You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
79 lines
3.3 KiB
79 lines
3.3 KiB
#include "GCS_Rover.h" |
|
|
|
#include "Rover.h" |
|
|
|
#include <AP_RangeFinder/RangeFinder_Backend.h> |
|
|
|
bool GCS_Rover::simple_input_active() const |
|
{ |
|
if (rover.control_mode != &rover.mode_simple) { |
|
return false; |
|
} |
|
return (rover.g2.simple_type == ModeSimple::Simple_InitialHeading); |
|
} |
|
|
|
bool GCS_Rover::supersimple_input_active() const |
|
{ |
|
if (rover.control_mode != &rover.mode_simple) { |
|
return false; |
|
} |
|
return (rover.g2.simple_type == ModeSimple::Simple_CardinalDirections); |
|
} |
|
|
|
void GCS_Rover::update_vehicle_sensor_status_flags(void) |
|
{ |
|
// first what sensors/controllers we have |
|
const AP_GPS &gps = AP::gps(); |
|
if (gps.status() > AP_GPS::NO_GPS) { |
|
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS; |
|
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_GPS; |
|
} |
|
const AP_VisualOdom *visual_odom = AP::visualodom(); |
|
if (visual_odom && visual_odom->enabled()) { |
|
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION; |
|
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_VISION_POSITION; |
|
} |
|
const AP_Proximity *proximity = AP_Proximity::get_singleton(); |
|
if (proximity && proximity->get_status() > AP_Proximity::Status::NotConnected) { |
|
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; |
|
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; |
|
} |
|
|
|
control_sensors_present |= |
|
MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | |
|
MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | |
|
MAV_SYS_STATUS_SENSOR_YAW_POSITION | |
|
MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; |
|
|
|
if (rover.control_mode->attitude_stabilized()) { |
|
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control |
|
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control |
|
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // 3D angular rate control |
|
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // 3D angular rate control |
|
} |
|
if (rover.control_mode->is_autopilot_mode()) { |
|
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position |
|
control_sensors_health |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position |
|
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control |
|
control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control |
|
} |
|
|
|
if (gps.is_healthy()) { |
|
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS; |
|
} |
|
if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) { |
|
control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION; |
|
} |
|
const RangeFinder *rangefinder = RangeFinder::get_singleton(); |
|
if (rangefinder && rangefinder->num_sensors() > 0) { |
|
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; |
|
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; |
|
AP_RangeFinder_Backend *s = rangefinder->get_backend(0); |
|
if (s != nullptr && s->has_data()) { |
|
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; |
|
} |
|
} |
|
if (proximity && proximity->get_status() != AP_Proximity::Status::NoData) { |
|
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; |
|
} |
|
}
|
|
|