Add flight_mode_manager to all targets with mc_pos_control

2026-05-21 09:22:18 +00:00 · 2020-10-24 17:09:25 +02:00
parent fa7170bc4f
commit 7545249215
80 changed files with 90 additions and 8 deletions
--- a/boards/aerotenna/ocpoc/default.cmake
+++ b/boards/aerotenna/ocpoc/default.cmake
@@ -45,6 +45,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/airmind/mindpx-v2/default.cmake
+++ b/boards/airmind/mindpx-v2/default.cmake
@@ -59,6 +59,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/atlflight/eagle/default.cmake
+++ b/boards/atlflight/eagle/default.cmake
@@ -64,6 +64,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/atlflight/eagle/qurt.cmake
+++ b/boards/atlflight/eagle/qurt.cmake
@@ -56,6 +56,7 @@ px4_add_board(
 		attitude_estimator_q
 		commander
 		ekf2
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/atlflight/excelsior/default.cmake
+++ b/boards/atlflight/excelsior/default.cmake
@@ -63,6 +63,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/atlflight/excelsior/qurt.cmake
+++ b/boards/atlflight/excelsior/qurt.cmake
@@ -56,6 +56,7 @@ px4_add_board(
 		attitude_estimator_q
 		commander
 		ekf2
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/av/x-v1/default.cmake
+++ b/boards/av/x-v1/default.cmake
@@ -59,6 +59,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/beaglebone/blue/default.cmake
+++ b/boards/beaglebone/blue/default.cmake
@@ -40,6 +40,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/bitcraze/crazyflie/default.cmake
+++ b/boards/bitcraze/crazyflie/default.cmake
@@ -21,6 +21,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/cuav/nora/default.cmake
+++ b/boards/cuav/nora/default.cmake
@@ -64,6 +64,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/cuav/x7pro/default.cmake
+++ b/boards/cuav/x7pro/default.cmake
@@ -67,6 +67,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/cubepilot/cubeorange/console.cmake
+++ b/boards/cubepilot/cubeorange/console.cmake
@@ -67,6 +67,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/cubepilot/cubeorange/default.cmake
+++ b/boards/cubepilot/cubeorange/default.cmake
@@ -67,6 +67,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/cubepilot/cubeyellow/console.cmake
+++ b/boards/cubepilot/cubeyellow/console.cmake
@@ -66,6 +66,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/cubepilot/cubeyellow/default.cmake
+++ b/boards/cubepilot/cubeyellow/default.cmake
@@ -66,6 +66,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/emlid/navio2/default.cmake
+++ b/boards/emlid/navio2/default.cmake
@@ -40,6 +40,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/holybro/durandal-v1/default.cmake
+++ b/boards/holybro/durandal-v1/default.cmake
@@ -65,6 +65,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/holybro/kakutef7/default.cmake
+++ b/boards/holybro/kakutef7/default.cmake
@@ -37,6 +37,7 @@ px4_add_board(
 		dataman
 		#ekf2
 		events
+		flight_mode_manager
 		land_detector
 		load_mon
 		#local_position_estimator
--- a/boards/holybro/pix32v5/default.cmake
+++ b/boards/holybro/pix32v5/default.cmake
@@ -70,6 +70,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/intel/aerofc-v1/default.cmake
+++ b/boards/intel/aerofc-v1/default.cmake
@@ -40,6 +40,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		#fw_att_control
 		#fw_pos_control_l1
 		land_detector
--- a/boards/intel/aerofc-v1/rtps.cmake
+++ b/boards/intel/aerofc-v1/rtps.cmake
@@ -39,6 +39,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		#fw_att_control
 		#fw_pos_control_l1
 		land_detector
--- a/boards/modalai/fc-v1/default.cmake
+++ b/boards/modalai/fc-v1/default.cmake
