Merge pull request #3274 from iNavFlight/agh_fix_nav_state_numbers

Fix NAV_STATE enum values

src/main/navigation/navigation.c

@@ -212,6 +212,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS(navi
 static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     /** Idle state ******************************************************/
     [NAV_STATE_IDLE] = {
+        .persistentId = NAV_PERSISTENT_ID_IDLE,
         .onEntry = navOnEnteringState_NAV_STATE_IDLE,
         .timeoutMs = 0,
         .stateFlags = 0,
@@ -230,6 +231,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
 
     /** ALTHOLD mode ***************************************************/
     [NAV_STATE_ALTHOLD_INITIALIZE] = {
+        .persistentId = NAV_PERSISTENT_ID_ALTHOLD_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE,
         .timeoutMs = 0,
         .stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE_FW | NAV_REQUIRE_THRTILT,
@@ -244,6 +246,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_ALTHOLD_IN_PROGRESS] = {
+        .persistentId = NAV_PERSISTENT_ID_ALTHOLD_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_ALTHOLD_IN_PROGRESS,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE_FW | NAV_REQUIRE_THRTILT | NAV_RC_ALT,
@@ -262,6 +265,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
 
     /** POSHOLD_3D mode ************************************************/
     [NAV_STATE_POSHOLD_3D_INITIALIZE] = {
+        .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE,
         .timeoutMs = 0,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
@@ -276,6 +280,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_POSHOLD_3D_IN_PROGRESS] = {
+        .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
@@ -294,6 +299,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
 
     /** RTH_3D mode ************************************************/
     [NAV_STATE_RTH_INITIALIZE] = {
+        .persistentId = NAV_PERSISTENT_ID_RTH_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_INITIALIZE,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
@@ -310,6 +316,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_RTH_CLIMB_TO_SAFE_ALT] = {
+        .persistentId = NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,     // allow pos adjustment while climbind to safe alt
@@ -326,6 +333,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_RTH_HEAD_HOME] = {
+        .persistentId = NAV_PERSISTENT_ID_RTH_HEAD_HOME,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_HEAD_HOME,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
@@ -343,6 +351,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING] = {
+        .persistentId = NAV_PERSISTENT_ID_RTH_HOVER_PRIOR_TO_LANDING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
         .timeoutMs = 500,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
@@ -360,6 +369,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_RTH_LANDING] = {
+        .persistentId = NAV_PERSISTENT_ID_RTH_LANDING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
@@ -377,6 +387,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_RTH_FINISHING] = {
+        .persistentId = NAV_PERSISTENT_ID_RTH_FINISHING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING,
         .timeoutMs = 0,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
@@ -390,6 +401,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_RTH_FINISHED] = {
+        .persistentId = NAV_PERSISTENT_ID_RTH_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHED,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
@@ -407,6 +419,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
 
     /** WAYPOINT mode ************************************************/
     [NAV_STATE_WAYPOINT_INITIALIZE] = {
+        .persistentId = NAV_PERSISTENT_ID_WAYPOINT_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_INITIALIZE,
         .timeoutMs = 0,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@@ -422,6 +435,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_WAYPOINT_PRE_ACTION] = {
+        .persistentId = NAV_PERSISTENT_ID_WAYPOINT_PRE_ACTION,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION,
         .timeoutMs = 0,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@@ -437,6 +451,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_WAYPOINT_IN_PROGRESS] = {
+        .persistentId = NAV_PERSISTENT_ID_WAYPOINT_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@@ -455,6 +470,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_WAYPOINT_REACHED] = {
+        .persistentId = NAV_PERSISTENT_ID_WAYPOINT_REACHED,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_REACHED,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@@ -475,6 +491,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_WAYPOINT_RTH_LAND] = {
+        .persistentId = NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@@ -493,6 +510,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_WAYPOINT_NEXT] = {
+        .persistentId = NAV_PERSISTENT_ID_WAYPOINT_NEXT,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_NEXT,
         .timeoutMs = 0,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@@ -506,6 +524,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_WAYPOINT_FINISHED] = {
+        .persistentId = NAV_PERSISTENT_ID_WAYPOINT_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED,
         .timeoutMs = 0,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@@ -523,6 +542,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
 
