Checkpoint: implement new state machine, compiling, WIP

3 files changed, 517 insertions, 522 deletions

diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 6b1bc0f9b..8716caef7 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -124,18 +124,24 @@ extern struct system_load_s system_load;
 static int leds;
 static int buzzer;
 static int mavlink_fd;
+
+/* flags */
 static bool commander_initialized = false;
-static struct vehicle_status_s current_status; /**< Main state machine */
+static bool thread_should_exit = false;		/**< daemon exit flag */
+static bool thread_running = false;		/**< daemon status flag */
+static int daemon_task;				/**< Handle of daemon task / thread */
+
+/* Main state machine */
+static struct vehicle_status_s current_status;
 static orb_advert_t stat_pub;
 
+/* XXX ? */
 // static uint16_t nofix_counter = 0;
 // static uint16_t gotfix_counter = 0;
 
+/* XXX ? */
 static unsigned int failsafe_lowlevel_timeout_ms;
 
-static bool thread_should_exit = false;		/**< daemon exit flag */
-static bool thread_running = false;		/**< daemon status flag */
-static int daemon_task;				/**< Handle of daemon task / thread */
 
 /* pthread loops */
 static void *orb_receive_loop(void *arg);
@@ -252,18 +258,19 @@ enum AUDIO_PATTERN {
 int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state)
 {
 
+#warning add alarms for state transitions
 	/* Trigger alarm if going into any error state */
-	if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) ||
-	    ((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) {
-		ioctl(buzzer, TONE_SET_ALARM, 0);
-		ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR);
-	}
+//	if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) ||
+//	    ((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) {
+//		ioctl(buzzer, TONE_SET_ALARM, 0);
+//		ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR);
+//	}
 
 	/* Trigger neutral on arming / disarming */
-	if (((new_state == SYSTEM_STATE_GROUND_READY) && (old_state != SYSTEM_STATE_GROUND_READY))) {
-		ioctl(buzzer, TONE_SET_ALARM, 0);
-		ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_NOTIFY_NEUTRAL);
-	}
+//	if (((new_state == SYSTEM_STATE_GROUND_READY) && (old_state != SYSTEM_STATE_GROUND_READY))) {
+//		ioctl(buzzer, TONE_SET_ALARM, 0);
+//		ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_NOTIFY_NEUTRAL);
+//	}
 
 	/* Trigger Tetris on being bored */
 
@@ -277,6 +284,7 @@ void tune_confirm(void)
 
 void tune_error(void)
 {
+	/* XXX change alarm to 2 tones*/
 	ioctl(buzzer, TONE_SET_ALARM, 4);
 }
 
@@ -795,19 +803,21 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 	/* request to set different system mode */
 	switch (cmd->command) {
 	case VEHICLE_CMD_DO_SET_MODE: {
-			if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) {
-				result = VEHICLE_CMD_RESULT_ACCEPTED;
+		// XXX implement this
 
-			} else {
+//			if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) {
+//				result = VEHICLE_CMD_RESULT_ACCEPTED;
+//
+//			} else {
 				result = VEHICLE_CMD_RESULT_DENIED;
-			}
+//			}
 		}
 		break;
 
 	case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
 			/* request to arm */
 			if ((int)cmd->param1 == 1) {
-				if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
+				if (OK == do_arming_state_update(status_pub, current_vehicle_status, mavlink_fd, ARMING_STATE_ARMED)) {
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
 
 				} else {
@@ -815,9 +825,9 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 				}
 
 				/* request to disarm */
-
+			// XXX this arms it instad of disarming
 			} else if ((int)cmd->param1 == 0) {
-				if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
+				if (OK == do_arming_state_update(status_pub, current_vehicle_status, mavlink_fd, ARMING_STATE_STANDBY)) {
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
 
 				} else {
@@ -830,7 +840,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 		/* request for an autopilot reboot */
 	case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
 			if ((int)cmd->param1 == 1) {
-				if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) {
+				if (OK == do_navigation_state_update(status_pub, current_vehicle_status, mavlink_fd, NAVIGATION_STATE_REBOOT)) {
 					/* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
 
@@ -871,16 +881,21 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 			/* gyro calibration */
 			if ((int)(cmd->param1) == 1) {
-				/* transition to calibration state */
-				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
 
-				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
+				/* transition to init state */
+				if (OK == do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_INIT)
+				 && OK == do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_INIT)) {
+
 					mavlink_log_info(mavlink_fd, "starting gyro cal");
 					tune_confirm();
 					do_gyro_calibration(status_pub, &current_status);
 					mavlink_log_info(mavlink_fd, "finished gyro cal");
 					tune_confirm();
-					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
+
+					/* back to standby state */
+					do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_STANDBY);
+					do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_STANDBY);
+
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
 
 				} else {
@@ -893,16 +908,20 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 			/* magnetometer calibration */
 			if ((int)(cmd->param2) == 1) {
-				/* transition to calibration state */
-				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
 
-				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
+				/* transition to init state */
+				if (OK == do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_INIT)
+				 && OK == do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_INIT)) {
 					mavlink_log_info(mavlink_fd, "starting mag cal");
 					tune_confirm();
 					do_mag_calibration(status_pub, &current_status);
 					mavlink_log_info(mavlink_fd, "finished mag cal");
 					tune_confirm();
-					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
+
+					/* back to standby state */
+					do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_STANDBY);
+					do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_STANDBY);
+
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
 
