mc_raptor: overwrite offboard parameter

Author: jonas-eschmann

src/modules/mc_raptor/CMakeLists.txt

@@ -13,6 +13,8 @@ px4_add_module(
 	SRCS
 		mc_raptor.cpp
 		rl_tools_adapter.cpp
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 		px4_work_queue
 		rl_tools

src/modules/mc_raptor/mc_raptor.cpp

@@ -83,7 +83,7 @@ bool Raptor::init()
 	register_ext_component_request.px4_ros2_api_version = 1;
 	register_ext_component_request.register_arming_check = true;
 	register_ext_component_request.register_mode = true;
-	register_ext_component_request.enable_replace_internal_mode = true;
+	register_ext_component_request.enable_replace_internal_mode = _param_mc_raptor_offboard.get();
 	register_ext_component_request.replace_internal_mode = vehicle_status_s::NAVIGATION_STATE_OFFBOARD;
 	register_ext_component_request.request_offboard_setpoints = true;
 	_register_ext_component_request_pub.publish(register_ext_component_request);

src/modules/mc_raptor/mc_raptor.hpp

@@ -180,7 +180,8 @@ class Raptor : public ModuleBase<Raptor>, public ModuleParams, public px4::Sched
 	float previous_action[RL_TOOLS_INTERFACE_APPLICATIONS_L2F_ACTION_DIM];
 
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_ratemax
+		(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_ratemax,
+		(ParamBool<px4::params::MC_RAPTOR_OFFB>) _param_mc_raptor_offboard
 	)
 
 	void updateArmingCheckReply(bool active);

src/modules/mc_raptor/module.yaml

@@ -0,0 +1,14 @@
+module_name: mc_raptor
+parameters:
+    - group: Multicopter Raptor
+      definitions:
+        MC_RAPTOR_OFFB:
+            description:
+                short: Enable Offboard mode replacement
+                long: |
+                    When enabled, the Raptor mode will replace the Offboard mode.
+                    If disabled, the Raptor mode will be available as a separate external mode. In the latter case, Raptor will just hold the position, without requiring external setpoints. When Raptor replaces the Offboard mode, it requires external setpoints to be activated.
+            type: boolean
+            default: false
+            category: System
+