     /** EMERGENCY LANDING ************************************************/
     [NAV_STATE_EMERGENCY_LANDING_INITIALIZE] = {
+        .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
         .timeoutMs = 0,
         .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
@@ -538,6 +558,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS] = {
+        .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
@@ -553,6 +574,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_EMERGENCY_LANDING_FINISHED] = {
+        .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
@@ -566,6 +588,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_LAUNCH_INITIALIZE] = {
+        .persistentId = NAV_PERSISTENT_ID_LAUNCH_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_LAUNCH_INITIALIZE,
         .timeoutMs = 0,
         .stateFlags = NAV_REQUIRE_ANGLE,
@@ -580,6 +603,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_LAUNCH_WAIT] = {
+        .persistentId = NAV_PERSISTENT_ID_LAUNCH_WAIT,
         .onEntry = navOnEnteringState_NAV_STATE_LAUNCH_WAIT,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_LAUNCH | NAV_REQUIRE_ANGLE,
@@ -595,6 +619,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     },
 
     [NAV_STATE_LAUNCH_IN_PROGRESS] = {
+        .persistentId = NAV_PERSISTENT_ID_LAUNCH_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_LAUNCH | NAV_REQUIRE_ANGLE,
@@ -1166,7 +1191,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationF
 
     if (isFixedWingLaunchDetected()) {
         enableFixedWingLaunchController(currentTimeUs);
-        return NAV_FSM_EVENT_SUCCESS;   // NAV_STATE_LAUNCH_MOTOR_DELAY
+        return NAV_FSM_EVENT_SUCCESS;   // NAV_STATE_LAUNCH_IN_PROGRESS
     }
 
     //allow to leave NAV_LAUNCH_MODE if it has being enabled as feature by moving sticks with low throttle. 
@@ -1196,7 +1221,10 @@ static navigationFSMState_t navSetNewFSMState(navigationFSMState_t newState)
     navigationFSMState_t previousState;
 
     previousState = posControl.navState;
+    if (posControl.navState != newState) {
         posControl.navState = newState;
+        posControl.navPersistentId = navFSM[newState].persistentId;
+    }
     return previousState;
 }
 
@@ -2524,7 +2552,7 @@ void updateWaypointsAndNavigationMode(void)
     switchNavigationFlightModes();
 
 #if defined(NAV_BLACKBOX)
-    navCurrentState = (int16_t)posControl.navState;
+    navCurrentState = (int16_t)posControl.navPersistentId;
 #endif
 }
 

src/main/navigation/navigation_private.h

@@ -176,41 +176,82 @@ typedef enum {
     NAV_FSM_EVENT_COUNT,
 } navigationFSMEvent_t;
 
+// This enum is used to keep values in blackbox logs stable, so we can
+// freely change navigationFSMState_t.
 typedef enum {
-    NAV_STATE_UNDEFINED = 0,                    // 0
+    NAV_PERSISTENT_ID_UNDEFINED = 0,                     // 0
 
-    NAV_STATE_IDLE,                             // 1
+    NAV_PERSISTENT_ID_IDLE,                              // 1
 
-    NAV_STATE_ALTHOLD_INITIALIZE,               // 2
+    NAV_PERSISTENT_ID_ALTHOLD_INITIALIZE,                // 2
-    NAV_STATE_ALTHOLD_IN_PROGRESS,              // 3
+    NAV_PERSISTENT_ID_ALTHOLD_IN_PROGRESS,               // 3
 
-    NAV_STATE_POSHOLD_3D_INITIALIZE,            // 6
+    NAV_PERSISTENT_ID_UNUSED_1,                          // 4, was NAV_STATE_POSHOLD_2D_INITIALIZE
-    NAV_STATE_POSHOLD_3D_IN_PROGRESS,           // 7
+    NAV_PERSISTENT_ID_UNUSED_2,                          // 5, was NAV_STATE_POSHOLD_2D_IN_PROGRESS
 
-    NAV_STATE_RTH_INITIALIZE,                // 8
+    NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE,             // 6
-    NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,         // 9
+    NAV_PERSISTENT_ID_POSHOLD_3D_IN_PROGRESS,            // 7
-    NAV_STATE_RTH_HEAD_HOME,                 // 10
-    NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,    // 11
-    NAV_STATE_RTH_LANDING,                   // 12
-    NAV_STATE_RTH_FINISHING,                 // 13
-    NAV_STATE_RTH_FINISHED,                  // 14
 
