard = state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
-					       && (_param_com_dll_except.get() & (int)DatalinkLossExceptionBits::Offboard);
-	const bool dll_loss_ignored_takeoff = (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF ||
-					       state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF)
-					      && (_param_com_dll_except.get() & (int)DatalinkLossExceptionBits::Hold);
-
-	const bool dll_loss_ignored = dll_loss_ignored_mission || dll_loss_ignored_loiter || dll_loss_ignored_offboard ||
-				      dll_loss_ignored_takeoff || ignore_any_link_loss_vtol_takeoff_fixedwing || dll_loss_ignored_land;
+	const bool dll_loss_ignored = isFailsafeIgnored(state.user_intended_mode, _param_com_dll_except.get())
+				      || ignore_any_link_loss_vtol_takeoff_fixedwing || dll_loss_ignored_land;

 	if (_param_nav_dll_act.get() != int32_t(gcs_connection_loss_failsafe_mode::Disabled) && !dll_loss_ignored) {
-		CHECK_FAILSAFE(status_flags, gcs_connection_lost,
-			       fromNavDllOrRclActParam(_param_nav_dll_act.get()).causedBy(Cause::GCSConnectionLoss));
+		CHECK_FAILSAFE(status_flags, gcs_connection_lost, fromNavDllOrRclActParam(_param_nav_dll_act.get()).causedBy(Cause::GCSConnectionLoss));
 	}

 	// VTOL transition failure (quadchute)
@@ -531,7 +530,8 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,

 		// If manual control loss and GCS connection loss are disabled and we lose both command links and the mission finished,
 		// trigger RTL to avoid losing the vehicle
-		if ((_param_com_rc_in_mode.get() == int32_t(RcInMode::DisableManualControl) || rc_loss_ignored_mission)
+		if ((_param_com_rc_in_mode.get() == int32_t(RcInMode::DisableManualControl)
+		     || isFailsafeIgnored(state.user_intended_mode, _param_com_rcl_except.get()))
 		    && _param_nav_dll_act.get() == int32_t(gcs_connection_loss_failsafe_mode::Disabled)
 		    && state.mission_finished) {
 			_last_state_mission_control_lost = checkFailsafe(_caller_id_mission_control_lost, _last_state_mission_control_lost,
@@ -53,20 +53,14 @@ protected:
 private:
 	void updateArmingState(const hrt_abstime &time_us, bool armed, const failsafe_flags_s &status_flags);

-	enum class ManualControlLossExceptionBits : int32_t {
+	enum class LinkLossExceptionBits : int32_t {
 		Mission = (1 << 0),
-		Hold = (1 << 1),
+		AutoModes = (1 << 1),
 		Offboard = (1 << 2),
 		ExternalMode = (1 << 3),
 		AltitudeCruise = (1 << 4)
 	};

-	enum class DatalinkLossExceptionBits : int32_t {
-		Mission = (1 << 0),
-		Hold = (1 << 1),
-		Offboard = (1 << 2)
-	};
-
 	// COM_LOW_BAT_ACT parameter values
 	enum class LowBatteryAction : int32_t {
 		Warning = 0,        // Warning
@@ -175,6 +169,8 @@ private:
 	static ActionOptions fromPosLowActParam(int param_value);
 	static ActionOptions fromRemainingFlightTimeLowActParam(int param_value);

