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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-16 17:07:02 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-16 17:07:02 +0100 |
| commit | 8016032a40aaab55fc1d48d1a092cb00d5da92d0 (patch) | |
| tree | 09b8a96ebf6e8c6ca3d66a04ae85a92ebbcba139 /src/modules/commander/state_machine_helper.h | |
| parent | 30612eb32d1acd3139e28254bb0b7e793826a343 (diff) | |
| parent | 5bb004a7113484a5461c07af31d51b3579a8596e (diff) | |
| download | px4-firmware-8016032a40aaab55fc1d48d1a092cb00d5da92d0.tar.gz px4-firmware-8016032a40aaab55fc1d48d1a092cb00d5da92d0.tar.bz2 px4-firmware-8016032a40aaab55fc1d48d1a092cb00d5da92d0.zip | |
Merged beta into paul_estimator
Diffstat (limited to 'src/modules/commander/state_machine_helper.h')
| -rw-r--r-- | src/modules/commander/state_machine_helper.h | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index 0bfdf36a8..f04879ff9 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -48,7 +48,6 @@ #include <uORB/topics/vehicle_status.h> #include <uORB/topics/actuator_armed.h> #include <uORB/topics/safety.h> -#include <uORB/topics/vehicle_control_mode.h> typedef enum { TRANSITION_DENIED = -1, @@ -58,7 +57,7 @@ typedef enum { } transition_result_t; transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety, - const struct vehicle_control_mode_s *control_mode, arming_state_t new_arming_state, struct actuator_armed_s *armed); + 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); @@ -68,12 +67,14 @@ transition_result_t main_state_transition(struct vehicle_status_s *current_state bool check_main_state_changed(); -transition_result_t navigation_state_transition(struct vehicle_status_s *status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode); +transition_result_t failsafe_state_transition(struct vehicle_status_s *status, failsafe_state_t new_failsafe_state); bool check_navigation_state_changed(); +bool check_failsafe_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, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd); +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_ */ |