Mani Monajjemi
223 linhas
4.6 KiB
C
223 linhas
4.6 KiB
C
/**
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* \file control_states.h
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* \brief Control states declaration for control loop & ihm display
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* \author Sylvain Gaeremynck <sylvain.gaeremynck@parrot.com>
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* \version 1.0
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*/
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#ifndef _CONTROL_STATES_H_
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#define _CONTROL_STATES_H_
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#ifdef CTRL_STATES_STRING
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typedef char ctrl_string_t[32];
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#endif
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// Macros to customize preprocessing
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// If this CTRL_STATES_STRING is not defined, this file declare several enumeration
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// If user defines CTRL_STATES_STRING, this file will define several array of strings.
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// Each string being equivalent to an enumeration entry
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#ifdef CTRL_STATES_STRING
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#define CVAR(a) #a /* Using # causes the first argument after the # to be returned as a string in quotes */
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#define CVARZ(a) #a
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#else
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#define CVARZ(a) a = 0
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#define CVAR(a) a
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#endif
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/**
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* \enum CONTROL_STATE
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* \brief control loop thread states.
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* \brief this defines major states
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*/
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#ifndef DO_NOT_INCLUDE_MAJOR_CTRL_STATES
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#ifdef CTRL_STATES_STRING
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static ctrl_string_t ctrl_states[] = {
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#else
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typedef enum {
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#endif
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CVARZ( CTRL_DEFAULT ),
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CVAR( CTRL_INIT ),
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CVAR( CTRL_LANDED ),
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CVAR( CTRL_FLYING ),
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CVAR( CTRL_HOVERING ),
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CVAR( CTRL_TEST ),
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CVAR( CTRL_TRANS_TAKEOFF ),
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CVAR( CTRL_TRANS_GOTOFIX ),
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CVAR( CTRL_TRANS_LANDING ),
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CVAR( CTRL_TRANS_LOOPING ),
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//CVAR( CTRL_TRANS_NO_VISION ),
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#ifndef CTRL_STATES_STRING
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CTRL_NUM_STATES
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} CTRL_STATES;
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#else
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};
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#endif
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#endif
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/**
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* \enum FLYING_STATES
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* \brief flying states.
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* \brief this is one of the minor state
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*/
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#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
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#ifdef CTRL_STATES_STRING
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static ctrl_string_t flying_states[] = {
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#else
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typedef enum {
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#endif
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CVARZ( FLYING_OK ),
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CVAR( FLYING_LOST_ALT ),
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CVAR( FLYING_LOST_ALT_GO_DOWN ),
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CVAR( FLYING_ALT_OUT_ZONE ),
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CVAR( FLYING_COMBINED_YAW ),
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CVAR( FLYING_BRAKE ),
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CVAR( FLYING_NO_VISION ),
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#ifndef CTRL_STATES_STRING
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} FLYING_STATES;
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#else
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};
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#endif
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#endif
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/**
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* \enum HOVERING_STATES
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* \brief flying states.
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* \brief this is one of the minor state
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*/
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#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
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#ifdef CTRL_STATES_STRING
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static ctrl_string_t hovering_states[] = {
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#else
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typedef enum {
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#endif
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CVARZ( HOVERING_OK ),
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CVAR( HOVERING_YAW ),
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CVAR( HOVERING_YAW_LOST_ALT),
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CVAR( HOVERING_YAW_LOST_ALT_GO_DOWN),
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CVAR( HOVERING_ALT_OUT_ZONE),
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CVAR( HOVERING_YAW_ALT_OUT_ZONE),
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CVAR( HOVERING_LOST_ALT ),
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CVAR( HOVERING_LOST_ALT_GO_DOWN ),
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CVAR( HOVERING_LOST_COM ),
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CVAR( LOST_COM_LOST_ALT ),
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CVAR( LOST_COM_LOST_ALT_TOO_LONG ),
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CVAR( LOST_COM_ALT_OK ),
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CVAR( HOVERING_MAGNETO_CALIB ),
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CVAR( HOVERING_DEMO )
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#ifndef CTRL_STATES_STRING
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} HOVERING_STATES;
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#else
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};
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#endif
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#endif
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/**
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* \enum TAKEOFF_TRANS_STATES
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* \brief take off states.
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* \brief this is one of the minor state
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*/
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#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
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#ifdef CTRL_STATES_STRING
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static ctrl_string_t takeoff_trans_states[] = {
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#else
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typedef enum {
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#endif
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CVARZ( TAKEOFF_GROUND ),
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CVAR( TAKEOFF_AUTO ),
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#ifndef CTRL_STATES_STRING
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} TAKEOFF_TRANS_STATES;
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#else
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};
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#endif
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#endif
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/**
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* \enum GOTOFIX_TRANS_STATES
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* \brief gotofix substates.
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* \brief this is one of the minor state
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*/
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#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
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#ifdef CTRL_STATES_STRING
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static ctrl_string_t gotofix_trans_states[] = {
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#else
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typedef enum {
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#endif
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CVARZ( GOTOFIX_OK ),
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CVAR( GOTOFIX_LOST_ALT ),
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CVAR( GOTOFIX_YAW ),
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#ifndef CTRL_STATES_STRING
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} GOTOFIX_TRANS_STATES;
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#else
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};
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#endif
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#endif
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/**
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* \enum LANDING_TRANS_STATES
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* \brief landing states.
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* \brief this is one of the minor state
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*/
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#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
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#ifdef CTRL_STATES_STRING
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static ctrl_string_t landing_trans_states[] = {
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#else
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typedef enum {
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#endif
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CVARZ( LANDING_CLOSED_LOOP ),
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CVAR( LANDING_OPEN_LOOP ),
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CVAR( LANDING_OPEN_LOOP_FAST )
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#ifndef CTRL_STATES_STRING
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} LANDING_TRANS_STATES;
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#else
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};
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#endif
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#endif
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/**
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* \enum TAKEOFF_TRANS_STATES
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* \brief take off states.
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* \brief this is one of the minor state
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*/
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#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
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#ifdef CTRL_STATES_STRING
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static ctrl_string_t looping_trans_states[] = {
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#else
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typedef enum {
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#endif
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CVARZ( LOOPING_IMPULSION),
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CVAR( LOOPING_OPEN_LOOP_CTRL ),
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CVAR( LOOPING_PLANIF_CTRL )
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#ifndef CTRL_STATES_STRING
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} LOOPING_TRANS_STATES;
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#else
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};
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#endif
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#endif
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#ifdef CTRL_STATES_STRING
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#ifndef DO_NOT_INCLUDE_CTRL_STATES_LINK
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/**
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* control link tates
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* \brief This array is used to link minor states & major state's strings
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*/
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static ctrl_string_t* control_states_link[] = {
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NULL,
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NULL,
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NULL,
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flying_states,
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hovering_states,
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NULL,
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takeoff_trans_states,
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gotofix_trans_states,
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landing_trans_states,
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looping_trans_states
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};
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#endif
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#endif
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#endif // _CONTROL_STATES_H_
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