+	static bool isFailsafeIgnored(uint8_t user_intended_mode, int32_t exception_mask_parameter);
+
 	const int _caller_id_mode_fallback{genCallerId()};
 	bool _last_state_mode_fallback{false};
 	const int _caller_id_mission_control_lost{genCallerId()};
@@ -1,139 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-
-/**
- * @file CombinedControllerConfigurationHandler.cpp
- */
-
-#include "ControllerConfigurationHandler.hpp"
-#include <drivers/drv_hrt.h>
-
-using namespace time_literals;
-
-
-void CombinedControllerConfigurationHandler::update(const hrt_abstime now)
-{
-	_longitudinal_updated = floatValueChanged(_longitudinal_configuration_current_cycle.pitch_min,
-				_longitudinal_publisher.get().pitch_min);
-	_longitudinal_updated |= floatValueChanged(_longitudinal_configuration_current_cycle.pitch_max,
-				 _longitudinal_publisher.get().pitch_max);
-	_longitudinal_updated |= floatValueChanged(_longitudinal_configuration_current_cycle.throttle_min,
-				 _longitudinal_publisher.get().throttle_min);
-	_longitudinal_updated |= floatValueChanged(_longitudinal_configuration_current_cycle.throttle_max,
-				 _longitudinal_publisher.get().throttle_max);
-	_longitudinal_updated |= floatValueChanged(_longitudinal_configuration_current_cycle.speed_weight,
-				 _longitudinal_publisher.get().speed_weight);
-	_longitudinal_updated |= floatValueChanged(_longitudinal_configuration_current_cycle.climb_rate_target,
-				 _longitudinal_publisher.get().climb_rate_target);
-	_longitudinal_updated |= floatValueChanged(_longitudinal_configuration_current_cycle.sink_rate_target,
-				 _longitudinal_publisher.get().sink_rate_target);
-	_longitudinal_updated |= booleanValueChanged(_longitudinal_configuration_current_cycle.enforce_low_height_condition,
-				 _longitudinal_publisher.get().enforce_low_height_condition);
-	_longitudinal_updated |= booleanValueChanged(_longitudinal_configuration_current_cycle.disable_underspeed_protection,
-				 _longitudinal_publisher.get().disable_underspeed_protection);
-
-	_lateral_updated |= floatValueChanged(_lateral_configuration_current_cycle.lateral_accel_max,
-					      _lateral_publisher.get().lateral_accel_max);
-
-	if (_longitudinal_updated || now - _time_last_longitudinal_publish > 1_s) {
-		_longitudinal_configuration_current_cycle.timestamp = now;
-		_longitudinal_publisher.update(_longitudinal_configuration_current_cycle);
-		_time_last_longitudinal_publish = _longitudinal_configuration_current_cycle.timestamp;
-	}
-
-	if (_lateral_updated || now - _time_last_lateral_publish > 1_s) {
-		_lateral_configuration_current_cycle.timestamp = now;
-		_lateral_publisher.update(_lateral_configuration_current_cycle);
-		_time_last_lateral_publish = _lateral_configuration_current_cycle.timestamp;
-	}
-
-	_longitudinal_updated = _lateral_updated = false;
-	_longitudinal_configuration_current_cycle = empty_longitudinal_control_configuration;
-	_lateral_configuration_current_cycle = empty_lateral_control_configuration;
-}
-
-void CombinedControllerConfigurationHandler::setThrottleMax(float throttle_max)
-{
-	_longitudinal_configuration_current_cycle.throttle_max = throttle_max;
-}
-
-void CombinedControllerConfigurationHandler::setThrottleMin(float throttle_min)
-{
-	_longitudinal_configuration_current_cycle.throttle_min = throttle_min;
-}
-
-void CombinedControllerConfigurationHandler::setSpeedWeight(float speed_weight)
-{
-	_longitudinal_configuration_current_cycle.speed_weight = speed_weight;
-}
-
-void CombinedControllerConfigurationHandler::setPitchMin(const float pitch_min)
-{
-	_longitudinal_configuration_current_cycle.pitch_min = pitch_min;
-}
-
-void CombinedControllerConfigurationHandler::setPitchMax(const float pitch_max)
-{
-	_longitudinal_configuration_current_cycle.pitch_max = pitch_max;
-}
-
-void CombinedControllerConfigurationHandler::setClimbRateTarget(float climbrate_target)
-{
-	_longitudinal_configuration_current_cycle.climb_rate_target = climbrate_target;
-}
-
-void CombinedControllerConfigurationHandler::setDisableUnderspeedProtection(bool disable)
-{
-	_longitudinal_configuration_current_cycle.disable_underspeed_protection = disable;
-}
-
-void CombinedControllerConfigurationHandler::setSinkRateTarget(const float sinkrate_target)
-{
-	_longitudinal_configuration_current_cycle.sink_rate_target = sinkrate_target;
-}
-
-void CombinedControllerConfigurationHandler::setLateralAccelMax(float lateral_accel_max)
-{
-	_lateral_configuration_current_cycle.lateral_accel_max = lateral_accel_max;
-}
-
-void CombinedControllerConfigurationHandler::setEnforceLowHeightCondition(bool low_height_condition)
-{
-	_longitudinal_configuration_current_cycle.enforce_low_height_condition = low_height_condition;
-}
-
-void CombinedControllerConfigurationHandler::resetLastPublishTime()
-{
-	_time_last_longitudinal_publish = _time_last_lateral_publish = 0;
-}
@@ -1,113 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-
-/**
- * @file CombinedControllerConfigurationHandler.hpp
- */
-#ifndef PX4_CONTROLLERCONFIGURATIONHANDLER_HPP
-#define PX4_CONTROLLERCONFIGURATIONHANDLER_HPP
-
-#include <uORB/topics/longitudinal_control_configuration.h>
-#include <uORB/topics/lateral_control_configuration.h>
-#include <uORB/Publication.hpp>
-#include <lib/mathlib/mathlib.h>
-
-static constexpr longitudinal_control_configuration_s empty_longitudinal_control_configuration = {.timestamp = 0, .pitch_min = NAN, .pitch_max = NAN, .throttle_min = NAN, .throttle_max = NAN, .climb_rate_target = NAN, .sink_rate_target = NAN, .speed_weight = NAN, .enforce_low_height_condition = false, .disable_underspeed_protection = false };
-static constexpr lateral_control_configuration_s empty_lateral_control_configuration = {.timestamp = 0, .lateral_accel_max = NAN};
-
-
-class CombinedControllerConfigurationHandler
-{
-public:
-	CombinedControllerConfigurationHandler() = default;
-	~CombinedControllerConfigurationHandler() = default;
-
-	void update(const hrt_abstime now);
-
-	void setEnforceLowHeightCondition(bool low_height_condition);
-
-	void setThrottleMax(float throttle_max);
-
-	void setThrottleMin(float throttle_min);
-
-	void setSpeedWeight(float speed_weight);
-
-	void setPitchMin(const float pitch_min);
-
-	void setPitchMax(const float pitch_max);
-
-	void setClimbRateTarget(float climbrate_target);
-
-	void setDisableUnderspeedProtection(bool disable);
-
-	void setSinkRateTarget(const float sinkrate_target);
-
-	void setLateralAccelMax(float lateral_accel_max);
-
-	void resetLastPublishTime();
-
-private:
-	bool booleanValueChanged(bool new_value, bool current_value)
-	{
-		return current_value != new_value;
-	}
-
-	bool floatValueChanged(float new_value, float current_value)
-	{
-		bool  diff;
-
-		if (PX4_ISFINITE(new_value)) {
-			diff = PX4_ISFINITE(current_value) ? (fabsf(new_value - current_value) > FLT_EPSILON) : true;
-
-		} else {
-			diff = PX4_ISFINITE(current_value);
-		}
-
-		return diff;
-	}
-
-	bool _lateral_updated{false};
-	bool _longitudinal_updated{false};
-
-	hrt_abstime _time_last_longitudinal_publish{0};
-	hrt_abstime _time_last_lateral_publish{0};
-
-	uORB::PublicationData<lateral_control_configuration_s> _lateral_publisher{ORB_ID(lateral_control_configuration)};
-	uORB::PublicationData<longitudinal_control_configuration_s> _longitudinal_publisher{ORB_ID(longitudinal_control_configuration)};
-
-	lateral_control_configuration_s _lateral_configuration_current_cycle{empty_lateral_control_configuration};
-	longitudinal_control_configuration_s _longitudinal_configuration_current_cycle {empty_longitudinal_control_configuration};
-};
-
-#endif //PX4_CONTROLLERCONFIGURATIONHANDLER_HPP
@@ -1,538 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013-2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include "FixedWingGuidanceControl.hpp"
-
-#include <px4_platform_common/events.h>
-#include <uORB/topics/longitudinal_control_configuration.h>
-
-using math::constrain;
-using math::max;
-using math::min;
-using math::radians;
-
-using matrix::Dcmf;
-using matrix::Eulerf;
-using matrix::Quatf;
-using matrix::Vector2f;
-using matrix::Vector2d;
-using matrix::Vector3f;
-using matrix::wrap_pi;
-
-const fixed_wing_lateral_setpoint_s empty_lateral_control_setpoint = {.timestamp = 0, .course = NAN, .airspeed_direction = NAN, .lateral_acceleration = NAN};
-const fixed_wing_longitudinal_setpoint_s empty_longitudinal_control_setpoint = {.timestamp = 0, .altitude = NAN, .height_rate = NAN, .equivalent_airspeed = NAN, .pitch_direct = NAN, .throttle_direct = NAN};
-
-FixedWingGuidanceControl::FixedWingGuidanceControl() :
-	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
-	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
-{
-	// limit to 50 Hz
-	_local_pos_sub.set_interval_ms(20);
-
-	_launch_detection_status_pub.advertise();
-	_fixed_wing_lateral_guidance_status_pub.advertise();
-
-	parameters_update();
-}
-
-FixedWingGuidanceControl::~FixedWingGuidanceControl()
-{
-	perf_free(_loop_perf);
-}
-
-bool
-FixedWingGuidanceControl::init()
-{
-	if (!_local_pos_sub.registerCallback()) {
-		PX4_ERR("callback registration failed");
-		return false;
-	}
-
-	return true;
-}
-
-void
-FixedWingGuidanceControl::parameters_update()
-{
-	updateParams();
-
-	_directional_guidance.setPeriod(_param_npfg_period.get());
-	_directional_guidance.setDamping(_param_npfg_damping.get());
-	_directional_guidance.enablePeriodLB(_param_npfg_en_period_lb.get());
-	_directional_guidance.enablePeriodUB(_param_npfg_en_period_ub.get());
-	_directional_guidance.setRollTimeConst(_param_npfg_roll_time_const.get());
-	_directional_guidance.setSwitchDistanceMultiplier(_param_npfg_switch_distance_multiplier.get());
-	_directional_guidance.setPeriodSafetyFactor(_param_npfg_period_safety_factor.get());
-}
-
-void
-FixedWingGuidanceControl::vehicle_control_mode_poll()
-{
-	if (_control_mode_sub.updated()) {
-		_control_mode_sub.copy(&_control_mode);
-	}
-}
-
-void
-FixedWingGuidanceControl::airspeed_poll()
-{
-	airspeed_validated_s airspeed_validated;
-
-	if (_param_fw_use_airspd.get() && _airspeed_validated_sub.update(&airspeed_validated)) {
-
-		// do not use synthetic airspeed as it's for the use here not reliable enough
-		if (PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)
-		    && airspeed_validated.airspeed_source != airspeed_validated_s::SOURCE_SYNTHETIC) {
-
-			_airspeed_eas = airspeed_validated.calibrated_airspeed_m_s;
-		}
-	}
-
