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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-29 12:16:49 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-29 12:16:49 +0400 |
| commit | 7e29028429fce33b88dd1eeb6d3ac89aa5cb5891 (patch) | |
| tree | d230c7392fa457227c35dc4e80720e3d5ac44d32 /src/modules/commander/state_machine_helper.h | |
| parent | 72d9c80ce954d2289282f5df01aef7e5e8914acc (diff) | |
| download | px4-firmware-7e29028429fce33b88dd1eeb6d3ac89aa5cb5891.tar.gz px4-firmware-7e29028429fce33b88dd1eeb6d3ac89aa5cb5891.tar.bz2 px4-firmware-7e29028429fce33b88dd1eeb6d3ac89aa5cb5891.zip | |
Moving nav state from commander to navigator, WIP
Diffstat (limited to 'src/modules/commander/state_machine_helper.h')
| -rw-r--r-- | src/modules/commander/state_machine_helper.h | 9 |
1 files changed, 3 insertions, 6 deletions
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index e1ec9d4ad..e569fb4f3 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); @@ -68,9 +67,7 @@ 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 flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state, struct vehicle_control_mode_s *control_mode); +transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state); bool check_navigation_state_changed(); @@ -78,6 +75,6 @@ bool check_flighttermination_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_ */ |