state.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without 
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, 
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice, 
 * this list of conditions and the following disclaimer in the documentation 
 * and/or other materials provided with the distribution.
 * 
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
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 ******************************************************************************/
 
/*******************************************************************************
 * \file state.h
 *
 * \author MAV'RIC Team
 * \author Nicolas Dousse
 *   
 * \brief Holds the current status of the MAV
 *
 ******************************************************************************/


#ifndef STATE_H_
#define STATE_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "stdint.h"
#include "mav_modes.h"
#include "analog_monitor.h"
#include <stdbool.h>

typedef enum
{
    CLIMB_TO_SAFE_ALT,                                  
    FLY_TO_HOME_WP,                                     
    CRITICAL_LAND                                       
} critical_behavior_enum;

typedef enum
{
    DESCENT_TO_SMALL_ALTITUDE,                          
    DESCENT_TO_GND                                      
} auto_landing_behavior_t;

typedef enum MAV_MODE_FLAG mav_flag_t;

typedef struct  
{
    mav_mode_t mav_mode;                                
    mav_state_t mav_state;                              
    
    mav_mode_custom_t mav_mode_custom;                  
    
    int32_t simulation_mode;                            
    
    uint8_t autopilot_type;                             
    uint8_t autopilot_name;                             
    
    uint16_t sensor_present;                            
    uint16_t sensor_enabled;                            
    uint16_t sensor_health;                             

    bool nav_plan_active;                               
    bool in_the_air;                                    
    bool reset_position;                                
    
    uint32_t remote_active;                             
    uint32_t use_mode_from_remote;                      
    
    const analog_monitor_t* analog_monitor;             
} state_t;


bool state_init(state_t *state, state_t* state_config, const analog_monitor_t* analog_monitor);

void state_switch_to_active_mode(state_t* state,mav_state_t* mav_state);

#ifdef __cplusplus
}
#endif

#endif //STATE_H_