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RETURN
MANUAL
ASSIST
AUTO
LOITER
ALTCTL
POSCTL
MISSION
MODE_SW > AUTO_TH?
Y
RETURN_SW > RETURN_TH?
Y
LOITER_SW > LOITER_TH?
N
Y
N
N
MODE_SW > ASSIST_TH?
POSCTL_SW > POSCTL_TH?
Y
N
N
START
Y
Note: Absence of a switch results in selection of the N path.