 				} else {
@@ -916,12 +935,17 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 			/* zero-altitude pressure calibration */
 			if ((int)(cmd->param3) == 1) {
 				/* transition to calibration state */
-				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
+				if (OK == do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_INIT)
+				 && OK == do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_INIT)) {
 
-				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
+					// XXX implement this
 					mavlink_log_info(mavlink_fd, "zero altitude cal. not implemented");
 					tune_confirm();
 
+					/* back to standby state */
+					do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_STANDBY);
+					do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_STANDBY);
+
 				} else {
 					mavlink_log_critical(mavlink_fd, "REJECTING altitude calibration");
 					result = VEHICLE_CMD_RESULT_DENIED;
@@ -933,15 +957,18 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 			/* trim calibration */
 			if ((int)(cmd->param4) == 1) {
 				/* transition to calibration state */
-				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
-
-				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
+				if (OK == do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_INIT)
+				 && OK == do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_INIT)) {
 					mavlink_log_info(mavlink_fd, "starting trim cal");
 					tune_confirm();
 					do_rc_calibration(status_pub, &current_status);
 					mavlink_log_info(mavlink_fd, "finished trim cal");
 					tune_confirm();
-					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
+
+					/* back to standby state */
+					do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_STANDBY);
+					do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_STANDBY);
+
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
 
 				} else {
@@ -954,16 +981,19 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 			/* accel calibration */
 			if ((int)(cmd->param5) == 1) {
-				/* transition to calibration state */
-				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
+				if (OK == do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_INIT)
+				 && OK == do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_INIT)) {
 
-				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
 					mavlink_log_info(mavlink_fd, "CMD starting accel cal");
 					tune_confirm();
 					do_accel_calibration(status_pub, &current_status);
 					tune_confirm();
 					mavlink_log_info(mavlink_fd, "CMD finished accel cal");
-					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
+
+					/* back to standby state */
+					do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_STANDBY);
+					do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_STANDBY);
+
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
 
 				} else {
@@ -1262,7 +1292,7 @@ int commander_thread_main(int argc, char *argv[])
 	param_t _param_sys_type = param_find("MAV_TYPE");
 
 	/* welcome user */
-	warnx("I am in command now!\n");
+	warnx("[commander] starting");
 
 	/* pthreads for command and subsystem info handling */
 	// pthread_t command_handling_thread;
@@ -1270,33 +1300,39 @@ int commander_thread_main(int argc, char *argv[])
 
 	/* initialize */
 	if (led_init() != 0) {
-		warnx("ERROR: Failed to initialize leds\n");
+		warnx("ERROR: Failed to initialize leds");
 	}
 
 	if (buzzer_init() != 0) {
-		warnx("ERROR: Failed to initialize buzzer\n");
+		warnx("ERROR: Failed to initialize buzzer");
 	}
 
 	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 
 	if (mavlink_fd < 0) {
-		warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
+		warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.");
 	}
 
 	/* make sure we are in preflight state */
 	memset(&current_status, 0, sizeof(current_status));
-	current_status.state_machine = SYSTEM_STATE_PREFLIGHT;
+	current_status.navigation_state = NAVIGATION_STATE_INIT;
+	current_status.arming_state = ARMING_STATE_INIT;
 	current_status.flag_system_armed = false;
+
 	/* neither manual nor offboard control commands have been received */
 	current_status.offboard_control_signal_found_once = false;
 	current_status.rc_signal_found_once = false;
+
 	/* mark all signals lost as long as they haven't been found */
 	current_status.rc_signal_lost = true;
 	current_status.offboard_control_signal_lost = true;
+
 	/* allow manual override initially */
 	current_status.flag_external_manual_override_ok = true;
+
 	/* flag position info as bad, do not allow auto mode */
 	current_status.flag_vector_flight_mode_ok = false;
+
 	/* set battery warning flag */
 	current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
 
@@ -1315,6 +1351,7 @@ int commander_thread_main(int argc, char *argv[])
 		exit(ERROR);
 	}
 
+	// XXX needed?
 	mavlink_log_info(mavlink_fd, "system is running");
 
 	/* create pthreads */
@@ -1325,7 +1362,6 @@ int commander_thread_main(int argc, char *argv[])
 
 	/* Start monitoring loop */
 	uint16_t counter = 0;
-	uint8_t flight_env;
 
 	/* Initialize to 0.0V */
 	float battery_voltage = 0.0f;
@@ -1350,11 +1386,13 @@ int commander_thread_main(int argc, char *argv[])
 	struct offboard_control_setpoint_s sp_offboard;
 	memset(&sp_offboard, 0, sizeof(sp_offboard));
 
+	/* Subscribe to global position */
 	int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
 	struct vehicle_global_position_s global_position;
 	memset(&global_position, 0, sizeof(global_position));
 	uint64_t last_global_position_time = 0;
 
+	/* Subscribe to local position data */
 	int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
 	struct vehicle_local_position_s local_position;
 	memset(&local_position, 0, sizeof(local_position));
@@ -1365,10 +1403,13 @@ int commander_thread_main(int argc, char *argv[])
 	 * position estimator and commander. RAW GPS is more than good enough for a
 	 * non-flying vehicle.
 	 */
+
+	/* Subscribe to GPS topic */
 	int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
 	struct vehicle_gps_position_s gps_position;
 	memset(&gps_position, 0, sizeof(gps_position));
 
