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website control input -> mission computer -> execute control directly
Auto - main, has access to bat and emergency
website task control input -> mission computer -> tells main what task to preform -> controls gateways to preform task
website health check input -> mission computer -> battery management -> mission computer -> displays battery info
Remote - access everything but not Nav
joystick input -> laptop -> mission computer -> actuator control
-> idle Nav
Emergency - access to everything
website emergency input -> mission computer -> shut off all gateways
Actuator
heading control received -> checks if rudder is on-> gets magnetometer value -> PID -> sets rudder angle
rudder angle change -> checks if rudder is on -> sets rudder angle
thruster set -> checks if thruster is on-> sets thruster speed
emergency state is enabled/off gateway -> drop servo stuff
MAIN
mission computer task is received -> controls gateways to preform task
Nav
GPS location received -> does nav things -> controls actuator directly
BatMan
receives health check from mission computer -> sends battery information to mission computer to display on website
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