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PM will then enter FlightStageSelectorMode, the main part of the state machine. Within this mode, PM will change flight states if triggered to do so. While flying, PM may enter any of the following flight states: Disarmed, Takeoff, Cruising, Landing, and Landed. Note: a Preflight state and PreflightStage stage may be added. If we are in the Disarmed state or Landed state PM will go back to the start. However, if we are in Takeoff, Cruising, or Landing, PM will execute their respective stages.
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| Code Block |
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typedef struct CommandsForAM_t{
2 WaypointType waypoint_type; // not necessary
3
4 // heading unit vector and magnitude
5 float heading_dist_x;
6 float heading_dist_y;
7 float heading_dist_z;
8 float heading_magnitude; // Magnitude distance to waypoint target
9 float heading; // heading at target waypoint
10 double velocityspeed_target; // Target velocity of drone approaching target
11} CommandsForAM; |
AM → PM Struct:
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