-	// no airspeed updates for one second --> declare invalid
-	// this flag is used for some logic like: exiting takeoff, flaps retraction
-	_airspeed_valid = hrt_elapsed_time(&_time_airspeed_last_valid) < 1_s;
-}
-
-void
-FixedWingGuidanceControl::wind_poll(const hrt_abstime now)
-{
-	if (_wind_sub.updated()) {
-		wind_s wind;
-		_wind_sub.update(&wind);
-
-		// assumes wind is valid if finite
-		_wind_valid = PX4_ISFINITE(wind.windspeed_north)
-			      && PX4_ISFINITE(wind.windspeed_east);
-
-		_time_wind_last_received = now;
-
-		_wind_vel(0) = wind.windspeed_north;
-		_wind_vel(1) = wind.windspeed_east;
-
-	} else {
-		// invalidate wind estimate usage (and correspondingly NPFG, if enabled) after subscription timeout
-		_wind_valid = _wind_valid && (now - _time_wind_last_received) < WIND_EST_TIMEOUT;
-	}
-
-	if (!_wind_valid) {
-		_wind_vel(0) = 0.f;
-		_wind_vel(1) = 0.f;
-	}
-}
-
-void
-FixedWingGuidanceControl::manual_control_setpoint_poll()
-{
-	_sticks.checkAndUpdateStickInputs();
-
-	_manual_control_setpoint_for_height_rate = _sticks.getPitch();
-	_manual_control_setpoint_for_airspeed = _sticks.getThrottleZeroCentered();
-
-	if (_param_fw_pos_stk_conf.get() & STICK_CONFIG_SWAP_STICKS_BIT) {
-		/* Alternate stick allocation (similar concept as for multirotor systems:
-		 * demanding up/down with the throttle stick, and move faster/break with the pitch one.
-		 */
-
-		_manual_control_setpoint_for_height_rate = -_sticks.getThrottleZeroCentered();
-		_manual_control_setpoint_for_airspeed = _sticks.getPitch();
-	}
-}
-
-void
-FixedWingGuidanceControl::vehicle_attitude_poll()
-{
-	vehicle_attitude_s vehicle_attitude;
-
-	if (_vehicle_attitude_sub.update(&vehicle_attitude)) {
-		vehicle_angular_velocity_s angular_velocity{};
-		_vehicle_angular_velocity_sub.copy(&angular_velocity);
-		const Vector3f rates{angular_velocity.xyz};
-
-		Dcmf R{Quatf(vehicle_attitude.q)};
-
-		// if the vehicle is a tailsitter we have to rotate the attitude by the pitch offset
-		// between multirotor and fixed wing flight
-		if (_vehicle_status.is_vtol_tailsitter) {
-			const Dcmf R_offset{Eulerf{0.f, M_PI_2_F, 0.f}};
-			R = R * R_offset;
-
-			_yawrate = rates(0);
-
-		} else {
-			_yawrate = rates(2);
-		}
-
-		const Eulerf euler_angles(R);
-		_yaw = euler_angles(2);
-
-		const Vector3f body_acceleration = R.transpose() * Vector3f{_local_pos.ax, _local_pos.ay, _local_pos.az};
-		_body_acceleration_x = body_acceleration(0);
-
-		const Vector3f body_velocity = R.transpose() * Vector3f{_local_pos.vx, _local_pos.vy, _local_pos.vz};
-		_body_velocity_x = body_velocity(0);
-	}
-}
-
-void
-FixedWingGuidanceControl::update_in_air_states(const hrt_abstime now)
-{
-	/* reset flag when airplane landed */
-	if (_landed) {
-		_completed_manual_takeoff = false;
-	}
-}
-
-void
-FixedWingGuidanceControl::control_auto_path(const float control_interval,
-		const Vector2f &ground_speed, const float cruising_speed, const Vector2f curr_wp_local, const float curr_wp_alt,
-		const Vector2f velocity_2d, bool gliding_enabled)
-{
-	const float target_airspeed = cruising_speed > FLT_EPSILON ? cruising_speed : NAN;
-
-	Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
-
-	// Navigate directly on position setpoint and path tangent
-	const float curvature = PX4_ISFINITE(_pos_sp_triplet.current.loiter_radius) ? 1 /
-				_pos_sp_triplet.current.loiter_radius :
-				0.0f;
-	const DirectionalGuidanceOutput sp = navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(),
-					     ground_speed, _wind_vel, curvature);
-
-	fixed_wing_lateral_setpoint_s fw_lateral_ctrl_sp{empty_lateral_control_setpoint};
-	fw_lateral_ctrl_sp.timestamp = hrt_absolute_time();
-	fw_lateral_ctrl_sp.course = sp.course_setpoint;
-	fw_lateral_ctrl_sp.lateral_acceleration = sp.lateral_acceleration_feedforward;
-	_lateral_ctrl_sp_pub.publish(fw_lateral_ctrl_sp);
-
-	const fixed_wing_longitudinal_setpoint_s fw_longitudinal_control_sp = {
-		.timestamp = hrt_absolute_time(),
-		.altitude = curr_wp_alt,
-		.height_rate = NAN,
-		.equivalent_airspeed = target_airspeed,
-		.pitch_direct = NAN,
-		.throttle_direct = NAN
-	};
-
-	_longitudinal_ctrl_sp_pub.publish(fw_longitudinal_control_sp);
-
-	if (gliding_enabled) {
-		_ctrl_configuration_handler.setThrottleMin(0.0f);
-		_ctrl_configuration_handler.setThrottleMax(0.0f);
-		_ctrl_configuration_handler.setSpeedWeight(2.0f);
-	}
-}
-
-void
-FixedWingGuidanceControl::Run()
-{
-	if (should_exit()) {
-		_local_pos_sub.unregisterCallback();
-		exit_and_cleanup();
-		return;
-	}
-
-	perf_begin(_loop_perf);
-
-	_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 = ((_vehicle_status.nav_state >= vehicle_status_s::NAVIGATION_STATE_EXTERNAL1)
-					    && (_vehicle_status.nav_state <= vehicle_status_s::NAVIGATION_STATE_EXTERNAL8))
-					   || _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD;
-
-	if (!is_external_nav_state) {
-		// this will cause the configuration handler to publish immediately the next time an internal flight
-		// mode is active
-		_ctrl_configuration_handler.resetLastPublishTime();
-
-	} else if (_local_pos_sub.update(&_local_pos)) {
-
-		const hrt_abstime now = _local_pos.timestamp;
-
-		const float control_interval = math::constrain((now - _last_time_position_control_called) * 1e-6f,
-					       MIN_AUTO_TIMESTEP, MAX_AUTO_TIMESTEP);
-		_last_time_position_control_called = now;
-
-		// check for parameter updates
-		if (_parameter_update_sub.updated()) {
-			// clear update
-			parameter_update_s pupdate;
-			_parameter_update_sub.copy(&pupdate);
-
-			// update parameters from storage
-			parameters_update();
-		}
-
-		vehicle_global_position_s gpos;
-
-		airspeed_poll();
-		manual_control_setpoint_poll();
-		vehicle_attitude_poll();
-		vehicle_control_mode_poll();
-		wind_poll(now);
-
-
-		if (_global_pos_sub.update(&gpos)) {
-			_current_latitude = gpos.lat;
-			_current_longitude = gpos.lon;
-		}
-
-		if (_local_pos.z_global && PX4_ISFINITE(_local_pos.ref_alt)) {
-			_reference_altitude = _local_pos.ref_alt;
-
-		} else {
-			_reference_altitude = 0.f;
-		}
-
-		_current_altitude = -_local_pos.z + _reference_altitude; // Altitude AMSL in meters
-
-		// handle estimator reset events. we only adjust setpoins for manual modes
-		if (_control_mode.flag_control_manual_enabled) {
-			// adjust navigation waypoints in position control mode
-			if (_control_mode.flag_control_altitude_enabled && _control_mode.flag_control_velocity_enabled
-			    && _local_pos.xy_reset_counter != _xy_reset_counter) {
-
-				// reset heading hold flag, which will re-initialise position control
-				_hdg_hold_enabled = false;
-			}
-		}
-
-		// Convert Local setpoints to global setpoints
-		if (!_global_local_proj_ref.isInitialized()
-		    || (_global_local_proj_ref.getProjectionReferenceTimestamp() != _local_pos.ref_timestamp)
-		    || (_local_pos.xy_reset_counter != _xy_reset_counter)) {
-
-			double reference_latitude = 0.;
-			double reference_longitude = 0.;
-
-			if (_local_pos.xy_global && PX4_ISFINITE(_local_pos.ref_lat) && PX4_ISFINITE(_local_pos.ref_lon)) {
-				reference_latitude = _local_pos.ref_lat;
-				reference_longitude = _local_pos.ref_lon;
-			}
-
-			_global_local_proj_ref.initReference(reference_latitude, reference_longitude,
-							     _local_pos.ref_timestamp);
-		}
-
-		if (_control_mode.flag_control_offboard_enabled) {
-			global_trajectory_setpoint_s global_trajectory_setpoint;
-
-			if (_global_trajectory_setpoint_sub.update(&global_trajectory_setpoint)) {
-				bool valid_setpoint = false;
-				_pos_sp_triplet = {}; // clear any existing
-				_pos_sp_triplet.timestamp = global_trajectory_setpoint.timestamp;
-				_pos_sp_triplet.current.timestamp = global_trajectory_setpoint.timestamp;
-				_pos_sp_triplet.current.cruising_speed = NAN; // ignored
-				_pos_sp_triplet.current.cruising_throttle = NAN; // ignored
-				_pos_sp_triplet.current.vx = NAN;
-				_pos_sp_triplet.current.vy = NAN;
-				_pos_sp_triplet.current.vz = NAN;
-				_pos_sp_triplet.current.lat = static_cast<double>(NAN);
-				_pos_sp_triplet.current.lon = static_cast<double>(NAN);
-				_pos_sp_triplet.current.alt = NAN;
-
-				if (PX4_ISFINITE(global_trajectory_setpoint.lat) && PX4_ISFINITE(global_trajectory_setpoint.lon)
-				    && PX4_ISFINITE(global_trajectory_setpoint.alt)) {
-					valid_setpoint = true;
-					_pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
-					_pos_sp_triplet.current.lat = global_trajectory_setpoint.lat;
-					_pos_sp_triplet.current.lon = global_trajectory_setpoint.lon;
-					_pos_sp_triplet.current.alt = global_trajectory_setpoint.alt;
-				}
-
-				if (Vector3f(global_trajectory_setpoint.velocity).isAllFinite()) {
-					valid_setpoint = true;
-					_pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
-					_pos_sp_triplet.current.vx = global_trajectory_setpoint.velocity[0];
-					_pos_sp_triplet.current.vy = global_trajectory_setpoint.velocity[1];
-					_pos_sp_triplet.current.vz = global_trajectory_setpoint.velocity[2];
-
-					if (Vector3f(global_trajectory_setpoint.acceleration).isAllFinite()) {
-						Vector2f velocity_sp_2d(global_trajectory_setpoint.velocity[0], global_trajectory_setpoint.velocity[1]);
-						Vector2f normalized_velocity_sp_2d = velocity_sp_2d.normalized();
-						Vector2f acceleration_sp_2d(global_trajectory_setpoint.acceleration[0], global_trajectory_setpoint.acceleration[1]);
-						Vector2f acceleration_normal = acceleration_sp_2d - acceleration_sp_2d.dot(normalized_velocity_sp_2d) *
-									       normalized_velocity_sp_2d;
-						float direction = -normalized_velocity_sp_2d.cross(acceleration_normal.normalized());
-						_pos_sp_triplet.current.loiter_radius = direction * velocity_sp_2d.norm() * velocity_sp_2d.norm() /
-											acceleration_normal.norm();
-
-					} else {
-						_pos_sp_triplet.current.loiter_radius = NAN;
-					}
-				}
-
-				_position_setpoint_current_valid = valid_setpoint;
-			}
-		}
-
-		if (_vehicle_land_detected_sub.updated()) {
-			vehicle_land_detected_s vehicle_land_detected;
-
-			if (_vehicle_land_detected_sub.update(&vehicle_land_detected)) {
-				_landed = vehicle_land_detected.landed;
-			}
-		}
-
-		if (!_vehicle_status.in_transition_mode) {
-			// reset position of backtransition start if not in transition
-			_lpos_where_backtrans_started = Vector2f(NAN, NAN);
-			_backtrans_heading = NAN;
-		}
-
-
-		Vector2d curr_pos(_current_latitude, _current_longitude);
