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commander state machine helper fix code style

sbg
Daniel Agar 7 years ago
parent
db7e8635a2
commit
0f6a94894d
2 changed files with 97 additions and 125 deletions
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  1. 138
      src/modules/commander/state_machine_helper.cpp
  2. 84
      src/modules/commander/state_machine_helper.h

138
src/modules/commander/state_machine_helper.cpp
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@ -63,7 +63,8 @@ static constexpr const char reason_no_datalink[] = "no datalink"; @@ -63,7 +63,8 @@ static constexpr const char reason_no_datalink[] = "no datalink";
// will be true for a valid transition or false for a invalid transition. In some cases even
// though the transition is marked as true additional checks must be made. See arming_state_transition
// code for those checks.
static constexpr const bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX] = {
static constexpr const bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX]
= {
// INIT, STANDBY, ARMED, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE
{ /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_STANDBY */ true, true, true, false, false, false },
@ -86,26 +87,16 @@ const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = { @@ -86,26 +87,16 @@ const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = {
static hrt_abstime last_preflight_check = 0; ///< initialize so it gets checked immediately
static int last_prearm_ret = 1; ///< initialize to fail
void set_link_loss_nav_state(vehicle_status_s *status,
actuator_armed_s *armed,
const vehicle_status_flags_s& status_flags,
commander_state_s *internal_state,
const link_loss_actions_t link_loss_act,
void set_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed,
const vehicle_status_flags_s &status_flags, commander_state_s *internal_state, const link_loss_actions_t link_loss_act,
uint8_t auto_recovery_nav_state);
void reset_link_loss_globals(actuator_armed_s *armed, const bool old_failsafe, const link_loss_actions_t link_loss_act);
transition_result_t arming_state_transition(vehicle_status_s *status,
const battery_status_s& battery,
const safety_s& safety,
const arming_state_t new_arming_state,
actuator_armed_s *armed,
const bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
vehicle_status_flags_s *status_flags,
const float avionics_power_rail_voltage,
const uint8_t arm_requirements,
const hrt_abstime& time_since_boot)
transition_result_t arming_state_transition(vehicle_status_s *status, const battery_status_s &battery,
const safety_s &safety, const arming_state_t new_arming_state, actuator_armed_s *armed, const bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, vehicle_status_flags_s *status_flags, const float avionics_power_rail_voltage,
const uint8_t arm_requirements, const hrt_abstime &time_since_boot)
{
// Double check that our static arrays are still valid
static_assert(vehicle_status_s::ARMING_STATE_INIT == 0, "ARMING_STATE_INIT == 0");
@ -141,13 +132,12 @@ transition_result_t arming_state_transition(vehicle_status_s *status, @@ -141,13 +132,12 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
if (fRunPreArmChecks && new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
&& !hil_enabled) {
bool preflight_check = Preflight::preflightCheck(mavlink_log_pub, sensor_checks,
checkAirspeed, (status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT),
arm_requirements & ARM_REQ_GPS_BIT, true, status->is_vtol, true, true, time_since_boot);
bool preflight_check = Preflight::preflightCheck(mavlink_log_pub, sensor_checks, checkAirspeed,
(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), arm_requirements & ARM_REQ_GPS_BIT, true,
status->is_vtol, true, true, time_since_boot);
prearm_ret = prearm_check(mavlink_log_pub, true /* pre-arm */, false /* force_report */,
status_flags, battery, arm_requirements, time_since_boot);
prearm_ret = prearm_check(mavlink_log_pub, true /* pre-arm */, false /* force_report */, status_flags, battery,
arm_requirements, time_since_boot);
if (!preflight_check) {
prearm_ret = false;
@ -163,9 +153,9 @@ transition_result_t arming_state_transition(vehicle_status_s *status, @@ -163,9 +153,9 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) {
