diff options
Diffstat (limited to 'src/modules/commander/state_machine_helper.h')
| -rw-r--r-- | src/modules/commander/state_machine_helper.h | 12 |
1 files changed, 10 insertions, 2 deletions
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index 75fdd224c..b59b66c8b 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -49,10 +49,18 @@ #include <uORB/topics/actuator_armed.h> #include <uORB/topics/vehicle_control_mode.h> +typedef enum { + TRANSITION_DENIED = -1, + TRANSITION_NOT_CHANGED = 0, + TRANSITION_CHANGED -int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int armed_pub, struct actuator_armed_s *armed, const int mavlink_fd); +} transition_result_t; -int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, int control_mode_pub, struct vehicle_control_mode_s *control_mode, const int mavlink_fd); +transition_result_t arming_state_transition(struct vehicle_status_s *current_state, arming_state_t new_arming_state, struct actuator_armed_s *armed, const int mavlink_fd); + +transition_result_t main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state, const int mavlink_fd); + +transition_result_t navigation_state_transition(struct vehicle_status_s *current_status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode, const int mavlink_fd); 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); |