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RETURN
MANUAL
ASSISTED
AUTO
LOITER
SEATBELT
EASY
MISSION
MODE_SW > AUTO_TH?
Y
RETURN_SW > RETURN_TH?
Y
LOITER_SW > LOITER_TH?
N
Y
N
N
MODE_SW > ASSISTED_TH?
EASY_SW > EASY_TH?
Y
N
N
START
Y