MISSION_PLANNING: Added a "toggle back & forth" from preflight to flight ready

ap_mission_planning/src/ap_mission_planning/swarm_manager.py

@@ -988,6 +988,11 @@ class SwarmManager(nodeable.Nodeable):
             (bool(rospy.get_param("flight_ready")))):
                 self.__update_swarm_state(enums.FLIGHT_READY)
 
+        elif ((self.__swarm_state == enums.FLIGHT_READY) and \
+              (rospy.has_param("flight_ready")) and \
+              (not bool(rospy.get_param("flight_ready")))):
+            self.__update_swarm_state(enums.PRE_FLIGHT)
+
         elif self.__swarm_state == enums.PRE_FLIGHT or \
            self.__swarm_state == enums.FLIGHT_READY:
             if self.__ap_rel_alt > SwarmManager.LAUNCH_ALT: