fix: rename Course Hold to Course

msg/versioned/VehicleCommand.msg

@@ -127,7 +127,7 @@ uint8 FUSION_SOURCE_RNGBCN = 8 # Ranging Beacon
 uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # Start of PX4 internal only vehicle commands (> UINT16_MAX).
 uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL from GNSS, positive above ground)|
 uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Unused|Unused|Unused|Unused|Unused|Unused|
-uint32 VEHICLE_CMD_DO_CHANGE_COURSE = 100002 # Change the course setpoint in Course Hold mode. |[rad] Course (bearing) [-PI..PI, NaN = no change]|Unused|Unused|Unused|Unused|Unused|Unused|
+uint32 VEHICLE_CMD_DO_CHANGE_COURSE = 100002 # Change the course setpoint in Course mode. |[rad] Course (bearing) [-PI..PI, NaN = no change]|Unused|Unused|Unused|Unused|Unused|Unused|
 
 uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization.
 uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.

msg/versioned/VehicleStatus.msg

@@ -36,7 +36,7 @@ uint8 NAVIGATION_STATE_AUTO_MISSION = 3         # Auto mission mode
 uint8 NAVIGATION_STATE_AUTO_LOITER = 4          # Auto loiter mode
 uint8 NAVIGATION_STATE_AUTO_RTL = 5             # Auto return to launch mode
 uint8 NAVIGATION_STATE_POSITION_SLOW = 6
-uint8 NAVIGATION_STATE_AUTO_COURSE_HOLD = 7 # Course hold mode (FW: maintain course/alt/speed)
+uint8 NAVIGATION_STATE_AUTO_COURSE = 7 		# Course hold mode (FW: maintain course/alt/speed)
 uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8      # Altitude with Cruise mode
 uint8 NAVIGATION_STATE_FREE3 = 9
 uint8 NAVIGATION_STATE_ACRO = 10                # Acro mode

src/lib/events/enums.json

@@ -593,8 +593,8 @@
                             "description": "Altitude Cruise"
                         },
                         "25": {
-                            "name": "auto_course_hold",
+                            "name": "auto_course",
-                            "description": "Course Hold"
+                            "description": "Course"
                         },
                         "255": {
                             "name": "unknown",

src/lib/modes/ui.hpp

@@ -51,7 +51,7 @@ static inline uint32_t getValidNavStates()
 	       (1u << vehicle_status_s::NAVIGATION_STATE_POSCTL) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) |
-	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD) |
+	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_ACRO) |
@@ -76,7 +76,7 @@ const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = {
 	"Hold",
 	"Return",
 	"Position Slow",
-	"Course Hold",
+	"Course",
 	"Altitude Cruise",
 	"9: unallocated",
 	"Acro",

src/modules/commander/Commander.cpp

@@ -489,9 +489,9 @@ int Commander::custom_command(int argc, char *argv[])
 				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
 						     PX4_CUSTOM_SUB_MODE_AUTO_LOITER);
 
-			} else if (!strcmp(argv[1], "auto:course_hold")) {
+			} else if (!strcmp(argv[1], "auto:course")) {
 				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
-						     PX4_CUSTOM_SUB_MODE_AUTO_COURSE_HOLD);
+						     PX4_CUSTOM_SUB_MODE_AUTO_COURSE);
 
 			} else if (!strcmp(argv[1], "auto:rtl")) {
 				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
@@ -895,8 +895,8 @@ Commander::handle_command(const vehicle_command_s &cmd)
 			// the data at the exact same time.
 
 			// If already in course hold, stay in course hold (navigator handles the altitude update)
-			uint8_t target_state = (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD)
+			uint8_t target_state = (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE)
-					       ? vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD
+					       ? vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE
 					       : vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
 
 			if (_user_mode_intention.change(target_state)) {
@@ -911,7 +911,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 		break;
 
 	case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_COURSE: {
-			// DO_CHANGE_COURSE is only valid in course hold mode, navigator handles the actual course update
+			// DO_CHANGE_COURSE is only valid in course mode, navigator handles the actual course update
 			cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
 		}
 		break;
@@ -979,8 +979,8 @@ Commander::handle_command(const vehicle_command_s &cmd)
 							desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND;
 							break;
 
-						case PX4_CUSTOM_SUB_MODE_AUTO_COURSE_HOLD:
+						case PX4_CUSTOM_SUB_MODE_AUTO_COURSE:
-							desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD;
+							desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE;
 							break;
 
 						case PX4_CUSTOM_SUB_MODE_EXTERNAL1...PX4_CUSTOM_SUB_MODE_EXTERNAL8:
@@ -3236,7 +3236,7 @@ The commander module contains the state machine for mode switching and failsafe
 	PRINT_MODULE_USAGE_COMMAND("land");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("mode", "Change flight mode");
-	PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|altctl|posctl|altitude_cruise|position:slow|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1",
+	PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|altctl|posctl|altitude_cruise|position:slow|auto:mission|auto:loiter|auto:course|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1",
 			"Flight mode", false);
 	PRINT_MODULE_USAGE_COMMAND("pair");
 	PRINT_MODULE_USAGE_COMMAND("termination");

src/modules/commander/ModeUtil/control_mode.cpp

@@ -89,7 +89,7 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
-	case vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
 		vehicle_control_mode.flag_control_auto_enabled = true;

src/modules/commander/ModeUtil/conversions.hpp

@@ -58,7 +58,7 @@ static inline navigation_mode_t navigation_mode(uint8_t nav_state)
 
