Add Altitude Voyager mode

sfuhrer · sfuhrer · commit a93676c56efd · 2025-08-15T16:41:38.000+02:00
Signed-off-by: Silvan Fuhrer &lt;silvan@auterion.com&gt;
diff --git a/msg/versioned/VehicleStatus.msg b/msg/versioned/VehicleStatus.msg
@@ -41,7 +41,7 @@ uint8 NAVIGATION_STATE_AUTO_LOITER = 4          # Auto loiter mode
 uint8 NAVIGATION_STATE_AUTO_RTL = 5             # Auto return to launch mode
 uint8 NAVIGATION_STATE_POSITION_SLOW = 6
 uint8 NAVIGATION_STATE_FREE5 = 7
-uint8 NAVIGATION_STATE_FREE4 = 8
+uint8 NAVIGATION_STATE_ALTITUDE_VOYAGER = 8      # Altitude with Cruise mode
 uint8 NAVIGATION_STATE_FREE3 = 9
 uint8 NAVIGATION_STATE_ACRO = 10                # Acro mode
 uint8 NAVIGATION_STATE_FREE2 = 11
diff --git a/src/drivers/osd/atxxxx/atxxxx.cpp b/src/drivers/osd/atxxxx/atxxxx.cpp
@@ -387,6 +387,10 @@ OSDatxxxx::get_flight_mode(uint8_t nav_state)
 		flight_mode = "ALTITUDE";
 		break;
 
+	case vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER:
+		flight_mode = "VOYAGER";
+		break;
+
 	case vehicle_status_s::NAVIGATION_STATE_POSCTL:
 		flight_mode = "POSITION";
 		break;
diff --git a/src/drivers/rc/crsf_rc/CrsfRc.cpp b/src/drivers/rc/crsf_rc/CrsfRc.cpp
@@ -281,6 +281,10 @@ void CrsfRc::Run()
 						flight_mode = "Altitude";
 						break;
 
+					case vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER:
+						flight_mode = "Voyager";
+						break;
+
 					case vehicle_status_s::NAVIGATION_STATE_POSCTL:
 						flight_mode = "Position";
 						break;
diff --git a/src/drivers/rc_input/crsf_telemetry.cpp b/src/drivers/rc_input/crsf_telemetry.cpp
@@ -141,6 +141,10 @@ bool CRSFTelemetry::send_flight_mode()
 		flight_mode = "Altitude";
 		break;
 
+	case vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER:
+		flight_mode = "Voyager";
+		break;
+
 	case vehicle_status_s::NAVIGATION_STATE_POSCTL:
 		flight_mode = "Position";
 		break;
diff --git a/src/lib/events/enums.json b/src/lib/events/enums.json
@@ -604,6 +604,10 @@
                             "name": "external8",
                             "description": "External 8"
                         },
+                        "24": {
+                            "name": "manual_voyager",
+                            "description": "voyager"
+                        },
                         "255": {
                             "name": "unknown",
                             "description": "[Unknown]"
diff --git a/src/lib/modes/ui.hpp b/src/lib/modes/ui.hpp
@@ -47,6 +47,7 @@ static inline uint32_t getValidNavStates()
 {
 	return (1u << vehicle_status_s::NAVIGATION_STATE_MANUAL) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_ALTCTL) |
+	       (1u << vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_POSCTL) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) |
@@ -75,7 +76,7 @@ const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = {
 	"Return",
 	"Position Slow",
 	"7: unallocated",
-	"8: unallocated",
+	"Voyager",
 	"9: unallocated",
 	"Acro",
 	"11: UNUSED",
@@ -108,6 +109,8 @@ static inline bool isAdvanced(uint8_t nav_state)
 	switch (nav_state) {
 	case vehicle_status_s::NAVIGATION_STATE_ALTCTL: return false;
 
+	case vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER: return false;
+
 	case vehicle_status_s::NAVIGATION_STATE_POSCTL: return false;
 
 	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL1: return false;
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
@@ -380,6 +380,9 @@ int Commander::custom_command(int argc, char *argv[])
 				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_POSCTL,
 						     PX4_CUSTOM_SUB_MODE_POSCTL_SLOW);
 
+			} else if (!strcmp(argv[1], "voyager")) {
+				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_ALTITUDE_VOYAGER);
+
 			} else if (!strcmp(argv[1], "auto:mission")) {
 				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
 						     PX4_CUSTOM_SUB_MODE_AUTO_MISSION);
@@ -794,6 +797,9 @@ Commander::handle_command(const vehicle_command_s &cmd)
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
 					desired_nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
 
