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mode: control auto set home from an external mode

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The mode executor can run land mode which updates the home position to the landing location. This
can be not the desirable behavior and the home position should stay at the original location.

A flag is added to the configuration overrides to control if the home position is updated or not.
This commit is contained in:
Michael Schaeuble
2025-11-24 10:29:47 +01:00
committed by Beat Küng
parent a2299b02c8
commit d97a8d7d3b
6 changed files with 73 additions and 5 deletions
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msg/versioned/ConfigOverrides.msg
+2 -2
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@@ -1,6 +1,6 @@
# Configurable overrides by (external) modes or mode executors
uint32 MESSAGE_VERSION = 0
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
@@ -8,7 +8,7 @@ bool disable_auto_disarm # Prevent the drone from automatically disarmin
bool defer_failsafes # Defer all failsafes that can be deferred (until the flag is cleared)
int16 defer_failsafes_timeout_s # Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout
bool disable_auto_set_home # Prevent the drone from automatically setting the home position on arm or takeoff
int8 SOURCE_TYPE_MODE = 0
int8 SOURCE_TYPE_MODE_EXECUTOR = 1