Background
I’m working on it
Reasoning Behind Restructuring
We are once again restructuring path manager! The current goal is to restructure PM so that it focuses more on path management while AM will take care of movement such as calculating roll, pitch, yaw, and adjusting throttle.
State Machine Changes
Some state names have been renamed to better reflect what is happening within the state. resetVariables has been renamed to FlightModeSelector where PM will figure out what flight mode and flight stage it is in.
The coordinateTurnElevation state has been removed as it previously calculated roll, pitch, yaw, etc which has been passed onto AM. Now, the desired heading is calculated in one of the flight modes and is passed to AM to make movement calculations.
There are currently two flight modes: CruisingMode and LandingTakeoffMode. Within LandingTakeoffMode there are three possible stages: PreflightStage, TakeoffStage, LandingStage (not shown in diagram, will draw a new one later)
