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Completed calibration state machine, calibration state now propagating to sensor, scale calibration soon

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This commit is contained in:
Lorenz Meier
2012-08-06 23:43:09 +02:00
parent f88bba0cec
commit 7f2a63eb96
5 changed files with 105 additions and 54 deletions
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apps/commander/state_machine_helper.h
+28 -24
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@@ -4,7 +4,6 @@
* 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:
@@ -34,7 +33,10 @@
*
****************************************************************************/
/* @file State machine helper functions definitions */
/**
* @file state_machine_helper.h
* State machine helper functions definitions
*/
#ifndef STATE_MACHINE_HELPER_H_
#define STATE_MACHINE_HELPER_H_
@@ -47,14 +49,13 @@
#include <v1.0/common/mavlink.h>
/*
* @brief switch to new state with no checking *
/**
* 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, ...)
*
*
*/
void do_state_update(int status_pub, struct vehicle_status_s *current_status, commander_state_machine_t new_state);
@@ -69,42 +70,45 @@ void do_state_update(int status_pub, struct vehicle_status_s *current_status, co
// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
/*
* @brief handle state machine if got position fix
/**
* Handle state machine if got position fix
*/
void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status);
/*
* @brief handle state machine if position fix lost
/**
* Handle state machine if position fix lost
*/
void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status);
/*
* @brief handle state machine if user wants to arm
/**
* Handle state machine if user wants to arm
*/
void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status);
/*
* @brief handle state machine if user wants to disarm
/**
* Handle state machine if user wants to disarm
*/
void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status);
/*
* @brief handle state machine if mode switch is manual
/**
* Handle state machine if mode switch is manual
*/
void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status);
/*
* @brief handle state machine if mode switch is stabilized
/**
* Handle state machine if mode switch is stabilized
*/
void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status);
/*
* @brief handle state machine if mode switch is auto
/**
* Handle state machine if mode switch is auto
*/
void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status);
/**
* Publish current state information
*/
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status);
/*
@@ -113,13 +117,13 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
*
*/
/*
* @brief handles *incoming request* to switch to a specific state, if state change is successful returns 0
/**
* Handles *incoming request* to switch to a specific state, if state change is successful returns 0
*/
uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t mode);
/*
* @brief handles *incoming request* to switch to a specific custom state, if state change is successful returns 0
/**
* Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0
*/
uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t custom_mode);