Index: trunk/doc/Flair/_uav_state_machine_8h_source.html
===================================================================
--- trunk/doc/Flair/_uav_state_machine_8h_source.html	(revision 23)
+++ trunk/doc/Flair/_uav_state_machine_8h_source.html	(revision 25)
@@ -203,6 +203,6 @@
 <div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  };</div>
 <div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div>
-<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html">UavStateMachine</a>(<a class="code" href="classflair_1_1meta_1_1_uav.html">meta::Uav</a> *uav, uint16_t ds3Port = 20000);</div>
-<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  ~<a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html">UavStateMachine</a>();</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html">UavStateMachine</a>(<a class="code" href="classflair_1_1meta_1_1_uav.html">meta::Uav</a>* uav, <a class="code" href="classflair_1_1sensor_1_1_target_controller.html">sensor::TargetController</a>* controller);</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        ~<a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html">UavStateMachine</a>();</div>
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 <div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_quaternion.html">core::Quaternion</a> &amp;GetCurrentQuaternion(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
@@ -212,118 +212,122 @@
 <div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keyword">const</span> <a class="code" href="classflair_1_1meta_1_1_uav.html">meta::Uav</a> *GetUav(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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-<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordtype">void</span> Land(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordtype">void</span> TakeOff(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordtype">void</span> EmergencyStop(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div>
-<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a734a11e3bbedd8dd1726b2c450353da5">SignalEvent</a>(Event_t event);</div>
-<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div>
-<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *GetOrientation(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
-<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *GetDefaultOrientation(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
-<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div>
-<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> AltitudeValues(<span class="keywordtype">float</span> &amp;z, <span class="keywordtype">float</span> &amp;dz) <span class="keyword">const</span>; <span class="comment">// in uav coordinate!</span></div>
-<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordtype">void</span> EnterFailSafeMode(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordtype">bool</span> ExitFailSafeMode(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordtype">void</span> FailSafeAltitudeValues(<span class="keywordtype">float</span> &amp;z, <span class="keywordtype">float</span> &amp;dz) <span class="keyword">const</span>; <span class="comment">// in uav coordinate!</span></div>
-<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div>
-<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_grid_layout.html">gui::GridLayout</a> *GetButtonsLayout(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
-<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> ExtraSecurityCheck(<span class="keywordtype">void</span>){};</div>
-<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> ExtraCheckJoystick(<span class="keywordtype">void</span>){};</div>
-<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> ExtraCheckPushButton(<span class="keywordtype">void</span>){};</div>
-<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div>
-<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keywordtype">void</span> GetDefaultReferenceAltitude(<span class="keywordtype">float</span> &amp;refAltitude,</div>
-<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                                   <span class="keywordtype">float</span> &amp;refVerticalVelocity);</div>
-<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> GetReferenceAltitude(<span class="keywordtype">float</span> &amp;refAltitude,</div>
-<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                                    <span class="keywordtype">float</span> &amp;refVerticalVelocity);</div>
-<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="comment">// float GetDefaultThrustOffset(void);</span></div>
-<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *GetDefaultReferenceOrientation(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
-<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *GetReferenceOrientation(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div>
-<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a239d9f75ff1a46752c2b06c37726336a">ComputeCustomTorques</a>(<a class="code" href="classflair_1_1core_1_1_euler.html">core::Euler</a> &amp;torques);</div>
-<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div>
-<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#ac93d0d595a86a014c27375c973f693a8">ComputeDefaultTorques</a>(<a class="code" href="classflair_1_1core_1_1_euler.html">core::Euler</a> &amp;torques);</div>
-<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div>
-<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="comment">// const core::Euler &amp;GetTorques() const;</span></div>
-<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;</div>
-<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">float</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a6af7f575d90ef500717a999ea4c4afef">ComputeCustomThrust</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;</div>
-<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#ab25472bbf51a7baf97ec5e9cfc148f8b">ComputeDefaultThrust</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;</div>
-<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="comment">// float GetThrust() const;</span></div>
-<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;</div>
-<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#ab737f2861d5c1901a0f62f54fe2c0855">AddDeviceToControlLawLog</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_i_o_device.html">core::IODevice</a> *device);</div>
-<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;</div>
-<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#aa642bfeb1d97dec839088e2256a3699b">AddDataToControlLawLog</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1io__data.html">core::io_data</a> *data);</div>
-<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div>
-<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keyword">const</span> <a class="code" href="classflair_1_1sensor_1_1_target_controller.html">sensor::TargetController</a> *GetJoystick(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
-<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;</div>
-<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_tab.html">gui::Tab</a> *setupLawTab, *graphLawTab;</div>
-<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div>
-<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="keyword">private</span>:</div>
-<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keyword">enum class</span> AltitudeState_t {</div>
-<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86ac23e2b09ebe6bf4cb5e2a9abe85c0be2">Stopped</a>,      </div>
-<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a85916c5f3400cfa25d988f05b6736a94">TakingOff</a>,    </div>
-<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86afda22026db89cdc5e88b262ad9424b41">Stabilized</a>,   </div>
-<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a0a0480d215decaf46260e3db52e4dc4c">StartLanding</a>, </div>
-<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a0912358d703c9a28d93a2707b86161b2">FinishLanding</a> </div>
-<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  };</div>
-<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  AltitudeState_t altitudeState;</div>
-<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="keywordtype">void</span> ProcessAltitudeFiniteStateMachine();</div>
-<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="keywordtype">void</span> ComputeReferenceAltitude(<span class="keywordtype">float</span> &amp;refAltitude, <span class="keywordtype">float</span> &amp;refVerticalVelocity);</div>
-<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;</div>
-<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  <span class="keywordtype">float</span> groundAltitude; <span class="comment">// effective altitude when the uav leaves the ground</span></div>
-<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="keywordtype">float</span> currentAltitude, currentVerticalSpeed;</div>
-<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;</div>
-<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keywordtype">bool</span> failSafeMode;</div>
-<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  <span class="keywordtype">void</span> SecurityCheck(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keywordtype">void</span> MandatorySecurityCheck(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="keywordtype">void</span> CheckJoystick();</div>
-<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="keywordtype">void</span> GenericCheckJoystick();</div>
-<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="keywordtype">void</span> CheckPushButton(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="keywordtype">void</span> GenericCheckPushButton(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <span class="keywordtype">void</span> Run(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  <span class="keywordtype">void</span> StopMotors(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;</div>
-<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <a class="code" href="classflair_1_1meta_1_1_uav.html">meta::Uav</a> *uav;</div>
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-<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <a class="code" href="classflair_1_1core_1_1_quaternion.html">core::Quaternion</a> currentQuaternion;</div>
-<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <a class="code" href="classflair_1_1core_1_1_vector3_d.html">core::Vector3D</a> currentAngularSpeed;</div>
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-<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *ComputeReferenceOrientation(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordtype">void</span> Land(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordtype">void</span> EmergencyLand(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordtype">void</span> TakeOff(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordtype">void</span> EmergencyStop(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a734a11e3bbedd8dd1726b2c450353da5">SignalEvent</a>(Event_t event);</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *GetOrientation(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *GetDefaultOrientation(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> AltitudeValues(<span class="keywordtype">float</span> &amp;z, <span class="keywordtype">float</span> &amp;dz) <span class="keyword">const</span>; <span class="comment">// in uav coordinate!</span></div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordtype">void</span> EnterFailSafeMode(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordtype">bool</span> ExitFailSafeMode(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordtype">void</span> FailSafeAltitudeValues(<span class="keywordtype">float</span> &amp;z, <span class="keywordtype">float</span> &amp;dz) <span class="keyword">const</span>; <span class="comment">// in uav coordinate!</span></div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_grid_layout.html">gui::GridLayout</a> *GetButtonsLayout(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> ExtraSecurityCheck(<span class="keywordtype">void</span>){};</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> ExtraCheckJoystick(<span class="keywordtype">void</span>){};</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> ExtraCheckPushButton(<span class="keywordtype">void</span>){};</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keywordtype">void</span> GetDefaultReferenceAltitude(<span class="keywordtype">float</span> &amp;refAltitude,</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                                   <span class="keywordtype">float</span> &amp;refVerticalVelocity);</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> GetReferenceAltitude(<span class="keywordtype">float</span> &amp;refAltitude,</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                                    <span class="keywordtype">float</span> &amp;refVerticalVelocity);</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="comment">// float GetDefaultThrustOffset(void);</span></div>
