Peter Barker
6 years ago
committed by
Peter Barker
2 changed files with 134 additions and 130 deletions
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#include "GCS_Sub.h" |
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#include "Sub.h" |
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// default sensors are present and healthy: gyro, accelerometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
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#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS | MAV_SYS_STATUS_SENSOR_BATTERY) |
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void GCS_Sub::update_sensor_status_flags() |
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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 (sub.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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if (sub.ap.depth_sensor_present) { |
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; |
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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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// all present sensors enabled by default except altitude and position control and motors which we will set individually
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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 & ~MAV_SYS_STATUS_SENSOR_BATTERY); |
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switch (sub.control_mode) { |
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case ALT_HOLD: |
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case AUTO: |
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case GUIDED: |
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case CIRCLE: |
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case SURFACE: |
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case POSHOLD: |
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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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default: |
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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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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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// default to all healthy except baro, compass, gps and receiver which we set individually
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control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | |
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MAV_SYS_STATUS_SENSOR_3D_MAG | |
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MAV_SYS_STATUS_SENSOR_GPS | |
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MAV_SYS_STATUS_SENSOR_RC_RECEIVER); |
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if (sub.sensor_health.depth) { // check the internal barometer only
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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 (sub.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 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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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 (!battery.healthy() || battery.has_failsafed()) { |
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY; |
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} |
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN |
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switch (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 Sub
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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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const RangeFinder *rangefinder = RangeFinder::get_singleton(); |
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if (sub.rangefinder_state.enabled) { |
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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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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 (!sub.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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} |
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