From d54ab5f6eb128e46b2732dee961eb6ee0758519e Mon Sep 17 00:00:00 2001
From: Tal Zaitsev <16272783+tzai@users.noreply.github.com>
Date: Wed, 27 Nov 2019 18:30:09 -0500
Subject: [PATCH] Change RC override to affect offboard mode as well

-Defines COM_RC_OVERRIDE as a bitmask
-Changes RC override to affect auto modes, offboard mode, or both
---
 src/modules/commander/Commander.cpp      | 19 ++++++++++++-------
 src/modules/commander/Commander.hpp      |  8 +++++++-
 src/modules/commander/commander_params.c | 11 ++++++++---
 3 files changed, 27 insertions(+), 11 deletions(-)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 32eafff763..e0f2d28b84 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1743,15 +1743,20 @@ Commander::run()
 		// but only if not in a low battery handling action
 		const bool low_battery_reaction = _battery_warning >= battery_status_s::BATTERY_WARNING_CRITICAL;
 		const bool is_rotary_wing = status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
-		const bool in_auto_mode =
-			_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
-			_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL ||
-			_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_MISSION ||
-			_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER;
 
-		if (_param_rc_override.get() && is_rotary_wing && !low_battery_reaction
-		    && !_geofence_warning_action_on && in_auto_mode) {
+		const bool override_auto_mode =
+			(_param_rc_override.get() & OVERRIDE_AUTO_MODE_BIT) &&
+			(_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND    ||
+			 _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL 	  ||
+			 _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_MISSION ||
+			 _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER);
 
+		const bool override_offboard_mode =
+			(_param_rc_override.get() & OVERRIDE_OFFBOARD_MODE_BIT) &&
+			_internal_state.main_state == commander_state_s::MAIN_STATE_OFFBOARD;
+
+		if ((override_auto_mode || override_offboard_mode) && is_rotary_wing
+		    && !low_battery_reaction && !_geofence_warning_action_on) {
 			// transition to previous state if sticks are touched
 			if ((_last_sp_man.timestamp != _sp_man.timestamp) &&
 			    ((fabsf(_sp_man.x - _last_sp_man.x) > _min_stick_change) ||
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 9f9f9a8478..675c8325c9 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -223,7 +223,7 @@ private:
 		(ParamInt<px4::params::COM_FLIGHT_UUID>) _param_flight_uuid,
 		(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action,
 
-		(ParamBool<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
+		(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
 		(ParamInt<px4::params::COM_RC_IN_MODE>) _param_rc_in_off,
 		(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst,
 		(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_min_stick_change,
@@ -258,6 +258,12 @@ private:
 		ALWAYS = 2
 	};
 
+	enum OverrideMode {
+		OVERRIDE_DISABLED = 0,
+		OVERRIDE_AUTO_MODE_BIT = (1 << 0),
+		OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1)
+	};
+
 	/* Decouple update interval and hysteresis counters, all depends on intervals */
 	static constexpr uint64_t COMMANDER_MONITORING_INTERVAL{10_ms};
 	static constexpr float COMMANDER_MONITORING_LOOPSPERMSEC{1 / (COMMANDER_MONITORING_INTERVAL / 1000.0f)};
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 45827e73d8..e4716549e4 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -631,13 +631,18 @@ PARAM_DEFINE_INT32(COM_ARM_MAG_STR, 1);
 
 /**
  * Enable RC stick override of auto modes
+ * Enable RC stick override of auto or offboard modes
  *
- * When an auto mode is active (except a critical battery reaction) moving the RC sticks
- * gives control back to the pilot in manual position mode immediately.
+ * Moving the RC sticks gives control back to the pilot in manual position mode immediately when:
+ * 0: an auto mode is active (except a critical battery reaction)
+ * 1: offboard mode is active
  *
  * Only has an effect on multicopters and VTOLS in multicopter mode.
  *
- * @boolean
+ * @min 0
+ * @max 3
+ * @bit 0  Enable override of auto modes
+ * @bit 1  Enable override of offboard mode
  * @group Commander
  */
 PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 1);