prearm_ret = Preflight::preflightCheck(mavlink_log_pub, sensor_checks,
checkAirspeed, (status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT),
arm_requirements & ARM_REQ_GPS_BIT, true, status->is_vtol, false, false, time_since_boot);
prearm_ret = Preflight::preflightCheck(mavlink_log_pub, sensor_checks, checkAirspeed,
(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), arm_requirements & ARM_REQ_GPS_BIT, true,
status->is_vtol, false, false, time_since_boot);
status_flags->condition_system_sensors_initialized = (prearm_ret == OK);
last_preflight_check = hrt_absolute_time();
@ -309,9 +299,8 @@ transition_result_t arming_state_transition(vehicle_status_s *status, @@ -309,9 +299,8 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
}
}
if ((arm_requirements & ARM_REQ_ARM_AUTH_BIT)
&& new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
&& valid_transition) {
if ((arm_requirements & ARM_REQ_ARM_AUTH_BIT) && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
&& valid_transition) {
if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
feedback_provided = true;
valid_transition = false;
@ -325,8 +314,10 @@ transition_result_t arming_state_transition(vehicle_status_s *status, @@ -325,8 +314,10 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
|| new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY;
ret = TRANSITION_CHANGED;
status->arming_state = new_arming_state;
if(new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
armed->armed_time_ms = hrt_absolute_time() / 1000;
} else {
armed->armed_time_ms = 0;
}
@ -348,15 +339,15 @@ transition_result_t arming_state_transition(vehicle_status_s *status, @@ -348,15 +339,15 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
if (ret == TRANSITION_DENIED) {
/* print to MAVLink and console if we didn't provide any feedback yet */
if (!feedback_provided) {
mavlink_log_critical(mavlink_log_pub, "TRANSITION_DENIED: %s - %s", arming_state_names[status->arming_state],
arming_state_names[new_arming_state]);
mavlink_log_critical(mavlink_log_pub, "TRANSITION_DENIED: %s - %s",
arming_state_names[status->arming_state], arming_state_names[new_arming_state]);
}
}
return ret;
}
bool is_safe(const safety_s& safety, const actuator_armed_s& armed)
bool is_safe(const safety_s &safety, const actuator_armed_s &armed)
{
// System is safe if:
// 1) Not armed
@ -368,7 +359,8 @@ bool is_safe(const safety_s& safety, const actuator_armed_s& armed) @@ -368,7 +359,8 @@ bool is_safe(const safety_s& safety, const actuator_armed_s& armed)
}
transition_result_t
main_state_transition(const vehicle_status_s& status, const main_state_t new_main_state, const vehicle_status_flags_s& status_flags, commander_state_s *internal_state)
main_state_transition(const vehicle_status_s &status, const main_state_t new_main_state,
const vehicle_status_flags_s &status_flags, commander_state_s *internal_state)
{
// IMPORTANT: The assumption of callers of this function is that the execution of
// this check if essentially "free". Therefore any runtime checking in here has to be
@ -457,7 +449,10 @@ main_state_transition(const vehicle_status_s& status, const main_state_t new_mai @@ -457,7 +449,10 @@ main_state_transition(const vehicle_status_s& status, const main_state_t new_mai
case commander_state_s::MAIN_STATE_AUTO_PRECLAND:
/* need local and global position, and precision land only implemented for multicopters */
if (status_flags.condition_local_position_valid && status_flags.condition_global_position_valid && status.is_rotary_wing) {
if (status_flags.condition_local_position_valid
&& status_flags.condition_global_position_valid
&& status.is_rotary_wing) {
ret = TRANSITION_CHANGED;
}
@ -495,7 +490,7 @@ main_state_transition(const vehicle_status_s& status, const main_state_t new_mai @@ -495,7 +490,7 @@ main_state_transition(const vehicle_status_s& status, const main_state_t new_mai
* Transition from one hil state to another
*/
transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub,
struct vehicle_status_s *current_status, orb_advert_t *mavlink_log_pub)
vehicle_status_s *current_status, orb_advert_t *mavlink_log_pub)
{
transition_result_t ret = TRANSITION_DENIED;
