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Common Interface Structs & Methods

AM ↔︎ PM

Path Manager → Attitude Manager

typedef struct CommandsForAM_t{
  WaypointType waypoint_type; 

  // heading unit vector and magnitude
  float heading_dist_x; 
  float heading_dist_y; 
  float heading_dist_z; 
  float heading_magnitude; // Magnitude distance to waypoint target
  double velocity_target; // Target velocity of drone approaching target
} CommandsForAM;

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The velocity target is the desired speed for the drone to approach the waypoint (For use notably in takeoff and landing)

Attitude Manager → Path Manager

AM may return:

• Successfully got data

• Successfully executing data

• Error executing data

• Any failure mode

• user control requested

• disarm/arm

AM ↔︎ TM

PM ↔︎ TM

TM ↔︎ CV

TM ↔︎ GS

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