path: root/src/modules/commander/state_machine_helper.h

/****************************************************************************
 *
 *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
 *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
 *           Julian Oes <joes@student.ethz.ch>
 *
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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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 *    distribution.
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 *    used to endorse or promote products derived from this software
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file state_machine_helper.h
 * State machine helper functions definitions
 */

#ifndef STATE_MACHINE_HELPER_H_
#define STATE_MACHINE_HELPER_H_

#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor)
#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>

typedef enum {
	TRANSITION_DENIED = -1,
	TRANSITION_NOT_CHANGED = 0,
	TRANSITION_CHANGED

} transition_result_t;

transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
		arming_state_t new_arming_state, struct actuator_armed_s *armed);

bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);

bool check_arming_state_changed();

transition_result_t main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state);

bool check_main_state_changed();

transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state);

bool check_navigation_state_changed();

bool check_flighttermination_state_changed();

void set_navigation_state_changed();

int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd);

#endif /* STATE_MACHINE_HELPER_H_ */