commander rewrite almost completed, WIP

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);