Allow disarming in-flight

This commit introduces the ability to disarm the drone mid-flight without triggering an emergency stop or crash state. However, disarming should not be used as a substitute for an emergency stop, as the disarm signal could be lost or delayed in critical situations. The emergency stop command is specifically designed for higher reliability and should continue to be used when immediate and secure halting of the drone is necessary.

src/modules/src/supervisor.c

@@ -264,7 +264,7 @@ static void postTransitionActions(SupervisorMem_t* this, const supervisorState_t
     supervisorSetLatestLandingTime(this, currentTick);
   }
 
-  if ((previousState == supervisorStateLanded) && (newState == supervisorStateReset)) {
+  if ((previousState == supervisorStateFlying || previousState == supervisorStateLanded) && (newState == supervisorStateReset)) {
     DEBUG_PRINT("Disarming\n");
   }
 

src/modules/src/supervisor_state_machine.c

@@ -174,6 +174,15 @@ static SupervisorStateTransition_t transitionsFlying[] = {
 
     .blockerCombiner = supervisorNever,
   },
+  {
+    .newState = supervisorStateReset,
+
+    .triggers = SUPERVISOR_CB_NONE,
+    .negatedTriggers = SUPERVISOR_CB_ARMED,
+    .triggerCombiner = supervisorAll,
+
+    .blockerCombiner = supervisorNever,
+  },
   {
     .newState = supervisorStateWarningLevelOut,