rate_hold_preview.pu

@startuml rate_hold_preview
hide empty description
state AttitudeHold
state RateHold {
    [*] --> CheckAngularRateIdle
    CheckAngularRateIdle --> HandleAttitudeRequest : Rate ≤ $rate_threshold
    HandleAttitudeRequest --> RateHoldSleep : No request
    HandleAttitudeRequest --> AttitudeHold : Attitude request recieved
    RateHoldSleep --> CheckAngularRateIdle
    CheckAngularRateIdle --> CalculateEnergyRequirement : Rate > $rate_threshold
    CalculateEnergyRequirement --> RequestEnergy
    RequestEnergy --> Detumble : Energy available
    RequestEnergy --> RateHoldSleep : Energy unavailable

    Detumble --> RateHoldSleep

    HandleAttitudeRequest : Request must contain a NED vector\n\
    for the camera to point towards
}
@enduml