+	/* Subscribe to sensor topic */
 	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
 	struct sensor_combined_s sensors;
 	memset(&sensors, 0, sizeof(sensors));
@@ -1502,45 +1543,36 @@ int commander_thread_main(int argc, char *argv[])
 		/* Slow but important 8 Hz checks */
 		if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) {
 			/* toggle activity (blue) led at 1 Hz in standby, 10 Hz in armed mode */
-			if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY ||
-			     current_status.state_machine == SYSTEM_STATE_AUTO  ||
-			     current_status.state_machine == SYSTEM_STATE_MANUAL)) {
-				/* armed */
-				led_toggle(LED_BLUE);
-
-			} else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
-				/* not armed */
-				led_toggle(LED_BLUE);
-			}
-
-			/* toggle error led at 5 Hz in HIL mode */
-			if (current_status.flag_hil_enabled) {
-				/* hil enabled */
-				led_toggle(LED_AMBER);
+//			if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY ||
+//			     current_status.state_machine == SYSTEM_STATE_AUTO  ||
+//			     current_status.state_machine == SYSTEM_STATE_MANUAL)) {
+//				/* armed */
+//				led_toggle(LED_BLUE);
+
+		} else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
+			/* not armed */
+			led_toggle(LED_BLUE);
+		}
 
-			} else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) {
-				/* toggle error (red) at 5 Hz on low battery or error */
-				led_toggle(LED_AMBER);
+		/* toggle error led at 5 Hz in HIL mode */
+		if (current_status.flag_hil_enabled) {
+			/* hil enabled */
+			led_toggle(LED_AMBER);
 
-			} else {
-				// /* Constant error indication in standby mode without GPS */
-				// if (!current_status.gps_valid) {
-				// 	led_on(LED_AMBER);
+		} else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) {
+			/* toggle error (red) at 5 Hz on low battery or error */
+			led_toggle(LED_AMBER);
 
-				// } else {
-				// 	led_off(LED_AMBER);
-				// }
-			}
+		}
 
-			if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
-				/* compute system load */
-				uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time;
+		if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
+			/* compute system load */
+			uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time;
 
-				if (last_idle_time > 0)
-					current_status.load = 1000 - (interval_runtime / 1000);	//system load is time spent in non-idle
+			if (last_idle_time > 0)
+				current_status.load = 1000 - (interval_runtime / 1000);	//system load is time spent in non-idle
 
-				last_idle_time = system_load.tasks[0].total_runtime;
-			}
+			last_idle_time = system_load.tasks[0].total_runtime;
 		}
 
 		// // XXX Export patterns and threshold to parameters
@@ -1583,13 +1615,14 @@ int commander_thread_main(int argc, char *argv[])
 			low_voltage_counter++;
 		}
 
-		/* Critical, this is rather an emergency, kill signal to sdlog and change state machine */
+		/* Critical, this is rather an emergency, change state machine */
 		else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) {
 			if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) {
 				critical_battery_voltage_actions_done = true;
 				mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY! CRITICAL BATTERY!");
 				current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT;
-				state_machine_emergency(stat_pub, &current_status, mavlink_fd);
+				// XXX implement this
+//				state_machine_emergency(stat_pub, &current_status, mavlink_fd);
 			}
 
 			critical_voltage_counter++;
@@ -1698,7 +1731,7 @@ int commander_thread_main(int argc, char *argv[])
 
 			if (gps_position.fix_type == GPS_FIX_TYPE_3D
 				&& (hdop_m < hdop_threshold_m)
-				&& (vdop_m < vdop_threshold_m)
+				&& (vdop_m < vdop_threshold_m) // XXX note that vdop is 0 for mtk
 				&& !home_position_set
 				&& (hrt_absolute_time() - gps_position.timestamp_position < 2000000)
 				&& !current_status.flag_system_armed) {
@@ -1734,85 +1767,112 @@ int commander_thread_main(int argc, char *argv[])
 