-    NAV_STATE_WAYPOINT_INITIALIZE,              // 15
+    NAV_PERSISTENT_ID_RTH_INITIALIZE,                    // 8
-    NAV_STATE_WAYPOINT_PRE_ACTION,              // 16
+    NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT,             // 9
-    NAV_STATE_WAYPOINT_IN_PROGRESS,             // 17
+    NAV_PERSISTENT_ID_RTH_HEAD_HOME,                     // 10
-    NAV_STATE_WAYPOINT_REACHED,                 // 18
+    NAV_PERSISTENT_ID_RTH_HOVER_PRIOR_TO_LANDING,        // 11
-    NAV_STATE_WAYPOINT_NEXT,                    // 19
+    NAV_PERSISTENT_ID_RTH_LANDING,                       // 12
-    NAV_STATE_WAYPOINT_FINISHED,                // 20
+    NAV_PERSISTENT_ID_RTH_FINISHING,                     // 13
-    NAV_STATE_WAYPOINT_RTH_LAND,                // 21
+    NAV_PERSISTENT_ID_RTH_FINISHED,                      // 14
 
-    NAV_STATE_EMERGENCY_LANDING_INITIALIZE,     // 22
+    NAV_PERSISTENT_ID_WAYPOINT_INITIALIZE,               // 15
-    NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,    // 23
+    NAV_PERSISTENT_ID_WAYPOINT_PRE_ACTION,               // 16
-    NAV_STATE_EMERGENCY_LANDING_FINISHED,       // 24
+    NAV_PERSISTENT_ID_WAYPOINT_IN_PROGRESS,              // 17
+    NAV_PERSISTENT_ID_WAYPOINT_REACHED,                  // 18
+    NAV_PERSISTENT_ID_WAYPOINT_NEXT,                     // 19
+    NAV_PERSISTENT_ID_WAYPOINT_FINISHED,                 // 20
+    NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND,                 // 21
 
-    NAV_STATE_LAUNCH_INITIALIZE,                // 25
+    NAV_PERSISTENT_ID_EMERGENCY_LANDING_INITIALIZE,      // 22
-    NAV_STATE_LAUNCH_WAIT,                      // 26
+    NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS,     // 23
-    NAV_STATE_LAUNCH_MOTOR_DELAY,               // 27
+    NAV_PERSISTENT_ID_EMERGENCY_LANDING_FINISHED,        // 24
-    NAV_STATE_LAUNCH_IN_PROGRESS,               // 28
+
+    NAV_PERSISTENT_ID_LAUNCH_INITIALIZE,                 // 25
+    NAV_PERSISTENT_ID_LAUNCH_WAIT,                       // 26
+    NAV_PERSISTENT_ID_UNUSED_3,                          // 27, was NAV_STATE_LAUNCH_MOTOR_DELAY
+    NAV_PERSISTENT_ID_LAUNCH_IN_PROGRESS,                // 28
+} navigationPersistentId_e;
+
+typedef enum {
+    NAV_STATE_UNDEFINED = 0,
+
+    NAV_STATE_IDLE,
+
+    NAV_STATE_ALTHOLD_INITIALIZE,
+    NAV_STATE_ALTHOLD_IN_PROGRESS,
+
+    NAV_STATE_POSHOLD_3D_INITIALIZE,
+    NAV_STATE_POSHOLD_3D_IN_PROGRESS,
+
+    NAV_STATE_RTH_INITIALIZE,
+    NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
+    NAV_STATE_RTH_HEAD_HOME,
+    NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
+    NAV_STATE_RTH_LANDING,
+    NAV_STATE_RTH_FINISHING,
+    NAV_STATE_RTH_FINISHED,
+
+    NAV_STATE_WAYPOINT_INITIALIZE,
+    NAV_STATE_WAYPOINT_PRE_ACTION,
+    NAV_STATE_WAYPOINT_IN_PROGRESS,
+    NAV_STATE_WAYPOINT_REACHED,
+    NAV_STATE_WAYPOINT_NEXT,
+    NAV_STATE_WAYPOINT_FINISHED,
+    NAV_STATE_WAYPOINT_RTH_LAND,
+
+    NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
+    NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
+    NAV_STATE_EMERGENCY_LANDING_FINISHED,
+
+    NAV_STATE_LAUNCH_INITIALIZE,
+    NAV_STATE_LAUNCH_WAIT,
+    NAV_STATE_LAUNCH_IN_PROGRESS,
 
     NAV_STATE_COUNT,
 } navigationFSMState_t;
@@ -243,6 +284,7 @@ typedef enum {
 } navigationFSMStateFlags_t;
 
 typedef struct {
+    navigationPersistentId_e            persistentId;
     navigationFSMEvent_t                (*onEntry)(navigationFSMState_t previousState);
     uint32_t                            timeoutMs;
     navSystemStatus_State_e             mwState;
@@ -261,6 +303,7 @@ typedef struct {
 typedef struct {
     /* Flags and navigation system state */
     navigationFSMState_t        navState;
+    navigationPersistentId_e    navPersistentId;
 
     navigationFlags_t           flags;