-		Vector2f ground_speed(_local_pos.vx, _local_pos.vy);
-
-		update_in_air_states(now);
-
-		// restore nominal TECS parameters in case changed intermittently (e.g. in landing handling)
-
-		// restore lateral-directional guidance parameters (changed in takeoff mode)
-		_directional_guidance.setPeriod(_param_npfg_period.get());
-
-		// by default set speed weight to the param value, can be overwritten inside the methods below
-		_ctrl_configuration_handler.setSpeedWeight(_param_t_spdweight.get());
-
-		Vector2f curr_wp_local = _global_local_proj_ref.project(_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon);
-		const matrix::Vector2f velocity_2d(_pos_sp_triplet.current.vx, _pos_sp_triplet.current.vy);
-		control_auto_path(control_interval, ground_speed, _pos_sp_triplet.current.cruising_speed, curr_wp_local, _pos_sp_triplet.current.alt,
-				  velocity_2d,
-				  _pos_sp_triplet.current.gliding_enabled);
-
-		_ctrl_configuration_handler.update(now);
-
-		// only publish status in full FW mode
-		if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
-		    || _vehicle_status.in_transition_mode) {
-			publish_lateral_guidance_status(now);
-
-		}
-
-		_xy_reset_counter = _local_pos.xy_reset_counter;
-
-		perf_end(_loop_perf);
-	}
-}
-
-
-DirectionalGuidanceOutput FixedWingGuidanceControl::navigatePathTangent(const matrix::Vector2f &vehicle_pos,
-		const matrix::Vector2f &position_setpoint,
-		const matrix::Vector2f &tangent_setpoint,
-		const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel, const float &curvature)
-{
-	if (tangent_setpoint.norm() <= FLT_EPSILON) {
-		// degenerate case: no direction. maintain the last npfg command.
-		return DirectionalGuidanceOutput{};
-	}
-
-	const Vector2f unit_path_tangent{tangent_setpoint.normalized()};
-	_closest_point_on_path = position_setpoint;
-	return _directional_guidance.guideToPath(vehicle_pos, ground_vel, wind_vel, tangent_setpoint.normalized(),
-			position_setpoint,
-			curvature);
-}
-
-void FixedWingGuidanceControl::publish_lateral_guidance_status(const hrt_abstime now)
-{
-	fixed_wing_lateral_guidance_status_s fixed_wing_lateral_guidance_status{};
-
-	fixed_wing_lateral_guidance_status.timestamp = now;
-	fixed_wing_lateral_guidance_status.course_setpoint = _directional_guidance.getCourseSetpoint();
-	fixed_wing_lateral_guidance_status.lateral_acceleration_ff = _directional_guidance.getLateralAccelerationSetpoint();
-	fixed_wing_lateral_guidance_status.bearing_feas = _directional_guidance.getBearingFeasibility();
-	fixed_wing_lateral_guidance_status.bearing_feas_on_track = _directional_guidance.getBearingFeasibilityOnTrack();
-	fixed_wing_lateral_guidance_status.signed_track_error = _directional_guidance.getSignedTrackError();
-	fixed_wing_lateral_guidance_status.track_error_bound = _directional_guidance.getTrackErrorBound();
-	fixed_wing_lateral_guidance_status.adapted_period = _directional_guidance.getAdaptedPeriod();
-	fixed_wing_lateral_guidance_status.wind_est_valid = _wind_valid;
-
-	_fixed_wing_lateral_guidance_status_pub.publish(fixed_wing_lateral_guidance_status);
-}
-
-int FixedWingGuidanceControl::task_spawn(int argc, char *argv[])
-{
-	FixedWingGuidanceControl *instance = new FixedWingGuidanceControl();
-
-	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
-
-		if (instance->init()) {
-			return PX4_OK;
-		}
-
-	} else {
-		PX4_ERR("alloc failed");
-	}
-
-	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
-
-	return PX4_ERROR;
-}
-
-int FixedWingGuidanceControl::custom_command(int argc, char *argv[])
-{
-	return print_usage("unknown command");
-}
-
-int FixedWingGuidanceControl::print_usage(const char *reason)
-{
-	if (reason) {
-		PX4_WARN("%s\n", reason);
-	}
-
-	PRINT_MODULE_DESCRIPTION(
-		R"DESCR_STR(
-### Description
-This implements the setpoint generation for all PX4-internal fixed-wing modes, height-rate control and higher.
-It takes the current mode state of the vehicle as input and outputs setpoints consumed by the fixed-wing
-lateral-longitudinal controller and and controllers below that (attitude, rate).
-
-)DESCR_STR");
-
-	PRINT_MODULE_USAGE_NAME("fw_mode_manager", "controller");
-	PRINT_MODULE_USAGE_COMMAND("start");
-	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-
-	return 0;
-}
-
-extern "C" __EXPORT int fw_guidance_control_main(int argc, char *argv[])
-{
-	return FixedWingGuidanceControl::main(argc, argv);
-}
@@ -1,428 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013-2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-
-/**
- * @file FixedWingGuidanceControl.hpp
- * Implementation of various fixed-wing control modes.
- */
-
-#ifndef FIXEDWINGGUIDANCECONTROL_HPP_
-#define FIXEDWINGGUIDANCECONTROL_HPP_
-
-#include "ControllerConfigurationHandler.hpp"
-
-#include <float.h>
-#include <drivers/drv_hrt.h>
-#include <lib/geo/geo.h>
-#include <lib/atmosphere/atmosphere.h>
-#include <lib/npfg/DirectionalGuidance.hpp>
-#include <lib/mathlib/mathlib.h>
-#include <lib/perf/perf_counter.h>
-#include <lib/slew_rate/SlewRate.hpp>
-#include <lib/sticks/Sticks.hpp>
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/defines.h>
-#include <px4_platform_common/module.h>
-#include <px4_platform_common/module_params.h>
-#include <px4_platform_common/posix.h>
-#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
-#include <uORB/uORB.h>
-
-#include <uORB/Publication.hpp>
-#include <uORB/PublicationMulti.hpp>
-#include <uORB/Subscription.hpp>
-#include <uORB/SubscriptionCallback.hpp>
-#include <uORB/topics/airspeed_validated.h>
-#include <uORB/topics/fixed_wing_lateral_setpoint.h>
-#include <uORB/topics/fixed_wing_lateral_guidance_status.h>
-#include <uORB/topics/fixed_wing_longitudinal_setpoint.h>
-#include <uORB/topics/fixed_wing_runway_control.h>
-#include <uORB/topics/launch_detection_status.h>
-#include <uORB/topics/normalized_unsigned_setpoint.h>
-#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/position_controller_status.h>
-#include <uORB/topics/position_setpoint_triplet.h>
-#include <uORB/topics/global_trajectory_setpoint.h>
-#include <uORB/topics/vehicle_angular_velocity.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/vehicle_command.h>
-#include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_land_detected.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/vehicle_local_position_setpoint.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/wind.h>
-#include <uORB/topics/orbit_status.h>
-
-using namespace time_literals;
-
-using matrix::Vector2d;
-using matrix::Vector2f;
-
-// [m] initial distance of waypoint in front of plane in heading hold mode
-static constexpr float HDG_HOLD_DIST_NEXT = 3000.0f;
-
-// [rad/s] max yawrate at which plane locks yaw for heading hold mode
-static constexpr float HDG_HOLD_YAWRATE_THRESH = 0.15f;
-
-// [.] max manual roll/yaw normalized input from user which does not change the locked heading
-static constexpr float HDG_HOLD_MAN_INPUT_THRESH = 0.01f;
-
-// [us] time after which we abort landing if terrain estimate is not valid. this timer start whenever the terrain altitude
-// was previously valid, and has changed to invalid.
-static constexpr hrt_abstime TERRAIN_ALT_TIMEOUT = 1_s;
-
-// [us] within this timeout, if a distance sensor measurement not yet made, the land waypoint altitude is used for terrain
-// altitude. this timer starts at the beginning of the landing glide slope.
-static constexpr hrt_abstime TERRAIN_ALT_FIRST_MEASUREMENT_TIMEOUT = 10_s;
-
-// [.] max throttle from user which will not lead to motors spinning up in altitude controlled modes
-static constexpr float THROTTLE_THRESH = -.9f;
-
-// [us] time after which the wind estimate is disabled if no longer updating
-static constexpr hrt_abstime WIND_EST_TIMEOUT = 10_s;
-
-// [s] minimum time step between auto control updates
-static constexpr float MIN_AUTO_TIMESTEP = 0.01f;
-
-// [s] maximum time step between auto control updates
-static constexpr float MAX_AUTO_TIMESTEP = 0.05f;
-
-// [rad] minimum pitch while airspeed has not yet reached a controllable value in manual position controlled takeoff modes
-static constexpr float MIN_PITCH_DURING_MANUAL_TAKEOFF = 0.0f;
-
-// [m] arbitrary buffer altitude added to clearance altitude setpoint during takeoff to ensure aircraft passes the clearance
-// altitude while waiting for navigator to flag it exceeded
-static constexpr float kClearanceAltitudeBuffer = 10.0f;
-
-// [m/s] maximum rate at which the touchdown position can be nudged
-static constexpr float MAX_TOUCHDOWN_POSITION_NUDGE_RATE = 4.0f;
-
-// [.] normalized deadzone threshold for manual nudging input
-static constexpr float MANUAL_TOUCHDOWN_NUDGE_INPUT_DEADZONE = 0.15f;
-
-// [s] time interval after touchdown for ramping in runway clamping constraints (touchdown is assumed at FW_LND_TD_TIME after start of flare)
-static constexpr float POST_TOUCHDOWN_CLAMP_TIME = 0.5f;
-
-// [] Stick deadzon
-static constexpr float kStickDeadBand = 0.06f;
-
-class FixedWingGuidanceControl final : public ModuleBase<FixedWingGuidanceControl>, public ModuleParams,
-	public px4::WorkItem
-{
-public:
-	FixedWingGuidanceControl();
-	~FixedWingGuidanceControl() override;
-
-	/** @see ModuleBase */
-	static int task_spawn(int argc, char *argv[]);
-
-	/** @see ModuleBase */
-	static int custom_command(int argc, char *argv[]);
-
-	/** @see ModuleBase */
-	static int print_usage(const char *reason = nullptr);
-
-	bool init();
-
-private:
-	void Run() override;
-
-	uORB::SubscriptionCallbackWorkItem _local_pos_sub{this, ORB_ID(vehicle_local_position)};
-
-	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
-
-	uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
-	uORB::Subscription _wind_sub{ORB_ID(wind)};
-	uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)};
-	uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};
-	uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
-	uORB::Subscription _global_trajectory_setpoint_sub{ORB_ID(global_trajectory_setpoint)};
-	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
-	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
-	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
-	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
-	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
-
-	uORB::Publication<vehicle_local_position_setpoint_s> _local_pos_sp_pub{ORB_ID(vehicle_local_position_setpoint)};
-	uORB::Publication<launch_detection_status_s> _launch_detection_status_pub{ORB_ID(launch_detection_status)};
