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Fixed important typo

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dario 2024-12-01 15:25:07 +01:00
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commit 0dacc4e232
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README.md
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@ -255,7 +255,7 @@ The statemachine forms the heart and soul of a TACOS-based project. Upon initial
1. All threads that should run in state $ y $ but are not currently running are started. 1. All threads that should run in state $ y $ but are not currently running are started.
2. All threads that should not run in state $ y $ but are currently running are stopped. 2. All threads that should not run in state $ y $ but are currently running are stopped.
> [!IMPORTANT] > [!IMPORTANT]
> The statemachine does immediately stop a thread and deletes it from memory. Instead, the thread is allowed to finish the current execution of its `func` before entering a blocked state. This allows the thread to release all its resources. > The statemachine does not immediately stop a thread and deletes it from memory. Instead, the thread is allowed to finish the current execution of its `func` before entering a blocked state. This allows the thread to release all its resources.
In order to fully understand the statemachine, we have to take a look at the _lockout_ and _failsafe timer_. These lockout and failsafe timers are the result of design choices made during early stages of STAHR. The goal was to combine the state estimation (i.e. sensor fusion using a Kalman filter) with timer-based safety mechanisms. For example, our goal was to block any state transition to the state `DROGUE` before 60 seconds after liftoff. Additionally, a timer was started to automatically switch to state `DROGUE` after 120 seconds after liftoff. In order to fully understand the statemachine, we have to take a look at the _lockout_ and _failsafe timer_. These lockout and failsafe timers are the result of design choices made during early stages of STAHR. The goal was to combine the state estimation (i.e. sensor fusion using a Kalman filter) with timer-based safety mechanisms. For example, our goal was to block any state transition to the state `DROGUE` before 60 seconds after liftoff. Additionally, a timer was started to automatically switch to state `DROGUE` after 120 seconds after liftoff.