How to handle custom flight tasks?

[ChristophTobler]

There should be a possibility to add a custom flight task (and launch it) without much effort or creating a large diff and conflicts.

Our long term goal is to move the logic if a task can run/be activated to the actual flight task because we think the current situation with commander knowing everything doesn't scale.

Approaches

• adding a custom state (Flight task custom #10199)

[dagar]

One idea was to leave room in the state machine for custom classes of nav state.

• custom fully autonomous
• custom manual modes with full position control
• etc

These buckets would allow you to do anything you want within with the same control mode flags, but ensure consistent failsafe handling.

#10237 is a good example of why this decentralized handling is potentially a bad idea. We need to have this logic handled by well defined state machines, but that doesn't mean all within commander.

[dagar]

Conveying the mode to the ground is another problem.

[ChristophTobler]

One idea was to leave room in the state machine for custom classes of nav state.

Could be a short term option

#10237 is a good example of why this decentralized handling is potentially a bad idea. We need to have this logic handled by well defined state machines, but that doesn't mean all within commander.

I think the current situation is a good example of why the commander should not have everything predefined.
Yes, there needs to be a centralized handling of tasks and fail-safes but with feedback from the respective tasks and not hard-coded into a state machine.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[stale]

Closing as stale.