Autopilot graph
===
###### tags: `autopilot`
# block diagram
## Code
autopilot.c

	switch(autopilot.mode) {
	case AUTOPILOT_MANUAL_FLIGHT_MODE:
	case AUTOPILOT_HOVERING_MODE:
		break;
	case AUTOPILOT_TRAJECTORY_FOLLOWING_MODE:
		autopilot_trajectory_following_handler();
		break;
	case AUTOPILOT_LANDING_MODE:
		autopilot_landing_handler(curr_pos_enu);
		break;
	case AUTOPILOT_TAKEOFF_MODE:
		autopilot_takeoff_handler();
		break;
	case AUTOPILOT_WAIT_NEXT_WAYPOINT_MODE:
		autopilot_wait_next_waypoint_handler();
		break;
	case AUTOPILOT_FOLLOW_WAYPOINT_MODE:
		autopilot_follow_waypoint_handler(curr_pos_enu);
		break;

## appendix: motor lock situations

multirotor_geometry_ctrl.c

	lock_motor |= check_motor_lock_condition(rc->throttle < 10.0f &&
	                autopilot_get_mode() == AUTOPILOT_MANUAL_FLIGHT_MODE);
	//lock motor if desired height is lower than threshold value in the takeoff mode
	lock_motor |= check_motor_lock_condition(pos_des_enu[2] < 0.10f &&
	                autopilot_get_mode() == AUTOPILOT_TAKEOFF_MODE);
	//lock motor if current position is very close to ground in the hovering mode
	lock_motor |= check_motor_lock_condition(curr_pos_enu[2] < 0.10f &&
	                autopilot_get_mode() == AUTOPILOT_HOVERING_MODE);
	//lock motor if motors are locked by autopilot
	lock_motor |= check_motor_lock_condition(autopilot_get_mode() == AUTOPILOT_MOTOR_LOCKED_MODE);
	//lock motor if radio safety botton is on
	lock_motor |= check_motor_lock_condition(rc->safety == true);

	if(lock_motor == false) {
		mr_geometry_ctrl_thrust_allocation(control_moments, control_force);
	} else {
		motor_halt();
	}