-	uORB::PublicationMulti<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};
-	uORB::PublicationData<fixed_wing_lateral_setpoint_s> _lateral_ctrl_sp_pub{ORB_ID(fixed_wing_lateral_setpoint)};
-	uORB::PublicationData<fixed_wing_longitudinal_setpoint_s> _longitudinal_ctrl_sp_pub{ORB_ID(fixed_wing_longitudinal_setpoint)};
-	uORB::Publication<fixed_wing_lateral_guidance_status_s> _fixed_wing_lateral_guidance_status_pub{ORB_ID(fixed_wing_lateral_guidance_status)};
-
-	position_setpoint_triplet_s _pos_sp_triplet{};
-	vehicle_control_mode_s _control_mode{};
-	vehicle_local_position_s _local_pos{};
-	vehicle_status_s _vehicle_status{};
-
-	CombinedControllerConfigurationHandler _ctrl_configuration_handler;
-
-	Vector2f _lpos_where_backtrans_started;
-
-	bool _position_setpoint_previous_valid{false};
-	bool _position_setpoint_current_valid{false};
-	bool _position_setpoint_next_valid{false};
-
-	perf_counter_t _loop_perf; // loop performance counter
-
-	// [us] Last absolute time position control has been called
-	hrt_abstime _last_time_position_control_called{0};
-
-	uint8_t _position_sp_type{0};
-
-	enum StickConfig {
-		STICK_CONFIG_SWAP_STICKS_BIT = (1 << 0),
-		STICK_CONFIG_ENABLE_AIRSPEED_SP_MANUAL_BIT = (1 << 1)
-	};
-
-
-	Sticks _sticks{this};
-
-	// VEHICLE STATES
-
-	double _current_latitude{0};
-	double _current_longitude{0};
-	float _current_altitude{0.f};
-
-	float _yaw{0.0f};
-	float _yawrate{0.0f};
-
-	float _body_acceleration_x{0.f};
-	float _body_velocity_x{0.f};
-
-	MapProjection _global_local_proj_ref{};
-
-	float _reference_altitude{NAN}; // [m AMSL] altitude of the local projection reference point
-
-	bool _landed{true};
-
-	// MANUAL MODES
-
-	// indicates whether we have completed a manual takeoff in a position control mode
-	bool _completed_manual_takeoff{false};
-
-	// [rad] yaw setpoint for manual position mode heading hold
-	float _hdg_hold_yaw{0.0f};
-
-	bool _hdg_hold_enabled{false}; // heading hold enabled
-	bool _yaw_lock_engaged{false}; // yaw is locked for heading hold
-
-	Vector2f _hdg_hold_position{}; // position where heading hold started
-
-	// [.] normalized setpoint for manual altitude control [-1,1]; -1,0,1 maps to min,zero,max height rate commands
-	float _manual_control_setpoint_for_height_rate{0.0f};
-
-	// [.] normalized setpoint for manual airspeed control [-1,1]; -1,0,1 maps to min,cruise,max airspeed commands
-	float _manual_control_setpoint_for_airspeed{0.0f};
-
-	// [m/s] airspeed setpoint for manual modes commanded via MAV_CMD_DO_CHANGE_SPEED
-	float _commanded_manual_airspeed_setpoint{NAN};
-
-	// AUTO TAKEOFF
-
-	// [m] ground altitude AMSL where the plane was launched
-	float _takeoff_ground_alt{0.0f};
-
-	// true if a launch, specifically using the launch detector, has been detected
-	bool _launch_detected{false};
-
-	// [deg] global position of the vehicle at the time launch is detected (using launch detector) or takeoff is started (runway)
-	Vector2d _takeoff_init_position{0, 0};
-
-	// [rad] current vehicle yaw at the time the launch is detected
-	float _launch_current_yaw{0.f};
-
-	bool _skipping_takeoff_detection{false};
-
-	// AUTO LANDING
-	// [m] lateral touchdown position offset manually commanded during landing
-	float _lateral_touchdown_position_offset{0.0f};
-
-	// [m] last terrain estimate which was valid
-	float _last_valid_terrain_alt_estimate{0.0f};
-
-	// [us] time at which we had last valid terrain alt
-	hrt_abstime _last_time_terrain_alt_was_valid{0};
-
-	// AIRSPEED
-
-	float _airspeed_eas{0.f};
-	bool _airspeed_valid{false};
-
-	// [us] last time airspeed was received. used to detect timeouts.
-	hrt_abstime _time_airspeed_last_valid{0};
-
-	// WIND
-
-	// [m/s] wind velocity vector
-	Vector2f _wind_vel{0.0f, 0.0f};
-
-	bool _wind_valid{false};
-
-	hrt_abstime _time_wind_last_received{0}; // [us]
-
-	// VTOL / TRANSITION
-	matrix::Vector2d _transition_waypoint{(double)NAN, (double)NAN};
-	float _backtrans_heading{NAN};	// used to lock the initial heading for backtransition with no position control
-
-	// ESTIMATOR RESET COUNTERS
-	uint8_t _xy_reset_counter{0};
-	uint64_t _time_last_xy_reset{0};
-
-	// LATERAL-DIRECTIONAL GUIDANCE
-
-	// CLosest point on path to track
-	matrix::Vector2f _closest_point_on_path;
-
-	// nonlinear path following guidance - lateral-directional position control
-	DirectionalGuidance _directional_guidance;
-
-	hrt_abstime _time_in_fixed_bank_loiter{0}; // [us]
-	float _min_current_sp_distance_xy{FLT_MAX};
-
-	// Update our local parameter cache.
-	void parameters_update();
-
-	// Update subscriptions
-	void airspeed_poll();
-
-	void manual_control_setpoint_poll();
-	void vehicle_attitude_poll();
-	void vehicle_control_mode_poll();
-
-	void wind_poll(const hrt_abstime now);
-
-	/**
-	 * @brief Vehicle control for following a path.
-	 *
-	 * @param control_interval Time since last position control call [s]
-	 * @param curr_pos Current 2D local position vector of vehicle [m]
-	 * @param ground_speed Local 2D ground speed of vehicle [m/s]
-	 * @param pos_sp_prev previous position setpoint
-	 * @param pos_sp_curr current position setpoint
-	 */
-	void control_auto_path(const float control_interval, const Vector2f &ground_speed,
-			       const float cruising_speed, const Vector2f curr_wp_local, const float curr_wp_alt, const Vector2f velocity_2d, bool gliding_enabled);
-
-	void publishLocalPositionSetpoint(const position_setpoint_s &current_waypoint);
-
-	/**
-	 * @brief Updates timing information for landed and in-air states.
-	 *
-	 * @param now Current system time [us]
-	 */
-	void update_in_air_states(const hrt_abstime now);
-
-	/*
-	 * Path following logic. Takes poisiton, path tangent, curvature and
-	 * then updates control setpoints to follow a path setpoint.
-	 *
-	 * TODO: deprecate this function with a proper API to NPFG.
-	 *
-	 * @param[in] vehicle_pos vehicle_pos Vehicle position in local coordinates. (N,E) [m]
-	 * @param[in] position_setpoint closest point on a path in local coordinates. (N,E) [m]
-	 * @param[in] tangent_setpoint unit tangent vector of the path [m]
-	 * @param[in] ground_vel Vehicle ground velocity vector [m/s]
-	 * @param[in] wind_vel Wind velocity vector [m/s]
-	 * @param[in] curvature of the path setpoint [1/m]
-	 */
-	DirectionalGuidanceOutput navigatePathTangent(const matrix::Vector2f &vehicle_pos,
-			const matrix::Vector2f &position_setpoint,
-			const matrix::Vector2f &tangent_setpoint,
-			const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel, const float &curvature);
-
-	void publish_lateral_guidance_status(const hrt_abstime now);
-
-	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::FW_R_LIM>) _param_fw_r_lim,
-
-		(ParamFloat<px4::params::NPFG_PERIOD>) _param_npfg_period,
-		(ParamFloat<px4::params::NPFG_DAMPING>) _param_npfg_damping,
-		(ParamBool<px4::params::NPFG_LB_PERIOD>) _param_npfg_en_period_lb,
-		(ParamBool<px4::params::NPFG_UB_PERIOD>) _param_npfg_en_period_ub,
-		(ParamFloat<px4::params::NPFG_ROLL_TC>) _param_npfg_roll_time_const,
-		(ParamFloat<px4::params::NPFG_SW_DST_MLT>) _param_npfg_switch_distance_multiplier,
-		(ParamFloat<px4::params::NPFG_PERIOD_SF>) _param_npfg_period_safety_factor,
-
-		(ParamFloat<px4::params::FW_LND_AIRSPD>) _param_fw_lnd_airspd,
-		(ParamFloat<px4::params::FW_LND_ANG>) _param_fw_lnd_ang,
-		(ParamFloat<px4::params::FW_LND_FL_PMAX>) _param_fw_lnd_fl_pmax,
-		(ParamFloat<px4::params::FW_LND_FL_PMIN>) _param_fw_lnd_fl_pmin,
-		(ParamFloat<px4::params::FW_LND_FLALT>) _param_fw_lnd_flalt,
-		(ParamBool<px4::params::FW_LND_EARLYCFG>) _param_fw_lnd_earlycfg,
-		(ParamInt<px4::params::FW_LND_USETER>) _param_fw_lnd_useter,
-
-		(ParamFloat<px4::params::FW_P_LIM_MAX>) _param_fw_p_lim_max,
-		(ParamFloat<px4::params::FW_P_LIM_MIN>) _param_fw_p_lim_min,
-		(ParamFloat<px4::params::FW_T_CLMB_R_SP>) _param_climbrate_target,
-		(ParamFloat<px4::params::FW_T_SINK_R_SP>) _param_sinkrate_target,
-		(ParamFloat<px4::params::FW_THR_IDLE>) _param_fw_thr_idle,
-		(ParamFloat<px4::params::FW_THR_MAX>) _param_fw_thr_max,
-		(ParamFloat<px4::params::FW_THR_MIN>) _param_fw_thr_min,
-		(ParamFloat<px4::params::FW_FLAPS_LND_SCL>) _param_fw_flaps_lnd_scl,
-		(ParamFloat<px4::params::FW_FLAPS_TO_SCL>) _param_fw_flaps_to_scl,
-		(ParamFloat<px4::params::FW_SPOILERS_LND>) _param_fw_spoilers_lnd,
-		(ParamInt<px4::params::FW_POS_STK_CONF>) _param_fw_pos_stk_conf,
-		(ParamInt<px4::params::FW_GPSF_LT>) _param_nav_gpsf_lt,
-		(ParamFloat<px4::params::FW_GPSF_R>) _param_nav_gpsf_r,
-		(ParamFloat<px4::params::FW_T_SPDWEIGHT>) _param_t_spdweight,
-
-		// external parameters
-		(ParamBool<px4::params::FW_USE_AIRSPD>) _param_fw_use_airspd,
-		(ParamFloat<px4::params::NAV_LOITER_RAD>) _param_nav_loiter_rad,
-		(ParamFloat<px4::params::FW_TKO_PITCH_MIN>) _takeoff_pitch_min,
-		(ParamFloat<px4::params::NAV_FW_ALT_RAD>) _param_nav_fw_alt_rad,
-		(ParamFloat<px4::params::FW_WING_SPAN>) _param_fw_wing_span,
-		(ParamFloat<px4::params::FW_WING_HEIGHT>) _param_fw_wing_height,
-		(ParamBool<px4::params::RWTO_NUDGE>) _param_rwto_nudge,
-		(ParamFloat<px4::params::FW_LND_FL_TIME>) _param_fw_lnd_fl_time,
-		(ParamFloat<px4::params::FW_LND_FL_SINK>) _param_fw_lnd_fl_sink,
-		(ParamFloat<px4::params::FW_LND_TD_TIME>) _param_fw_lnd_td_time,
-		(ParamFloat<px4::params::FW_LND_TD_OFF>) _param_fw_lnd_td_off,
-		(ParamInt<px4::params::FW_LND_NUDGE>) _param_fw_lnd_nudge,
-		(ParamInt<px4::params::FW_LND_ABORT>) _param_fw_lnd_abort,
-		(ParamFloat<px4::params::FW_TKO_AIRSPD>) _param_fw_tko_airspd,
-		(ParamFloat<px4::params::RWTO_PSP>) _param_rwto_psp,
-		(ParamBool<px4::params::FW_LAUN_DETCN_ON>) _param_fw_laun_detcn_on,
-		(ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max,
-		(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
-		(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
-		(ParamFloat<px4::params::FW_T_CLMB_MAX>) _param_fw_t_clmb_max
-	)
-};
-
-#endif // FIXEDWINGGUIDANCECONTROL_HPP_
@@ -1,12 +0,0 @@
-menuconfig MODULES_FW_GUIDANCE_CONTROL
-	bool "fw_guidance_control"
-	default n
-	---help---
-		Enable support for fw_guidance_control
-
-menuconfig USER_FW_MODE_MANAGER
-	bool "fw_guidance_control running as userspace module"
-	default n
-	depends on BOARD_PROTECTED && MODULES_FW_MODE_MANAGER
-	---help---
-		Put fw_guidance_control in userspace memory
@@ -166,6 +166,8 @@ void FwLateralLongitudinalControl::Run()
 			_landed = landed.landed;
 		}

