fix(mavlink): restore fixed-wing navigation telemetry

[AkaiEurus]

Solved Problem

After #24056, fixed-wing vehicles no longer publish position_controller_status. This stops NAV_CONTROLLER_OUTPUT and leaves HIGH_LATENCY2.target_distance at zero.

Solution

• Add wp_dist to fixed_wing_lateral_guidance_status.
• Publish the active waypoint distance from FixedWingModeManager.
• Use the fixed-wing status for NAV_CONTROLLER_OUTPUT.
• Use its waypoint distance for HIGH_LATENCY2.target_distance.
• Keep the existing rover path unchanged.

Changelog Entry

For release notes:

Bugfix: Restore fixed-wing NAV_CONTROLLER_OUTPUT and HIGH_LATENCY2 target distance.

[github-actions]

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 336 byte (0.02 %)]

    FILE SIZE        VM SIZE    
 --------------  -------------- 
  +0.0%    +336  +0.0%    +336    .text
     +72%    +200   +72%    +200    MavlinkStreamNavControllerOutput::send()
    [NEW]     +60  [NEW]     +60    CSWTCH.1937
    [NEW]     +42  [NEW]     +42    CSWTCH.2551
     +42%     +40   +42%     +40    FixedWingModeManager::publish_lateral_guidance_status()
    +2.6%     +40  +2.6%     +40    MavlinkStreamHighLatency2::send()
    +2.5%     +16  +2.5%     +16    MavlinkStreamHighLatency2::MavlinkStreamHighLatency2()
     +20%     +16   +20%     +16    MavlinkStreamNavControllerOutput::new_instance()
    [NEW]     +15  [NEW]     +15    CSWTCH.3470
    [NEW]     +15  [NEW]     +15    CSWTCH.3471
    +3.6%      +8  +3.6%      +8    MavlinkStreamHighLatency2::~MavlinkStreamHighLatency2()
     +44%      +8   +44%      +8    MavlinkStreamNavControllerOutput::get_size()
     +13%      +8   +13%      +8    MavlinkStreamNavControllerOutput::~MavlinkStreamNavControllerOutput()
    +0.0%      +8  +0.0%      +8    uORB::compressed_fields
    -6.2%      -4  -6.2%      -4    MavlinkMissionManager::init_offboard_mission()
    -2.7%      -4  -2.7%      -4    MavlinkStreamHygrometerSensor::send()
    [DEL]     -15  [DEL]     -15    CSWTCH.3467
    [DEL]     -15  [DEL]     -15    CSWTCH.3468
    [DEL]     -42  [DEL]     -42    CSWTCH.2548
    [DEL]     -60  [DEL]     -60    CSWTCH.1934
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  -4.0%    -336  [ = ]       0    [Unmapped]
  +0.0% +1.64Ki  +0.0%    +336    TOTAL

px4_fmu-v6x [Total VM Diff: 336 byte (0.02 %)]

    FILE SIZE        VM SIZE    
 --------------  -------------- 
  +0.0%    +336  +0.0%    +336    .text
     +72%    +200   +72%    +200    MavlinkStreamNavControllerOutput::send()
    [NEW]     +60  [NEW]     +60    CSWTCH.1937
    [NEW]     +42  [NEW]     +42    CSWTCH.2551
     +42%     +40   +42%     +40    FixedWingModeManager::publish_lateral_guidance_status()
    +2.6%     +40  +2.6%     +40    MavlinkStreamHighLatency2::send()
    +2.5%     +16  +2.5%     +16    MavlinkStreamHighLatency2::MavlinkStreamHighLatency2()
     +20%     +16   +20%     +16    MavlinkStreamNavControllerOutput::new_instance()
    [NEW]     +15  [NEW]     +15    CSWTCH.3470
    [NEW]     +15  [NEW]     +15    CSWTCH.3471
    +3.6%      +8  +3.6%      +8    MavlinkStreamHighLatency2::~MavlinkStreamHighLatency2()
     +44%      +8   +44%      +8    MavlinkStreamNavControllerOutput::get_size()
     +13%      +8   +13%      +8    MavlinkStreamNavControllerOutput::~MavlinkStreamNavControllerOutput()
    +0.0%      +8  +0.0%      +8    uORB::compressed_fields
    -6.2%      -4  -6.2%      -4    MavlinkMissionManager::init_offboard_mission()
    -2.7%      -4  -2.7%      -4    MavlinkStreamHygrometerSensor::send()
    [DEL]     -15  [DEL]     -15    CSWTCH.3467
    [DEL]     -15  [DEL]     -15    CSWTCH.3468
    [DEL]     -42  [DEL]     -42    CSWTCH.2548
    [DEL]     -60  [DEL]     -60    CSWTCH.1934
  +0.0%     +55  [ = ]       0    .debug_abbrev
  +0.0%    +945  [ = ]       0    .debug_info
  +0.0%    +416  [ = ]       0    .debug_line
    [DEL]      -3  [ = ]       0    [Unmapped]
    +0.0%    +419  [ = ]       0    [section .debug_line]
  +0.0%    +183  [ = ]       0    .debug_loclists
  +0.0%     +70  [ = ]       0    .debug_rnglists
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  -6.3%    -336  [ = ]       0    [Unmapped]
  +0.0% +1.66Ki  +0.0%    +336    TOTAL

Updated: 2026-07-10T14:29:39