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commander log full status flags

sbg
Daniel Agar 7 years ago committed by Lorenz Meier
parent
dc2d6e8aab
commit
8b0ba3c34c
5 changed files with 59 additions and 228 deletions
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  1. 88
      msg/vehicle_status_flags.msg
  2. 128
      src/modules/commander/commander.cpp
  3. 4
      src/modules/commander/commander_tests/state_machine_helper_test.cpp
  4. 18
      src/modules/commander/state_machine_helper.cpp
  5. 49
      src/modules/commander/state_machine_helper.h

88
msg/vehicle_status_flags.msg
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@ -1,61 +1,35 @@ @@ -1,61 +1,35 @@
# define mask for conditions flags
uint16 CONDITION_CALIBRATION_ENABLE_MASK = 1
uint16 CONDITION_SYSTEM_SENSORS_INITIALIZED_MASK = 2
uint16 CONDITION_SYSTEM_PREARM_ERROR_REPORTED_MASK = 4
uint16 CONDITION_SYSTEM_HOTPLUG_TIMEOUT_MASK = 8
uint16 CONDITION_SYSTEM_RETURNED_TO_HOME_MASK = 16
uint16 CONDITION_AUTO_MISSION_AVAILABLE_MASK = 32
uint16 CONDITION_GLOBAL_POSITION_VALID_MASK = 64
uint16 CONDITION_HOME_POSITION_VALID_MASK = 128
uint16 CONDITION_LOCAL_POSITION_VALID_MASK = 256
uint16 CONDITION_LOCAL_ALTITUDE_VALID_MASK = 512
uint16 CONDITION_AIRSPEED_VALID_MASK = 1024
uint16 CONDITION_POWER_INPUT_VALID_MASK = 2048
# uint16 reserved for future implementation
# uint16 reserved for future implementation
# uint16 reserved for future implementation
# uint16 reserved for future implementation
# This is a struct used by the commander internally.
uint16 conditions
bool condition_calibration_enabled
bool condition_system_sensors_initialized
bool condition_system_prearm_error_reported # true if errors have already been reported
bool condition_system_hotplug_timeout # true if the hotplug sensor search is over
bool condition_system_returned_to_home
bool condition_auto_mission_available
bool condition_global_position_valid # set to true by the commander app if the quality of the global position estimate is good enough to use for navigation
bool condition_global_velocity_valid # set to true by the commander app if the quality of the global horizontal velocity data is good enough to use for navigation
bool condition_home_position_valid # indicates a valid home position (a valid home position is not always a valid launch)
bool condition_local_position_valid # set to true by the commander app if the quality of the local position estimate is good enough to use for navigation
bool condition_local_velocity_valid # set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation
bool condition_local_altitude_valid
bool condition_airspeed_valid # set to true by the commander app if there is a valid airspeed measurement available
bool condition_power_input_valid # set if input power is valid
# define mask for circuit breaker flags
uint8 CIRCUIT_BREAKER_ENGAGED_POWER_CHECK_MASK = 1
uint8 CIRCUIT_BREAKER_ENGAGED_AIRSPD_CHECK_MASK = 2
uint8 CIRCUIT_BREAKER_ENGAGED_ENGINEFAILURE_CHECK_MASK = 4
uint8 CIRCUIT_BREAKER_ENGAGED_GPSFAILURE_CHECK_MASK = 8
uint8 CIRCUIT_BREAKER_FLIGHT_TERMINATION_DISABLED_MASK = 16
uint8 CIRCUIT_BREAKER_ENGAGED_USB_CHECK_MASK = 32
bool circuit_breaker_engaged_power_check
bool circuit_breaker_engaged_airspd_check
bool circuit_breaker_engaged_enginefailure_check
bool circuit_breaker_engaged_gpsfailure_check
bool circuit_breaker_flight_termination_disabled
bool circuit_breaker_engaged_usb_check
bool circuit_breaker_engaged_posfailure_check # set to true when the position valid checks have been disabled
# 0x0001 circuit_breaker_engaged_power_check
# 0x0002 circuit_breaker_engaged_airspd_check
# 0x0004 circuit_breaker_engaged_enginefailure_check
# 0x0008 circuit_breaker_engaged_gpsfailure_check
# 0x0010 circuit_breaker_flight_termination_disabled
# 0x0020 circuit_breaker_engaged_usb_check
bool offboard_control_signal_found_once
bool offboard_control_signal_lost
bool offboard_control_set_by_command # true if the offboard mode was set by a mavlink command and should not be overridden by RC
bool offboard_control_loss_timeout # true if offboard is lost for a certain amount of time
uint8 circuit_breakers
# define mask for other flags
uint16 USB_CONNECTED_MASK = 1
uint16 OFFBOARD_CONTROL_SIGNAL_FOUND_ONCE_MASK = 2
uint16 OFFBOARD_CONTROL_SIGNAL_LOST_MASK = 4
uint16 OFFBOARD_CONTROL_SIGNAL_WEAK_MASK = 8
uint16 OFFBOARD_CONTROL_SET_BY_COMMAND_MASK = 16
uint16 OFFBOARD_CONTROL_LOSS_TIMEOUT_MASK = 32
uint16 RC_SIGNAL_FOUND_ONCE_MASK = 64
uint16 RC_INPUT_BLOCKED_MASK = 256
uint16 VTOL_TRANSITION_FAILURE_MASK = 1024
uint16 GPS_FAILURE_MASK = 4096
# 0x0001 usb_connected: status of the USB power supply
# 0x0002 offboard_control_signal_found_once
# 0x0004 offboard_control_signal_lost
# 0x0008 offboard_control_signal_weak
# 0x0010 offboard_control_set_by_command: true if the offboard mode was set by a mavlink command and should not be overridden by RC
# 0x0020 offboard_control_loss_timeout: true if offboard is lost for a certain amount of time
# 0x0040 rc_signal_found_once
# 0x0100 rc_input_blocked: set if RC input should be ignored temporarily
# 0x0400 vtol_transition_failure: Set to true if vtol transition failed
# 0x1000 gps_failure: Set to true if a gps failure is detected
uint16 other_flags
bool rc_signal_found_once
bool rc_input_blocked # set if RC input should be ignored temporarily
bool vtol_transition_failure # Set to true if vtol transition failed
bool gps_failure # Set to true if a gps failure is detected
bool usb_connected # status of the USB power supply

128
src/modules/commander/commander.cpp
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@ -240,7 +240,7 @@ static uint8_t main_state_prev = 0; @@ -240,7 +240,7 @@ static uint8_t main_state_prev = 0;
static bool warning_action_on = false;
static bool last_overload = false;
static struct status_flags_s status_flags = {};
static struct vehicle_status_flags_s status_flags = {};
static uint64_t rc_signal_lost_timestamp; // Time at which the RC reception was lost
@ -312,12 +312,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub, const ch @@ -312,12 +312,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub, const ch
*/
void *commander_low_prio_loop(void *arg);
static void answer_command(struct vehicle_command_s &cmd, unsigned result,
orb_advert_t &command_ack_pub);
/* publish vehicle status flags from the global variable status_flags*/
static void publish_status_flags(orb_advert_t &vehicle_status_flags_pub, vehicle_status_flags_s& vehicle_status_flags);
static void answer_command(struct vehicle_command_s &cmd, unsigned result, orb_advert_t &command_ack_pub);
static int power_button_state_notification_cb(board_power_button_state_notification_e request)
{
@ -1382,7 +1377,6 @@ Commander::run() @@ -1382,7 +1377,6 @@ Commander::run()
orb_advert_t command_ack_pub = nullptr;
orb_advert_t commander_state_pub = nullptr;
orb_advert_t vehicle_status_flags_pub = nullptr;
vehicle_status_flags_s vehicle_status_flags = {};
/* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */
mission_init();
@ -3062,7 +3056,13 @@ Commander::run() @@ -3062,7 +3056,13 @@ Commander::run()
}
/* publish vehicle_status_flags */
publish_status_flags(vehicle_status_flags_pub, vehicle_status_flags);
status_flags.timestamp = hrt_absolute_time();
if (vehicle_status_flags_pub != nullptr) {
orb_publish(ORB_ID(vehicle_status_flags), vehicle_status_flags_pub, &status_flags);
} else {
vehicle_status_flags_pub = orb_advertise(ORB_ID(vehicle_status_flags), &status_flags);
}
}
/* play arming and battery warning tunes */
@ -4368,116 +4368,6 @@ void *commander_low_prio_loop(void *arg) @@ -4368,116 +4368,6 @@ void *commander_low_prio_loop(void *arg)
return nullptr;
}
void publish_status_flags(orb_advert_t &vehicle_status_flags_pub, vehicle_status_flags_s& vehicle_status_flags) {
vehicle_status_flags_s v_flags = {};
/* set condition status flags */
if (status_flags.condition_calibration_enabled) {
v_flags.conditions |= vehicle_status_flags_s::CONDITION_CALIBRATION_ENABLE_MASK;
}
if (status_flags.condition_system_sensors_initialized) {
v_flags.conditions |= vehicle_status_flags_s::CONDITION_SYSTEM_SENSORS_INITIALIZED_MASK;
}
if (status_flags.condition_system_prearm_error_reported) {
v_flags.conditions |= vehicle_status_flags_s::CONDITION_SYSTEM_PREARM_ERROR_REPORTED_MASK;
}
if (status_flags.condition_system_hotplug_timeout) {
v_flags.conditions |= vehicle_status_flags_s::CONDITION_SYSTEM_HOTPLUG_TIMEOUT_MASK;
}
if (status_flags.condition_system_returned_to_home) {
v_flags.conditions |= vehicle_status_flags_s::CONDITION_SYSTEM_RETURNED_TO_HOME_MASK;
}
if (status_flags.condition_auto_mission_available) {
v_flags.conditions |= vehicle_status_flags_s::CONDITION_AUTO_MISSION_AVAILABLE_MASK;
}
if (status_flags.condition_global_position_valid) {
v_flags.conditions |= vehicle_status_flags_s::CONDITION_GLOBAL_POSITION_VALID_MASK;
}
if (status_flags.condition_home_position_valid) {
v_flags.conditions |= vehicle_status_flags_s::CONDITION_HOME_POSITION_VALID_MASK;
}
if (status_flags.condition_local_position_valid) {
v_flags.conditions |= vehicle_status_flags_s::CONDITION_LOCAL_POSITION_VALID_MASK;
}
if (status_flags.condition_local_altitude_valid) {
v_flags.conditions |= vehicle_status_flags_s::CONDITION_LOCAL_ALTITUDE_VALID_MASK;
}
if (status_flags.condition_local_altitude_valid) {
v_flags.conditions |= vehicle_status_flags_s::CONDITION_LOCAL_ALTITUDE_VALID_MASK;
}
if (status_flags.condition_airspeed_valid) {
v_flags.conditions |= vehicle_status_flags_s::CONDITION_AIRSPEED_VALID_MASK;
}
if (status_flags.condition_power_input_valid) {
v_flags.conditions |= vehicle_status_flags_s::CONDITION_POWER_INPUT_VALID_MASK;
}
/* set circuit breaker status flags */
if (status_flags.circuit_breaker_engaged_power_check) {
v_flags.circuit_breakers |= vehicle_status_flags_s::CIRCUIT_BREAKER_ENGAGED_POWER_CHECK_MASK;
}
if (status_flags.circuit_breaker_engaged_airspd_check) {
v_flags.circuit_breakers |= vehicle_status_flags_s::CIRCUIT_BREAKER_ENGAGED_AIRSPD_CHECK_MASK;
}
if (status_flags.circuit_breaker_engaged_enginefailure_check) {
v_flags.circuit_breakers |= vehicle_status_flags_s::CIRCUIT_BREAKER_ENGAGED_ENGINEFAILURE_CHECK_MASK;
}
if (status_flags.circuit_breaker_engaged_gpsfailure_check) {
v_flags.circuit_breakers |= vehicle_status_flags_s::CIRCUIT_BREAKER_ENGAGED_GPSFAILURE_CHECK_MASK;
}
if (status_flags.circuit_breaker_flight_termination_disabled) {
v_flags.circuit_breakers |= vehicle_status_flags_s::CIRCUIT_BREAKER_FLIGHT_TERMINATION_DISABLED_MASK;
