Main module, main loop

void COM::CustomLoop() {

  m_nCycleCount++;

  switch (m_eCOMState) {
    case COM_INIT:
      m_eCOMState = Init() ? COM_BUILD_MODULE_CAPACITY_MATRIX : COM_TROUBLESHOOT;
      break;

    case COM_BUILD_MODULE_CAPACITY_MATRIX:
      m_eCOMState = BuildModuleCapacityMatrix() ? COM_MANAGE_SENSORS : COM_TROUBLESHOOT;
      break;

    case COM_MANAGE_POWER:
      m_eCOMState = ManagePower() ? COM_MANAGE_SENSORS : COM_ANSWER_UART;
      break;

    case COM_MANAGE_SENSORS:
      m_eCOMState = ManageSensors() ? COM_MANAGE_GPSS : COM_TROUBLESHOOT;
      break;

    case COM_MANAGE_GPSS:
      m_eCOMState = ManageGPSs() ? COM_MANAGE_KALMAN : COM_TROUBLESHOOT;
      break;

    case COM_MANAGE_KALMAN:
      m_eCOMState = ManageKalman() ? COM_MANAGE_GUIDANCE : COM_TROUBLESHOOT;
      break;

    case COM_MANAGE_GUIDANCE:
      m_eCOMState = ManageGuidance() ? COM_MANAGE_NAVIGATION : COM_TROUBLESHOOT;
      break;

    case COM_MANAGE_NAVIGATION:
      m_eCOMState = ManageNavigation() ? COM_MANAGE_CONTROL : COM_TROUBLESHOOT;
      break;

    case COM_MANAGE_CONTROL:
      m_eCOMState = ManageControl() ? COM_MANAGE_SERVOS : COM_TROUBLESHOOT;
      break;

    case COM_MANAGE_SERVOS:
      m_eCOMState = ManageServos() ? COM_ANSWER_UART : COM_TROUBLESHOOT;
      break;

    case COM_ANSWER_UART:
      m_eCOMState = AnswerUART() ? COM_VERIFY_FLAGS : COM_TROUBLESHOOT;
      break;

    case COM_VERIFY_FLAGS:
      m_eCOMState = COM_EVALUATE_STATUS;
      VerifyFlags();
      break;

    case COM_EVALUATE_STATUS:
      m_eCOMState = EvaluateStatus() ? COM_BROADCAST_TELEMETRY : COM_TROUBLESHOOT;
      break;

    case COM_BROADCAST_TELEMETRY:
      m_eCOMState = BroadcastTelemetry() ? COM_MANAGE_HEARTBEAT : COM_TROUBLESHOOT;
      break;

    case COM_MANAGE_HEARTBEAT:
      m_eCOMState = ManageHeartbeat() ? COM_INIT : COM_TROUBLESHOOT;
      break;

    default: m_eCOMState = COM_INIT;
  }
}