+				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTITUDE_VOYAGER) {
+					desired_nav_state = vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER;
+
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
 					switch (custom_sub_mode) {
 					default:
diff --git a/src/modules/commander/ModeUtil/control_mode.cpp b/src/modules/commander/ModeUtil/control_mode.cpp
@@ -63,6 +63,7 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
 		break;
 
 	case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
+	case vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER:
 		vehicle_control_mode.flag_control_manual_enabled = true;
 		vehicle_control_mode.flag_control_altitude_enabled = true;
 		vehicle_control_mode.flag_control_climb_rate_enabled = true;
diff --git a/src/modules/commander/ModeUtil/conversions.hpp b/src/modules/commander/ModeUtil/conversions.hpp
@@ -50,6 +50,8 @@ static inline navigation_mode_t navigation_mode(uint8_t nav_state)
 
 	case vehicle_status_s::NAVIGATION_STATE_ALTCTL: return navigation_mode_t::altctl;
 
+	case vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER: return navigation_mode_t::manual_voyager;
+
 	case vehicle_status_s::NAVIGATION_STATE_POSCTL: return navigation_mode_t::posctl;
 
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: return navigation_mode_t::auto_mission;
diff --git a/src/modules/commander/ModeUtil/mode_requirements.cpp b/src/modules/commander/ModeUtil/mode_requirements.cpp
@@ -69,6 +69,12 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_local_alt);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_manual_control);
 
+	// NAVIGATION_STATE_ALTITUDE_VOYAGER
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER, flags.mode_req_angular_velocity);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER, flags.mode_req_attitude);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER, flags.mode_req_local_alt);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER, flags.mode_req_manual_control);
+
 	// NAVIGATION_STATE_POSCTL
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_angular_velocity);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_attitude);
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
@@ -626,11 +626,12 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
  * External modes requiring stick input will still failsafe.
  *
  * @min 0
- * @max 15
+ * @max 31
  * @bit 0 Mission
  * @bit 1 Hold
  * @bit 2 Offboard
  * @bit 3 External Mode
+ * @bit 4 Altitude Voyager
  * @group Commander
  */
 PARAM_DEFINE_INT32(COM_RCL_EXCEPT, 0);
diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp
@@ -471,6 +471,8 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 	const bool rc_loss_ignored_takeoff = (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF ||
 					      state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF)
 					     && (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::Hold);
+	const bool rc_loss_ignored_voyager = (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER
+					      && (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::AltitudeVoyager));
 
 	const bool rc_loss_ignored_external_mode =
 		(state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL1 ||
@@ -485,7 +487,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 
 	const bool rc_loss_ignored = rc_loss_ignored_mission || rc_loss_ignored_loiter || rc_loss_ignored_offboard ||
 				     rc_loss_ignored_takeoff || rc_loss_ignored_external_mode || ignore_any_link_loss_vtol_takeoff_fixedwing
-				     || _manual_control_lost_at_arming;
+				     || _manual_control_lost_at_arming || rc_loss_ignored_voyager;
 
 	if (_param_com_rc_in_mode.get() != int32_t(RcInMode::StickInputDisabled) && !rc_loss_ignored) {
 		CHECK_FAILSAFE(status_flags, manual_control_signal_lost,
@@ -687,6 +689,13 @@ FailsafeBase::Action Failsafe::checkModeFallback(const failsafe_flags_s &status_
 			user_intended_mode = vehicle_status_s::NAVIGATION_STATE_STAB;
 		}
 
+		// AltCruiseCtrl -> Stabilized
+		if (user_intended_mode == vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER
+		    && !modeCanRun(status_flags, user_intended_mode)) {
+			action = Action::FallbackStab;
+			user_intended_mode = vehicle_status_s::NAVIGATION_STATE_STAB;
+		}
+
 		break;
 
 	case position_control_navigation_loss_response::Land_Descend: // Land/Terminate
diff --git a/src/modules/commander/failsafe/failsafe.h b/src/modules/commander/failsafe/failsafe.h
@@ -57,7 +57,8 @@ class Failsafe : public FailsafeBase
 		Mission = (1 << 0),
 		Hold = (1 << 1),
 		Offboard = (1 << 2),
-		ExternalMode = (1 << 3)
+		ExternalMode = (1 << 3),
+		AltitudeVoyager = (1 << 4)
 	};
 
 	enum class DatalinkLossExceptionBits : int32_t {
diff --git a/src/modules/commander/module.yaml b/src/modules/commander/module.yaml
@@ -38,6 +38,7 @@ parameters:
                 8: Stabilized
                 12: Follow Me
                 13: Precision Land
+                16: Cruise
                 100: External Mode 1
                 101: External Mode 2
                 102: External Mode 3
diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h
@@ -44,6 +44,7 @@
 enum PX4_CUSTOM_MAIN_MODE {
 	PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
 	PX4_CUSTOM_MAIN_MODE_ALTCTL,
+	PX4_CUSTOM_MAIN_MODE_ALTITUDE_VOYAGER,
 	PX4_CUSTOM_MAIN_MODE_POSCTL,
 	PX4_CUSTOM_MAIN_MODE_AUTO,
 	PX4_CUSTOM_MAIN_MODE_ACRO,
@@ -112,6 +113,10 @@ static inline union px4_custom_mode get_px4_custom_mode(uint8_t nav_state)
 		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
 		break;
 
