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mode: control auto set home from an external mode

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

A flag is added to the configuration overrides to control if the home position is updated or not.
This commit is contained in:
Michael Schaeuble
2025-11-24 10:29:47 +01:00
committed by Beat Küng
parent a2299b02c8
commit d97a8d7d3b
6 changed files with 73 additions and 5 deletions
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1
msg/translation_node/translations/all_translations.h
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@@ -10,6 +10,7 @@
#include "translation_arming_check_reply_v1.h"
#include "translation_arming_check_request_v1.h"
#include "translation_battery_status_v1.h"
#include "translation_config_overrides_v1.h"
#include "translation_event_v1.h"
#include "translation_home_position_v1.h"
#include "translation_register_ext_component_reply_v1.h"

41
msg/translation_node/translations/translation_config_overrides_v1.h Normal file
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@@ -0,0 +1,41 @@
/****************************************************************************
* Copyright (c) 2025 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate ConfigOverrides v0 <--> v1
#include <px4_msgs_old/msg/config_overrides_v0.hpp>
#include <px4_msgs/msg/config_overrides.hpp>
class ConfigOverridesV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::ConfigOverridesV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::ConfigOverrides;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/in/config_overrides_request";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
msg_newer.timestamp = msg_older.timestamp;
msg_newer.disable_auto_disarm = msg_older.disable_auto_disarm;
msg_newer.defer_failsafes = msg_older.defer_failsafes;
msg_newer.defer_failsafes_timeout_s = msg_older.defer_failsafes_timeout_s;
msg_newer.disable_auto_set_home = false;
msg_newer.source_type = msg_older.source_type;
msg_newer.source_id = msg_older.source_id;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
msg_older.timestamp = msg_newer.timestamp;
msg_older.disable_auto_disarm = msg_newer.disable_auto_disarm;
msg_older.defer_failsafes = msg_newer.defer_failsafes;
msg_older.defer_failsafes_timeout_s = msg_newer.defer_failsafes_timeout_s;
msg_older.source_type = msg_newer.source_type;
msg_older.source_id = msg_newer.source_id;
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(ConfigOverridesV1Translation);