 			if ((hrt_absolute_time() - sp_man.timestamp) < 100000) {
 
-				// /*
-				//  * Check if manual control modes have to be switched
-				//  */
-				// if (!isfinite(sp_man.manual_mode_switch)) {
-				// 	warnx("man mode sw not finite\n");
-
-				// 	/* this switch is not properly mapped, set default */
-				// 	if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
-				// 		(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
-				// 		(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
-
-				// 		/* assuming a rotary wing, fall back to SAS */
-				// 		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
-				// 		current_status.flag_control_attitude_enabled = true;
-				// 		current_status.flag_control_rates_enabled = true;
-				// 	} else {
-
-				// 		/* assuming a fixed wing, fall back to direct pass-through */
-				// 		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
-				// 		current_status.flag_control_attitude_enabled = false;
-				// 		current_status.flag_control_rates_enabled = false;
-				// 	}
-
-				// } else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) {
-
-				// 	/* bottom stick position, set direct mode for vehicles supporting it */
-				// 	if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
-				// 		(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
-				// 		(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
-
-				// 		/* assuming a rotary wing, fall back to SAS */
-				// 		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
-				// 		current_status.flag_control_attitude_enabled = true;
-				// 		current_status.flag_control_rates_enabled = true;
-				// 	} else {
-
-				// 		/* assuming a fixed wing, set to direct pass-through as requested */
-				// 		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
-				// 		current_status.flag_control_attitude_enabled = false;
-				// 		current_status.flag_control_rates_enabled = false;
-				// 	}
-
-				// } else if (sp_man.manual_mode_switch > STICK_ON_OFF_LIMIT) {
-
-				// 	/* top stick position, set SAS for all vehicle types */
-				// 	current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
-				// 	current_status.flag_control_attitude_enabled = true;
-				// 	current_status.flag_control_rates_enabled = true;
-
-				// } else {
-				// 	/* center stick position, set rate control */
-				// 	current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_RATES;
-				// 	current_status.flag_control_attitude_enabled = false;
-				// 	current_status.flag_control_rates_enabled = true;
-				// }
+				 /*
+				  * Check if manual control modes have to be switched
+				  */
+				 if (!isfinite(sp_man.mode_switch)) {
+				 	warnx("mode sw not finite");
+
+				 	/* this switch is not properly mapped, set attitude stabilized */
+				 	if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
+				 		(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
+				 		(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
+
+				 		current_status.flag_control_attitude_enabled = true;
+				 		current_status.flag_control_rates_enabled = true;
+				 	} else {
+
+				 		/* assuming a fixed wing, fall back to direct pass-through */
+				 		current_status.flag_control_attitude_enabled = false;
+				 		current_status.flag_control_rates_enabled = false;
+				 	}
+
+				 } else if (sp_man.mode_switch < -STICK_ON_OFF_LIMIT) {
+
+					 /* this switch is not properly mapped, set attitude stabilized */
+				 	if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
+				 		(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
+				 		(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
+
+				 		/* assuming a rotary wing, fall back to m */
+				 		current_status.flag_control_attitude_enabled = true;
+				 		current_status.flag_control_rates_enabled = true;
+				 	} else {
+
+				 		/* assuming a fixed wing, set to direct pass-through as requested */
+				 		current_status.flag_control_attitude_enabled = false;
+				 		current_status.flag_control_rates_enabled = false;
+				 	}
+
+				 } else if (sp_man.mode_switch > STICK_ON_OFF_LIMIT) {
+
+				 	/* top stick position, set auto/mission for all vehicle types */
+					current_status.flag_control_position_enabled = true;
+					current_status.flag_control_velocity_enabled = true;
+				 	current_status.flag_control_attitude_enabled = true;
+				 	current_status.flag_control_rates_enabled = true;
+
+				 } else {
+				 	/* center stick position, set seatbelt/simple control */
+					current_status.flag_control_velocity_enabled = true;
+				 	current_status.flag_control_attitude_enabled = true;
+				 	current_status.flag_control_rates_enabled = true;
+				 }
 
 				// warnx("man ctrl mode: %d\n", (int)current_status.manual_control_mode);
 
 				/*
-				 * Check if manual stability control modes have to be switched
+				 * Check if land/RTL is requested
 				 */
-				if (!isfinite(sp_man.manual_sas_switch)) {
+				if (!isfinite(sp_man.return_switch)) {
 
 					/* this switch is not properly mapped, set default */
-					current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS;
+					current_status.flag_land_requested = false; // XXX default?
 
-				} else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) {
+				} else if (sp_man.return_switch < -STICK_ON_OFF_LIMIT) {
 
 					/* bottom stick position, set altitude hold */
-					current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE;
+					current_status.flag_land_requested = false;
 
-				} else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) {
+				} else if (sp_man.return_switch > STICK_ON_OFF_LIMIT) {
 
 					/* top stick position */
-					current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_SIMPLE;
+					current_status.flag_land_requested = true;
 
 				} else {
 					/* center stick position, set default */
-					current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS;
+					current_status.flag_land_requested = false; // XXX default?
+				}
+
+				/* check mission switch  */
+				if (!isfinite(sp_man.mission_switch)) {
+
+					/* this switch is not properly mapped, set default */
+					current_status.flag_mission_activated = false;
+
+				} else if (sp_man.mission_switch > STICK_ON_OFF_LIMIT) {
+
+					/* top switch position */
+					current_status.flag_mission_activated = true;
+
+				} else if (sp_man.mission_switch < -STICK_ON_OFF_LIMIT) {
+
+					/* bottom switch position */
+					current_status.flag_mission_activated = false;
+
+				} else {
+
+					/* center switch position, set default */
+					current_status.flag_mission_activated = false; // XXX default?
+				}
+
+				/* handle the case where RC signal was regained */
+				if (!current_status.rc_signal_found_once) {
+					current_status.rc_signal_found_once = true;
+					mavlink_log_critical(mavlink_fd, "DETECTED RC SIGNAL FIRST TIME.");
+
+				} else {
+					if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!");
 				}
 
 				/*
@@ -1826,7 +1886,7 @@ int commander_thread_main(int argc, char *argv[])
 				    ((sp_man.yaw < -STICK_ON_OFF_LIMIT)) &&
 				    (sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {
 					if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
-						update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
+						current_status.flag_system_armed = false;
 						stick_on_counter = 0;
 
 					} else {
@@ -1838,7 +1898,7 @@ int commander_thread_main(int argc, char *argv[])
 				/* check if left stick is in lower right position --> arm */
 				if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.2f) {
 					if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
-						update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
+						current_status.flag_system_armed = true;
 						stick_on_counter = 0;
 
 					} else {
@@ -1847,37 +1907,6 @@ int commander_thread_main(int argc, char *argv[])
 					}
 				}
 
