StateMachine Class Reference

Nominal flight state machine using launch/apogee detection and VVE. More...

#include <StateMachine.h>

Inheritance diagram for StateMachine:

Collaboration diagram for StateMachine:

Public Member Functions
	StateMachine (IDataSaver *dataSaver, LaunchDetector *launchDetector, ApogeeDetector *apogeeDetector, VerticalVelocityEstimator *verticalVelocityEstimator, FastLaunchDetector *fastLaunchDetector)
	Wire dependencies for the state machine.
int	update (const AccelerationTriplet &accel, const DataPoint &alt) override
	Process new sensor data and transition states if thresholds are met.
Public Member Functions inherited from BaseStateMachine
	BaseStateMachine (FlightState initialState=STATE_UNARMED)
virtual	~BaseStateMachine ()=default
virtual uint8_t	getState () const
	Current discrete state identifier.
bool	registerOnStateEntry (FlightState targetState, StateEntryCallback functionPtr)
	Register a callback to invoke each time a target state is entered.

Additional Inherited Members
Public Types inherited from BaseStateMachine
using	StateEntryCallback = void (*)()
Static Public Member Functions inherited from BaseStateMachine
static constexpr std::size_t	getMaxStateEntryCallbacks ()
Static Public Attributes inherited from BaseStateMachine
static constexpr std::size_t	kMaxStateEntryCallbacks = 32
Protected Member Functions inherited from BaseStateMachine
bool	changeState (FlightState newState)
	Transition to a new state and trigger registered on-entry callbacks.
FlightState	getFlightState () const
	Current state as FlightState enum.

Detailed Description

Nominal flight state machine using launch/apogee detection and VVE.

Note

When to use: standard flights where launch->coast->descent transitions are driven by detectors and logging is desired at each change.

Definition at line 18 of file StateMachine.h.

Constructor & Destructor Documentation

StateMachine()

StateMachine::StateMachine	(	IDataSaver *	dataSaver,
		LaunchDetector *	launchDetector,
		ApogeeDetector *	apogeeDetector,
		VerticalVelocityEstimator *	verticalVelocityEstimator,
		FastLaunchDetector *	fastLaunchDetector )

Wire dependencies for the state machine.

Parameters

dataSaver	Logger used to persist state changes.
launchDetector	Launch detector instance.
apogeeDetector	Apogee detector instance.
verticalVelocityEstimator	Vertical velocity estimator instance.

Note

When to use: build once during setup with already configured estimator/detector instances.

Definition at line 8 of file StateMachine.cpp.

Member Function Documentation

update()

int StateMachine::update ( const AccelerationTriplet & accel, const DataPoint & alt )

overridevirtual

Process new sensor data and transition states if thresholds are met.

Parameters

accel	Latest acceleration measurements.
alt	Latest altitude sample.

Note

When to use: call on every control loop iteration.

Implements BaseStateMachine.

Definition at line 22 of file StateMachine.cpp.

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The documentation for this class was generated from the following files:

• StateMachine.h
• StateMachine.cpp