diff options
author | Anton Babushkin <anton.babushkin@me.com> | 2013-07-31 20:58:27 +0400 |
---|---|---|
committer | Anton Babushkin <anton.babushkin@me.com> | 2013-07-31 20:58:27 +0400 |
commit | 02d4480e8ed7c6c6460f95f531aeef2725951663 (patch) | |
tree | 5592a6a85a8ede228cea63230cd15d8ecc0de39a /src/modules/commander/state_machine_helper.h | |
parent | 8c1067a017714394955892e3159c8e0c61bd4ba1 (diff) | |
download | px4-firmware-02d4480e8ed7c6c6460f95f531aeef2725951663.tar.gz px4-firmware-02d4480e8ed7c6c6460f95f531aeef2725951663.tar.bz2 px4-firmware-02d4480e8ed7c6c6460f95f531aeef2725951663.zip |
commander rewrite almost completed, WIP
Diffstat (limited to 'src/modules/commander/state_machine_helper.h')
-rw-r--r-- | src/modules/commander/state_machine_helper.h | 12 |
1 files changed, 9 insertions, 3 deletions
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index b59b66c8b..c8c77e5d8 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -56,11 +56,17 @@ typedef enum { } transition_result_t; -transition_result_t arming_state_transition(struct vehicle_status_s *current_state, arming_state_t new_arming_state, struct actuator_armed_s *armed, const int mavlink_fd); +transition_result_t arming_state_transition(struct vehicle_status_s *current_state, arming_state_t new_arming_state, struct actuator_armed_s *armed); -transition_result_t main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state, const int mavlink_fd); +bool check_arming_state_changed(); -transition_result_t navigation_state_transition(struct vehicle_status_s *current_status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode, const int mavlink_fd); +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 navigation_state_transition(struct vehicle_status_s *current_status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode); + +bool check_navigation_state_changed(); int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd); |