-				/* check manual override switch - switch to manual or auto mode */
-				if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) {
-					/* enable manual override */
-					update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
-
-				} else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) {
-					// /* check auto mode switch for correct mode */
-					// if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
-					// 	/* enable guided mode */
-					// 	update_state_machine_mode_guided(stat_pub, &current_status, mavlink_fd);
-
-					// } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) {
-						// XXX hardcode to auto for now
-						update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
-
-					// }
-
-				} else {
-					/* center stick position, set SAS for all vehicle types */
-					update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
-				}
-
-				/* handle the case where RC signal was regained */
-				if (!current_status.rc_signal_found_once) {
-					current_status.rc_signal_found_once = true;
-					mavlink_log_critical(mavlink_fd, "DETECTED RC SIGNAL FIRST TIME.");
-
-				} else {
-					if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!");
-				}
-
 				current_status.rc_signal_cutting_off = false;
 				current_status.rc_signal_lost = false;
 				current_status.rc_signal_lost_interval = 0;
@@ -1965,12 +1994,13 @@ int commander_thread_main(int argc, char *argv[])
 
 				/* arm / disarm on request */
 				if (sp_offboard.armed && !current_status.flag_system_armed) {
-					update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
+#warning fix this
+//					update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
 					/* switch to stabilized mode = takeoff */
-					update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
+//					update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
 
 				} else if (!sp_offboard.armed && current_status.flag_system_armed) {
-					update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
+//					update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
 				}
 
 			} else {
@@ -2006,18 +2036,20 @@ int commander_thread_main(int argc, char *argv[])
 		current_status.timestamp = hrt_absolute_time();
 
 
+		// XXX what is this?
 		/* If full run came back clean, transition to standby */
-		if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT &&
-		    current_status.flag_preflight_gyro_calibration == false &&
-		    current_status.flag_preflight_mag_calibration == false &&
-		    current_status.flag_preflight_accel_calibration == false) {
-			/* All ok, no calibration going on, go to standby */
-			do_state_update(stat_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
-		}
+//		if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT &&
+//		    current_status.flag_preflight_gyro_calibration == false &&
+//		    current_status.flag_preflight_mag_calibration == false &&
+//		    current_status.flag_preflight_accel_calibration == false) {
+//			/* All ok, no calibration going on, go to standby */
+//			do_state_update(stat_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
+//		}
 
 		/* publish at least with 1 Hz */
 		if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 || state_changed) {
-			publish_armed_status(&current_status);
+#warning fix this
+//			publish_armed_status(&current_status);
 			orb_publish(ORB_ID(vehicle_status), stat_pub, &current_status);
 			state_changed = false;
 		}
@@ -2043,7 +2075,7 @@ int commander_thread_main(int argc, char *argv[])
 	close(sensor_sub);
 	close(cmd_sub);
 
-	warnx("exiting..\n");
+	warnx("exiting");
 	fflush(stdout);
 
 	thread_running = false;
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index bea388a10..e1ec73110 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -40,182 +40,297 @@
 
 #include <stdio.h>
 #include <unistd.h>
+#include <stdbool.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_controls.h>
 #include <systemlib/systemlib.h>
+#include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
 #include <mavlink/mavlink_log.h>
 
 #include "state_machine_helper.h"
 
-static const char *system_state_txt[] = {
-	"SYSTEM_STATE_PREFLIGHT",
-	"SYSTEM_STATE_STANDBY",
-	"SYSTEM_STATE_GROUND_READY",
-	"SYSTEM_STATE_MANUAL",
-	"SYSTEM_STATE_STABILIZED",
-	"SYSTEM_STATE_AUTO",
-	"SYSTEM_STATE_MISSION_ABORT",
-	"SYSTEM_STATE_EMCY_LANDING",
-	"SYSTEM_STATE_EMCY_CUTOFF",
-	"SYSTEM_STATE_GROUND_ERROR",
-	"SYSTEM_STATE_REBOOT",
-
-};
 
 /**
- * Transition from one state to another
+ * Transition from one navigation state to another
  */
-int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state)
+int do_navigation_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, navigation_state_t new_state)
 {
-	int invalid_state = false;
+	bool valid_transition = false;
 	int ret = ERROR;
 
-	commander_state_machine_t old_state = current_status->state_machine;
+	if (current_status->navigation_state == new_state) {
+		warnx("Navigation state not changed");
 
-	switch (new_state) {
-	case SYSTEM_STATE_MISSION_ABORT: {
-			/* Indoor or outdoor */
-			// if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
-			ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING);
+	} else {
 
