Bring back RC throttle override with a parameter to disable it

src/modules/commander/Commander.cpp

@@ -2107,10 +2107,14 @@ Commander::run()
 			if ((override_auto_mode || override_offboard_mode) && !in_low_battery_failsafe && !_geofence_warning_action_on) {
 				const float minimum_stick_deflection = 0.01f * _param_com_rc_stick_ov.get();
 
-				if (!_status.rc_signal_lost &&
-				    ((fabsf(_manual_control_setpoint.x) > minimum_stick_deflection) ||
-				     (fabsf(_manual_control_setpoint.y) > minimum_stick_deflection))) {
+				const bool rpy_deflected = (fabsf(_manual_control_setpoint.x) > minimum_stick_deflection) ||
+							(fabsf(_manual_control_setpoint.y) > minimum_stick_deflection)
+							|| (fabsf(_manual_control_setpoint.r) > minimum_stick_deflection);
+				const bool throttle_deflected = fabsf(_manual_control_setpoint.z - 0.5f) * 2.f > minimum_stick_deflection;
+				const bool use_throttle = !(_param_rc_override.get() & OVERRIDE_IGNORE_THROTTLE_BIT);
 
+				if (!_status.rc_signal_lost &&
+				(rpy_deflected || (use_throttle && throttle_deflected))) {
 					if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags,
 								  &_internal_state) == TRANSITION_CHANGED) {
 						tune_positive(true);

src/modules/commander/Commander.hpp

@@ -287,9 +287,9 @@ private:
 	};
 
 	enum OverrideMode {
-		OVERRIDE_DISABLED = 0,
 		OVERRIDE_AUTO_MODE_BIT = (1 << 0),
-		OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1)
+		OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1),
+		OVERRIDE_IGNORE_THROTTLE_BIT = (1 << 2)
 	};
 
 	/* Decouple update interval and hysteresis counters, all depends on intervals */

src/modules/commander/commander_params.c

@@ -638,9 +638,10 @@ PARAM_DEFINE_INT32(COM_REARM_GRACE, 1);
  * Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
  *
  * @min 0
- * @max 3
+ * @max 7
  * @bit 0 Enable override during auto modes (except for in critical battery reaction)
  * @bit 1 Enable override during offboard mode
+ * @bit 2 Ignore throttle stick
  * @group Commander
  */
 PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 1);
@@ -648,8 +649,8 @@ PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 1);
 /**
  * RC stick override threshold
  *
- * If COM_RC_OVERRIDE is enabled and the joystick input controlling the horizontally axis (right stick for RC in mode 2)
- * is moved more than this threshold from the center the autopilot switches to position mode and the pilot takes over control.
+ * If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold from the center
+ * the autopilot switches to position mode and the pilot takes over control.
  *
  * @group Commander
  * @unit %