Navigator: allow executing a disarm command during a mission

[mahima-yoga]

Solved Problem

For missions with intermediate landings, vehicle doesn't disarm when landed.

Solution

• Add disarm command during mission

After disarming, to continue the mission you need to select the next waypoint resume the mission.

Changelog Entry

For release notes:

Feature/Bugfix Allow executing disarm command during a mission 

Test coverage

Tested in SITL. Landing in the middle of a mission:

latest_arming_reason: ARM_DISARM_REASON_COMMAND_INTERNAL = 3

[github-actions]

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 56 byte (0 %)]

    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.0%     +56  +0.0%     +56    .text
  +5.0%     +48  +5.0%     +48    MavlinkMissionManager::parse_mavlink_mission_item()
  +0.0%      +8  +0.0%      +8    [section .text]
  +1.7%      +4  +1.7%      +4    FeasibilityChecker::checkTakeoffLandAvailable()
  +0.2%      +4  +0.2%      +4    MissionBlock::is_mission_item_reached_or_completed()
  -0.9%      -4  -0.9%      -4    FeasibilityChecker::checkMissionItemValidity()
  -3.8%      -4  -3.8%      -4    Mission::handleVtolTransition()
+0.0%     +55  [ = ]       0    .debug_abbrev
+0.0%     +96  [ = ]       0    .debug_info
+0.0%      +9  [ = ]       0    .debug_line
 -75.0%      -3  [ = ]       0    [Unmapped]
  +0.0%     +12  [ = ]       0    [section .debug_line]
+0.0%      +8  [ = ]       0    .debug_loclists
-0.0%      -1  [ = ]       0    .debug_rnglists
+0.0%     +29  [ = ]       0    .debug_str
-0.6%     -56  [ = ]       0    [Unmapped]
+0.0%    +196  +0.0%     +56    TOTAL

px4_fmu-v6x [Total VM Diff: 48 byte (0 %)]

    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.0%     +48  +0.0%     +48    .text
  +5.0%     +48  +5.0%     +48    MavlinkMissionManager::parse_mavlink_mission_item()
  +1.7%      +4  +1.7%      +4    FeasibilityChecker::checkTakeoffLandAvailable()
  +0.2%      +4  +0.2%      +4    MissionBlock::is_mission_item_reached_or_completed()
  -0.9%      -4  -0.9%      -4    FeasibilityChecker::checkMissionItemValidity()
  -3.8%      -4  -3.8%      -4    Mission::handleVtolTransition()
+0.0%     +55  [ = ]       0    .debug_abbrev
+0.0%     +96  [ = ]       0    .debug_info
+0.0%      +9  [ = ]       0    .debug_line
 -75.0%      -3  [ = ]       0    [Unmapped]
  +0.0%     +12  [ = ]       0    [section .debug_line]
+0.0%     +36  [ = ]       0    .debug_loclists
-0.0%      -1  [ = ]       0    .debug_rnglists
+0.0%     +29  [ = ]       0    .debug_str
-0.6%     -48  [ = ]       0    [Unmapped]
+0.0%    +224  +0.0%     +48    TOTAL

Updated: 2025-05-23T14:56:09