-			// } else {
-			// 	ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF);
-			// }
+		switch (new_state) {
+			case NAVIGATION_STATE_INIT:
+
+				if (current_status->navigation_state == NAVIGATION_STATE_STANDBY) {
+
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO INIT STATE");
+					valid_transition = true;
+				}
+				break;
+
+			case NAVIGATION_STATE_STANDBY:
+
+				if (current_status->navigation_state == NAVIGATION_STATE_INIT
+				 || current_status->navigation_state == NAVIGATION_STATE_MANUAL
+				 || current_status->navigation_state == NAVIGATION_STATE_AUTO_READY) {
+
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO STANDBY STATE");
+					valid_transition = true;
+				}
+				break;
+
+			case NAVIGATION_STATE_MANUAL:
+
+				if (
+						( current_status->navigation_state == NAVIGATION_STATE_STANDBY
+					   || current_status->navigation_state == NAVIGATION_STATE_SEATBELT
+					   || current_status->navigation_state == NAVIGATION_STATE_LOITER
+					   || current_status->navigation_state == NAVIGATION_STATE_MISSION
+					   || current_status->navigation_state == NAVIGATION_STATE_RTL
+					   || current_status->navigation_state == NAVIGATION_STATE_LAND
+					   || current_status->navigation_state == NAVIGATION_STATE_TAKEOFF
+					   || current_status->navigation_state == NAVIGATION_STATE_AUTO_READY)
+					 && current_status->arming_state == ARMING_STATE_ARMED) {
+
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO MANUAL STATE");
+					valid_transition = true;
+				}
+				break;
+
+			case NAVIGATION_STATE_SEATBELT:
+
+				if (current_status->navigation_state == NAVIGATION_STATE_MANUAL
+				 || current_status->navigation_state == NAVIGATION_STATE_LOITER
+				 || current_status->navigation_state == NAVIGATION_STATE_MISSION) {
+
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO SEATBELT STATE");
+					valid_transition = true;
+				}
+				break;
+
+			case NAVIGATION_STATE_LOITER:
+
+				if ( ((current_status->navigation_state == NAVIGATION_STATE_MANUAL || current_status->navigation_state == NAVIGATION_STATE_SEATBELT)
+						&& current_status->flag_global_position_valid)
+					|| current_status->navigation_state == NAVIGATION_STATE_MISSION) {
+
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO LOITER STATE");
+					valid_transition = true;
+				 }
+				break;
+
+			case NAVIGATION_STATE_AUTO_READY:
+
+				if (
+						(current_status->navigation_state == NAVIGATION_STATE_STANDBY
+				   	  && current_status->flag_global_position_valid
+				   	  && current_status->flag_valid_launch_position)
+				   	  || current_status->navigation_state == NAVIGATION_STATE_LAND) {
+
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO AUTO READY STATE");
+					valid_transition = true;
+				}
+				break;
+
+			case NAVIGATION_STATE_MISSION:
+
+				if (
+					current_status->navigation_state == NAVIGATION_STATE_TAKEOFF
+				 || current_status->navigation_state == NAVIGATION_STATE_RTL
+				 || (
+						 (current_status->navigation_state == NAVIGATION_STATE_MANUAL
+					   || current_status->navigation_state == NAVIGATION_STATE_SEATBELT
+					   || current_status->navigation_state == NAVIGATION_STATE_LOITER)
+					  	  && current_status->flag_global_position_valid
+					   	  && current_status->flag_valid_launch_position)
+				  ) {
+
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO MISSION STATE");
+					valid_transition = true;
+				}
+				break;
+
+			case NAVIGATION_STATE_RTL:
+
+				if (
+					current_status->navigation_state == NAVIGATION_STATE_MISSION
+				 || (
+						 (current_status->navigation_state == NAVIGATION_STATE_MANUAL
+					   || current_status->navigation_state == NAVIGATION_STATE_SEATBELT
+					   || current_status->navigation_state == NAVIGATION_STATE_LOITER)
+						  && current_status->flag_global_position_valid
+						  && current_status->flag_valid_launch_position)
+				  ) {
+
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO RTL STATE");
+					valid_transition = true;
+				}
+				break;
+
+			case NAVIGATION_STATE_TAKEOFF:
+
+				if (current_status->navigation_state == NAVIGATION_STATE_AUTO_READY) {
+
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO TAKEOFF STATE");
+					valid_transition = true;
+				}
+				break;
+
+			case NAVIGATION_STATE_LAND:
+				if (current_status->navigation_state == NAVIGATION_STATE_RTL
+				 || current_status->navigation_state == NAVIGATION_STATE_LOITER) {
+
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO LAND STATE");
+					valid_transition = true;
+				}
+				break;
+
+			case NAVIGATION_STATE_REBOOT:
+				if (current_status->navigation_state == NAVIGATION_STATE_STANDBY
+					|| current_status->navigation_state == NAVIGATION_STATE_INIT
+					|| current_status->flag_hil_enabled) {
+					valid_transition = true;
+					/* set system flags according to state */
+					current_status->flag_system_armed = false;
+					mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM");
+					usleep(500000);
+					up_systemreset();
+					/* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */
+
+				} else {
+					mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT");
+				}
+
+				break;
+
+			default:
+				warnx("Unknown navigation state");
+				break;
 		}
-		break;
-
-	case SYSTEM_STATE_EMCY_LANDING:
-		/* Tell the controller to land */
-
-		/* set system flags according to state */
-		current_status->flag_system_armed = true;
-
-		warnx("EMERGENCY LANDING!\n");
-		mavlink_log_critical(mavlink_fd, "EMERGENCY LANDING!");
-		break;
-
-	case SYSTEM_STATE_EMCY_CUTOFF:
-		/* Tell the controller to cutoff the motors (thrust = 0) */
-
-		/* set system flags according to state */
-		current_status->flag_system_armed = false;
-
-		warnx("EMERGENCY MOTOR CUTOFF!\n");
-		mavlink_log_critical(mavlink_fd, "EMERGENCY MOTOR CUTOFF!");
-		break;
+	}
 
-	case SYSTEM_STATE_GROUND_ERROR:
+	if (valid_transition) {
+		current_status->navigation_state = new_state;
+		state_machine_publish(status_pub, current_status, mavlink_fd);
+//		publish_armed_status(current_status);
+		ret = OK;
+	} else {
+		mavlink_log_critical(mavlink_fd, "REJECTING invalid navigation state transition");
+	}
 
-		/* set system flags according to state */
+	return ret;
+}
 
-		/* prevent actuators from arming */
-		current_status->flag_system_armed = false;
+/**
+ * Transition from one arming state to another
+ */
+int do_arming_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, arming_state_t new_state)
+{
+	bool valid_transition = false;
+	int ret = ERROR;
 
