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feat(controls): Autonomous/RC mode switch — smooth handoff with safety interlocks #104

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opened 2026-03-02 08:27:30 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 08:27:30 -05:00
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Summary

Seamless switching between RC manual control and autonomous Nav2 control.

Requirements

  • Mode switch: CH6 on CRSF toggles RC/autonomous mode
  • Smooth handoff: Ramp between RC and autonomous cmd_vel over 500ms to avoid jerks
  • RC override: In autonomous mode, any RC stick input >10% instantly switches to RC mode
  • Return to auto: Release sticks to neutral for 2s to re-engage autonomous mode
  • Safety interlocks: Cannot enter autonomous mode unless SLAM has valid fix, cannot arm without RC link
  • ROS2 topic: /saltybot/control_mode (RC, AUTONOMOUS, HANDOFF)
  • LED indication: Different LED pattern for RC vs autonomous mode

Agent: sl-controls

Labels: phase-2, rc

## Summary Seamless switching between RC manual control and autonomous Nav2 control. ## Requirements - **Mode switch**: CH6 on CRSF toggles RC/autonomous mode - **Smooth handoff**: Ramp between RC and autonomous cmd_vel over 500ms to avoid jerks - **RC override**: In autonomous mode, any RC stick input >10% instantly switches to RC mode - **Return to auto**: Release sticks to neutral for 2s to re-engage autonomous mode - **Safety interlocks**: Cannot enter autonomous mode unless SLAM has valid fix, cannot arm without RC link - **ROS2 topic**: /saltybot/control_mode (RC, AUTONOMOUS, HANDOFF) - **LED indication**: Different LED pattern for RC vs autonomous mode ## Agent: sl-controls ## Labels: phase-2, rc
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#104
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