+	case vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER:
+		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTITUDE_VOYAGER;
+		break;
+
 	case vehicle_status_s::NAVIGATION_STATE_POSCTL:
 		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
 		break;
diff --git a/src/modules/flight_mode_manager/CMakeLists.txt b/src/modules/flight_mode_manager/CMakeLists.txt
@@ -48,6 +48,7 @@ list(APPEND flight_tasks_all
 	ManualAltitudeSmoothVel
 	ManualPosition
 	Transition
+	AltitudeVoyager
 )
 
 if(NOT px4_constrained_flash_build)
diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp
@@ -249,6 +249,17 @@ void FlightModeManager::start_flight_task()
 		matching_task_running = matching_task_running && !task_failure;
 	}
 
+	// Altitude cruise control
+	if ((_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER) || task_failure) {
+		found_some_task = true;
+		FlightTaskError error = FlightTaskError::NoError;
+
+		error = switchTask(FlightTaskIndex::AltitudeVoyager);
+
+		task_failure = (error != FlightTaskError::NoError);
+		matching_task_running = matching_task_running && !task_failure;
+	}
+
 	// Emergency descend
 	if (nav_state_descend || task_failure) {
 		found_some_task = true;
diff --git a/src/modules/flight_mode_manager/tasks/AltitudeVoyager/CMakeLists.txt b/src/modules/flight_mode_manager/tasks/AltitudeVoyager/CMakeLists.txt
@@ -0,0 +1,6 @@
+px4_add_library(FlightTaskAltitudeVoyager
+        FlightTaskAltitudeVoyager.cpp
+)
+
+target_link_libraries(FlightTaskAltitudeVoyager PUBLIC FlightTaskManualAltitude)
+target_include_directories(FlightTaskAltitudeVoyager PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/modules/flight_mode_manager/tasks/AltitudeVoyager/FlightTaskAltitudeVoyager.cpp b/src/modules/flight_mode_manager/tasks/AltitudeVoyager/FlightTaskAltitudeVoyager.cpp
@@ -0,0 +1,14 @@
+#include "FlightTaskAltitudeVoyager.hpp"
+
+void FlightTaskAltitudeVoyager::reActivate()
+{
+	FlightTaskManualAltitude::reActivate();
+	_stick_tilt_xy.reset();
+}
+
+void FlightTaskAltitudeVoyager::_updateXYSetpoint()
+{
+	_acceleration_setpoint.xy() =
+		_stick_tilt_xy.generateAccelerationSetpointsForVoyager(
+			_sticks.getPitchRoll(), _deltatime, _yaw, _yaw_setpoint);
+}
diff --git a/src/modules/flight_mode_manager/tasks/AltitudeVoyager/FlightTaskAltitudeVoyager.hpp b/src/modules/flight_mode_manager/tasks/AltitudeVoyager/FlightTaskAltitudeVoyager.hpp
@@ -0,0 +1,15 @@
+#pragma once
+
+#include "FlightTaskManualAltitude.hpp"
+
+class FlightTaskAltitudeVoyager : public FlightTaskManualAltitude
+{
+public:
+	FlightTaskAltitudeVoyager() = default;
+	virtual ~FlightTaskAltitudeVoyager() = default;
+
+	void reActivate() override;
+
+protected:
+	void _updateXYSetpoint() override;
+};
diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
@@ -274,13 +274,25 @@ void FlightTaskManualAltitude::_ekfResetHandlerHagl(float delta_hagl)
 
 void FlightTaskManualAltitude::_updateSetpoints()
 {
-	_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint, _sticks.getYawExpo(), _yaw, _deltatime, _unaided_yaw);
-	_acceleration_setpoint.xy() = _stick_tilt_xy.generateAccelerationSetpoints(_sticks.getPitchRoll(), _deltatime, _yaw,
-				      _yaw_setpoint);
+	_updateYawSetpoint();
+	_updateXYSetpoint();
 	_updateAltitudeLock();
 	_respectGroundSlowdown();
 }
 