+		uint8_t current_flight_phase = flight_phase_estimation_s::FLIGHT_PHASE_UNKNOWN;
+
 		_vehicle_status_sub.update();
 		_control_mode_sub.update();

@@ -209,18 +211,18 @@ void FwLateralLongitudinalControl::Run()
 			// If the both altitude and height rate are set, set altitude setpoint to NAN
 			const float altitude_sp = PX4_ISFINITE(_long_control_sp.height_rate) ? NAN : _long_control_sp.altitude;

-			tecs_update_pitch_throttle(control_interval, altitude_sp,
-						   airspeed_sp_eas,
-						   _long_configuration.pitch_min,
-						   _long_configuration.pitch_max,
-						   _long_configuration.throttle_min,
-						   _long_configuration.throttle_max,
-						   _long_configuration.sink_rate_target,
-						   _long_configuration.climb_rate_target,
-						   _long_configuration.disable_underspeed_protection,
-						   _long_control_sp.height_rate,
-						   now
-						  );
+			current_flight_phase = tecs_update_pitch_throttle(control_interval, altitude_sp,
+					       airspeed_sp_eas,
+					       _long_configuration.pitch_min,
+					       _long_configuration.pitch_max,
+					       _long_configuration.throttle_min,
+					       _long_configuration.throttle_max,
+					       _long_configuration.sink_rate_target,
+					       _long_configuration.climb_rate_target,
+					       _long_configuration.disable_underspeed_protection,
+					       _long_control_sp.height_rate,
+					       now
+									 );

