ROS Guided control ambiguous behavior on which control commands have timeout or flyaway risk

[Ryanf55]

Feature request

Is your feature request related to a problem? Please describe.

It's not clear when writing ROS code and sending high level goal commands which are persistent, and which time out. Velocity or acceleration commands that have no timeout, especially if they ignore the fence, have a risk of flyaway. Let's ensure ArduPilot's implementation and documentation is clear to prevent that.

Describe the solution you'd like

• Create a few scenarios for guided control on plane, rover, copter to determine whether commands need to be sent without timeout
• Cover position and velocity control
• Verify that geofence protects the vehicle from a flyaway in guided mode
• Create a PR to the ROS 2 wiki to explain the control modes and which have timeouts
• Ensure that a companion computer becoming disconnected or failing will not cause the vehicle to have an unrecoverable flyaway

Describe alternatives you've considered

• No docs, let users figure it out

Platform [ ] All [ ] AntennaTracker [x] Copter [x] Plane [x] Rover [ ] Submarine

Additional context

• https://ardupilot.org/plane/docs/guided-mode.html
• https://ardupilot.org/dev/docs/plane-commands-in-guided-mode.html
• https://ardupilot.org/copter/docs/ac2_guidedmode.html
• https://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html
• https://ardupilot.org/dev/docs/mavlink-rover-commands.html