Commander: don't reset Home position if landed during a (uncompleted) mission. (#24902)

src/modules/commander/Commander.cpp

@@ -613,7 +613,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
 	events::send<events::px4::enums::arm_disarm_reason_t>(events::ID("commander_armed_by"), events::Log::Info,
 			"Armed by {1}", calling_reason);
 
-	if (_param_com_home_en.get()) {
+	if (_param_com_home_en.get() && !_mission_in_progress) {
 		_home_position.setHomePosition();
 	}
 
@@ -1809,7 +1809,10 @@ void Commander::run()
 
 		vtolStatusUpdate();
 
-		_home_position.update(_param_com_home_en.get(), !isArmed() && _vehicle_land_detected.landed);
+		_mission_in_progress = (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION)
+				       && !_mission_result_sub.get().finished;
+
+		_home_position.update(_param_com_home_en.get(), !isArmed() && _vehicle_land_detected.landed && !_mission_in_progress);
 
 		handleAutoDisarm();
 
@@ -2110,7 +2113,7 @@ void Commander::landDetectorUpdate()
 			}
 
 			// automatically set or update home position
-			if (_param_com_home_en.get()) {
+			if (_param_com_home_en.get() && !_mission_in_progress) {
 				// set the home position when taking off
 				if (!_vehicle_land_detected.landed) {
 					if (was_landed) {

src/modules/commander/Commander.hpp

@@ -279,6 +279,7 @@ private:
 	bool _arm_tune_played{false};
 	bool _have_taken_off_since_arming{false};
 	bool _status_changed{true};
+	bool _mission_in_progress{false};
 
 	vehicle_land_detected_s	_vehicle_land_detected{};
 

src/modules/commander/commander_params.c

@@ -142,6 +142,9 @@ PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
  *
  * Set home position automatically if possible.
  *
+ * During missions, the home position is locked and will not reset during intermediate landings.
+ * It will only update once the mission is complete or landed outside of a mission.
+ *
  * @group Commander
  * @reboot_required true
  * @boolean