1 files changed, 0 insertions, 209 deletions
diff --git a/apps/commander/state_machine_helper.h b/apps/commander/state_machine_helper.h
deleted file mode 100644
index 2f2ccc729..000000000
--- a/apps/commander/state_machine_helper.h
+++ /dev/null
@@ -1,209 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file state_machine_helper.h
- * State machine helper functions definitions
- */
-
-#ifndef STATE_MACHINE_HELPER_H_
-#define STATE_MACHINE_HELPER_H_
-
-#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor)
-#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock
-
-#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);
-
-
-/**
- * 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);
-
-/**
- * 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_ */