}
if (status_flags.circuit_breaker_engaged_usb_check) {
v_flags.circuit_breakers |= vehicle_status_flags_s::CIRCUIT_BREAKER_ENGAGED_USB_CHECK_MASK;
}
/* set other status flags */
if (status_flags.usb_connected) {
v_flags.other_flags |= vehicle_status_flags_s::USB_CONNECTED_MASK;
}
if (status_flags.offboard_control_signal_found_once) {
v_flags.other_flags |= vehicle_status_flags_s::OFFBOARD_CONTROL_SIGNAL_FOUND_ONCE_MASK;
}
if (status_flags.offboard_control_signal_lost) {
v_flags.other_flags |= vehicle_status_flags_s::OFFBOARD_CONTROL_SIGNAL_LOST_MASK;
}
if (status_flags.offboard_control_set_by_command) {
v_flags.other_flags |= vehicle_status_flags_s::OFFBOARD_CONTROL_SET_BY_COMMAND_MASK;
}
if (status_flags.offboard_control_loss_timeout) {
v_flags.other_flags |= vehicle_status_flags_s::OFFBOARD_CONTROL_LOSS_TIMEOUT_MASK;
}
if (status_flags.rc_signal_found_once) {
v_flags.other_flags |= vehicle_status_flags_s::RC_SIGNAL_FOUND_ONCE_MASK;
}
if (status_flags.rc_input_blocked) {
v_flags.other_flags |= vehicle_status_flags_s::RC_INPUT_BLOCKED_MASK;
}
if (status_flags.vtol_transition_failure) {
v_flags.other_flags |= vehicle_status_flags_s::VTOL_TRANSITION_FAILURE_MASK;
}
if (status_flags.gps_failure) {
v_flags.other_flags |= vehicle_status_flags_s::GPS_FAILURE_MASK;
}
if ((v_flags.conditions != vehicle_status_flags.conditions) ||
(v_flags.other_flags != vehicle_status_flags.other_flags) ||
(v_flags.circuit_breakers != vehicle_status_flags.circuit_breakers)) {
/* publish vehicle_status_flags */
vehicle_status_flags = v_flags;
vehicle_status_flags.timestamp = hrt_absolute_time();
if (vehicle_status_flags_pub != nullptr) {
orb_publish(ORB_ID(vehicle_status_flags), vehicle_status_flags_pub, &vehicle_status_flags);
} else {
vehicle_status_flags_pub = orb_advertise(ORB_ID(vehicle_status_flags), &vehicle_status_flags);
}
}
}
int Commander::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");

4
src/modules/commander/commander_tests/state_machine_helper_test.cpp
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@ -269,7 +269,7 @@ bool StateMachineHelperTest::armingStateTransitionTest() @@ -269,7 +269,7 @@ bool StateMachineHelperTest::armingStateTransitionTest()
};
struct vehicle_status_s status = {};
struct status_flags_s status_flags = {};
struct vehicle_status_flags_s status_flags = {};
struct safety_s safety = {};
struct actuator_armed_s armed = {};
struct battery_status_s battery = {};
@ -446,7 +446,7 @@ bool StateMachineHelperTest::mainStateTransitionTest() @@ -446,7 +446,7 @@ bool StateMachineHelperTest::mainStateTransitionTest()
// Setup initial machine state
struct vehicle_status_s current_vehicle_status = {};
struct commander_state_s current_commander_state = {};
struct status_flags_s current_status_flags = {};
struct vehicle_status_flags_s current_status_flags = {};
uint8_t main_state_prev = 0;

18
src/modules/commander/state_machine_helper.cpp
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@ -108,7 +108,7 @@ static int last_prearm_ret = 1; ///< initialize to fail @@ -108,7 +108,7 @@ static int last_prearm_ret = 1; ///< initialize to fail
void set_link_loss_nav_state(vehicle_status_s *status,
actuator_armed_s *armed,
status_flags_s *status_flags,
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);
@ -124,7 +124,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status, @@ -124,7 +124,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
actuator_armed_s *armed,
bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
status_flags_s *status_flags,
vehicle_status_flags_s *status_flags,
float avionics_power_rail_voltage,
uint8_t arm_requirements,
hrt_abstime time_since_boot)
@ -395,7 +395,7 @@ bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed @@ -395,7 +395,7 @@ bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed
transition_result_t
main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev,
status_flags_s *status_flags, struct commander_state_s *internal_state)
vehicle_status_flags_s *status_flags, struct 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
@ -601,7 +601,7 @@ bool set_nav_state(struct vehicle_status_s *status, @@ -601,7 +601,7 @@ bool set_nav_state(struct vehicle_status_s *status,
const link_loss_actions_t data_link_loss_act,
const bool mission_finished,
const bool stay_in_failsafe,
status_flags_s *status_flags,
vehicle_status_flags_s *status_flags,
bool landed,
const link_loss_actions_t rc_loss_act,
const int offb_loss_act,
@ -983,7 +983,7 @@ bool set_nav_state(struct vehicle_status_s *status, @@ -983,7 +983,7 @@ bool set_nav_state(struct vehicle_status_s *status,
void set_rc_loss_nav_state(vehicle_status_s *status,
actuator_armed_s *armed,
status_flags_s *status_flags,
vehicle_status_flags_s *status_flags,
commander_state_s *internal_state,
const link_loss_actions_t link_loss_act)
{
@ -993,7 +993,7 @@ void set_rc_loss_nav_state(vehicle_status_s *status, @@ -993,7 +993,7 @@ void set_rc_loss_nav_state(vehicle_status_s *status,
bool check_invalid_pos_nav_state(struct vehicle_status_s *status,
bool old_failsafe,
orb_advert_t *mavlink_log_pub,
status_flags_s *status_flags,
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
{
@ -1051,7 +1051,7 @@ bool check_invalid_pos_nav_state(struct vehicle_status_s *status, @@ -1051,7 +1051,7 @@ bool check_invalid_pos_nav_state(struct vehicle_status_s *status,
void set_data_link_loss_nav_state(vehicle_status_s *status,
actuator_armed_s *armed,
status_flags_s *status_flags,
vehicle_status_flags_s *status_flags,
commander_state_s *internal_state,
const link_loss_actions_t link_loss_act)
{
@ -1060,7 +1060,7 @@ void set_data_link_loss_nav_state(vehicle_status_s *status, @@ -1060,7 +1060,7 @@ void set_data_link_loss_nav_state(vehicle_status_s *status,
void set_link_loss_nav_state(vehicle_status_s *status,
actuator_armed_s *armed,
status_flags_s *status_flags,
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)
@ -1126,7 +1126,7 @@ void reset_link_loss_globals(struct actuator_armed_s *armed, const bool old_fail @@ -1126,7 +1126,7 @@ void reset_link_loss_globals(struct actuator_armed_s *armed, const bool old_fail
}
int prearm_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report,
status_flags_s *status_flags, battery_status_s *battery, uint8_t arm_requirements,
vehicle_status_flags_s *status_flags, battery_status_s *battery, uint8_t arm_requirements,
hrt_abstime time_since_boot)
{
bool reportFailures = force_report || (!status_flags->condition_system_prearm_error_reported &&

49
src/modules/commander/state_machine_helper.h
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@ -50,6 +50,7 @@ @@ -50,6 +50,7 @@
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/commander_state.h>
#include <uORB/topics/vehicle_status_flags.h>
typedef enum {
TRANSITION_DENIED = -1,
@ -74,40 +75,6 @@ typedef enum { @@ -74,40 +75,6 @@ typedef enum {
ARM_REQ_GPS_BIT = (1 << 2),
} arm_requirements_t;
// This is a struct used by the commander internally.
struct status_flags_s {
bool condition_calibration_enabled;
bool condition_system_sensors_initialized;
bool condition_system_prearm_error_reported; // true if errors have already been reported
bool condition_system_hotplug_timeout; // true if the hotplug sensor search is over
bool condition_system_returned_to_home;
bool condition_auto_mission_available;
bool condition_global_position_valid; // set to true by the commander app if the quality of the global position estimate is good enough to use for navigation
bool condition_global_velocity_valid; // set to true by the commander app if the quality of the global horizontal velocity data is good enough to use for navigation
bool condition_home_position_valid; // indicates a valid home position (a valid home position is not always a valid launch)
bool condition_local_position_valid; // set to true by the commander app if the quality of the local position estimate is good enough to use for navigation
bool condition_local_velocity_valid; // set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation
bool condition_local_altitude_valid;
bool condition_airspeed_valid; // set to true by the commander app if there is a valid airspeed measurement available
bool condition_power_input_valid; // set if input power is valid
bool usb_connected; // status of the USB power supply
bool circuit_breaker_engaged_power_check;
bool circuit_breaker_engaged_airspd_check;
bool circuit_breaker_engaged_enginefailure_check;
bool circuit_breaker_engaged_gpsfailure_check;
bool circuit_breaker_flight_termination_disabled;
bool circuit_breaker_engaged_usb_check;
bool circuit_breaker_engaged_posfailure_check; // set to true when the position valid checks have been disabled
bool offboard_control_signal_found_once;
bool offboard_control_signal_lost;
bool offboard_control_set_by_command; // true if the offboard mode was set by a mavlink command and should not be overridden by RC
bool offboard_control_loss_timeout; // true if offboard is lost for a certain amount of time
bool rc_signal_found_once;
bool rc_input_blocked; // set if RC input should be ignored temporarily
bool vtol_transition_failure; // Set to true if vtol transition failed
bool gps_failure; // Set to true if a gps failure is detected
};
extern const char *const arming_state_names[];
bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed);
@ -119,14 +86,14 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status, @@ -119,14 +86,14 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
struct actuator_armed_s *armed,
bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
status_flags_s *status_flags,
vehicle_status_flags_s *status_flags,
float avionics_power_rail_voltage,
uint8_t arm_requirements,
hrt_abstime time_since_boot);
transition_result_t
main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev,
status_flags_s *status_flags, struct commander_state_s *internal_state);
vehicle_status_flags_s *status_flags, struct 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);
@ -140,7 +107,7 @@ bool set_nav_state(struct vehicle_status_s *status, @@ -140,7 +107,7 @@ bool set_nav_state(struct vehicle_status_s *status,
const link_loss_actions_t data_link_loss_act,
const bool mission_finished,
const bool stay_in_failsafe,
status_flags_s *status_flags,
vehicle_status_flags_s *status_flags,
bool landed,
const link_loss_actions_t rc_loss_act,
const int offb_loss_act,
@ -154,18 +121,18 @@ bool set_nav_state(struct vehicle_status_s *status, @@ -154,18 +121,18 @@ bool set_nav_state(struct vehicle_status_s *status,
bool check_invalid_pos_nav_state(struct vehicle_status_s *status,
bool old_failsafe,
orb_advert_t *mavlink_log_pub,
status_flags_s *status_flags,
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
void set_rc_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, status_flags_s *status_flags,
void set_rc_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, vehicle_status_flags_s *status_flags,
commander_state_s *internal_state, const link_loss_actions_t link_loss_act);
void set_data_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, status_flags_s *status_flags,
void set_data_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, vehicle_status_flags_s *status_flags,
commander_state_s *internal_state, const link_loss_actions_t link_loss_act);
int prearm_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm,
bool force_report, status_flags_s *status_flags, battery_status_s *battery,
bool force_report, vehicle_status_flags_s *status_flags, battery_status_s *battery,
uint8_t arm_requirements, hrt_abstime time_since_boot);
#endif /* STATE_MACHINE_HELPER_H_ */

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