@ -553,8 +548,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta @@ -553,8 +548,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
/**
* Enable failsafe and report to user
*/
void enable_failsafe(struct vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub,
const char *reason)
void enable_failsafe(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const char *reason)
{
if (!old_failsafe && status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
mavlink_log_critical(mavlink_log_pub, "Failsafe enabled: %s", reason);
@ -566,18 +560,10 @@ void enable_failsafe(struct vehicle_status_s *status, bool old_failsafe, orb_adv @@ -566,18 +560,10 @@ void enable_failsafe(struct vehicle_status_s *status, bool old_failsafe, orb_adv
/**
* Check failsafe and main status and set navigation status for navigator accordingly
*/
bool set_nav_state(vehicle_status_s *status,
actuator_armed_s *armed,
commander_state_s *internal_state,
orb_advert_t *mavlink_log_pub,
const link_loss_actions_t data_link_loss_act,
const bool mission_finished,
const bool stay_in_failsafe,
const vehicle_status_flags_s& status_flags,
bool landed,
const link_loss_actions_t rc_loss_act,
const int offb_loss_act,
const int offb_loss_rc_act,
bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_state_s *internal_state,
orb_advert_t *mavlink_log_pub, const link_loss_actions_t data_link_loss_act, const bool mission_finished,
const bool stay_in_failsafe, const vehicle_status_flags_s &status_flags, bool landed,
const link_loss_actions_t rc_loss_act, const int offb_loss_act, const int offb_loss_rc_act,
const int posctl_nav_loss_act)
{
navigation_state_t nav_state_old = status->nav_state;
@ -606,7 +592,8 @@ bool set_nav_state(vehicle_status_s *status, @@ -606,7 +592,8 @@ bool set_nav_state(vehicle_status_s *status,
if (rc_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act,
vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
} else {
switch (internal_state->main_state) {
@ -643,14 +630,17 @@ bool set_nav_state(vehicle_status_s *status, @@ -643,14 +630,17 @@ bool set_nav_state(vehicle_status_s *status,
if (rc_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act,
vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
/* As long as there is RC, we can fallback to ALTCTL, or STAB. */
/* A local position estimate is enough for POSCTL for multirotors,
* this enables POSCTL using e.g. flow.
* For fixedwing, a global position is needed. */
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, !(posctl_nav_loss_act == 1), !status->is_rotary_wing)) {
} else if (is_armed
&& check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, !(posctl_nav_loss_act == 1),
!status->is_rotary_wing)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else {
@ -683,7 +673,8 @@ bool set_nav_state(vehicle_status_s *status, @@ -683,7 +673,8 @@ bool set_nav_state(vehicle_status_s *status,
* check for datalink lost: this should always trigger RTGS */
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act, vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS);
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act,
vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS);
} else if (!data_link_loss_act_configured && status->rc_signal_lost && status->data_link_lost && !landed
&& mission_finished) {
@ -692,7 +683,8 @@ bool set_nav_state(vehicle_status_s *status, @@ -692,7 +683,8 @@ bool set_nav_state(vehicle_status_s *status,
* or all links are lost after the mission finishes in air: this should always trigger RCRECOVER */
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act,
vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
} else if (!stay_in_failsafe) {
/* stay where you are if you should stay in failsafe, otherwise everything is perfect */
@ -711,7 +703,8 @@ bool set_nav_state(vehicle_status_s *status, @@ -711,7 +703,8 @@ bool set_nav_state(vehicle_status_s *status,
// nothing to do - everything done in check_invalid_pos_nav_state
} else if (status->data_link_lost && data_link_loss_act_configured && !landed) {
/* also go into failsafe if just datalink is lost, and we're actually in air */
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act, vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS);