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+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *GetReferenceOrientation(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a239d9f75ff1a46752c2b06c37726336a">ComputeCustomTorques</a>(<a class="code" href="classflair_1_1core_1_1_euler.html">core::Euler</a> &amp;torques);</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#ac93d0d595a86a014c27375c973f693a8">ComputeDefaultTorques</a>(<a class="code" href="classflair_1_1core_1_1_euler.html">core::Euler</a> &amp;torques);</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="comment">// const core::Euler &amp;GetTorques() const;</span></div>
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+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">float</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a6af7f575d90ef500717a999ea4c4afef">ComputeCustomThrust</a>(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#ab25472bbf51a7baf97ec5e9cfc148f8b">ComputeDefaultThrust</a>(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="comment">// float GetThrust() const;</span></div>
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+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#ab737f2861d5c1901a0f62f54fe2c0855">AddDeviceToControlLawLog</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_i_o_device.html">core::IODevice</a> *device);</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#aa642bfeb1d97dec839088e2256a3699b">AddDataToControlLawLog</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1io__data.html">core::io_data</a> *data);</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;</div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="keyword">const</span> <a class="code" href="classflair_1_1sensor_1_1_target_controller.html">sensor::TargetController</a> *GetJoystick(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_tab.html">gui::Tab</a> *setupLawTab, *graphLawTab;</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="keyword">enum class</span> AltitudeState_t {</div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86ac23e2b09ebe6bf4cb5e2a9abe85c0be2">Stopped</a>,      </div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a85916c5f3400cfa25d988f05b6736a94">TakingOff</a>,    </div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86afda22026db89cdc5e88b262ad9424b41">Stabilized</a>,   </div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a0a0480d215decaf46260e3db52e4dc4c">StartLanding</a>, </div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a0912358d703c9a28d93a2707b86161b2">FinishLanding</a> </div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  };</div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  AltitudeState_t altitudeState;</div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="keywordtype">void</span> ProcessAltitudeFiniteStateMachine();</div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <span class="keywordtype">void</span> ComputeReferenceAltitude(<span class="keywordtype">float</span> &amp;refAltitude, <span class="keywordtype">float</span> &amp;refVerticalVelocity);</div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;</div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="keywordtype">float</span> groundAltitude; <span class="comment">// effective altitude when the uav leaves the ground</span></div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keywordtype">float</span> currentAltitude, currentVerticalSpeed;</div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  <span class="keywordtype">bool</span> failSafeMode;</div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keywordtype">void</span> SecurityCheck(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="keywordtype">void</span> MandatorySecurityCheck(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="keywordtype">void</span> CheckJoystick();</div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="keywordtype">void</span> GenericCheckJoystick();</div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="keywordtype">void</span> CheckPushButton(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <span class="keywordtype">void</span> GenericCheckPushButton(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  <span class="keywordtype">void</span> Run(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  <span class="keywordtype">void</span> StopMotors(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;</div>
+<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <a class="code" href="classflair_1_1meta_1_1_uav.html">meta::Uav</a> *uav;</div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <a class="code" href="classflair_1_1sensor_1_1_target_controller.html">sensor::TargetController</a> *controller;</div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;</div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <a class="code" href="classflair_1_1core_1_1_quaternion.html">core::Quaternion</a> currentQuaternion;</div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <a class="code" href="classflair_1_1core_1_1_vector3_d.html">core::Vector3D</a> currentAngularSpeed;</div>
 <div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;</div>
-<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <span class="keywordtype">void</span> ComputeOrientation(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="keywordtype">void</span> ComputeAltitude(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;</div>
-<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keywordtype">void</span> ComputeTorques(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  <a class="code" href="classflair_1_1core_1_1_euler.html">core::Euler</a> currentTorques, savedDefaultTorques;</div>
-<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="keywordtype">bool</span> needToComputeDefaultTorques;</div>
-<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;</div>
-<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  <span class="keywordtype">void</span> ComputeThrust(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="keywordtype">float</span> currentThrust, savedDefaultThrust;</div>
-<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  <span class="keywordtype">bool</span> needToComputeDefaultThrust;</div>
-<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;</div>
-<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_push_button.html">gui::PushButton</a> *button_kill, *button_take_off, *button_land,</div>
-<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      *button_start_log, *button_stop_log;</div>
-<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_grid_layout.html">gui::GridLayout</a> *buttonslayout;</div>
-<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_double_spin_box.html">gui::DoubleSpinBox</a> *desiredTakeoffAltitude, *desiredLandingAltitude;</div>
-<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  AltitudeMode_t altitudeMode;</div>
-<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  OrientationMode_t orientationMode;</div>
-<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  ThrustMode_t thrustMode;</div>
-<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  TorqueMode_t torqueMode;</div>
-<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="keywordtype">bool</span> flagBatteryLow;</div>
-<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  <span class="keywordtype">bool</span> flagConnectionLost;</div>
-<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordtype">bool</span> flagZTrajectoryFinished;</div>
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-<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_pid.html">filter::Pid</a> *uYaw;</div>
-<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html">filter::PidThrust</a> *uZ;</div>
-<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;</div>
-<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <a class="code" href="classflair_1_1meta_1_1_meta_dual_shock3.html">MetaDualShock3</a> *joy;</div>
-<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html">filter::TrajectoryGenerator1D</a> *altitudeTrajectory;</div>
-<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;};</div>
-<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;};</div>
-<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;};</div>
-<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<span class="preprocessor">#endif // UAVSTATEMACHINE_H</span></div>
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+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;</div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  <span class="keywordtype">void</span> ComputeOrientation(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keywordtype">void</span> ComputeAltitude(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;</div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="keywordtype">void</span> ComputeTorques(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <a class="code" href="classflair_1_1core_1_1_euler.html">core::Euler</a> currentTorques, savedDefaultTorques;</div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  <span class="keywordtype">bool</span> needToComputeDefaultTorques;</div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;</div>
+<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  <span class="keywordtype">void</span> ComputeThrust(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keywordtype">float</span> currentThrust, savedDefaultThrust;</div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keywordtype">bool</span> needToComputeDefaultThrust;</div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_push_button.html">gui::PushButton</a> *button_kill, *button_take_off, *button_land,</div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      *button_start_log, *button_stop_log;</div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_grid_layout.html">gui::GridLayout</a> *buttonslayout;</div>
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+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  AltitudeMode_t altitudeMode;</div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  OrientationMode_t orientationMode;</div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  ThrustMode_t thrustMode;</div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  TorqueMode_t torqueMode;</div>
+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordtype">bool</span> flagBatteryLow;</div>
+<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <span class="keywordtype">bool</span> flagConnectionLost;</div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="keywordtype">bool</span> flagCriticalSensorLost;</div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <span class="keywordtype">bool</span> flagZTrajectoryFinished;</div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keywordtype">bool</span> safeToFly;</div>
+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_nested_sat.html">filter::NestedSat</a> *uRoll, *uPitch;</div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_pid.html">filter::Pid</a> *uYaw;</div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html">filter::PidThrust</a> *uZ;</div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;</div>
+<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <a class="code" href="classflair_1_1meta_1_1_meta_dual_shock3.html">MetaDualShock3</a> *joy;</div>
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+<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;};</div>
+<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;};</div>
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 <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_a734a11e3bbedd8dd1726b2c450353da5"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#a734a11e3bbedd8dd1726b2c450353da5">flair::meta::UavStateMachine::SignalEvent</a></div><div class="ttdeci">virtual void SignalEvent(Event_t event)</div><div class="ttdoc">Used to signal an event. </div></div>
-<div class="ttc" id="classflair_1_1meta_1_1_meta_dual_shock3_html"><div class="ttname"><a href="classflair_1_1meta_1_1_meta_dual_shock3.html">flair::meta::MetaDualShock3</a></div><div class="ttdoc">Classe intégrant la manette MetaDualShock3. </div><div class="ttdef"><b>Definition:</b> MetaDualShock3.h:37</div></div>
+<div class="ttc" id="classflair_1_1meta_1_1_meta_dual_shock3_html"><div class="ttname"><a href="classflair_1_1meta_1_1_meta_dual_shock3.html">flair::meta::MetaDualShock3</a></div><div class="ttdoc">Classe intégrant la manette MetaDualShock3. </div><div class="ttdef"><b>Definition:</b> MetaDualShock3.h:38</div></div>
 <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_a8074514837d84114b8b4e2a6e1d7da86afda22026db89cdc5e88b262ad9424b41"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86afda22026db89cdc5e88b262ad9424b41">flair::meta::UavStateMachine::AltitudeState_t::Stabilized</a></div></div>
 <div class="ttc" id="classflair_1_1core_1_1_i_o_device_html"><div class="ttname"><a href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></div><div class="ttdoc">Abstract class for input/ouput system. </div><div class="ttdef"><b>Definition:</b> IODevice.h:44</div></div>
@@ -365,6 +369,6 @@
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