Controllers should not access state machine anymore but access the vehicle_control_mode flags

3 files changed, 133 insertions, 124 deletions

diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c
index 1d3f90807..7853d2e79 100644
--- a/src/modules/commander/commander.c
+++ b/src/modules/commander/commander.c
@@ -1233,6 +1233,9 @@ int commander_thread_main(int argc, char *argv[])
 	// XXX for now just set sensors as initialized
 	current_status.condition_system_sensors_initialized = true;
 
+	// XXX just disable offboard control for now
+	control_mode.flag_control_offboard_enabled = false;
+
 	/* advertise to ORB */
 	status_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
 	/* publish current state machine */
@@ -1240,6 +1243,8 @@ int commander_thread_main(int argc, char *argv[])
 
 	safety_pub = orb_advertise(ORB_ID(actuator_safety), &safety);
 
+	control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &control_mode);	
+
 	/* home position */
 	orb_advert_t home_pub = -1;
 	struct home_position_s home;
@@ -1824,7 +1829,7 @@ int commander_thread_main(int argc, char *argv[])
 						/* just manual, XXX this might depend on the return switch */
 						if (current_status.mode_switch == MODE_SWITCH_MANUAL) {
 							
-							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL_STANDBY, mavlink_fd) != OK) {
+							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 								// These is not supposed to happen
 								warnx("ERROR: Navigation state MANUAL_STANDBY rejected");
 							}
@@ -1832,9 +1837,9 @@ int commander_thread_main(int argc, char *argv[])
 						/* Try seatbelt or fallback to manual */
 						} else if (current_status.mode_switch == MODE_SWITCH_SEATBELT) {
 			
-							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_STANDBY, mavlink_fd) != OK) {
+							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 								// fallback to MANUAL_STANDBY
-								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL_STANDBY, mavlink_fd) != OK) {
+								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 								// These is not supposed to happen
 								warnx("ERROR: Navigation state MANUAL_STANDBY rejected");
 								}
@@ -1843,11 +1848,11 @@ int commander_thread_main(int argc, char *argv[])
 						/* Try auto or fallback to seatbelt or even manual */
 						} else if (current_status.mode_switch == MODE_SWITCH_AUTO) {
 							
-							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_STANDBY, mavlink_fd) != OK) {
+							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 								// first fallback to SEATBELT_STANDY
-								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_STANDBY, mavlink_fd) != OK) {
+								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 									// or fallback to MANUAL_STANDBY
-									if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL_STANDBY, mavlink_fd) != OK) {
+									if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 									// These is not supposed to happen
 									warnx("ERROR: Navigation state MANUAL_STANDBY rejected");
 									}
@@ -1863,7 +1868,7 @@ int commander_thread_main(int argc, char *argv[])
 						/* Always accept manual mode */
 						if (current_status.mode_switch == MODE_SWITCH_MANUAL) {
 
-							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, mavlink_fd) != OK) {
+							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 								// These is not supposed to happen
 								warnx("ERROR: Navigation state MANUAL rejected");
 							}
@@ -1872,9 +1877,9 @@ int commander_thread_main(int argc, char *argv[])
 						} else if (current_status.mode_switch == MODE_SWITCH_SEATBELT
 								&& current_status.return_switch == RETURN_SWITCH_NONE) {
 			
-							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, mavlink_fd) != OK) {
+							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 								// fallback to MANUAL_STANDBY
-								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, mavlink_fd) != OK) {
+								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 								// These is not supposed to happen
 								warnx("ERROR: Navigation state MANUAL rejected");
 								}
@@ -1884,9 +1889,9 @@ int commander_thread_main(int argc, char *argv[])
 						} else if (current_status.mode_switch == MODE_SWITCH_SEATBELT
 								&& current_status.return_switch == RETURN_SWITCH_RETURN) {
 			