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER: return navigation_mode_t::auto_loiter;
 
-	case vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD: return navigation_mode_t::auto_course_hold;
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE: return navigation_mode_t::auto_course;
 
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: return navigation_mode_t::auto_rtl;
 

src/modules/commander/ModeUtil/mode_requirements.cpp

@@ -123,21 +123,21 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_local_alt);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_wind_and_flight_time_compliance);
 
-	// NAVIGATION_STATE_AUTO_COURSE_HOLD (same requirements as AUTO_LOITER)
+	// NAVIGATION_STATE_AUTO_COURSE (same requirements as AUTO_LOITER)
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD, flags.mode_req_angular_velocity);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE, flags.mode_req_angular_velocity);
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD, flags.mode_req_attitude);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE, flags.mode_req_attitude);
 
 	if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
-		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD, flags.mode_req_global_position_relaxed);
+		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE, flags.mode_req_global_position_relaxed);
-		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD, flags.mode_req_local_position_relaxed);
+		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE, flags.mode_req_local_position_relaxed);
 
 	} else {
-		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD, flags.mode_req_global_position);
+		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE, flags.mode_req_global_position);
-		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD, flags.mode_req_local_position);
+		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE, flags.mode_req_local_position);
 	}
 
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD, flags.mode_req_local_alt);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE, flags.mode_req_local_alt);
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD, flags.mode_req_wind_and_flight_time_compliance);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE, flags.mode_req_wind_and_flight_time_compliance);
 
 	// NAVIGATION_STATE_AUTO_RTL
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_angular_velocity);

src/modules/commander/px4_custom_mode.h

@@ -66,7 +66,7 @@ enum PX4_CUSTOM_SUB_MODE_AUTO {
 	PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET,
 	PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND,
 	PX4_CUSTOM_SUB_MODE_AUTO_VTOL_TAKEOFF,
-	PX4_CUSTOM_SUB_MODE_AUTO_COURSE_HOLD,
+	PX4_CUSTOM_SUB_MODE_AUTO_COURSE,
 	PX4_CUSTOM_SUB_MODE_EXTERNAL1,
 	PX4_CUSTOM_SUB_MODE_EXTERNAL2,
 	PX4_CUSTOM_SUB_MODE_EXTERNAL3,
@@ -193,9 +193,9 @@ static inline union px4_custom_mode get_px4_custom_mode(uint8_t nav_state)
 		custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_VTOL_TAKEOFF;
 		break;
 
-	case vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE:
 		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
-		custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_COURSE_HOLD;
+		custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_COURSE;
 		break;
 
 	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL1:

src/modules/mavlink/streams/UTM_GLOBAL_POSITION.hpp

@@ -144,7 +144,7 @@ private:
 							|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND
 							|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION
 							|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER
-							|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD
+							|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE
 							|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF
 							|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL);
 

src/modules/navigator/CMakeLists.txt

@@ -44,7 +44,7 @@ set(NAVIGATOR_SOURCES
 	mission_base.cpp
 	mission_block.cpp
 	mission.cpp
-	course_hold.cpp
+	course.cpp
 	loiter.cpp
 	rtl.cpp
 	rtl_direct.cpp

src/modules/navigator/course.cpp

@@ -31,21 +31,21 @@
  *
  ****************************************************************************/
 /**
- * @file course_hold.cpp
+ * @file course.cpp
  *
- * Course Hold mode: maintain constant course, altitude, and airspeed.
+ * Course mode: maintain constant course, altitude, and airspeed.
  */
 
-#include "course_hold.h"
+#include "course.h"
 #include "navigator.h"
 
-CourseHold::CourseHold(Navigator *navigator) :
+Course::Course(Navigator *navigator) :
-	MissionBlock(navigator, vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD)
+	MissionBlock(navigator, vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE)
 {
 }
 
 void
-CourseHold::on_activation()
+Course::on_activation()
 {
 	// Capture current state
 	_course = _navigator->get_local_position()->heading;
@@ -58,7 +58,7 @@ CourseHold::on_activation()
 }
 
 void
-CourseHold::on_active()
+Course::on_active()
 {
 	// Check for incoming vehicle commands
 	// Commands are dispatched from navigator_main, which sets fields on this object
@@ -67,7 +67,7 @@ CourseHold::on_active()
 }
 
 void
-CourseHold::update_course_setpoint()
+Course::update_course_setpoint()
 {
 	position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
 

src/modules/navigator/course.h

@@ -31,9 +31,9 @@
  *
  ****************************************************************************/
 /**
- * @file course_hold.h
+ * @file course.h
  *
- * Course Hold mode: maintain constant course, altitude, and airspeed.
+ * Course mode: maintain constant course, altitude, and airspeed.
  * Accepts DO_CHANGE_COURSE, DO_CHANGE_ALTITUDE, and DO_CHANGE_SPEED commands.
  */
 
