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68 lines
2.7 KiB
68 lines
2.7 KiB
#include "GCS_Rover.h" |
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#include "Rover.h" |
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#include <AP_RangeFinder/AP_RangeFinder_Backend.h> |
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uint8_t GCS_Rover::sysid_this_mav() const |
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{ |
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return rover.g.sysid_this_mav; |
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} |
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bool GCS_Rover::simple_input_active() const |
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{ |
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if (rover.control_mode != &rover.mode_simple) { |
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return false; |
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} |
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return (rover.g2.simple_type == ModeSimple::Simple_InitialHeading); |
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} |
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bool GCS_Rover::supersimple_input_active() const |
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{ |
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if (rover.control_mode != &rover.mode_simple) { |
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return false; |
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} |
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return (rover.g2.simple_type == ModeSimple::Simple_CardinalDirections); |
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} |
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void GCS_Rover::update_vehicle_sensor_status_flags(void) |
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{ |
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// first what sensors/controllers we have |
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const AP_Proximity *proximity = AP_Proximity::get_singleton(); |
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if (proximity && proximity->get_status() > AP_Proximity::Status::NotConnected) { |
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; |
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; |
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} |
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control_sensors_present |= |
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MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | |
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MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | |
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MAV_SYS_STATUS_SENSOR_YAW_POSITION | |
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MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; |
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if (rover.control_mode->attitude_stabilized()) { |
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control |
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control |
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // 3D angular rate control |
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // 3D angular rate control |
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} |
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if (rover.control_mode->is_autopilot_mode()) { |
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position |
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position |
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control |
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control |
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} |
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const RangeFinder *rangefinder = RangeFinder::get_singleton(); |
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if (rangefinder && rangefinder->num_sensors() > 0) { |
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; |
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; |
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AP_RangeFinder_Backend *s = rangefinder->get_backend(0); |
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if (s != nullptr && s->has_data()) { |
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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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if (proximity && proximity->get_status() != AP_Proximity::Status::NoData) { |
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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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