-							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_DESCENT, mavlink_fd) != OK) {
+							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_DESCENT, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 								// fallback to MANUAL_STANDBY
-								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, mavlink_fd) != OK) {
+								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 								// These is not supposed to happen
 								warnx("ERROR: Navigation state MANUAL rejected");
 								}
@@ -1898,19 +1903,19 @@ int commander_thread_main(int argc, char *argv[])
 								&& current_status.mission_switch == MISSION_SWITCH_NONE) {
 			
 							/* we might come from the disarmed state AUTO_STANDBY */
-							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_READY, mavlink_fd) != OK) {
-								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, mavlink_fd) != OK) {
+							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_READY, control_mode_pub, &control_mode, mavlink_fd) != OK) {
+								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 									// fallback to MANUAL_STANDBY
-									if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, mavlink_fd) != OK) {
+									if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 									// These is not supposed to happen
 									warnx("ERROR: Navigation state MANUAL rejected");
 									}
 								}
 							/* or from some other armed state like SEATBELT or MANUAL */
-							} else if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_LOITER, mavlink_fd) != OK) {
-								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, mavlink_fd) != OK) {
+							} else if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_LOITER, control_mode_pub, &control_mode, mavlink_fd) != OK) {
+								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 									// fallback to MANUAL_STANDBY
-									if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, mavlink_fd) != OK) {
+									if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 									// These is not supposed to happen
 									warnx("ERROR: Navigation state MANUAL rejected");
 									}
@@ -1922,10 +1927,10 @@ int commander_thread_main(int argc, char *argv[])
 								&& current_status.return_switch == RETURN_SWITCH_NONE
 								&& current_status.mission_switch == MISSION_SWITCH_MISSION) {
 							
-							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_MISSION, mavlink_fd) != OK) {
-								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, mavlink_fd) != OK) {
+							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_MISSION, control_mode_pub, &control_mode, mavlink_fd) != OK) {
+								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 									// fallback to MANUAL_STANDBY
-									if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, mavlink_fd) != OK) {
+									if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 									// These is not supposed to happen
 									warnx("ERROR: Navigation state MANUAL rejected");
 									}
@@ -1937,10 +1942,10 @@ int commander_thread_main(int argc, char *argv[])
 								&& current_status.return_switch == RETURN_SWITCH_RETURN
 								&& (current_status.mission_switch == MISSION_SWITCH_NONE || current_status.mission_switch == MISSION_SWITCH_MISSION)) {
 			
-							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_RTL, mavlink_fd) != OK) {
-								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_DESCENT, mavlink_fd) != OK) {
+							if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_RTL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
+								if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_DESCENT, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 									// fallback to MANUAL_STANDBY
-									if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, mavlink_fd) != OK) {
+									if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
 									// These is not supposed to happen
 									warnx("ERROR: Navigation state MANUAL rejected");
 									}
@@ -2070,43 +2075,43 @@ int commander_thread_main(int argc, char *argv[])
 		if (!current_status.rc_signal_found_once && sp_offboard.timestamp != 0) {
 			if ((hrt_absolute_time() - sp_offboard.timestamp) < 5000000) {
 
-				/* decide about attitude control flag, enable in att/pos/vel */
-				bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE ||
-								  sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY ||
-								  sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION);
-
-				/* decide about rate control flag, enable it always XXX (for now) */
-				bool rates_ctrl_enabled = true;
+				// /* decide about attitude control flag, enable in att/pos/vel */
+				// bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE ||
+				// 				  sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY ||
+				// 				  sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION);
 
-				/* set up control mode */
-				if (current_status.flag_control_attitude_enabled != attitude_ctrl_enabled) {
-					current_status.flag_control_attitude_enabled = attitude_ctrl_enabled;
-					state_changed = true;
-				}
+				// /* decide about rate control flag, enable it always XXX (for now) */
+				// bool rates_ctrl_enabled = true;
 
-				if (current_status.flag_control_rates_enabled != rates_ctrl_enabled) {
-					current_status.flag_control_rates_enabled = rates_ctrl_enabled;
-					state_changed = true;
-				}
-
-				/* handle the case where offboard control signal was regained */
-				if (!current_status.offboard_control_signal_found_once) {
-					current_status.offboard_control_signal_found_once = true;
-					/* enable offboard control, disable manual input */
-					current_status.flag_control_manual_enabled = false;
-					current_status.flag_control_offboard_enabled = true;
-					state_changed = true;
-					tune_positive();
+				// /* set up control mode */
+				// if (current_status.flag_control_attitude_enabled != attitude_ctrl_enabled) {
+				// 	current_status.flag_control_attitude_enabled = attitude_ctrl_enabled;
+				// 	state_changed = true;
+				// }
 
-					mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST");
+				// if (current_status.flag_control_rates_enabled != rates_ctrl_enabled) {
+				// 	current_status.flag_control_rates_enabled = rates_ctrl_enabled;
+				// 	state_changed = true;
+				// }
 
-				} else {
-					if (current_status.offboard_control_signal_lost) {
-						mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL");
-						state_changed = true;
-						tune_positive();
-					}
-				}
+				// /* handle the case where offboard control signal was regained */
+				// if (!current_status.offboard_control_signal_found_once) {
+				// 	current_status.offboard_control_signal_found_once = true;
+				// 	/* enable offboard control, disable manual input */
+				// 	current_status.flag_control_manual_enabled = false;
+				// 	current_status.flag_control_offboard_enabled = true;
+				// 	state_changed = true;
+				// 	tune_positive();
+
+				// 	mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST");
+
+				// } else {
+				// 	if (current_status.offboard_control_signal_lost) {
+				// 		mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL");
+				// 		state_changed = true;
+				// 		tune_positive();
+				// 	}
+				// }
 
 				current_status.offboard_control_signal_weak = false;
 				current_status.offboard_control_signal_lost = false;
diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c
index dcaf775b9..394ee67cc 100644
--- a/src/modules/commander/state_machine_helper.c
+++ b/src/modules/commander/state_machine_helper.c
@@ -46,6 +46,7 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_control_mode.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
@@ -161,7 +162,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
  * This functions does not evaluate any input flags but only checks if the transitions
  * are valid.
  */
-int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, const int mavlink_fd) {
+int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, int control_mode_pub, struct vehicle_control_mode_s *control_mode, const int mavlink_fd) {
 
 	int ret = ERROR;
 
@@ -179,11 +180,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
 				 || current_state->navigation_state == NAVIGATION_STATE_AUTO_STANDBY) {
 
 					ret = OK;
-					current_state->flag_control_rates_enabled = false;
-					current_state->flag_control_attitude_enabled = false;
-					current_state->flag_control_velocity_enabled = false;
-					current_state->flag_control_position_enabled = false;
-					current_state->flag_control_manual_enabled = false;
+					control_mode->flag_control_rates_enabled = false;
+					control_mode->flag_control_attitude_enabled = false;
+					control_mode->flag_control_velocity_enabled = false;
+					control_mode->flag_control_position_enabled = false;
+					control_mode->flag_control_manual_enabled = false;
 				}
 				break;
 
@@ -201,11 +202,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
 						tune_negative();
 					} else {
 						ret = OK;
-						current_state->flag_control_rates_enabled = true;
-						current_state->flag_control_attitude_enabled = true;
-						current_state->flag_control_velocity_enabled = false;
-						current_state->flag_control_position_enabled = false;
-						current_state->flag_control_manual_enabled = true;
+						control_mode->flag_control_rates_enabled = true;
+						control_mode->flag_control_attitude_enabled = true;
+						control_mode->flag_control_velocity_enabled = false;
+						control_mode->flag_control_position_enabled = false;
+						control_mode->flag_control_manual_enabled = true;
 					}
 				}
 				break;
@@ -218,11 +219,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
 					tune_negative();
 				} else {
 					ret = OK;
-					current_state->flag_control_rates_enabled = true;
-					current_state->flag_control_attitude_enabled = true;
-					current_state->flag_control_velocity_enabled = false;
-					current_state->flag_control_position_enabled = false;
-					current_state->flag_control_manual_enabled = true;
+					control_mode->flag_control_rates_enabled = true;
+					control_mode->flag_control_attitude_enabled = true;
+					control_mode->flag_control_velocity_enabled = false;
+					control_mode->flag_control_position_enabled = false;
+					control_mode->flag_control_manual_enabled = true;
 				}
 				break;
 
@@ -244,11 +245,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
 						tune_negative();
 					} else {
 						ret = OK;
-						current_state->flag_control_rates_enabled = true;
-						current_state->flag_control_attitude_enabled = true;
-						current_state->flag_control_velocity_enabled = true;
-						current_state->flag_control_position_enabled = false;
-						current_state->flag_control_manual_enabled = false;
+						control_mode->flag_control_rates_enabled = true;
+						control_mode->flag_control_attitude_enabled = true;
+						control_mode->flag_control_velocity_enabled = true;
+						control_mode->flag_control_position_enabled = false;
+						control_mode->flag_control_manual_enabled = false;
 					}
 				}
 				break;
@@ -275,11 +276,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
 						tune_negative();
 					} else {
 						ret = OK;
-						current_state->flag_control_rates_enabled = true;
-						current_state->flag_control_attitude_enabled = true;
-						current_state->flag_control_velocity_enabled = true;
-						current_state->flag_control_position_enabled = false;
-						current_state->flag_control_manual_enabled = false;
+						control_mode->flag_control_rates_enabled = true;
+						control_mode->flag_control_attitude_enabled = true;
+						control_mode->flag_control_velocity_enabled = true;
+						control_mode->flag_control_position_enabled = false;
+						control_mode->flag_control_manual_enabled = false;
 					}
 				}
 				break;
@@ -305,11 +306,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
 						tune_negative();
 					} else {
 						ret = OK;
-						current_state->flag_control_rates_enabled = true;
-						current_state->flag_control_attitude_enabled = true;
-						current_state->flag_control_velocity_enabled = true;
-						current_state->flag_control_position_enabled = false;
-						current_state->flag_control_manual_enabled = false;
+						control_mode->flag_control_rates_enabled = true;
+						control_mode->flag_control_attitude_enabled = true;
+						control_mode->flag_control_velocity_enabled = true;
+						control_mode->flag_control_position_enabled = false;
+						control_mode->flag_control_manual_enabled = false;
 					}
 				}
 				break;
@@ -334,11 +335,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
 						tune_negative();
 					} else {
 						ret = OK;
-						current_state->flag_control_rates_enabled = true;
-						current_state->flag_control_attitude_enabled = true;
-						current_state->flag_control_velocity_enabled = true;
-						current_state->flag_control_position_enabled = true;
-						current_state->flag_control_manual_enabled = false;
+						control_mode->flag_control_rates_enabled = true;
+						control_mode->flag_control_attitude_enabled = true;
+						control_mode->flag_control_velocity_enabled = true;
+						control_mode->flag_control_position_enabled = true;
+						control_mode->flag_control_manual_enabled = false;
 					}
 				}
 				break;
@@ -357,11 +358,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
 						tune_negative();
 					} else {
 						ret = OK;
-						current_state->flag_control_rates_enabled = true;
-						current_state->flag_control_attitude_enabled = true;
-						current_state->flag_control_velocity_enabled = true;
-						current_state->flag_control_position_enabled = true;
-						current_state->flag_control_manual_enabled = false;
+						control_mode->flag_control_rates_enabled = true;
+						control_mode->flag_control_attitude_enabled = true;
+						control_mode->flag_control_velocity_enabled = true;
+						control_mode->flag_control_position_enabled = true;
+						control_mode->flag_control_manual_enabled = false;
 					}
 				}
 				break;
@@ -372,11 +373,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
 				if (current_state->navigation_state == NAVIGATION_STATE_AUTO_READY) {
 
 					ret = OK;
-					current_state->flag_control_rates_enabled = true;
-					current_state->flag_control_attitude_enabled = true;
-					current_state->flag_control_velocity_enabled = true;
-					current_state->flag_control_position_enabled = true;
-					current_state->flag_control_manual_enabled = false;
+					control_mode->flag_control_rates_enabled = true;
+					control_mode->flag_control_attitude_enabled = true;
+					control_mode->flag_control_velocity_enabled = true;
+					control_mode->flag_control_position_enabled = true;
+					control_mode->flag_control_manual_enabled = false;
 				}
 				break;
 