@@ -59,6 +59,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/mro/ctrl-zero-f7/default.cmake
+++ b/boards/mro/ctrl-zero-f7/default.cmake
@@ -63,6 +63,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/mro/x21-777/default.cmake
+++ b/boards/mro/x21-777/default.cmake
@@ -64,6 +64,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/mro/x21/default.cmake
+++ b/boards/mro/x21/default.cmake
@@ -60,6 +60,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/nxp/fmuk66-e/default.cmake
+++ b/boards/nxp/fmuk66-e/default.cmake
@@ -60,6 +60,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/nxp/fmuk66-e/socketcan.cmake
+++ b/boards/nxp/fmuk66-e/socketcan.cmake
@@ -59,6 +59,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/nxp/fmuk66-v3/default.cmake
+++ b/boards/nxp/fmuk66-v3/default.cmake
@@ -60,6 +60,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/nxp/fmuk66-v3/rtps.cmake
+++ b/boards/nxp/fmuk66-v3/rtps.cmake
@@ -59,6 +59,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/nxp/fmuk66-v3/socketcan.cmake
+++ b/boards/nxp/fmuk66-v3/socketcan.cmake
@@ -59,6 +59,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/nxp/fmurt1062-v1/default.cmake
+++ b/boards/nxp/fmurt1062-v1/default.cmake
@@ -57,6 +57,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/omnibus/f4sd/default.cmake
+++ b/boards/omnibus/f4sd/default.cmake
@@ -48,6 +48,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		#fw_att_control
 		#fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v2/default.cmake
+++ b/boards/px4/fmu-v2/default.cmake
@@ -76,6 +76,7 @@ px4_add_board(
 		ekf2
 		#esc_battery
 		#events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v2/lpe.cmake
+++ b/boards/px4/fmu-v2/lpe.cmake
@@ -64,6 +64,7 @@ px4_add_board(
 		dataman
 		#ekf2
 		events
+		flight_mode_manager
 		#fw_att_control
 		#fw_pos_control_l1
 		#rover_pos_control
--- a/boards/px4/fmu-v2/multicopter.cmake
+++ b/boards/px4/fmu-v2/multicopter.cmake
@@ -41,6 +41,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		flight_mode_manager
 		#events
 		land_detector
 		landing_target_estimator
--- a/boards/px4/fmu-v2/test.cmake
+++ b/boards/px4/fmu-v2/test.cmake
@@ -70,6 +70,7 @@ px4_add_board(
 		dataman
 		#ekf2
 		#events
+		flight_mode_manager
 		#fw_att_control
 		#fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v3/default.cmake
+++ b/boards/px4/fmu-v3/default.cmake
@@ -72,6 +72,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v3/rtps.cmake
+++ b/boards/px4/fmu-v3/rtps.cmake
@@ -69,6 +69,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v3/stackcheck.cmake
+++ b/boards/px4/fmu-v3/stackcheck.cmake
@@ -64,6 +64,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		rover_pos_control
--- a/boards/px4/fmu-v4/default.cmake
+++ b/boards/px4/fmu-v4/default.cmake
@@ -66,6 +66,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v4/optimized.cmake
+++ b/boards/px4/fmu-v4/optimized.cmake
@@ -63,6 +63,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v4/rtps.cmake
+++ b/boards/px4/fmu-v4/rtps.cmake
@@ -63,6 +63,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v4/stackcheck.cmake
+++ b/boards/px4/fmu-v4/stackcheck.cmake
@@ -63,6 +63,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v4pro/default.cmake
+++ b/boards/px4/fmu-v4pro/default.cmake
@@ -65,6 +65,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v4pro/rtps.cmake
+++ b/boards/px4/fmu-v4pro/rtps.cmake
@@ -62,6 +62,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v5/critmonitor.cmake
+++ b/boards/px4/fmu-v5/critmonitor.cmake
