Ryan

Yep. I'm going to do a release, then will go through all your PR's. Much easier to review with them broken up. Thanks for doing that.

I'm facing this too. I just tried rebasing our `rosidl` humble fork and now it fails to build.

> It's not enough to just compile this repository; you also need the changes from [ros2/rosidl_typesupport#149](https://github.com/ros2/rosidl_typesupport/pull/149) Yep, this makes sense. We were using the released version of rosidl_typesupport that comes...

> @Ryanf55 what is the best way to make it testable? I'd do something like a mock flyaway recovery. 1. Take off 1. Command 100% throttle on AP_DDS joystick topic...

For dev call: Are we OK in proceeding with the approach to gate all external control data (from DDS) through the `AP_ExternalControl` library? This would include: * waypoint control *...

> That means you limit your companion to only Guided mode. And you rely on the RC to be connected at all time. I don't exclude a priori the Companion...

Which modes do you want to use without GPS, and how are you getting position data? ExternalOdom or other custom position source? We can improve the arming checks and avoid...

By returning false in `update_topic`, it prevents data from being published. If we don't have a fix, which is the statement below what you changed, then we want to publish...

> Hello Guys, > > Its almost 4 years later now, any news on this feature? Can we help in any way? > > Thanks Work with me getting this...

> an RC failsafe results in crash or fly-away > > put a warning immediately after the header What do you think about recommending CIRCLE as a failsafe action. That...