 			pitch_sp = PX4_ISFINITE(_long_control_sp.pitch_direct) ? _long_control_sp.pitch_direct : _tecs.get_pitch_setpoint();
 			throttle_sp = PX4_ISFINITE(_long_control_sp.throttle_direct) ? _long_control_sp.throttle_direct :
@@ -317,6 +319,16 @@ void FwLateralLongitudinalControl::Run()

 		}

+		// Publish flight phase with low rate, but immediately if updated
+		const bool flight_phase_updated = current_flight_phase != _flight_phase_estimation_pub.get().flight_phase;
+		const hrt_abstime time_since_last_flightphase_pub = now - _flight_phase_estimation_pub.get().timestamp;
+
+		if (flight_phase_updated || time_since_last_flightphase_pub >= 1_s) {
+			_flight_phase_estimation_pub.get().timestamp = now;
+			_flight_phase_estimation_pub.get().flight_phase = current_flight_phase;
+			_flight_phase_estimation_pub.update();
+		}
+
 		_z_reset_counter = _local_pos.z_reset_counter;
 	}

@@ -356,7 +368,7 @@ void FwLateralLongitudinalControl::updateControllerConfiguration(hrt_abstime tim
 	}
 }

-void
+uint8_t
 FwLateralLongitudinalControl::tecs_update_pitch_throttle(const float control_interval, float alt_sp, float airspeed_sp,
 		float pitch_min_rad, float pitch_max_rad, float throttle_min,
 		float throttle_max, const float desired_max_sinkrate,
@@ -370,8 +382,7 @@ FwLateralLongitudinalControl::tecs_update_pitch_throttle(const float control_int
 	    && (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
 		|| _vehicle_status_sub.get().in_transition_mode)) {
 		tecs_is_running = false;
-		return;
-
+		return flight_phase_estimation_s::FLIGHT_PHASE_UNKNOWN;
 	}

 	const float throttle_trim_compensated = _performance_model.getTrimThrottle(throttle_min,
@@ -409,25 +420,23 @@ FwLateralLongitudinalControl::tecs_update_pitch_throttle(const float control_int
 		// Check level flight: the height rate setpoint is not set or set to 0 and we are close to the target altitude and target altitude is not moving
 		if ((fabsf(tecs_output.height_rate_reference) < MAX_ALT_REF_RATE_FOR_LEVEL_FLIGHT) &&
 		    fabsf(_long_control_state.altitude_msl - tecs_output.altitude_reference) < _param_nav_fw_alt_rad.get()) {
-			_flight_phase_estimation_pub.get().flight_phase = flight_phase_estimation_s::FLIGHT_PHASE_LEVEL;
+			return flight_phase_estimation_s::FLIGHT_PHASE_LEVEL;

 		} else if (((tecs_output.altitude_reference - _long_control_state.altitude_msl) >= _param_nav_fw_alt_rad.get()) ||
 			   (tecs_output.height_rate_reference >= MAX_ALT_REF_RATE_FOR_LEVEL_FLIGHT)) {
-			_flight_phase_estimation_pub.get().flight_phase = flight_phase_estimation_s::FLIGHT_PHASE_CLIMB;
+			return flight_phase_estimation_s::FLIGHT_PHASE_CLIMB;

 		} else if (((_long_control_state.altitude_msl - tecs_output.altitude_reference) >= _param_nav_fw_alt_rad.get()) ||
 			   (tecs_output.height_rate_reference <= -MAX_ALT_REF_RATE_FOR_LEVEL_FLIGHT)) {
-			_flight_phase_estimation_pub.get().flight_phase = flight_phase_estimation_s::FLIGHT_PHASE_DESCEND;
+			return flight_phase_estimation_s::FLIGHT_PHASE_DESCEND;

 		} else {
-			// We can't infer the flight phase , do nothing, estimation is reset at each step
-			_flight_phase_estimation_pub.get().flight_phase = flight_phase_estimation_s::FLIGHT_PHASE_UNKNOWN;
-
+			// We can't infer the flight phase
+			return flight_phase_estimation_s::FLIGHT_PHASE_UNKNOWN;
 		}
-
-		_flight_phase_estimation_pub.get().timestamp = now;
-		_flight_phase_estimation_pub.update();
 	}
+
+	return flight_phase_estimation_s::FLIGHT_PHASE_UNKNOWN;
 }

 void
@@ -213,11 +213,12 @@ private:

 	void parameters_update();
 	void update_control_state(hrt_abstime now);
-	void tecs_update_pitch_throttle(const float control_interval, float alt_sp, float airspeed_sp,
-					float pitch_min_rad, float pitch_max_rad, float throttle_min,
-					float throttle_max, const float desired_max_sinkrate,
-					const float desired_max_climbrate,
-					bool disable_underspeed_detection, float hgt_rate_sp, hrt_abstime now);
+
+	uint8_t tecs_update_pitch_throttle(const float control_interval, float alt_sp, float airspeed_sp,
+					   float pitch_min_rad, float pitch_max_rad, float throttle_min,
+					   float throttle_max, const float desired_max_sinkrate,
+					   const float desired_max_climbrate,
+					   bool disable_underspeed_detection, float hgt_rate_sp, hrt_abstime now);

 	void tecs_status_publish(float alt_sp, float equivalent_airspeed_sp, float true_airspeed_derivative_raw,
 				 float throttle_trim, hrt_abstime now);
@@ -373,8 +373,22 @@ FixedWingModeManager::set_control_mode_current(const hrt_abstime &now)
 	_skipping_takeoff_detection = false;
 	const bool doing_backtransition = _vehicle_status.in_transition_mode && !_vehicle_status.in_transition_to_fw;

-	if ((_control_mode.flag_control_auto_enabled && _control_mode.flag_control_position_enabled)
-	    && _position_setpoint_current_valid) {
+	if (_control_mode.flag_control_offboard_enabled && _position_setpoint_current_valid
+	    && _control_mode.flag_control_position_enabled) {
+		if (PX4_ISFINITE(_pos_sp_triplet.current.vx) && PX4_ISFINITE(_pos_sp_triplet.current.vy)
+		    && PX4_ISFINITE(_pos_sp_triplet.current.vz)) {
+			// Offboard position with velocity setpoints
+			_control_mode_current = FW_POSCTRL_MODE_AUTO_PATH;
+			return;
+
+		} else {
+			// Offboard position setpoint only
+			_control_mode_current = FW_POSCTRL_MODE_AUTO;
+			return;
+		}
+
+	} else if ((_control_mode.flag_control_auto_enabled && _control_mode.flag_control_position_enabled)
+		   && _position_setpoint_current_valid) {

 		// Enter this mode only if the current waypoint has valid 3D position setpoints.

@@ -1019,6 +1033,47 @@ void FixedWingModeManager::publishFigureEightStatus(const position_setpoint_s po
 }
 #endif // CONFIG_FIGURE_OF_EIGHT

+void
+FixedWingModeManager::control_auto_path(const float control_interval, const Vector2d &curr_pos,
+					const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
+{
+	const float target_airspeed = pos_sp_curr.cruising_speed > FLT_EPSILON ? pos_sp_curr.cruising_speed : NAN;
+
+	Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
+	Vector2f curr_wp_local = _global_local_proj_ref.project(pos_sp_curr.lat, pos_sp_curr.lon);
+
+	// Navigate directly on position setpoint and path tangent
+	const matrix::Vector2f velocity_2d(pos_sp_curr.vx, pos_sp_curr.vy);
+	const float curvature = PX4_ISFINITE(_pos_sp_triplet.current.loiter_radius) ? 1 /
+				_pos_sp_triplet.current.loiter_radius :
+				0.0f;
+	const DirectionalGuidanceOutput sp = navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(),
+					     ground_speed, _wind_vel, curvature);
+
+	fixed_wing_lateral_setpoint_s fw_lateral_ctrl_sp{empty_lateral_control_setpoint};
+	fw_lateral_ctrl_sp.timestamp = hrt_absolute_time();
+	fw_lateral_ctrl_sp.course = sp.course_setpoint;
+	fw_lateral_ctrl_sp.lateral_acceleration = sp.lateral_acceleration_feedforward;
+	_lateral_ctrl_sp_pub.publish(fw_lateral_ctrl_sp);
+
+	const fixed_wing_longitudinal_setpoint_s fw_longitudinal_control_sp = {
+		.timestamp = hrt_absolute_time(),
+		.altitude = pos_sp_curr.alt,
+		.height_rate = NAN,
+		.equivalent_airspeed = target_airspeed,
+		.pitch_direct = NAN,
+		.throttle_direct = NAN
+	};
+
+	_longitudinal_ctrl_sp_pub.publish(fw_longitudinal_control_sp);
+
+	if (pos_sp_curr.gliding_enabled) {
+		_ctrl_configuration_handler.setThrottleMin(0.0f);
+		_ctrl_configuration_handler.setThrottleMax(0.0f);
+		_ctrl_configuration_handler.setSpeedWeight(2.0f);
+	}
+}
+
 void
 FixedWingModeManager::control_auto_takeoff(const hrt_abstime &now, const float control_interval,
 		const Vector2d &global_position, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
@@ -1997,22 +2052,80 @@ FixedWingModeManager::Run()
 							     _local_pos.ref_timestamp);
 		}

-		if (_pos_sp_triplet_sub.update(&_pos_sp_triplet)) {
+		if (_control_mode.flag_control_offboard_enabled) {
+			trajectory_setpoint_s trajectory_setpoint;

-			_position_setpoint_previous_valid = PX4_ISFINITE(_pos_sp_triplet.previous.lat)
-							    && PX4_ISFINITE(_pos_sp_triplet.previous.lon)
-							    && PX4_ISFINITE(_pos_sp_triplet.previous.alt);
+			if (_trajectory_setpoint_sub.update(&trajectory_setpoint)) {
+				bool valid_setpoint = false;
+				_pos_sp_triplet = {}; // clear any existing
+				_pos_sp_triplet.timestamp = trajectory_setpoint.timestamp;
+				_pos_sp_triplet.current.timestamp = trajectory_setpoint.timestamp;
+				_pos_sp_triplet.current.cruising_speed = NAN; // ignored
+				_pos_sp_triplet.current.cruising_throttle = NAN; // ignored
+				_pos_sp_triplet.current.vx = NAN;
+				_pos_sp_triplet.current.vy = NAN;
+				_pos_sp_triplet.current.vz = NAN;
+				_pos_sp_triplet.current.lat = static_cast<double>(NAN);
+				_pos_sp_triplet.current.lon = static_cast<double>(NAN);
+				_pos_sp_triplet.current.alt = NAN;

