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diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
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+++ b/src/modules/commander/state_machine_helper.h
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+/****************************************************************************
+ *
+ *   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_ */