@@ -67,6 +67,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v5/debug.cmake
+++ b/boards/px4/fmu-v5/debug.cmake
@@ -71,6 +71,7 @@ px4_add_board(
 		ekf2
 		#esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v5/default.cmake
+++ b/boards/px4/fmu-v5/default.cmake
@@ -71,6 +71,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v5/irqmonitor.cmake
+++ b/boards/px4/fmu-v5/irqmonitor.cmake
@@ -68,6 +68,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v5/multicopter.cmake
+++ b/boards/px4/fmu-v5/multicopter.cmake
@@ -58,6 +58,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v5/optimized.cmake
+++ b/boards/px4/fmu-v5/optimized.cmake
@@ -63,6 +63,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v5/rtps.cmake
+++ b/boards/px4/fmu-v5/rtps.cmake
@@ -68,6 +68,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v5/stackcheck.cmake
+++ b/boards/px4/fmu-v5/stackcheck.cmake
@@ -71,6 +71,7 @@ px4_add_board(
 		ekf2
 		#esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v5x/base_phy_DP83848C.cmake
+++ b/boards/px4/fmu-v5x/base_phy_DP83848C.cmake
@@ -66,6 +66,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v5x/default.cmake
+++ b/boards/px4/fmu-v5x/default.cmake
@@ -69,6 +69,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v6x/default.cmake
+++ b/boards/px4/fmu-v6x/default.cmake
@@ -69,6 +69,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/fmu-v6x/stackcheck.cmake
+++ b/boards/px4/fmu-v6x/stackcheck.cmake
@@ -69,6 +69,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/raspberrypi/default.cmake
+++ b/boards/px4/raspberrypi/default.cmake
@@ -40,6 +40,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/sitl/nolockstep.cmake
+++ b/boards/px4/sitl/nolockstep.cmake
@@ -32,6 +32,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/sitl/rtps.cmake
+++ b/boards/px4/sitl/rtps.cmake
@@ -32,6 +32,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/px4/sitl/test.cmake
+++ b/boards/px4/sitl/test.cmake
@@ -31,6 +31,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/scumaker/pilotpi/arm64.cmake
+++ b/boards/scumaker/pilotpi/arm64.cmake
@@ -40,6 +40,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/scumaker/pilotpi/default.cmake
+++ b/boards/scumaker/pilotpi/default.cmake
@@ -40,6 +40,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
--- a/boards/spracing/h7extreme/default.cmake
+++ b/boards/spracing/h7extreme/default.cmake
@@ -62,6 +62,7 @@ px4_add_board(
 		dataman
 		#ekf2
 		events
+		flight_mode_manager
 		#fw_att_control
 		#fw_pos_control_l1
 		land_detector
--- a/boards/spracing/h7extreme/nuttx-config/scripts/script.ld
+++ b/boards/spracing/h7extreme/nuttx-config/scripts/script.ld
@@ -162,6 +162,7 @@ SECTIONS
 		. = ALIGN(4);

 		*drivers__dshot.a:*(.text* .rodata*)
+		*modules__flight_mode_manager.a:*(.text* .rodata*)
 		*modules__mc_pos_control.a:*(.text* .rodata*)
 		*modules__mc_hover_thrust_estimator.a:*(.text* .rodata*)
 		*modules__sensors.a:*(.text* .rodata*)
--- a/boards/uvify/core/default.cmake
+++ b/boards/uvify/core/default.cmake
@@ -46,6 +46,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/platforms/qurt/src/px4/common/commands_hil.c
+++ b/platforms/qurt/src/px4/common/commands_hil.c
@@ -54,6 +54,7 @@ const char *get_commands()
 		"sensors start\n"
 		"ekf2 start\n"
 		"mc_hover_thrust_estimator start\n"
+		"flight_mode_manager start\n"
 		"mc_pos_control start\n"
 		"mc_att_control start\n"
 		"mc_rate_control start\n"
--- a/posix-configs/SITL/init/test/test_shutdown
+++ b/posix-configs/SITL/init/test/test_shutdown
@@ -28,6 +28,7 @@ navigator start
 ekf2 start
 vtol_att_control start
