Mark Sauder

Hi @coderkalyan , would it help get this PR moving again if we started creating a few smaller `*_param.c` file to `*.yaml` file PRs? I'd be happy to help with...

Hi @coderkalyan , just checking in. I'm chipping away on branches to further this PR, but waiting now on #20108 and #20172. I will continue work to get this across...

Hi @dagar , thanks for reviewing/merging the previously referenced PR, it simplifies this PR substantially. I've only taken care of the MC rate control limits so far in this WIP...

@dagar , this PR is good to go from the past few weeks of flight testing on my side.

Quick flight test on a 250 racer, pixhawk 4 mini: https://review.px4.io/plot_app?log=000e71ff-eb29-4731-98fa-98f7d3931f00

I'll continue work in this PR after #19898 is wrapped in.

I need to do some additional debugging after the commander re-write before this PR will be ready again.

> @mcsauder I am trying to make this work only for 2nd Geofence capability Mark. If I have understood correctly from the code, commander changes are not relevant with Geofence...

Closing in favor of #22394. Future work might revisit.

Hi @xinnad , this will need rebase after #22394 or close.