Add a flight stack combo box to the planning panel. This is to allow the commands issued by the Engage Planner and Disengage Planner buttons to be customised to each flight stack.
Button
PX4
ArduPilot
Engage
OFFBOARD
GUIDED
Disengage
AUTO.RTL
RTL
Figure: flight stack combo box in rviz
Alternatives
An alternative would be to subscribe to mavros topic advertising the flight stack and use this instead of the combo. Setting the choice in the GUI seemed more straightforward and provides visible feedback of the choice made.
Add a flight stack combo box to the planning panel. This is to allow the commands issued by the Engage Planner and Disengage Planner buttons to be customised to each flight stack.
Figure: flight stack combo box in rviz
Alternatives
An alternative would be to subscribe to mavros topic advertising the flight stack and use this instead of the combo. Setting the choice in the GUI seemed more straightforward and provides visible feedback of the choice made.