...
The above diagram shows the state flow of the Path manager. The following diagram shows which modules get which data from which other modules. (Note that no 2 sub modules directly talk to each other. Rather it's the state machine that does the work of communicating the data from one to the other).
Some notes:
- Autonomous takeoffs/landing is still a whiles away, but not sure how it would fit into such an architecture. Probably want another state machine that takes control from this one when we deal with take offs/landings.
- Not sure how information coming from the computer vision will be used. Does it belong in this state machine ? Probably will need another state machine that takes over control from this one once we're close enough that we can start finding targets via computer vision.
...