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act,
vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS);
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
@ -719,7 +712,8 @@ bool set_nav_state(vehicle_status_s *status, @@ -719,7 +712,8 @@ bool set_nav_state(vehicle_status_s *status,
/* go into failsafe if RC is lost and datalink loss is not set up and rc loss is not DISABLED */
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act,
vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
} else if (status->rc_signal_lost) {
/* don't bother if RC is lost if datalink is connected */
@ -920,18 +914,17 @@ bool set_nav_state(vehicle_status_s *status, @@ -920,18 +914,17 @@ bool set_nav_state(vehicle_status_s *status,
return status->nav_state != nav_state_old;
}
bool check_invalid_pos_nav_state(vehicle_status_s *status,
bool old_failsafe,
orb_advert_t *mavlink_log_pub,
const vehicle_status_flags_s& status_flags,
const bool use_rc, // true if we can fallback to a mode that uses RC inputs
const bool using_global_pos) // true if the current flight mode requires a global position
bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub,
const vehicle_status_flags_s &status_flags, const bool use_rc, const bool using_global_pos)
{
bool fallback_required = false;
if (using_global_pos && !status_flags.condition_global_position_valid) {
fallback_required = true;
} else if (!using_global_pos && (!status_flags.condition_local_position_valid || !status_flags.condition_local_velocity_valid)) {
} else if (!using_global_pos
&& (!status_flags.condition_local_position_valid || !status_flags.condition_local_velocity_valid)) {
fallback_required = true;
}
@ -961,6 +954,7 @@ bool check_invalid_pos_nav_state(vehicle_status_s *status, @@ -961,6 +954,7 @@ bool check_invalid_pos_nav_state(vehicle_status_s *status,
// TODO: FW position controller doesn't run without condition_global_position_valid
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
}
} else {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
}
@ -979,11 +973,8 @@ bool check_invalid_pos_nav_state(vehicle_status_s *status, @@ -979,11 +973,8 @@ bool check_invalid_pos_nav_state(vehicle_status_s *status,
}
void set_link_loss_nav_state(vehicle_status_s *status,
actuator_armed_s *armed,
const vehicle_status_flags_s& status_flags,
commander_state_s *internal_state,
const link_loss_actions_t link_loss_act,
void set_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed,
const vehicle_status_flags_s &status_flags, commander_state_s *internal_state, const link_loss_actions_t link_loss_act,
uint8_t auto_recovery_nav_state)
{
// do the best you can according to the action set
@ -1045,8 +1036,8 @@ void reset_link_loss_globals(actuator_armed_s *armed, const bool old_failsafe, c @@ -1045,8 +1036,8 @@ void reset_link_loss_globals(actuator_armed_s *armed, const bool old_failsafe, c
}
int prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm, const bool force_report,
vehicle_status_flags_s *status_flags, const battery_status_s& battery, const uint8_t arm_requirements,
const hrt_abstime& time_since_boot)
vehicle_status_flags_s *status_flags, const battery_status_s &battery, const uint8_t arm_requirements,
const hrt_abstime &time_since_boot)
{
bool reportFailures = force_report || (!status_flags->condition_system_prearm_error_reported &&
status_flags->condition_system_hotplug_timeout);
@ -1069,9 +1060,8 @@ int prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm, const bool fo @@ -1069,9 +1060,8 @@ int prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm, const bool fo
}
// mission required
if ((arm_requirements & ARM_REQ_MISSION_BIT) &&
(!status_flags->condition_auto_mission_available ||
!status_flags->condition_global_position_valid)) {
if ((arm_requirements & ARM_REQ_MISSION_BIT)
&& (!status_flags->condition_auto_mission_available || !status_flags->condition_global_position_valid)) {
prearm_ok = false;

84
src/modules/commander/state_machine_helper.h
Unescape View File

@ -53,19 +53,19 @@ @@ -53,19 +53,19 @@
#include <uORB/topics/vehicle_status_flags.h>
typedef enum {
TRANSITION_DENIED = -1,
TRANSITION_NOT_CHANGED = 0,
TRANSITION_CHANGED
TRANSITION_DENIED = -1,
TRANSITION_NOT_CHANGED = 0,
TRANSITION_CHANGED
} transition_result_t;
enum class link_loss_actions_t {
DISABLED = 0,
AUTO_LOITER = 1,
AUTO_RTL = 2,
AUTO_LAND = 3,
AUTO_RECOVER = 4,
TERMINATE = 5,
LOCKDOWN = 6,
DISABLED = 0,
AUTO_LOITER = 1,
AUTO_RTL = 2,
AUTO_LAND = 3,
AUTO_RECOVER = 4,
TERMINATE = 5,
LOCKDOWN = 6,
};
typedef enum {
@ -77,55 +77,37 @@ typedef enum { @@ -77,55 +77,37 @@ typedef enum {
extern const char *const arming_state_names[];
bool is_safe(const safety_s& safety, const actuator_armed_s& armed);
bool is_safe(const safety_s &safety, const actuator_armed_s &armed);
transition_result_t arming_state_transition(vehicle_status_s *status,
const battery_status_s& battery,
const safety_s& safety,
const arming_state_t new_arming_state,
actuator_armed_s *armed,
const bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
vehicle_status_flags_s *status_flags,
const float avionics_power_rail_voltage,
const uint8_t arm_requirements,
const hrt_abstime& time_since_boot);
transition_result_t arming_state_transition(vehicle_status_s *status, const battery_status_s &battery,
const safety_s &safety, const arming_state_t new_arming_state, actuator_armed_s *armed, const bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, vehicle_status_flags_s *status_flags, const float avionics_power_rail_voltage,
const uint8_t arm_requirements, const hrt_abstime &time_since_boot);
transition_result_t
main_state_transition(const vehicle_status_s& status, const main_state_t new_main_state, const vehicle_status_flags_s& status_flags, commander_state_s *internal_state);
transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub, struct vehicle_status_s *current_status, orb_advert_t *mavlink_log_pub);
void enable_failsafe(struct vehicle_status_s *status, bool old_failsafe,
orb_advert_t *mavlink_log_pub, const char *reason);
bool set_nav_state(vehicle_status_s *status,
actuator_armed_s *armed,
commander_state_s *internal_state,
orb_advert_t *mavlink_log_pub,
const link_loss_actions_t data_link_loss_act,
const bool mission_finished,
const bool stay_in_failsafe,
const vehicle_status_flags_s& status_flags,
bool landed,
const link_loss_actions_t rc_loss_act,
const int offb_loss_act,
const int offb_loss_rc_act,
main_state_transition(const vehicle_status_s &status, const main_state_t new_main_state,
const vehicle_status_flags_s &status_flags, commander_state_s *internal_state);
transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub,
vehicle_status_s *current_status, orb_advert_t *mavlink_log_pub);
void enable_failsafe(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const char *reason);
bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_state_s *internal_state,
orb_advert_t *mavlink_log_pub, const link_loss_actions_t data_link_loss_act, const bool mission_finished,
const bool stay_in_failsafe, const vehicle_status_flags_s &status_flags, bool landed,
const link_loss_actions_t rc_loss_act, const int offb_loss_act, const int offb_loss_rc_act,
const int posctl_nav_loss_act);
/*
* Checks the validty of position data aaainst the requirements of the current navigation
* mode and switches mode if position data required is not available.
*/
bool check_invalid_pos_nav_state(vehicle_status_s *status,
bool old_failsafe,
orb_advert_t *mavlink_log_pub,
const vehicle_status_flags_s& status_flags,
const bool use_rc, // true if a mode using RC control can be used as a fallback
const bool using_global_pos); // true when the current mode requires a global position estimate
int prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm,
const bool force_report, vehicle_status_flags_s *status_flags, const battery_status_s& battery,
const uint8_t arm_requirements, const hrt_abstime& time_since_boot);
bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub,
const vehicle_status_flags_s &status_flags, const bool use_rc, const bool using_global_pos);
int prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm, const bool force_report,
vehicle_status_flags_s *status_flags, const battery_status_s &battery, const uint8_t arm_requirements,
const hrt_abstime &time_since_boot);
#endif /* STATE_MACHINE_HELPER_H_ */

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