Completed calibration state machine, calibration state now propagating to sensor, scale calibration soon

1 files changed, 28 insertions, 24 deletions

diff --git a/apps/commander/state_machine_helper.h b/apps/commander/state_machine_helper.h
index 0abc6349c..540182e4f 100644
--- a/apps/commander/state_machine_helper.h
+++ b/apps/commander/state_machine_helper.h
@@ -4,7 +4,6 @@
  *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
  *           Julian Oes <joes@student.ethz.ch>
  *
- *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
  * are met:
@@ -34,7 +33,10 @@
  *
  ****************************************************************************/
 
-/* @file State machine helper functions definitions */
+/**
+ * @file state_machine_helper.h
+ * State machine helper functions definitions
+ */
 
 #ifndef STATE_MACHINE_HELPER_H_
 #define STATE_MACHINE_HELPER_H_
@@ -47,14 +49,13 @@
 #include <v1.0/common/mavlink.h>
 
 
-/*
- * @brief switch to new state with no checking *
+/**
+ * Switch to new state with no checking.
  *
  * do_state_update: this is the functions that all other functions have to call in order to update the state.
  * the function does not question the state change, this must be done before
  * The function performs actions that are connected with the new state (buzzer, reboot, ...)
  *
- *
  */
 void do_state_update(int status_pub, struct vehicle_status_s *current_status, commander_state_machine_t new_state);
 
@@ -69,42 +70,45 @@ void do_state_update(int status_pub, struct vehicle_status_s *current_status, co
 // void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
 
 
-/*
- * @brief handle state machine if got position fix
+/**
+ * Handle state machine if got position fix
  */
 void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status);
 
-/*
- * @brief handle state machine if position fix lost
+/**
+ * Handle state machine if position fix lost
  */
 void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status);
 
-/*
- * @brief handle state machine if user wants to arm
+/**
+ * Handle state machine if user wants to arm
  */
 void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status);
 
-/*
- * @brief handle state machine if user wants to disarm
+/**
+ * Handle state machine if user wants to disarm
  */
 void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status);
 
-/*
- * @brief handle state machine if mode switch is manual
+/**
+ * Handle state machine if mode switch is manual
  */
 void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status);
 
-/*
- * @brief handle state machine if mode switch is stabilized
+/**
+ * Handle state machine if mode switch is stabilized
  */
 void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status);
 
-/*
- * @brief handle state machine if mode switch is auto
+/**
+ * Handle state machine if mode switch is auto
  */
 void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status);
 
-
+/**
+ * Publish current state information
+ */
+void state_machine_publish(int status_pub, struct vehicle_status_s *current_status);
 
 
 /*
@@ -113,13 +117,13 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
  *
  */
 
-/*
- * @brief handles *incoming request* to switch to a specific state, if state change is successful returns 0
+/**
+ * Handles *incoming request* to switch to a specific state, if state change is successful returns 0
  */
 uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t mode);
 
-/*
- * @brief handles *incoming request* to switch to a specific custom state, if state change is successful returns 0
+/**
+ * Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0
  */
 uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t custom_mode);