@@ -42,11 +42,11 @@
 #include "navigator_mode.h"
 #include "mission_block.h"
 
-class CourseHold : public MissionBlock
+class Course : public MissionBlock
 {
 public:
-	CourseHold(Navigator *navigator);
+	Course(Navigator *navigator);
-	~CourseHold() = default;
+	~Course() = default;
 
 	void on_activation() override;
 	void on_active() override;

src/modules/navigator/navigator.h

@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "course_hold.h"
+#include "course.h"
 #include "geofence.h"
 #include "land.h"
 #include "precland.h"
@@ -177,7 +177,7 @@ public:
 	vehicle_status_s            *get_vstatus() { return &_vstatus; }
 
 	PrecLand *get_precland() { return &_precland; } /**< allow others, e.g. Mission, to use the precision land block */
-	CourseHold *get_course_hold() { return &_course_hold; }
+	Course *get_course() { return &_course; }
 
 	const PositionYawSetpoint &get_last_pos_with_gcs_heartbeat() const { return _last_pos_with_gcs_heartbeat; }
 
@@ -388,7 +388,7 @@ private:
 	Land		_land;			/**< class for handling land commands */
 	PrecLand	_precland;			/**< class for handling precision land commands */
 	RTL 		_rtl;				/**< class that handles RTL */
-	CourseHold	_course_hold;			/**< class that handles course hold */
+	Course		_course;			/**< class that handles course */
 #if CONFIG_NAVIGATOR_ADSB
 	AdsbConflict 	_adsb_conflict;			/**< class that handles ADSB conflict avoidance */
 	traffic_buffer_s _traffic_buffer{};

src/modules/navigator/navigator_main.cpp

@@ -81,7 +81,7 @@ Navigator::Navigator() :
 	_land(this),
 	_precland(this),
 	_rtl(this),
-	_course_hold(this)
+	_course(this)
 {
 	/* Create a list of our possible navigation types */
 	_navigation_mode_array[0] = &_mission;
@@ -93,7 +93,7 @@ Navigator::Navigator() :
 #if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
 	_navigation_mode_array[6] = &_vtol_takeoff;
 #endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
-	_navigation_mode_array[7] = &_course_hold;
+	_navigation_mode_array[7] = &_course;
 
 	/* iterate through navigation modes and initialize _mission_item for each */
 	for (unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
@@ -432,10 +432,10 @@ void Navigator::run()
 				// only update the setpoint if armed, as it otherwise won't get executed until the vehicle switches to loiter,
 				// which can lead to dangerous and unexpected behaviors (see loiter.cpp, there is an if(armed) in there too)
 
-				if (_navigation_mode == &_course_hold) {
+				if (_navigation_mode == &_course) {
-					// In course hold mode, update altitude directly
+					// In course mode, update altitude directly
 					float new_alt = PX4_ISFINITE(cmd.param1) ? cmd.param1 : get_global_position()->alt;
-					_course_hold.set_altitude(new_alt);
+					_course.set_altitude(new_alt);
 					// DO_CHANGE_ALTITUDE is acknowledged by commander
 
 				} else {
@@ -514,8 +514,8 @@ void Navigator::run()
 			} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_COURSE
 				   && _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
 
-				if (_navigation_mode == &_course_hold && PX4_ISFINITE(cmd.param1)) {
+				if (_navigation_mode == &_course && PX4_ISFINITE(cmd.param1)) {
-					_course_hold.set_course(cmd.param1);
+					_course.set_course(cmd.param1);
 				}
 
 				publish_vehicle_command_ack(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
@@ -723,15 +723,15 @@ void Navigator::run()
 					// XXX not differentiating ground and airspeed yet
 					set_cruising_speed(cmd.param2);
 
-					if (_navigation_mode == &_course_hold) {
+					if (_navigation_mode == &_course) {
-						_course_hold.set_airspeed(cmd.param2);
+						_course.set_airspeed(cmd.param2);
 					}
 
 				} else {
 					reset_cruising_speed();
 
-					if (_navigation_mode == &_course_hold) {
+					if (_navigation_mode == &_course) {
-						_course_hold.set_airspeed(-1.f);
+						_course.set_airspeed(-1.f);
 					}
 
 					/* if no speed target was given try to set throttle */
@@ -835,9 +835,9 @@ void Navigator::run()
 			navigation_mode_new = &_loiter;
 			break;
 
-		case vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE_HOLD:
+		case vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE:
 			_pos_sp_triplet_published_invalid_once = false;
-			navigation_mode_new = &_course_hold;
+			navigation_mode_new = &_course;
 			break;
 
 		case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: