Moving nav state from commander to navigator, WIP

3 files changed, 52 insertions, 424 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 28118b990..199bfb0da 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -69,7 +69,6 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_command.h>
-#include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/subsystem_info.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_armed.h>
@@ -194,7 +193,7 @@ void usage(const char *reason);
 /**
  * React to commands that are sent e.g. from the mavlink module.
  */
-void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed);
+void handle_command(struct vehicle_status_s *status, struct vehicle_command_s *cmd, struct actuator_armed_s *armed);
 
 /**
  * Mainloop of commander.
@@ -215,8 +214,6 @@ void print_reject_arm(const char *msg);
 
 void print_status();
 
-transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos);
-
 /**
  * Loop that runs at a lower rate and priority for calibration and parameter tasks.
  */
@@ -346,13 +343,12 @@ void print_status()
 	warnx("arming: %s", armed_str);
 }
 
-static orb_advert_t control_mode_pub;
 static orb_advert_t status_pub;
 
-void handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed)
+void handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed)
 {
 	/* result of the command */
-	uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
+	enum VEHICLE_CMD_RESULT result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 
 	/* only handle high-priority commands here */
 
@@ -365,12 +361,12 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 
 			/* set HIL state */
 			hil_state_t new_hil_state = (base_mode & MAV_MODE_FLAG_HIL_ENABLED) ? HIL_STATE_ON : HIL_STATE_OFF;
-			int hil_ret = hil_state_transition(new_hil_state, status_pub, status, control_mode_pub, control_mode, mavlink_fd);
+			int hil_ret = hil_state_transition(new_hil_state, status_pub, status, mavlink_fd);
 
 			/* if HIL got enabled, reset battery status state */
-			if (hil_ret == OK && control_mode->flag_system_hil_enabled) {
+			if (hil_ret == OK && status->hil_state == HIL_STATE_ON) {
 				/* reset the arming mode to disarmed */
-				arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_STANDBY, armed);
+				arming_res = arming_state_transition(status, safety, ARMING_STATE_STANDBY, armed);
 
 				if (arming_res != TRANSITION_DENIED) {
 					mavlink_log_info(mavlink_fd, "[cmd] HIL: Reset ARMED state to standby");
@@ -386,12 +382,12 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 			arming_res = TRANSITION_NOT_CHANGED;
 
 			if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
-				if ((safety->safety_switch_available && !safety->safety_off) && !control_mode->flag_system_hil_enabled) {
+				if ((safety->safety_switch_available && !safety->safety_off) && status->hil_state == HIL_STATE_OFF) {
 					print_reject_arm("NOT ARMING: Press safety switch first.");
 					arming_res = TRANSITION_DENIED;
 
 				} else {
-					arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_ARMED, armed);
+					arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed);
 				}
 
 				if (arming_res == TRANSITION_CHANGED) {
@@ -401,7 +397,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 			} else {
 				if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) {
 					arming_state_t new_arming_state = (status->arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
-					arming_res = arming_state_transition(status, safety, control_mode, new_arming_state, armed);
+					arming_res = arming_state_transition(status, safety, new_arming_state, armed);
 
 					if (arming_res == TRANSITION_CHANGED) {
 						mavlink_log_info(mavlink_fd, "[cmd] DISARMED by command");
@@ -462,29 +458,6 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 			break;
 		}
 
-	case VEHICLE_CMD_NAV_TAKEOFF: {
-			if (armed->armed) {
-				transition_result_t nav_res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode);
-
-				if (nav_res == TRANSITION_CHANGED) {
-					mavlink_log_info(mavlink_fd, "[cmd] TAKEOFF on command");
-				}
-
-				if (nav_res != TRANSITION_DENIED) {
-					result = VEHICLE_CMD_RESULT_ACCEPTED;
-
-				} else {
-					result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
-				}
-
-			} else {
-				/* reject TAKEOFF not armed */
-				result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
-			}
-
-			break;
-		}
-
 	case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
 			transition_result_t arming_res = TRANSITION_NOT_CHANGED;
 
@@ -494,7 +467,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 					arming_res = TRANSITION_DENIED;
 
 				} else {
-					arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_ARMED, armed);
+					arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed);
 				}
 
 				if (arming_res == TRANSITION_CHANGED) {
@@ -513,7 +486,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 	case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command
 
 			if (armed->armed && cmd->param3 > 0.5) { //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
-				transition_result_t flighttermination_res = flighttermination_state_transition(status, FLIGHTTERMINATION_STATE_ON, control_mode);
+				transition_result_t flighttermination_res = flighttermination_state_transition(status, FLIGHTTERMINATION_STATE_ON);
 				result = VEHICLE_CMD_RESULT_ACCEPTED;
 
 			} else {
@@ -524,29 +497,22 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 		}
 		break;
 
+	case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
+	case VEHICLE_CMD_PREFLIGHT_CALIBRATION:
+	case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
+	case VEHICLE_CMD_PREFLIGHT_STORAGE:
+		/* ignore commands that handled in low prio loop */
+		break;
+
 	default:
+		/* warn about unsupported commands */
+		answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED);
 		break;
 	}
 
-	/* supported command handling stop */
-	if (result == VEHICLE_CMD_RESULT_ACCEPTED) {
-		tune_positive();
-
-	} else if (result == VEHICLE_CMD_RESULT_UNSUPPORTED) {
-		/* we do not care in the high prio loop about commands we don't know */
-	} else {
-		tune_negative();
-
-		if (result == VEHICLE_CMD_RESULT_DENIED) {
-			mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd->command);
-
-		} else if (result == VEHICLE_CMD_RESULT_FAILED) {
-			mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd->command);
-
-		} else if (result == VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED) {
-			mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd->command);
-
-		}
+	if (result != VEHICLE_CMD_RESULT_UNSUPPORTED) {
+		/* already warned about unsupported commands in "default" case */
+		answer_command(*cmd, result);
 	}
 
 	/* send any requested ACKs */
@@ -564,9 +530,6 @@ static struct actuator_armed_s armed;
 
 static struct safety_s safety;
 
-/* flags for control apps */
-struct vehicle_control_mode_s control_mode;
-
 int commander_thread_main(int argc, char *argv[])
 {
 	/* not yet initialized */
@@ -609,11 +572,9 @@ int commander_thread_main(int argc, char *argv[])
 	/* Initialize armed with all false */
 	memset(&armed, 0, sizeof(armed));
 
-	/* Initialize all flags to false */
-	memset(&control_mode, 0, sizeof(control_mode));
-
 	status.main_state = MAIN_STATE_MANUAL;
-	status.navigation_state = NAVIGATION_STATE_DIRECT;
+	status.set_nav_state = NAV_STATE_INIT;
+	status.set_nav_state_timestamp = 0;
 	status.arming_state = ARMING_STATE_INIT;
 	status.hil_state = HIL_STATE_OFF;
 
@@ -625,9 +586,6 @@ int commander_thread_main(int argc, char *argv[])
 	status.rc_signal_lost = true;
 	status.offboard_control_signal_lost = true;
 
-	/* allow manual override initially */
-	control_mode.flag_external_manual_override_ok = true;
-
 	/* set battery warning flag */
 	status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
 	status.condition_battery_voltage_valid = false;
@@ -635,9 +593,6 @@ int commander_thread_main(int argc, char *argv[])
 	// XXX for now just set sensors as initialized
 	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), &status);
 	/* publish current state machine */
@@ -649,8 +604,6 @@ int commander_thread_main(int argc, char *argv[])
 
 	armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
 
-	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;
@@ -803,11 +756,9 @@ int commander_thread_main(int argc, char *argv[])
 				    status.system_type == VEHICLE_TYPE_QUADROTOR ||
 				    status.system_type == VEHICLE_TYPE_HEXAROTOR ||
 				    status.system_type == VEHICLE_TYPE_OCTOROTOR) {
-					control_mode.flag_external_manual_override_ok = false;
 					status.is_rotary_wing = true;
 
 				} else {
-					control_mode.flag_external_manual_override_ok = true;
 					status.is_rotary_wing = false;
 				}
 
@@ -859,7 +810,7 @@ int commander_thread_main(int argc, char *argv[])
 			// XXX this would be the right approach to do it, but do we *WANT* this?
 			// /* disarm if safety is now on and still armed */
 			// if (safety.safety_switch_available && !safety.safety_off) {
-			// 	(void)arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed);
+			// 	(void)arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
 			// }
 		}
 
@@ -990,10 +941,10 @@ int commander_thread_main(int argc, char *argv[])
 				battery_tune_played = false;
 
 				if (armed.armed) {
-					arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED_ERROR, &armed);
+					arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed);
 
 				} else {
-					arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY_ERROR, &armed);
+					arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed);
 				}
 
 				status_changed = true;
@@ -1012,7 +963,7 @@ int commander_thread_main(int argc, char *argv[])
 		/* If in INIT state, try to proceed to STANDBY state */
 		if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) {
 			// XXX check for sensors
-			arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed);
+			arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
 
 		} else {
 			// XXX: Add emergency stuff if sensors are lost
@@ -1102,15 +1053,13 @@ int commander_thread_main(int argc, char *argv[])
 				 * do it only for rotary wings */
 				if (status.is_rotary_wing &&
 				    (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
-				    (status.main_state == MAIN_STATE_MANUAL || status.navigation_state == NAVIGATION_STATE_AUTO_READY ||
-				     (status.condition_landed && (
-					      status.navigation_state == NAVIGATION_STATE_ALTHOLD ||
-					      status.navigation_state == NAVIGATION_STATE_VECTOR
-				      ))) && sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
+				    (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) &&
+				    sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
+
 					if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
 						/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
 						arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
-						res = arming_state_transition(&status, &safety, &control_mode, new_arming_state, &armed);
+						res = arming_state_transition(&status, &safety, new_arming_state, &armed);
 						stick_off_counter = 0;
 
 					} else {
@@ -1132,7 +1081,7 @@ int commander_thread_main(int argc, char *argv[])
 							print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
 
 						} else {
-							res = arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED, &armed);
+							res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
 						}
 
 						stick_on_counter = 0;
@@ -1185,12 +1134,12 @@ int commander_thread_main(int argc, char *argv[])
 
 		/*  Flight termination in manual mode if assisted switch is on easy position //xxx hack! */
 		if (armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
-			transition_result_t flighttermination_res = flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_ON, &control_mode);
+			transition_result_t flighttermination_res = flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_ON);
 			if (flighttermination_res == TRANSITION_CHANGED) {
 				tune_positive();
 			}
 		} else {
-			flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_OFF, &control_mode);
+			flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_OFF);
 		}
 
 
@@ -1202,32 +1151,18 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
 
 			/* handle it */
-			handle_command(&status, &safety, &control_mode, &cmd, &armed);
-		}
-
-		/* evaluate the navigation state machine */
-		transition_result_t res = check_navigation_state_machine(&status, &control_mode, &local_position);
-
-		if (res == TRANSITION_DENIED) {
-			/* DENIED here indicates bug in the commander */
-			warnx("ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state);
-			mavlink_log_critical(mavlink_fd, "#audio: ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state);
+			handle_command(&status, &safety, &cmd, &armed);
 		}
 
 		/* check which state machines for changes, clear "changed" flag */
 		bool arming_state_changed = check_arming_state_changed();
 		bool main_state_changed = check_main_state_changed();
-		bool navigation_state_changed = check_navigation_state_changed();
 		bool flighttermination_state_changed = check_flighttermination_state_changed();
 
 		hrt_abstime t1 = hrt_absolute_time();
 
-		if (navigation_state_changed || arming_state_changed) {
-			control_mode.flag_armed = armed.armed;	// copy armed state to vehicle_control_mode topic
-		}
-
-		if (arming_state_changed || main_state_changed || navigation_state_changed) {
-			mavlink_log_info(mavlink_fd, "[cmd] state: arm %d, main %d, nav %d", status.arming_state, status.main_state, status.navigation_state);
+		if (arming_state_changed || main_state_changed) {
+			mavlink_log_info(mavlink_fd, "[cmd] state: arm %d, main %d", status.arming_state, status.main_state);
 			status_changed = true;
 		}
 
@@ -1235,8 +1170,6 @@ int commander_thread_main(int argc, char *argv[])
 		if (counter % (200000 / COMMANDER_MONITORING_INTERVAL) == 0 || status_changed) {
 			status.timestamp = t1;
 			orb_publish(ORB_ID(vehicle_status), status_pub, &status);
-			control_mode.timestamp = t1;
-			orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode);
 			armed.timestamp = t1;
 			orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
 		}
@@ -1549,133 +1482,6 @@ print_reject_arm(const char *msg)
 	}
 }
 
-transition_result_t
-check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos)
-{
-	transition_result_t res = TRANSITION_DENIED;
-
-	if (status->main_state == MAIN_STATE_AUTO) {
-		if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) {
-			// TODO AUTO_LAND handling
-			if (status->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) {
-				/* don't switch to other states until takeoff not completed */
-				// XXX: only respect the condition_landed when the local position is actually valid
-				if (status->is_rotary_wing && status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) {
-					return TRANSITION_NOT_CHANGED;
-				}
-			}
-
-			if (status->navigation_state != NAVIGATION_STATE_AUTO_TAKEOFF &&
-			    status->navigation_state != NAVIGATION_STATE_AUTO_LOITER &&
-			    status->navigation_state != NAVIGATION_STATE_AUTO_MISSION &&
-			    status->navigation_state != NAVIGATION_STATE_AUTO_RTL) {
-				/* possibly on ground, switch to TAKEOFF if needed */
-				if (status->is_rotary_wing && status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) {
-					res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode);
-					return res;
-				}
-			}
-
-			/* switch to AUTO mode */
-			if (status->rc_signal_found_once && !status->rc_signal_lost) {
-				/* act depending on switches when manual control enabled */
-				if (status->return_switch == RETURN_SWITCH_RETURN) {
-					/* RTL */
-					res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_RTL, control_mode);
-
-				} else {
-					if (status->mission_switch == MISSION_SWITCH_MISSION) {
-						/* MISSION */
-						res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_MISSION, control_mode);
-
-					} else {
-						/* LOITER */
-						res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_LOITER, control_mode);
-					}
-				}
-
-			} else {
-				/* switch to MISSION when no RC control and first time in some AUTO mode  */
-				if (status->navigation_state == NAVIGATION_STATE_AUTO_LOITER ||
-				    status->navigation_state == NAVIGATION_STATE_AUTO_MISSION ||
-				    status->navigation_state == NAVIGATION_STATE_AUTO_RTL ||
-				    status->navigation_state == NAVIGATION_STATE_AUTO_LAND) {
-					res = TRANSITION_NOT_CHANGED;
-
-				} else {
-					res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_MISSION, control_mode);
-				}
-			}
-
-		} else {
-			/* disarmed, always switch to AUTO_READY */
-			res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_READY, control_mode);
-		}
-
-	} else {
-		/* manual control modes */
-		if (status->rc_signal_lost && (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR)) {
-			/* switch to failsafe mode */
-			bool manual_control_old = control_mode->flag_control_manual_enabled;
-
-			if (!status->condition_landed && status->condition_local_position_valid) {
-				/* in air: try to hold position if possible */
-				res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode);
-
-			} else {
-				/* landed: don't try to hold position but land (if taking off) */
-				res = TRANSITION_DENIED;
-			}
-
-			if (res == TRANSITION_DENIED) {
-				res = navigation_state_transition(status, NAVIGATION_STATE_ALTHOLD, control_mode);
-			}
-
-			control_mode->flag_control_manual_enabled = false;
-
-			if (res == TRANSITION_NOT_CHANGED && manual_control_old) {
-				/* mark navigation state as changed to force immediate flag publishing */
-				set_navigation_state_changed();
-				res = TRANSITION_CHANGED;
-			}
-
-			if (res == TRANSITION_CHANGED) {
-				if (control_mode->flag_control_position_enabled) {
-					mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: POS HOLD");
-
-				} else {
-					if (status->condition_landed) {
-						mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: ALT HOLD (LAND)");
-
-					} else {
-						mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: ALT HOLD");
-					}
-				}
-			}
-
-		} else {
-			switch (status->main_state) {
-			case MAIN_STATE_MANUAL:
-				res = navigation_state_transition(status, status->is_rotary_wing ? NAVIGATION_STATE_STABILIZE : NAVIGATION_STATE_DIRECT, control_mode);
-				break;
-
-			case MAIN_STATE_SEATBELT:
-				res = navigation_state_transition(status, NAVIGATION_STATE_ALTHOLD, control_mode);
-				break;
-
-			case MAIN_STATE_EASY:
-				res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode);
-				break;
-
-			default:
-				break;
-			}
-		}
-	}
-
-	return res;
-}
-
 void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT result)
 {
 	switch (result) {
@@ -1784,7 +1590,7 @@ void *commander_low_prio_loop(void *arg)
 				/* try to go to INIT/PREFLIGHT arming state */
 
 				// XXX disable interrupts in arming_state_transition
-				if (TRANSITION_DENIED == arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_INIT, &armed)) {
+				if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed)) {
 					answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
 					break;
 				}
@@ -1824,7 +1630,7 @@ void *commander_low_prio_loop(void *arg)
 				else
 					tune_negative();
 
-				arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed);
+				arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
 
 				break;
 			}
@@ -1876,7 +1682,7 @@ void *commander_low_prio_loop(void *arg)
 			}
 
 		default:
-			answer_command(cmd, VEHICLE_CMD_RESULT_UNSUPPORTED);
+			/* don't answer on unsupported commands, it will be done in main loop */
 			break;
 		}
 
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index ca3ec94b8..731e0e3ff 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -46,7 +46,6 @@
 #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>
@@ -64,12 +63,10 @@ static const int ERROR = -1;
 
 static bool arming_state_changed = true;
 static bool main_state_changed = true;
-static bool navigation_state_changed = true;
 static bool flighttermination_state_changed = true;
 
 transition_result_t
 arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety,
-	const struct vehicle_control_mode_s *control_mode,
 	arming_state_t new_arming_state, struct actuator_armed_s *armed)
 {
 	/*
@@ -86,7 +83,7 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s *
 	} else {
 
 		/* enforce lockdown in HIL */
-		if (control_mode->flag_system_hil_enabled) {
+		if (status->hil_state == HIL_STATE_ON) {
 			armed->lockdown = true;
 		} else {
 			armed->lockdown = false;
@@ -109,7 +106,7 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s *
 			/* allow coming from INIT and disarming from ARMED */
 			if (status->arming_state == ARMING_STATE_INIT
 			    || status->arming_state == ARMING_STATE_ARMED
-			    || control_mode->flag_system_hil_enabled) {
+			    || status->hil_state == HIL_STATE_ON) {
 
 				/* sensors need to be initialized for STANDBY state */
 				if (status->condition_system_sensors_initialized) {
@@ -126,7 +123,7 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s *
 			/* allow arming from STANDBY and IN-AIR-RESTORE */
 			if ((status->arming_state == ARMING_STATE_STANDBY
 			     || status->arming_state == ARMING_STATE_IN_AIR_RESTORE)
-			    && (!safety->safety_switch_available || safety->safety_off || control_mode->flag_system_hil_enabled)) { /* only allow arming if safety is off */
+			    && (!safety->safety_switch_available || safety->safety_off || status->hil_state == HIL_STATE_ON)) { /* only allow arming if safety is off */
 				ret = TRANSITION_CHANGED;
 				armed->armed = true;
 				armed->ready_to_arm = true;
@@ -289,169 +286,6 @@ check_main_state_changed()
 	}
 }
 
-transition_result_t
-navigation_state_transition(struct vehicle_status_s *status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode)
-{
-	transition_result_t ret = TRANSITION_DENIED;
-
-	/* only check transition if the new state is actually different from the current one */
-	if (new_navigation_state == status->navigation_state) {
-		ret = TRANSITION_NOT_CHANGED;
-
-	} else {
-
-		switch (new_navigation_state) {
-		case NAVIGATION_STATE_DIRECT:
-			ret = TRANSITION_CHANGED;
-			control_mode->flag_control_rates_enabled = true;
-			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_altitude_enabled = false;
-			control_mode->flag_control_climb_rate_enabled = false;
-			control_mode->flag_control_manual_enabled = true;
-			control_mode->flag_control_auto_enabled = false;
-			break;
-
-		case NAVIGATION_STATE_STABILIZE:
-			ret = TRANSITION_CHANGED;
-			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_altitude_enabled = false;
-			control_mode->flag_control_climb_rate_enabled = false;
-			control_mode->flag_control_manual_enabled = true;
-			control_mode->flag_control_auto_enabled = false;
-			break;
-
-		case NAVIGATION_STATE_ALTHOLD:
-			ret = TRANSITION_CHANGED;
-			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_altitude_enabled = true;
-			control_mode->flag_control_climb_rate_enabled = true;
-			control_mode->flag_control_manual_enabled = true;
-			control_mode->flag_control_auto_enabled = false;
-			break;
-
-		case NAVIGATION_STATE_VECTOR:
-			ret = TRANSITION_CHANGED;
-			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_altitude_enabled = true;
-			control_mode->flag_control_climb_rate_enabled = true;
-			control_mode->flag_control_manual_enabled = true;
-			control_mode->flag_control_auto_enabled = false;
-			break;
-
-		case NAVIGATION_STATE_AUTO_READY:
-			ret = TRANSITION_CHANGED;
-			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_altitude_enabled = false;
-			control_mode->flag_control_climb_rate_enabled = false;
-			control_mode->flag_control_manual_enabled = false;
-			control_mode->flag_control_auto_enabled = true;
-			break;
-
-		case NAVIGATION_STATE_AUTO_TAKEOFF:
-			ret = TRANSITION_CHANGED;
-			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_altitude_enabled = true;
-			control_mode->flag_control_climb_rate_enabled = true;
-			control_mode->flag_control_manual_enabled = false;
-			control_mode->flag_control_auto_enabled = true;
-			break;
-
-		case NAVIGATION_STATE_AUTO_LOITER:
-			ret = TRANSITION_CHANGED;
-			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_altitude_enabled = true;
-			control_mode->flag_control_climb_rate_enabled = true;
-			control_mode->flag_control_manual_enabled = false;
-			control_mode->flag_control_auto_enabled = false;
-			break;
-
-		case NAVIGATION_STATE_AUTO_MISSION:
-			ret = TRANSITION_CHANGED;
-			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_altitude_enabled = true;
-			control_mode->flag_control_climb_rate_enabled = true;
-			control_mode->flag_control_manual_enabled = false;
-			control_mode->flag_control_auto_enabled = true;
-			break;
-
-		case NAVIGATION_STATE_AUTO_RTL:
-			ret = TRANSITION_CHANGED;
-			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_altitude_enabled = true;
-			control_mode->flag_control_climb_rate_enabled = true;
-			control_mode->flag_control_manual_enabled = false;
-			control_mode->flag_control_auto_enabled = true;
-			break;
-
-		case NAVIGATION_STATE_AUTO_LAND:
-
-			/* deny transitions from landed state */
-			if (status->navigation_state != NAVIGATION_STATE_AUTO_READY) {
-				ret = TRANSITION_CHANGED;
-				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_altitude_enabled = true;
-				control_mode->flag_control_climb_rate_enabled = true;
-				control_mode->flag_control_manual_enabled = false;
-				control_mode->flag_control_auto_enabled = true;
-			}
-
-			break;
-
-		default:
-			break;
-		}
-
-		if (ret == TRANSITION_CHANGED) {
-			status->navigation_state = new_navigation_state;
-			control_mode->auto_state = status->navigation_state;
-			navigation_state_changed = true;
-		}
-	}
-
-	return ret;
-}
-
-bool
-check_navigation_state_changed()
-{
-	if (navigation_state_changed) {
-		navigation_state_changed = false;
-		return true;
-
-	} else {
-		return false;
-	}
-}
-
 bool
 check_flighttermination_state_changed()
 {
@@ -464,16 +298,10 @@ check_flighttermination_state_changed()
 	}
 }
 
-void
-set_navigation_state_changed()
-{
-	navigation_state_changed = true;
-}
-
 /**
 * Transition from one hil state to another
 */
-int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd)
+int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
 {
 	bool valid_transition = false;
 	int ret = ERROR;
@@ -502,7 +330,6 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
 			    || current_status->arming_state == ARMING_STATE_STANDBY
 			    || current_status->arming_state == ARMING_STATE_STANDBY_ERROR) {
 
-				current_control_mode->flag_system_hil_enabled = true;
 				mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
 				valid_transition = true;
 			}
@@ -521,9 +348,6 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
 		current_status->timestamp = hrt_absolute_time();
 		orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
 
-		current_control_mode->timestamp = hrt_absolute_time();
-		orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, current_control_mode);
-
 		// XXX also set lockdown here
 
 		ret = OK;
@@ -539,7 +363,7 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
 /**
 * Transition from one flightermination state to another
 */
-transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state, struct vehicle_control_mode_s *control_mode)
+transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state)
 {
 	transition_result_t ret = TRANSITION_DENIED;
 
@@ -566,7 +390,8 @@ transition_result_t flighttermination_state_transition(struct vehicle_status_s *
 
 			if (ret == TRANSITION_CHANGED) {
 				flighttermination_state_changed = true;
-				control_mode->flag_control_flighttermination_enabled = status->flighttermination_state == FLIGHTTERMINATION_STATE_ON;
+				// TODO
+				//control_mode->flag_control_flighttermination_enabled = status->flighttermination_state == FLIGHTTERMINATION_STATE_ON;
 			}
 		}
 
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index e1ec9d4ad..e569fb4f3 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -48,7 +48,6 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/safety.h>
-#include <uORB/topics/vehicle_control_mode.h>
 
 typedef enum {
 	TRANSITION_DENIED = -1,
@@ -58,7 +57,7 @@ typedef enum {
 } transition_result_t;
 
 transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
-		const struct vehicle_control_mode_s *control_mode, arming_state_t new_arming_state, struct actuator_armed_s *armed);
+		arming_state_t new_arming_state, struct actuator_armed_s *armed);
 
 bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);
 
@@ -68,9 +67,7 @@ transition_result_t main_state_transition(struct vehicle_status_s *current_state
 
 bool check_main_state_changed();
 
-transition_result_t navigation_state_transition(struct vehicle_status_s *status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode);
-
-transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state, struct vehicle_control_mode_s *control_mode);
+transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state);
 
 bool check_navigation_state_changed();
 
@@ -78,6 +75,6 @@ bool check_flighttermination_state_changed();
 
 void set_navigation_state_changed();
 
-int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd);
+int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd);
 
 #endif /* STATE_MACHINE_HELPER_H_ */