-		warnx("GROUND ERROR, locking down propulsion system\n");
-		mavlink_log_critical(mavlink_fd, "GROUND ERROR, locking down system");
-		break;
+	if (current_status->arming_state == new_state) {
+		warnx("Arming state not changed");
 
-	case SYSTEM_STATE_PREFLIGHT:
-		if (current_status->state_machine == SYSTEM_STATE_STANDBY
-		    || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
-			/* set system flags according to state */
-			current_status->flag_system_armed = false;
-			mavlink_log_critical(mavlink_fd, "Switched to PREFLIGHT state");
+	} else {
 
-		} else {
-			invalid_state = true;
-			mavlink_log_critical(mavlink_fd, "REFUSED to switch to PREFLIGHT state");
-		}
+		switch (new_state) {
 
-		break;
+			case ARMING_STATE_INIT:
 
-	case SYSTEM_STATE_REBOOT:
-		if (current_status->state_machine == SYSTEM_STATE_STANDBY
-			|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT
-			|| current_status->flag_hil_enabled) {
-			invalid_state = false;
-			/* set system flags according to state */
-			current_status->flag_system_armed = false;
-			mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM");
-			usleep(500000);
-			up_systemreset();
-			/* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */
+				if (current_status->arming_state == ARMING_STATE_STANDBY) {
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO INIT ARMING STATE");
+					valid_transition = true;
+				}
+				break;
 
-		} else {
-			invalid_state = true;
-			mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT");
-		}
+			case ARMING_STATE_STANDBY:
 
-		break;
+				// TODO check for sensors
+				// XXX check if coming from reboot?
+				if (current_status->arming_state == ARMING_STATE_INIT) {
 
-	case SYSTEM_STATE_STANDBY:
-		/* set system flags according to state */
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO STANDBY ARMING STATE");
+					valid_transition = true;
+				}
+				break;
 
-		/* standby enforces disarmed */
-		current_status->flag_system_armed = false;
+			case ARMING_STATE_ARMED:
 
-		mavlink_log_critical(mavlink_fd, "Switched to STANDBY state");
-		break;
+				if (current_status->arming_state == ARMING_STATE_STANDBY
+				 || current_status->arming_state == ARMING_STATE_IN_AIR_RESTORE) {
 
-	case SYSTEM_STATE_GROUND_READY:
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO ARMED ARMING STATE");
+					valid_transition = true;
+				}
+				break;
 
-		/* set system flags according to state */
+			case ARMING_STATE_MISSION_ABORT:
 
-		/* ground ready has motors / actuators armed */
-		current_status->flag_system_armed = true;
+				if (current_status->arming_state == ARMING_STATE_ARMED) {
 
-		mavlink_log_critical(mavlink_fd, "Switched to GROUND READY state");
-		break;
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO MISSION ABORT ARMING STATE");
+					valid_transition = true;
+				}
+				break;
 
-	case SYSTEM_STATE_AUTO:
+			case ARMING_STATE_ERROR:
 
-		/* set system flags according to state */
+				if (current_status->arming_state == ARMING_STATE_ARMED
+				 || current_status->arming_state == ARMING_STATE_MISSION_ABORT
+				 || current_status->arming_state == ARMING_STATE_INIT) {
 
-		/* auto is airborne and in auto mode, motors armed */
-		current_status->flag_system_armed = true;
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO ERROR ARMING STATE");
+					valid_transition = true;
+				}
+				break;
 
-		mavlink_log_critical(mavlink_fd, "Switched to FLYING / AUTO mode");
-		break;
+			case ARMING_STATE_REBOOT:
 
-	case SYSTEM_STATE_STABILIZED:
+				if (current_status->arming_state == ARMING_STATE_STANDBY
+				 || current_status->arming_state == ARMING_STATE_ERROR) {
 
-		/* set system flags according to state */
-		current_status->flag_system_armed = true;
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO REBOOT ARMING STATE");
+					valid_transition = true;
+					// XXX reboot here?
+				}
+				break;
 
-		mavlink_log_critical(mavlink_fd, "Switched to FLYING / STABILIZED mode");
-		break;
+			case ARMING_STATE_IN_AIR_RESTORE:
 
-	case SYSTEM_STATE_MANUAL:
-
-		/* set system flags according to state */
-		current_status->flag_system_armed = true;
-
-		mavlink_log_critical(mavlink_fd, "Switched to FLYING / MANUAL mode");
-		break;
-
-	default:
-		invalid_state = true;
-		break;
+				if (current_status->arming_state == ARMING_STATE_INIT) {
+					mavlink_log_critical(mavlink_fd, "SWITCHED TO IN-AIR-RESTORE ARMING STATE");
+					valid_transition = true;
+				}
+				break;
+			default:
+				warnx("Unknown arming state");
+				break;
+		}
 	}
 
-	if (invalid_state == false || old_state != new_state) {
-		current_status->state_machine = new_state;
+	if (valid_transition) {
+		current_status->arming_state = new_state;
 		state_machine_publish(status_pub, current_status, mavlink_fd);
-		publish_armed_status(current_status);
+//		publish_armed_status(current_status);
 		ret = OK;
-	}
-
-	if (invalid_state) {
-		mavlink_log_critical(mavlink_fd, "REJECTING invalid state transition");
-		ret = ERROR;
+	} else {
+		mavlink_log_critical(mavlink_fd, "REJECTING invalid arming state transition");
 	}
 
 	return ret;
 }
 
+
+
 void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
 {
 	/* publish the new state */
@@ -223,70 +338,69 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
 	current_status->timestamp = hrt_absolute_time();
 
