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SM is the most high-level software in ZP3 which decides how to properly coordinate the other managers such that the drone can fly under the control.
List of Features:
not necessarily a state machine, a linear loop may work better
with methods under a class object for encapsulation purposes
it is procedural instead of multithreading
it does input/output
it doesn’t manage individual managermanagers, instead, it talks to ardupoilt for what it needs
generally, decide what to do next
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does it have any freeRTOS featurefeatures? - it has?
does Are IO separately manage managed by SM? what are the IOs - ppm mavlink
a linear loop that calls everything we may need but we grab the data we need for the algorithm can really simplify the SM - yes
we may need the states to indicate the managers neededactivated (with PM/without PM) - always without PM because PM is replaced by ardupoilt