Goal: I would like to change the “Arming denied: high throttle” threshold in the commander.cpp file to <0.4 && >0.6 instead of >0.0 so that a centered stick will no more be recognized as a high throttle.
Reasoning: This is to implement reverse functionality so that the rover can reverse in tight-spot situations instead of going only forward. Remote controller’s throttle stick will be self-centering. So, in order to Arm the rover, the throttle needs to be at zero, and therefore, changing Arming threshold to <0.4 && >0.6 instead of >0.0 should facilitate the implementation of reverse functionality.
My setup: Holybro PX4 FC HW running on PX Pro Stable Release v1.12.3 and QGC.
My Question: Could you please suggest exactly where in the code file or code line #(s) I should modify in the commander.cpp file to make this idea work?
Ref. Source: https://github.com/PX4/PX4-Autopilot/issues/11992#issuecomment-982779192