+void FlightTaskManualAltitude::_updateYawSetpoint()
+{
+	_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint,
+				       _sticks.getYawExpo(), _yaw, _deltatime,
+				       _unaided_yaw);
+}
+
+void FlightTaskManualAltitude::_updateXYSetpoint()
+{
+	_acceleration_setpoint.xy() = _stick_tilt_xy.generateAccelerationSetpoints(
+					      _sticks.getPitchRoll(), _deltatime, _yaw, _yaw_setpoint);
+}
+
 bool FlightTaskManualAltitude::_checkTakeoff()
 {
 	// stick is deflected above 65% throttle (throttle stick is in the range [-1,1])
diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp
@@ -60,6 +60,8 @@ class FlightTaskManualAltitude : public FlightTask
 	void _ekfResetHandlerHagl(float delta_hagl) override;
 
 	virtual void _updateSetpoints(); /**< updates all setpoints */
+	virtual void _updateYawSetpoint();
+	virtual void _updateXYSetpoint();
 	virtual void _scaleSticks(); /**< scales sticks to velocity in z */
 	bool _checkTakeoff() override;
 	void _updateConstraintsFromEstimator();
diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.cpp
@@ -44,6 +44,11 @@ StickTiltXY::StickTiltXY(ModuleParams *parent) :
 	updateParams();
 }
 
+void StickTiltXY::reset()
+{
+	_voyager_acceleration.setZero();
+}
+
 void StickTiltXY::updateParams()
 {
 	ModuleParams::updateParams();
@@ -53,12 +58,35 @@ void StickTiltXY::updateParams()
 	_maximum_acceleration = math::constrain(tanf(maximum_tilt), .02f, 3.f) * CONSTANTS_ONE_G;
 }
 
-Vector2f StickTiltXY::generateAccelerationSetpoints(Vector2f stick_xy, const float dt, const float yaw,
-		const float yaw_setpoint)
+Vector2f StickTiltXY::processSticks(Vector2f stick_xy, const float dt, const float yaw,
+				    const float yaw_setpoint)
 {
 	Sticks::limitStickUnitLengthXY(stick_xy);
 	_man_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
 	stick_xy = _man_input_filter.update(stick_xy);
+	return stick_xy;
+}
+
+Vector2f StickTiltXY::generateAccelerationSetpoints(Vector2f stick_xy, const float dt, const float yaw,
+		const float yaw_setpoint)
+{
+	processSticks(stick_xy, dt, yaw, yaw_setpoint);
 	Sticks::rotateIntoHeadingFrameXY(stick_xy, yaw, yaw_setpoint);
 	return stick_xy * _maximum_acceleration;
 }
+
+Vector2f StickTiltXY::generateAccelerationSetpointsForVoyager(Vector2f stick_xy, const float dt, const float yaw,
+		const float yaw_setpoint)
+{
+	Vector2f increment = processSticks(stick_xy, dt, yaw, yaw_setpoint);
+	_voyager_acceleration += increment * _maximum_acceleration * dt;
+
+	if (_voyager_acceleration.longerThan(_maximum_acceleration)) {
+		_voyager_acceleration =
+			_voyager_acceleration.unit_or_zero() * _maximum_acceleration;
+	}
+
+	auto global_voyager_acceleration = _voyager_acceleration;
+	Sticks::rotateIntoHeadingFrameXY(global_voyager_acceleration, yaw, yaw_setpoint);
+	return global_voyager_acceleration;
+}
diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp b/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp
@@ -62,11 +62,19 @@ class StickTiltXY : public ModuleParams
 	 */
 	matrix::Vector2f generateAccelerationSetpoints(matrix::Vector2f stick_xy, const float dt, const float yaw,
 			const float yaw_setpoint);
+
+	matrix::Vector2f generateAccelerationSetpointsForVoyager(matrix::Vector2f stick_xy, const float dt, const float yaw,
+			const float yaw_setpoint);
+
+	void reset();
 private:
 	void updateParams() override;
 
+	matrix::Vector2f processSticks(matrix::Vector2f stick_xy, const float dt, const float yaw, const float yaw_setpoint);
+
 	float _maximum_acceleration{0.f};
 	AlphaFilter<matrix::Vector2f> _man_input_filter;
+	matrix::Vector2f _voyager_acceleration{};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_man_tilt_max, ///< maximum tilt allowed for manual flight
diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp
@@ -590,6 +590,7 @@ int8_t ManualControl::navStateFromParam(int32_t param_value)
 		case 13: return vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND;
 		case 14: return vehicle_status_s::NAVIGATION_STATE_ORBIT;
 		case 15: return vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF;
+		case 16: return vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER;
 
 		case 100: return vehicle_status_s::NAVIGATION_STATE_EXTERNAL1;
 		case 101: return vehicle_status_s::NAVIGATION_STATE_EXTERNAL2;
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
@@ -823,6 +823,7 @@ void Navigator::run()
 		case vehicle_status_s::NAVIGATION_STATE_MANUAL:
 		case vehicle_status_s::NAVIGATION_STATE_ACRO:
 		case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
+		case vehicle_status_s::NAVIGATION_STATE_ALTITUDE_VOYAGER:
 		case vehicle_status_s::NAVIGATION_STATE_POSCTL:
 		case vehicle_status_s::NAVIGATION_STATE_DESCEND:
 		case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