 	/* assemble state vector based on flag values */
-	if (current_status->flag_control_rates_enabled) {
-		current_status->onboard_control_sensors_present |= 0x400;
-
-	} else {
-		current_status->onboard_control_sensors_present &= ~0x400;
-	}
-
-	current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0;
-	current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0;
-	current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0;
-	current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0;
-
-	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_rates_enabled) ? 0x400 : 0;
-	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0;
-	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0;
-	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0;
-	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0;
+//	if (current_status->flag_control_rates_enabled) {
+//		current_status->onboard_control_sensors_present |= 0x400;
+//
+//	} else {
+//		current_status->onboard_control_sensors_present &= ~0x400;
+//	}
+
+//	current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0;
+//	current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0;
+//	current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0;
+//	current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0;
+//
+//	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_rates_enabled) ? 0x400 : 0;
+//	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0;
+//	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0;
+//	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0;
+//	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0;
 
 	orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
-	printf("[cmd] new state: %s\n", system_state_txt[current_status->state_machine]);
 }
 
-void publish_armed_status(const struct vehicle_status_s *current_status)
-{
-	struct actuator_armed_s armed;
-	armed.armed = current_status->flag_system_armed;
-	/* lock down actuators if required, only in HIL */
-	armed.lockdown = (current_status->flag_hil_enabled) ? true : false;
-	orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
-	orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
-}
+//void publish_armed_status(const struct vehicle_status_s *current_status)
+//{
+//	struct actuator_armed_s armed;
+//	armed.armed = current_status->flag_system_armed;
+//	/* lock down actuators if required, only in HIL */
+//	armed.lockdown = (current_status->flag_hil_enabled) ? true : false;
+//	orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
+//	orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
+//}
 
 
 /*
  * Private functions, update the state machine
  */
-void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
-{
-	warnx("EMERGENCY HANDLER\n");
-	/* Depending on the current state go to one of the error states */
-
-	if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
-		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR);
-
-	} else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) {
-
-		// DO NOT abort mission
-		//do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT);
-
-	} else {
-		warnx("Unknown system state: #%d\n", current_status->state_machine);
-	}
-}
-
-void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) //do not call state_machine_emergency_always_critical if we are in manual mode for these errors
-{
-	if (current_status->state_machine != SYSTEM_STATE_MANUAL) { //if we are in manual: user can react to errors themself
-		state_machine_emergency_always_critical(status_pub, current_status, mavlink_fd);
-
-	} else {
-		//global_data_send_mavlink_statustext_message_out("[cmd] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL);
-	}
-
-}
+//void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
+//{
+//	warnx("EMERGENCY HANDLER\n");
+//	/* Depending on the current state go to one of the error states */
+//
+//	if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
+//		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR);
+//
+//	} else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) {
+//
+//		// DO NOT abort mission
+//		//do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT);
+//
+//	} else {
+//		warnx("Unknown system state: #%d\n", current_status->state_machine);
+//	}
+//}
+
+//void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) //do not call state_machine_emergency_always_critical if we are in manual mode for these errors
+//{
+//	if (current_status->state_machine != SYSTEM_STATE_MANUAL) { //if we are in manual: user can react to errors themself
+//		state_machine_emergency_always_critical(status_pub, current_status, mavlink_fd);
+//
+//	} else {
+//		//global_data_send_mavlink_statustext_message_out("[cmd] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL);
+//	}
+//
+//}
 
 
 
@@ -488,6 +602,7 @@ void state_machine_emergency(int status_pub, struct vehicle_status_s *current_st
 
 /* END SUBSYSTEM/EMERGENCY FUNCTIONS*/
 
+#if 0
 
 void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
 {
@@ -750,3 +865,4 @@ uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_
 	return ret;
 }
 
+#endif
diff --git a/apps/commander/state_machine_helper.h b/apps/commander/state_machine_helper.h
index 2f2ccc729..bf9296caf 100644
--- a/apps/commander/state_machine_helper.h
+++ b/apps/commander/state_machine_helper.h
@@ -47,163 +47,10 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
 
-/**
- * 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, ...)
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- *
- * @return 0 (macro OK) or 1 on error (macro ERROR)
- */
-int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state);
-
-/* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR */
-// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
-// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
-
-// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
-// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
-
-// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
-// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
-
+int do_navigation_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, navigation_state_t new_state);
 
-/**
- * Handle state machine if got position fix
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
+int do_arming_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, arming_state_t new_state);
 
-/**
- * Handle state machine if position fix lost
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Handle state machine if user wants to arm
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Handle state machine if user wants to disarm
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Handle state machine if mode switch is manual
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Handle state machine if mode switch is stabilized
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Handle state machine if mode switch is guided
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Handle state machine if mode switch is auto
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Publish current state information
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
 void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
 
-
-/*
- *  Functions that handle incoming requests to change the state machine or a parameter (probably from the mavlink app).
- *  If the request is obeyed the functions return 0
- *
- */
-
-/**
- * Handles *incoming request* to switch to a specific state, if state change is successful returns 0
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode);
-
-/**
- * Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode);
-
-/**
- * Always switches to critical mode under any circumstances.
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Switches to emergency if required.
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Publish the armed state depending on the current system state
- *
- * @param current_status the current system status
- */
-void publish_armed_status(const struct vehicle_status_s *current_status);
-
-
-
 #endif /* STATE_MACHINE_HELPER_H_ */