Revert "commander/navigator: remove param NAV_RCL_ACT"

This reverts commit 77ea4cebf41cd106fe771b9eb469aa2326339467.

src/modules/commander/commander.cpp

@@ -1173,6 +1173,7 @@ int commander_thread_main(int argc, char *argv[])
 	param_t _param_enable_datalink_loss = param_find("NAV_DLL_ACT");
 	param_t _param_offboard_loss_act = param_find("COM_OBL_ACT");
 	param_t _param_offboard_loss_rc_act = param_find("COM_OBL_RC_ACT");
+	param_t _param_enable_rc_loss = param_find("NAV_RCL_ACT");
 	param_t _param_datalink_loss_timeout = param_find("COM_DL_LOSS_T");
 	param_t _param_rc_loss_timeout = param_find("COM_RC_LOSS_T");
 	param_t _param_datalink_regain_timeout = param_find("COM_DL_REG_T");
@@ -1528,6 +1529,7 @@ int commander_thread_main(int argc, char *argv[])
 	transition_result_t arming_ret;
 
 	int32_t datalink_loss_enabled = 0;
+	int32_t rc_loss_enabled = 0;
 	int32_t datalink_loss_timeout = 10;
 	float rc_loss_timeout = 0.5;
 	int32_t datalink_regain_timeout = 0;
@@ -1614,6 +1616,7 @@ int commander_thread_main(int argc, char *argv[])
 
 			/* Safety parameters */
 			param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
+			param_get(_param_enable_rc_loss, &rc_loss_enabled);
 			param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
 			param_get(_param_rc_loss_timeout, &rc_loss_timeout);
 			param_get(_param_rc_in_off, &rc_in_off);
@@ -2657,6 +2660,7 @@ int commander_thread_main(int argc, char *argv[])
 						       mission_result.stay_in_failsafe,
 						       &status_flags,
 						       land_detector.landed,
+						       (rc_loss_enabled > 0),
 						       offboard_loss_act,
 						       offboard_loss_rc_act);
 

src/modules/commander/state_machine_helper.cpp

@@ -589,7 +589,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
 bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *internal_state,
 		   const bool data_link_loss_enabled, const bool mission_finished,
 		   const bool stay_in_failsafe, status_flags_s *status_flags, bool landed,
-		   const int offb_loss_act, const int offb_loss_rc_act)
+		   const bool rc_loss_enabled, const int offb_loss_act, const int offb_loss_rc_act)
 {
 	navigation_state_t nav_state_old = status->nav_state;
 
@@ -605,7 +605,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
 	case commander_state_s::MAIN_STATE_ALTCTL:
 	case commander_state_s::MAIN_STATE_POSCTL:
 		/* require RC for all manual modes */
-		if ((status->rc_signal_lost || status_flags->rc_signal_lost_cmd) && armed && !landed) {
+		if (rc_loss_enabled && (status->rc_signal_lost || status_flags->rc_signal_lost_cmd) && armed && !landed) {
 			status->failsafe = true;
 
 			if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {

src/modules/commander/state_machine_helper.h

@@ -114,7 +114,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
 bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *internal_state,
 		   const bool data_link_loss_enabled, const bool mission_finished,
 		   const bool stay_in_failsafe, status_flags_s *status_flags, bool landed,
-		   const int offb_loss_act, const int offb_loss_rc_act);
+		   const bool rc_loss_enabled, const int offb_loss_act, const int offb_loss_rc_act);
 
 int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report, status_flags_s *status_flags, battery_status_s *battery);
 

src/modules/navigator/navigator_params.c

@@ -86,6 +86,24 @@ PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f);
  */
 PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
 
+/**
+ * Set RC loss failsafe mode
+ *
+ * The RC loss failsafe will only be entered after a timeout,
+ * set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled
+ * by setting the COM_RC_IN_MODE param it will not be triggered.
+ * Setting this parameter to 4 will enable CASA Outback Challenge rules,
+ * which are only recommended to participants of that competition.
+ *
+ * @value 0 Disabled
+ * @value 1 Loiter
+ * @value 2 Return to Land
+ * @value 3 Land at current position
+ *
+ * @group Mission
+ */
+PARAM_DEFINE_INT32(NAV_RCL_ACT, 0);
+
 /**
  * Airfield home Lat
  *