@@ -398,11 +399,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
 						tune_negative();
 					} else {
 						ret = OK;
-						current_state->flag_control_rates_enabled = true;
-						current_state->flag_control_attitude_enabled = true;
-						current_state->flag_control_velocity_enabled = true;
-						current_state->flag_control_position_enabled = true;
-						current_state->flag_control_manual_enabled = false;
+						control_mode->flag_control_rates_enabled = true;
+						control_mode->flag_control_attitude_enabled = true;
+						control_mode->flag_control_velocity_enabled = true;
+						control_mode->flag_control_position_enabled = true;
+						control_mode->flag_control_manual_enabled = false;
 					}
 				}
 				break;
@@ -422,11 +423,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
 						tune_negative();
 					} else {
 						ret = OK;
-						current_state->flag_control_rates_enabled = true;
-						current_state->flag_control_attitude_enabled = true;
-						current_state->flag_control_velocity_enabled = true;
-						current_state->flag_control_position_enabled = true;
-						current_state->flag_control_manual_enabled = false;
+						control_mode->flag_control_rates_enabled = true;
+						control_mode->flag_control_attitude_enabled = true;
+						control_mode->flag_control_velocity_enabled = true;
+						control_mode->flag_control_position_enabled = true;
+						control_mode->flag_control_manual_enabled = false;
 					}
 				}
 				break;
@@ -449,11 +450,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
 						tune_negative();
 					} else {
 						ret = OK;
-						current_state->flag_control_rates_enabled = true;
-						current_state->flag_control_attitude_enabled = true;
-						current_state->flag_control_velocity_enabled = true;
-						current_state->flag_control_position_enabled = true;
-						current_state->flag_control_manual_enabled = false;
+						control_mode->flag_control_rates_enabled = true;
+						control_mode->flag_control_attitude_enabled = true;
+						control_mode->flag_control_velocity_enabled = true;
+						control_mode->flag_control_position_enabled = true;
+						control_mode->flag_control_manual_enabled = false;
 					}
 				}
 				break;
@@ -473,11 +474,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
 						tune_negative();
 					} else {
 						ret = OK;
-						current_state->flag_control_rates_enabled = true;
-						current_state->flag_control_attitude_enabled = true;
-						current_state->flag_control_velocity_enabled = true;
-						current_state->flag_control_position_enabled = true;
-						current_state->flag_control_manual_enabled = false;
+						control_mode->flag_control_rates_enabled = true;
+						control_mode->flag_control_attitude_enabled = true;
+						control_mode->flag_control_velocity_enabled = true;
+						control_mode->flag_control_position_enabled = true;
+						control_mode->flag_control_manual_enabled = false;
 					}
 				}
 				break;
@@ -491,6 +492,9 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
 			current_state->counter++;
 			current_state->timestamp = hrt_absolute_time();
 			orb_publish(ORB_ID(vehicle_status), status_pub, current_state);
+
+			control_mode->timestamp = hrt_absolute_time();
+			orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, control_mode);
 		}
 	}
 
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 824a7529f..8d8536090 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -47,6 +47,7 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/vehicle_control_mode.h>
 
 void navigation_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
 
@@ -54,8 +55,7 @@ void navigation_state_update(int status_pub, struct vehicle_status_s *current_st
 
 void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
 
-int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd);
-int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, const int mavlink_fd);
+int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, int control_mode_pub, struct vehicle_control_mode_s *control_mode, const int mavlink_fd);
 
 int hil_state_transition(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, hil_state_t new_state);