It is not possible to arm with the tkoff controller for the aircraft and the autogyro switched on at the same time.

Author: roman-dvorak

src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019-2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +37,7 @@
 #include <systemlib/mavlink_log.h>
 #include <uORB/topics/vehicle_command_ack.h>
 #include <HealthFlags.h>
+#include <lib/parameters/param.h>
 
 bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
 				 const vehicle_control_mode_s &control_mode,
@@ -222,5 +223,18 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
 	}
 
 
+	int32_t param_rwto_tkoff{0};
+	param_get(param_find("RWTO_TKOFF"), &param_rwto_tkoff);
+	int32_t param_ag_tkoff{0};
+	param_get(param_find("AG_TKOFF"), &param_ag_tkoff);
+
+	if (param_rwto_tkoff && param_ag_tkoff) {
+		if (report_fail) {
+			mavlink_log_critical(mavlink_log_pub, "Arming denied, FW and AG takeoff eneabled together");
+		}
+		prearm_ok = false;
+	}
+
+
 	return prearm_ok;
 }

src/modules/commander/Commander.cpp

@@ -730,6 +730,15 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
 			tune_negative(true);
 			return TRANSITION_DENIED;
 		}
+
+		if (_param_rwto_tkoff.get() && _param_ag_tkoff.get()) {
+			mavlink_log_critical(&_mavlink_log_pub, "Arming denied: Check takeoff parameters\t");
+			events::send(events::ID("commander_arm_denied_takeoff_parameters"),
+			{events::Log::Critical, events::LogInternal::Info},
+			"Arming denied: FW and AG takeoff eneabled together");
+			tune_negative(true);
+			return TRANSITION_DENIED;
+		}
 	}
 
 	transition_result_t arming_res = arming_state_transition(_status, _vehicle_control_mode, _safety,

src/modules/commander/Commander.hpp

@@ -251,6 +251,8 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 
 		(ParamInt<px4::params::COM_FLIGHT_UUID>) _param_flight_uuid,
 		(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action,
+		(ParamInt<px4::params::RWTO_TKOFF>) _param_rwto_tkoff,
+		(ParamInt<px4::params::AG_TKOFF>) _param_ag_tkoff,
 
 		// Circuit breakers
 		(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,