Commander: Introduce global_position_relaxed (#24280)

To separate accuracy requirements for VTOL hover and cruise.

- global_position_relaxed refers to having a valid horizontal velocity aid source 
in the estimator and a set global reference position, but poses no requirements 
on the accuracy of the provided position estimate. 
- Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode, 
only require the relaxed global position going forward
- COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW)
- rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low
---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>

msg/CMakeLists.txt

@@ -81,7 +81,7 @@ set(msg_files
 	EstimatorStates.msg
 	EstimatorStatus.msg
 	EstimatorStatusFlags.msg
-	Event.msg
+	versioned/Event.msg
 	FigureEightStatus.msg
 	FailsafeFlags.msg
 	FailureDetectorStatus.msg

msg/FailsafeFlags.msg

@@ -12,6 +12,7 @@ uint32 mode_req_local_alt
 uint32 mode_req_local_position
 uint32 mode_req_local_position_relaxed
 uint32 mode_req_global_position
+uint32 mode_req_global_position_relaxed
 uint32 mode_req_mission
 uint32 mode_req_offboard_signal
 uint32 mode_req_home_position
@@ -29,6 +30,7 @@ bool local_position_invalid           # Local position estimate invalid
 bool local_position_invalid_relaxed   # Local position with reduced accuracy requirements invalid (e.g. flying with optical flow)
 bool local_velocity_invalid           # Local velocity estimate invalid
 bool global_position_invalid          # Global position estimate invalid
+bool global_position_invalid_relaxed  # Global position estimate invalid with relaxed accuracy requirements
 bool auto_mission_missing             # No mission available
 bool offboard_control_signal_lost     # Offboard signal lost
 bool home_position_invalid            # No home position available
@@ -48,7 +50,7 @@ bool mission_failure                  # Mission failure
 bool vtol_fixed_wing_system_failure   # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
 bool wind_limit_exceeded              # Wind limit exceeded
 bool flight_time_limit_exceeded       # Maximum flight time exceeded
-bool local_position_accuracy_low      # Local position estimate has dropped below threshold, but is currently still declared valid
+bool position_accuracy_low            # Position estimate has dropped below threshold, but is currently still declared valid
 bool navigator_failure        	      # Navigator failed to execute a mode
 
 # Failure detector

msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg

@@ -0,0 +1,34 @@
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp # time since system start (microseconds)
+
+uint8 request_id
+uint8 registration_id
+
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0
+
+uint8 health_component_index      # HEALTH_COMPONENT_INDEX_*
+bool health_component_is_present
+bool health_component_warning
+bool health_component_error
+
+bool can_arm_and_run              # whether arming is possible, and if it's a navigation mode, if it can run
+
+uint8 num_events
+
+EventV0[5] events
+
+# Mode requirements
+bool mode_req_angular_velocity
+bool mode_req_attitude
+bool mode_req_local_alt
+bool mode_req_local_position
+bool mode_req_local_position_relaxed
+bool mode_req_global_position
+bool mode_req_mission
+bool mode_req_home_position
+bool mode_req_prevent_arming
+bool mode_req_manual_control
+
+
+uint8 ORB_QUEUE_LENGTH = 4

msg/px4_msgs_old/msg/EventV0.msg

@@ -0,0 +1,14 @@
+# this message is required here in the msg_old folder because other msg are depending on it
+# Events interface
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp			# time since system start (microseconds)
+
+uint32 id                   # Event ID
+uint16 event_sequence       # Event sequence number
+uint8[25] arguments         # (optional) arguments, depend on event id
+
+uint8 log_levels            # Log levels: 4 bits MSB: internal, 4 bits LSB: external
+
+uint8 ORB_QUEUE_LENGTH = 16

msg/translation_node/translations/all_translations.h

@@ -13,3 +13,5 @@
 #include "translation_vehicle_status_v1.h"
 #include "translation_airspeed_validated_v1.h"
 #include "translation_vehicle_attitude_setpoint_v1.h"
+#include "translation_arming_check_reply_v1.h"
+#include "translation_event_v1.h"

