State diagram
All states can be found in the src/modules/interface/supervisor_state_machine.h file.
State transitions
Transitions between states are expressed as a struct containing the next state and two bit fields with requirements for the transition to be valid. One bitfield contains the conditions that must be fulfilled and the other the conditions that must not be fulfilled, all other conditions are ignored.
For each state there is a list of possible state transitions. The supervisor goes through the list for the current state and checks if the current conditions match the bitfields of the transitions. The first state transition that matches is used to change state of the supervisor. If no valid transition is found, the state is not changed.
State transitions are defined in src/modules/src/supervisor_state_machine.c