diff options
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..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); @@ -68,12 +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 flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state); bool check_navigation_state_changed(); +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_ */ |