 mc_hover_thrust_estimator start
+flight_mode_manager start vtol
 mc_pos_control start vtol
 mc_att_control start vtol
 mc_rate_control start vtol
@@ -57,6 +58,7 @@ rc_update stop
 land_detector status
 navigator status
 ekf2 status
+flight_mode_manager status
 mc_pos_control status
 mc_att_control status
 mc_rate_control status
@@ -73,6 +75,7 @@ pwm_out_sim stop
 mc_rate_control stop
 mc_att_control stop
 fw_att_control stop
+flight_mode_manager stop
 mc_pos_control stop
 fw_pos_control_l1 stop
 navigator stop
--- a/posix-configs/bbblue/px4.config
+++ b/posix-configs/bbblue/px4.config
@@ -69,6 +69,7 @@ ekf2 start
 land_detector start multicopter

 mc_hover_thrust_estimator start
+flight_mode_manager start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/eagle/200qx/px4.config
+++ b/posix-configs/eagle/200qx/px4.config
@@ -28,6 +28,7 @@ commander start
 ekf2 start
 land_detector start multicopter
 mc_hover_thrust_estimator start
+flight_mode_manager start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/eagle/210qc/px4.config
+++ b/posix-configs/eagle/210qc/px4.config
@@ -28,6 +28,7 @@ commander start
 ekf2 start
 land_detector start multicopter
 mc_hover_thrust_estimator start
+flight_mode_manager start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/eagle/flight/px4.config
+++ b/posix-configs/eagle/flight/px4.config
@@ -16,6 +16,7 @@ commander start
 ekf2 start
 land_detector start multicopter
 mc_hover_thrust_estimator start
+flight_mode_manager start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/eagle/hil/px4.config
+++ b/posix-configs/eagle/hil/px4.config
@@ -18,6 +18,7 @@ commander start -hil
 sensors start
 ekf2 start
 mc_hover_thrust_estimator start
+flight_mode_manager start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/eagle/init/rcS
+++ b/posix-configs/eagle/init/rcS
@@ -88,6 +88,7 @@ fi
 qshell commander start
 qshell land_detector start multicopter
 qshell mc_hover_thrust_estimator start
+qshell flight_mode_manager start
 qshell mc_pos_control start
 qshell mc_att_control start
 qshell mc_rate_control start
--- a/posix-configs/excelsior/px4.config
+++ b/posix-configs/excelsior/px4.config
@@ -26,6 +26,7 @@ commander start
 ekf2 start
 land_detector start multicopter
 mc_hover_thrust_estimator start
+flight_mode_manager start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/ocpoc/px4.config
+++ b/posix-configs/ocpoc/px4.config
@@ -36,6 +36,7 @@ dataman start
 ekf2 start
 land_detector start multicopter
 mc_hover_thrust_estimator start
+flight_mode_manager start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/rpi/pilotpi_mc.config
+++ b/posix-configs/rpi/pilotpi_mc.config
@@ -50,6 +50,7 @@ navigator start
 ekf2 start
 land_detector start multicopter
 mc_hover_thrust_estimator start
+flight_mode_manager start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/rpi/px4.config
+++ b/posix-configs/rpi/px4.config
@@ -39,6 +39,7 @@ navigator start
 ekf2 start
 land_detector start multicopter
 mc_hover_thrust_estimator start
+flight_mode_manager start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/rpi/px4_hil.config
+++ b/posix-configs/rpi/px4_hil.config
@@ -29,6 +29,7 @@ navigator start
 ekf2 start
 land_detector start multicopter
 mc_hover_thrust_estimator start
+flight_mode_manager start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/rpi/px4_test.config
+++ b/posix-configs/rpi/px4_test.config
@@ -39,6 +39,7 @@ navigator start
 ekf2 start
 land_detector start multicopter
 mc_hover_thrust_estimator start
+flight_mode_manager start
 mc_pos_control start
 mc_att_control start