PreFlightCheck: only allow modes suitable for takeoff

src/modules/commander/Arming/PreFlightCheck/CMakeLists.txt

@@ -47,6 +47,7 @@ px4_add_library(PreFlightCheck
 	checks/ekf2Check.cpp
 	checks/failureDetectorCheck.cpp
 	checks/manualControlCheck.cpp
+	checks/modeCheck.cpp
 	checks/cpuResourceCheck.cpp
 	checks/sdcardCheck.cpp
 	checks/parachuteCheck.cpp

src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp

@@ -271,6 +271,7 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
 	}
 
 	failed = failed || !manualControlCheck(mavlink_log_pub, report_failures);
+	failed = failed || !modeCheck(mavlink_log_pub, report_failures, status);
 	failed = failed || !cpuResourceCheck(mavlink_log_pub, report_failures);
 	failed = failed || !parachuteCheck(mavlink_log_pub, report_failures, status_flags);
 

src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp

@@ -119,6 +119,7 @@ private:
 					 const bool prearm);
 
 	static bool manualControlCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
+	static bool modeCheck(orb_advert_t *mavlink_log_pub, const bool report_fail, const vehicle_status_s &status);
 	static bool airframeCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status);
 	static bool cpuResourceCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
 	static bool sdcardCheck(orb_advert_t *mavlink_log_pub, bool &sd_card_detected_once, const bool report_fail);

src/modules/commander/Arming/PreFlightCheck/checks/modeCheck.cpp

@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "../PreFlightCheck.hpp"
+
+#include <systemlib/mavlink_log.h>
+
+using namespace time_literals;
+
+bool PreFlightCheck::modeCheck(orb_advert_t *mavlink_log_pub, const bool report_fail,
+			       const vehicle_status_s &vehicle_status)
+{
+	bool success = true;
+
+	switch (vehicle_status.nav_state) {
+	case vehicle_status_s::NAVIGATION_STATE_MANUAL:
+	case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
+	case vehicle_status_s::NAVIGATION_STATE_POSCTL:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
+	case vehicle_status_s::NAVIGATION_STATE_ACRO:
+	case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
+	case vehicle_status_s::NAVIGATION_STATE_STAB:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
+		break;
+
+	default:
+		success = false;
+
+		if (report_fail) {
+			mavlink_log_critical(mavlink_log_pub, "Mode not suitable for takeoff");
+		}
+
+		break;
+	}
+
+	return success;
+}