Navigator: make weather vane work in all auto modes, not just mission (#13761)

- rename of flag in position sp: from allow_weather_vane to disable_weather_vane
 - flag now doesn't have to be set for all auto modes, meaning that weather vane is also active outside of mission
 - flag is set before front transition to align with wp, and unset after alignment is over

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

msg/position_setpoint.msg

@@ -55,4 +55,4 @@ float32 acceptance_radius   # navigation acceptance_radius if we're doing waypoi
 float32 cruising_speed		# the generally desired cruising speed (not a hard constraint)
 float32 cruising_throttle	# the generally desired cruising throttle (not a hard constraint)
 
-bool allow_weather_vane   # VTOL: allow (in mission mode) the weather vane feature that turns the nose into the wind
+bool disable_weather_vane   # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind

src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp

@@ -238,7 +238,7 @@ bool FlightTaskAuto::_evaluateTriplets()
 
 	if (_ext_yaw_handler != nullptr) {
 		// activation/deactivation of weather vane is based on parameter WV_EN and setting of navigator (allow_weather_vane)
-		(_param_wv_en.get() && _sub_triplet_setpoint.get().current.allow_weather_vane) ?	_ext_yaw_handler->activate() :
+		(_param_wv_en.get() && !_sub_triplet_setpoint.get().current.disable_weather_vane) ?	_ext_yaw_handler->activate() :
 		_ext_yaw_handler->deactivate();
 	}
 

src/modules/navigator/mission.cpp

@@ -688,9 +688,6 @@ Mission::set_mission_items()
 
 				position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
 
-				// allow weather vane in mission
-				pos_sp_triplet->current.allow_weather_vane = true;
-
 				/* do takeoff before going to setpoint if needed and not already in takeoff */
 				/* in fixed-wing this whole block will be ignored and a takeoff item is always propagated */
 				if (do_need_vertical_takeoff() &&
@@ -773,7 +770,7 @@ Mission::set_mission_items()
 				    !_navigator->get_land_detected()->landed) {
 
 					/* disable weathervane before front transition for allowing yaw to align */
-					pos_sp_triplet->current.allow_weather_vane = false;
+					pos_sp_triplet->current.disable_weather_vane = true;
 
 					/* set yaw setpoint to heading of VTOL_TAKEOFF wp against current position */
 					_mission_item.yaw = get_bearing_to_next_waypoint(
@@ -795,6 +792,9 @@ Mission::set_mission_items()
 				    _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
 				    !_navigator->get_land_detected()->landed) {
 
+					/* re-enable weather vane again after alignment */
+					pos_sp_triplet->current.disable_weather_vane = false;
+
 					/* check if the vtol_takeoff waypoint is on top of us */
 					if (do_need_move_to_takeoff()) {
 						new_work_item_type = WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF;
@@ -976,7 +976,7 @@ Mission::set_mission_items()
 				    && has_next_position_item) {
 
 					/* disable weathervane before front transition for allowing yaw to align */
-					pos_sp_triplet->current.allow_weather_vane = false;
+					pos_sp_triplet->current.disable_weather_vane = true;
 
 					new_work_item_type = WORK_ITEM_TYPE_ALIGN;