-			_position_setpoint_current_valid = PX4_ISFINITE(_pos_sp_triplet.current.lat)
-							   && PX4_ISFINITE(_pos_sp_triplet.current.lon)
-							   && PX4_ISFINITE(_pos_sp_triplet.current.alt);
+				if (Vector3f(trajectory_setpoint.position).isAllFinite()) {
+					if (_global_local_proj_ref.isInitialized()) {
+						double lat;
+						double lon;
+						_global_local_proj_ref.reproject(trajectory_setpoint.position[0], trajectory_setpoint.position[1], lat, lon);
+						valid_setpoint = true;
+						_pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
+						_pos_sp_triplet.current.lat = lat;
+						_pos_sp_triplet.current.lon = lon;
+						_pos_sp_triplet.current.alt = _reference_altitude - trajectory_setpoint.position[2];
+					}

-			_position_setpoint_next_valid = PX4_ISFINITE(_pos_sp_triplet.next.lat)
-							&& PX4_ISFINITE(_pos_sp_triplet.next.lon)
-							&& PX4_ISFINITE(_pos_sp_triplet.next.alt);
+				}

-			// reset the altitude foh (first order hold) logic
-			_min_current_sp_distance_xy = FLT_MAX;
+				if (Vector3f(trajectory_setpoint.velocity).isAllFinite()) {
+					valid_setpoint = true;
+					_pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
+					_pos_sp_triplet.current.vx = trajectory_setpoint.velocity[0];
+					_pos_sp_triplet.current.vy = trajectory_setpoint.velocity[1];
+					_pos_sp_triplet.current.vz = trajectory_setpoint.velocity[2];
+
+					if (Vector3f(trajectory_setpoint.acceleration).isAllFinite()) {
+						Vector2f velocity_sp_2d(trajectory_setpoint.velocity[0], trajectory_setpoint.velocity[1]);
+						Vector2f normalized_velocity_sp_2d = velocity_sp_2d.normalized();
+						Vector2f acceleration_sp_2d(trajectory_setpoint.acceleration[0], trajectory_setpoint.acceleration[1]);
+						Vector2f acceleration_normal = acceleration_sp_2d - acceleration_sp_2d.dot(normalized_velocity_sp_2d) *
+									       normalized_velocity_sp_2d;
+						float direction = -normalized_velocity_sp_2d.cross(acceleration_normal.normalized());
+						_pos_sp_triplet.current.loiter_radius = direction * velocity_sp_2d.norm() * velocity_sp_2d.norm() /
+											acceleration_normal.norm();
+
+					} else {
+						_pos_sp_triplet.current.loiter_radius = NAN;
+					}
+				}
+
+				_position_setpoint_current_valid = valid_setpoint;
+			}
+
+		} else {
+			if (_pos_sp_triplet_sub.update(&_pos_sp_triplet)) {
+
+				_position_setpoint_previous_valid = PX4_ISFINITE(_pos_sp_triplet.previous.lat)
+								    && PX4_ISFINITE(_pos_sp_triplet.previous.lon)
+								    && PX4_ISFINITE(_pos_sp_triplet.previous.alt);
+
+				_position_setpoint_current_valid = PX4_ISFINITE(_pos_sp_triplet.current.lat)
+								   && PX4_ISFINITE(_pos_sp_triplet.current.lon)
+								   && PX4_ISFINITE(_pos_sp_triplet.current.alt);
+
+				_position_setpoint_next_valid = PX4_ISFINITE(_pos_sp_triplet.next.lat)
+								&& PX4_ISFINITE(_pos_sp_triplet.next.lon)
+								&& PX4_ISFINITE(_pos_sp_triplet.next.alt);
+
+				// reset the altitude foh (first order hold) logic
+				_min_current_sp_distance_xy = FLT_MAX;
+			}
 		}

 		airspeed_poll();
@@ -2097,6 +2210,11 @@ FixedWingModeManager::Run()
 				break;
 			}

+		case FW_POSCTRL_MODE_AUTO_PATH: {
+				control_auto_path(control_interval, curr_pos, ground_speed, _pos_sp_triplet.current);
+				break;
+			}
+
 		case FW_POSCTRL_MODE_AUTO_TAKEOFF: {
 				control_auto_takeoff(now, control_interval, curr_pos, ground_speed, _pos_sp_triplet.current);
 				break;
@@ -77,6 +77,7 @@
 #include <uORB/topics/position_controller_landing_status.h>
 #include <uORB/topics/position_controller_status.h>
 #include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/trajectory_setpoint.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -180,6 +181,7 @@ private:
 	uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)};
 	uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};
 	uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
+	uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
 	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
@@ -226,6 +228,7 @@ private:
 		FW_POSCTRL_MODE_AUTO_TAKEOFF_NO_NAV,
 		FW_POSCTRL_MODE_AUTO_LANDING_STRAIGHT,
 		FW_POSCTRL_MODE_AUTO_LANDING_CIRCULAR,
+		FW_POSCTRL_MODE_AUTO_PATH,
 		FW_POSCTRL_MODE_MANUAL_POSITION,
 		FW_POSCTRL_MODE_MANUAL_ALTITUDE,
 		FW_POSCTRL_MODE_TRANSITION_TO_HOVER_LINE_FOLLOW,
@@ -125,7 +125,6 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic("sensor_gyro_fft", 50);
 	add_topic("sensor_selection");
 	add_topic("sensors_status_imu", 200);
-	add_optional_topic("sensor_temp", 100);
 	add_optional_topic("spoilers_setpoint", 1000);
 	add_topic("system_power", 500);
 	add_optional_topic("takeoff_status", 1000);
@@ -167,6 +166,7 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic_multi("control_allocator_status", 200, 2);
 	add_optional_topic_multi("rate_ctrl_status", 200, 2);
 	add_optional_topic_multi("sensor_hygrometer", 500, 4);
+	add_optional_topic_multi("sensor_temp", 100, 4);
 	add_optional_topic_multi("rpm", 200);
 	add_topic_multi("timesync_status", 1000, 3);
 	add_optional_topic_multi("telemetry_status", 1000, 4);
@@ -160,9 +160,6 @@ subscriptions:
  - topic: /fmu/in/trajectory_setpoint
    type: px4_msgs::msg::TrajectorySetpoint

-  - topic: /fmu/in/global_trajectory_setpoint
-    type: px4_msgs::msg::GlobalTrajectorySetpoint
-
  - topic: /fmu/in/vehicle_attitude_setpoint
    type: px4_msgs::msg::VehicleAttitudeSetpoint
Author	SHA1	Message	Date
copilot-swe-agent[bot]	749015288d	Fix indentation inconsistency in bug_report.yml placeholder Co-authored-by: farhangnaderi <46557204+farhangnaderi@users.noreply.github.com>	2026-01-14 05:13:40 +00:00
copilot-swe-agent[bot]	2196ab69ea	Initial plan	2026-01-14 05:11:45 +00:00
FARHANG	9fbabefcbd	Simplify bug report issue template to reduce clutter - Reduced from 11 fields to 2 consolidated fields - Enabled blank issues for flexibility - Combined optional fields into single "Flight Log / Additional Information" section - Added helpful tips at top instead of separate required fields - Eliminates empty field clutter in submitted issues while maintaining guidance	2026-01-13 17:36:30 -05:00
Matthias Grob	473ef5fd06	uavcan: esc: fix actuator test on uavcan ESCs that consume `ArmingStatus` (#26255 ) * uavcan esc: remove unused includes * uavcan arming_status: disarm when terminated To stay consistent with kill. * uavcan: publish armed during actuator tests to make it possible spinning motors	2026-01-13 10:57:54 -09:00
Phil-Engljaehringer	46d9b14ba0	Feat: Add driver for TMP102 temperature sensor for Skynode-N (#26241 ) * feat: added driver for tmp102 temperature sensor * style: removed new line * style: adjusted date in header * style: removed duplicated logging * fix: moved start-up command from rc.board_sensors to rc.sensors * style: used consexpr for expected config reg value * feat: added retry logic to probe function * style: added _ as prefix to global variable * style: used make format * fix: corrected temperature calculation * fix: mask AL-bit in probe function * style: removed header files from CMakeLists * style: used correct english in comments * refactor: return error right after failure * style: moved init call to correct place * fix: corrected temperature calculation (again) * refactor: removed _curr_pr variable => always have to set PR to desired register on read * fix: add multi logged topic	2026-01-12 18:42:51 +01:00
Balduin	66e21497a6	FwLateralLongitudinalControl: publish flight phase also if unknown, and with limited rate (#26251 ) * FwLateralLongitudinalControl: publish uknown flight phase if TECS not running * FwLateralLongitudinalControl: publish flight phase with lower rate For this we store the new flight phase in a local variable, which is returned by tecs_update_pitch_throttle (but initialised outside to unknown in case TECS does not run).	2026-01-12 15:30:26 +01:00
Matthias Grob	de49edc428	failsafe web simulation: end user friendly mode names + add Altitude cruise and External 1	2026-01-12 11:30:07 +01:00
Matthias Grob	b5846fd8c2	Commander: unify RC loss and data link exception options	2026-01-12 11:30:07 +01:00
Silvan	ec6dd286fc	Commander: COM_RCL_EXCEPT consider all auto modes triggered by action in bit 1 Signed-off-by: Silvan <silvan@auterion.com>	2026-01-12 11:30:07 +01:00