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238 lines
8.2 KiB
238 lines
8.2 KiB
#include "GCS_Copter.h" |
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#include "Copter.h" |
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const char* GCS_Copter::frame_string() const |
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{ |
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return copter.get_frame_string(); |
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} |
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bool GCS_Copter::simple_input_active() const |
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{ |
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return copter.ap.simple_mode == 1; |
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} |
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bool GCS_Copter::supersimple_input_active() const |
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{ |
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return copter.ap.simple_mode == 2; |
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} |
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// update error mask of sensors and subsystems. The mask |
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// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set |
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// then it indicates that the sensor or subsystem is present but |
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// not functioning correctly. |
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void GCS_Copter::update_sensor_status_flags(void) |
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{ |
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// default sensors present |
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control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT; |
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// first what sensors/controllers we have |
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if (copter.g.compass_enabled) { |
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present |
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} |
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const AP_GPS &gps = AP::gps(); |
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if (gps.status() > AP_GPS::NO_GPS) { |
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS; |
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} |
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#if OPTFLOW == ENABLED |
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const OpticalFlow *optflow = AP::opticalflow(); |
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if (optflow && optflow->enabled()) { |
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW; |
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} |
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#endif |
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#if PRECISION_LANDING == ENABLED |
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if (copter.precland.enabled()) { |
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION; |
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} |
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#endif |
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#if VISUAL_ODOMETRY_ENABLED == ENABLED |
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const AP_VisualOdom *visual_odom = AP::visualodom(); |
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if (visual_odom && visual_odom->enabled()) { |
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION; |
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} |
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#endif |
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const Copter::ap_t &ap = copter.ap; |
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if (ap.rc_receiver_present) { |
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; |
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} |
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const AP_Logger &logger = AP::logger(); |
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if (logger.logging_present()) { // primary logging only (usually File) |
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control_sensors_present |= MAV_SYS_STATUS_LOGGING; |
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} |
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#if PROXIMITY_ENABLED == ENABLED |
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if (copter.g2.proximity.sensor_present()) { |
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY; |
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} |
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#endif |
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#if AC_FENCE == ENABLED |
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if (copter.fence.sys_status_present()) { |
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control_sensors_present |= MAV_SYS_STATUS_GEOFENCE; |
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} |
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#endif |
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#if RANGEFINDER_ENABLED == ENABLED |
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const RangeFinder *rangefinder = RangeFinder::get_singleton(); |
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if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) { |
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; |
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} |
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#endif |
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// all sensors are present except these, which may be set as enabled below: |
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control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL & |
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~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL & |
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~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS & |
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~MAV_SYS_STATUS_LOGGING & |
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~MAV_SYS_STATUS_SENSOR_BATTERY & |
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~MAV_SYS_STATUS_GEOFENCE & |
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~MAV_SYS_STATUS_SENSOR_LASER_POSITION & |
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~MAV_SYS_STATUS_SENSOR_PROXIMITY); |
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switch (copter.control_mode) { |
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case AUTO: |
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case AVOID_ADSB: |
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case GUIDED: |
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case LOITER: |
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case RTL: |
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case CIRCLE: |
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case LAND: |
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case POSHOLD: |
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case BRAKE: |
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case THROW: |
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case SMART_RTL: |
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; |
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; |
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break; |
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case ALT_HOLD: |
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case GUIDED_NOGPS: |
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case SPORT: |
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case AUTOTUNE: |
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case FLOWHOLD: |
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; |
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break; |
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default: |
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// stabilize, acro, drift, and flip have no automatic x,y or z control (i.e. all manual) |
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break; |
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} |
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// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED) |
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if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) { |
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS; |
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} |
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if (logger.logging_enabled()) { |
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control_sensors_enabled |= MAV_SYS_STATUS_LOGGING; |
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} |
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const AP_BattMonitor &battery = AP::battery(); |
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if (battery.num_instances() > 0) { |
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY; |
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} |
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#if AC_FENCE == ENABLED |
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if (copter.fence.sys_status_enabled()) { |
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control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE; |
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} |
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#endif |
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#if PROXIMITY_ENABLED == ENABLED |
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if (copter.g2.proximity.sensor_enabled()) { |
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY; |
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} |
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#endif |
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// default to all healthy |
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control_sensors_health = control_sensors_present; |
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const AP_Baro &barometer = AP::baro(); |
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if (!barometer.all_healthy()) { |
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; |
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} |
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AP_AHRS &ahrs = AP::ahrs(); |
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const Compass &compass = AP::compass(); |
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if (!copter.g.compass_enabled || !compass.healthy() || !ahrs.use_compass()) { |
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_MAG; |
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} |
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if (!gps.is_healthy()) { |
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_GPS; |
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} |
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if (!ap.rc_receiver_present || copter.failsafe.radio) { |
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER; |
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} |
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#if OPTFLOW == ENABLED |
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if (!optflow || !optflow->healthy()) { |
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW; |
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} |
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#endif |
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#if PRECISION_LANDING == ENABLED |
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if (copter.precland.enabled() && !copter.precland.healthy()) { |
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION; |
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} |
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#endif |
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#if VISUAL_ODOMETRY_ENABLED == ENABLED |
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if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) { |
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION; |
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} |
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#endif |
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const AP_InertialSensor &ins = AP::ins(); |
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if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) { |
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO; |
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} |
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if (!ins.get_accel_health_all()) { |
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL; |
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} |
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if (ahrs.initialised() && !ahrs.healthy()) { |
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// AHRS subsystem is unhealthy |
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control_sensors_health &= ~MAV_SYS_STATUS_AHRS; |
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} |
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if (logger.logging_failed()) { |
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control_sensors_health &= ~MAV_SYS_STATUS_LOGGING; |
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} |
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#if PROXIMITY_ENABLED == ENABLED |
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if (copter.g2.proximity.sensor_failed()) { |
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_PROXIMITY; |
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} |
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#endif |
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN |
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switch (copter.terrain.status()) { |
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case AP_Terrain::TerrainStatusDisabled: |
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break; |
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case AP_Terrain::TerrainStatusUnhealthy: |
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// To-Do: restore unhealthy terrain status reporting once terrain is used in copter |
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//control_sensors_present |= MAV_SYS_STATUS_TERRAIN; |
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//control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN; |
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//break; |
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case AP_Terrain::TerrainStatusOK: |
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control_sensors_present |= MAV_SYS_STATUS_TERRAIN; |
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control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN; |
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control_sensors_health |= MAV_SYS_STATUS_TERRAIN; |
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break; |
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} |
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#endif |
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#if RANGEFINDER_ENABLED == ENABLED |
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if (copter.rangefinder_state.enabled) { |
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; |
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if (!rangefinder || !rangefinder->has_data_orient(ROTATION_PITCH_270)) { |
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION; |
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} |
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} |
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#endif |
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if (!ap.initialised || ins.calibrating()) { |
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// while initialising the gyros and accels are not enabled |
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control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL); |
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control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL); |
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} |
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if (!copter.battery.healthy() || copter.battery.has_failsafed()) { |
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY; |
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} |
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#if AC_FENCE == ENABLED |
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if (copter.fence.sys_status_failed()) { |
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control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE; |
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} |
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#endif |
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}
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