msg/translation_node/translations/translation_arming_check_reply_v1.h

@@ -0,0 +1,84 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate ArmingCheckReply v0 <--> v1
+#include <px4_msgs_old/msg/arming_check_reply_v0.hpp>
+#include <px4_msgs/msg/arming_check_reply.hpp>
+#include "translation_event_v1.h"
+
+class ArmingCheckReplyV1Translation {
+public:
+    using MessageOlder = px4_msgs_old::msg::ArmingCheckReplyV0;
+    static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+    using MessageNewer = px4_msgs::msg::ArmingCheckReply;
+    static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+    static constexpr const char* kTopic = "/fmu/in/arming_check_reply";
+
+    static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+	    msg_newer.timestamp = msg_older.timestamp;
+
+	    msg_newer.request_id = msg_older.request_id;
+	    msg_newer.registration_id = msg_older.registration_id;
+
+	    msg_newer.health_component_index = msg_older.health_component_index;
+	    msg_newer.health_component_is_present = msg_older.health_component_is_present;
+	    msg_newer.health_component_warning = msg_older.health_component_warning;
+	    msg_newer.health_component_error = msg_older.health_component_error;
+
+	    msg_newer.can_arm_and_run = msg_older.can_arm_and_run;
+
+
+	    for (std::size_t i = 0; i < msg_newer.events.size();i++) {
+		    EventV1Translation::fromOlder(msg_older.events.at(i), msg_newer.events.at(i));
+	    }
+
+
+	    msg_newer.mode_req_angular_velocity = msg_older.mode_req_angular_velocity;
+	    msg_newer.mode_req_attitude = msg_older.mode_req_attitude;
+	    msg_newer.mode_req_local_alt = msg_older.mode_req_local_alt;
+	    msg_newer.mode_req_local_position = msg_older.mode_req_local_position;
+	    msg_newer.mode_req_local_position_relaxed = msg_older.mode_req_local_position_relaxed;
+	    msg_newer.mode_req_global_position = msg_older.mode_req_global_position;
+	    msg_newer.mode_req_global_position_relaxed = false;
+	    msg_newer.mode_req_mission = msg_older.mode_req_mission;
+	    msg_newer.mode_req_home_position = msg_older.mode_req_home_position;
+	    msg_newer.mode_req_prevent_arming = msg_older.mode_req_prevent_arming;
+	    msg_newer.mode_req_manual_control = msg_older.mode_req_manual_control;
+
+    }
+
+    static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+	    msg_older.timestamp = msg_newer.timestamp;
+
+	    msg_older.request_id = msg_newer.request_id;
+	    msg_older.registration_id = msg_newer.registration_id;
+
+	    msg_older.health_component_index = msg_newer.health_component_index;
+	    msg_older.health_component_is_present = msg_newer.health_component_is_present;
+	    msg_older.health_component_warning = msg_newer.health_component_warning;
+	    msg_older.health_component_error = msg_newer.health_component_error;
+
+	    msg_older.can_arm_and_run = msg_newer.can_arm_and_run;
+
+	    for (std::size_t i = 0; i < msg_older.events.size();i++) {
+		    EventV1Translation::toOlder(msg_newer.events.at(i), msg_older.events.at(i));
+	    }
+
+	    msg_older.mode_req_angular_velocity = msg_newer.mode_req_angular_velocity;
+	    msg_older.mode_req_attitude = msg_newer.mode_req_attitude;
+	    msg_older.mode_req_local_alt = msg_newer.mode_req_local_alt;
+	    msg_older.mode_req_local_position = msg_newer.mode_req_local_position;
+	    msg_older.mode_req_global_position = msg_newer.mode_req_global_position;
+	    msg_older.mode_req_mission = msg_newer.mode_req_mission;
+	    msg_older.mode_req_home_position = msg_newer.mode_req_home_position;
+	    msg_older.mode_req_prevent_arming = msg_newer.mode_req_prevent_arming;
+	    msg_older.mode_req_manual_control = msg_newer.mode_req_manual_control;
+    }
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(ArmingCheckReplyV1Translation);

msg/translation_node/translations/translation_event_v1.h

@@ -0,0 +1,38 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate Event v0 <--> v1
+#include <px4_msgs_old/msg/event_v0.hpp>
+#include <px4_msgs/msg/event.hpp>
+
+class EventV1Translation {
+public:
+    using MessageOlder = px4_msgs_old::msg::EventV0;
+    static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+    using MessageNewer = px4_msgs::msg::Event;
+    static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+    static constexpr const char* kTopic = "fmu/out/event";
+
+    static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+	    msg_newer.timestamp = msg_older.timestamp;
+	    msg_newer.id = msg_older.id;
+	    msg_newer.event_sequence = msg_older.event_sequence;
+	    msg_newer.arguments = msg_older.arguments;
+	    msg_newer.log_levels = msg_older.log_levels;
+    }
+
+    static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+	    msg_older.timestamp = msg_newer.timestamp;
+	    msg_older.id = msg_newer.id;
+	    msg_older.event_sequence = msg_newer.event_sequence;
+	    msg_older.arguments = msg_newer.arguments;
+	    msg_older.log_levels = msg_newer.log_levels;
+    }
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(EventV1Translation);

msg/versioned/ArmingCheckReply.msg

@@ -1,4 +1,4 @@
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
 
 uint64 timestamp # time since system start (microseconds)
 
@@ -25,6 +25,7 @@ bool mode_req_local_alt
 bool mode_req_local_position
 bool mode_req_local_position_relaxed
 bool mode_req_global_position
+bool mode_req_global_position_relaxed
 bool mode_req_mission
 bool mode_req_home_position
 bool mode_req_prevent_arming

msg/versioned/Event.msg

@@ -1,4 +1,6 @@
 # Events interface
+uint32 MESSAGE_VERSION = 1
+
 uint64 timestamp			# time since system start (microseconds)
 
 uint32 id                   # Event ID