There's a check to disallow arming in modes that are not suite for takeoff. The allowed autonmous ones are:
Mission - desired
Loiter - does not make sense but needs to be kept for **** MAVLink MAVSDK workflow of first arming then switching mode
Offboard - acceptable advanced case even for RC
Takeoff - desired
VTOL Takeoff - desired
* fix(flight_mode_manager): fix terrain following position setpoint
In MPC_ALT_MODE=1 terrain following, the smoothing block was
overwriting the parent class's terrain-adjusted position setpoint.
Unify terrain hold and terrain following into a single terrain_position
flag that syncs the smoothing block to the parent's position, preventing
divergence and simplifying transition handling.
* refactor(flight_mode_manager): lift terrain-driven Z flag into base class
FlightTaskManualAltitudeSmoothVel re-derived the parent's terrain gate
in _setOutputState() to decide whether to keep the parent's position
setpoint or overwrite it with the smoothing block. Two problems with
that:
1. The condition was duplicated verbatim from the parent's gate in
_updateAltitudeLock(), so any future change there would silently
break the child.
2. The parent also invokes _terrainFollowing() from the min-altitude
safety branch (MPC_ALT_MODE != 1 && !_terrain_hold but below
hagl_min while braking). The child's open-coded condition did not
cover that case, so the smoothing block still overwrote a valid
terrain-adjusted setpoint there.
Move ownership of the decision into the parent: _terrainFollowing()
sets _z_setpoint_from_terrain iff it produced a finite setpoint, and
_updateAltitudeLock() resets the flag at the top of each iteration.
The child now reads the flag instead of re-deriving the condition,
which also fixes the min-altitude safety branch above.
_z_setpoint_from_terrain is named to stay semantically distinct from
_terrain_hold (an MPC_ALT_MODE=2 sub-state that gates the terrain
following logic).
NaN signals "unset" per the MAVLink spec. Without a guard,
math::radians(NaN) propagates through the Eulerf-to-Quatf conversion
and produces q=[nan,nan,nan,nan], freezing the gimbal. Substitute 0
for any non-finite axis with PX4_ISFINITE, matching the manual-control
pattern at input_mavlink.cpp:951.
Closes#26640.
* feat(zenoh): add support for configuring zenoh publisher options
Add zenoh parameters for common default options for all publishers. Options exposed are reliability, priority, congestion control and is_express
Allow override of common publisher options for specific publisher through its config: config fille supports additional row where multiple options can be specified with csv string
Expose config options through zenoh config add publisher.
Allow options per publisher to be specified for default config in zenoh/dds_topics.yaml
* fix(zenoh): Put individual zenoh publisher config override feature under config option ZENOH_PUB_OPTION_OVERRIDE
Enabled ZENOH_PUB_OPTION_OVERRIDE on targets with enough flash memory
* fix(zenoh): added publication options for default publications in dds_topics.yaml
Rare messages that are important to arive: set as reliable, enabled express and with blocking congesiton control
Fast vehcile position messages that can impact control decision making: set as best enabled express and with drop congestion control
* docs(zenoh) : added documentation for zenoh publisher options usage
* docs(docs): Link to params
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Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
