Tracker: move various sensor status flag updates up

AntennaTracker/GCS_Mavlink.h

@@ -2,9 +2,6 @@
 
 #include <GCS_MAVLink/GCS.h>
 
-// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
-#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS)
-
 class GCS_MAVLINK_Tracker : public GCS_MAVLINK
 {
 

AntennaTracker/GCS_Tracker.cpp

@@ -38,47 +38,37 @@ void GCS_Tracker::request_datastream_airpressure(const uint8_t sysid, const uint
 }
 
 // update sensors and subsystems present, enabled and healthy flags for reporting to GCS
-void GCS_Tracker::update_sensor_status_flags()
+void GCS_Tracker::update_vehicle_sensor_status_flags()
 {
     // default sensors present
-    control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
+    control_sensors_present |=
+        MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
+        MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
+        MAV_SYS_STATUS_SENSOR_YAW_POSITION;
+
+    control_sensors_enabled |=
+        MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
+        MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
+        MAV_SYS_STATUS_SENSOR_YAW_POSITION;
+
+    control_sensors_health |=
+        MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
+        MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
+        MAV_SYS_STATUS_SENSOR_YAW_POSITION;
 
     // first what sensors/controllers we have
     if (tracker.g.compass_enabled) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG;  // compass present
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG;
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_3D_MAG;
     }
     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_Logger &logger = AP::logger();
-    if (logger.logging_present()) {  // primary logging only (usually File)
-        control_sensors_present |= MAV_SYS_STATUS_LOGGING;
-    }
-
-    // all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control and motor output which we will set individually
-    control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_LOGGING &
-                                                         ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
-                                                         ~MAV_SYS_STATUS_SENSOR_BATTERY);
-
-    if (logger.logging_enabled()) {
-        control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
-    }
-
-    // set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
-    if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
-    }
-
-    const AP_BattMonitor &battery = AP::battery();
-    if (battery.num_instances() > 0) {
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
     }
 
     AP_AHRS &ahrs = AP::ahrs();
 
-    // default to all healthy except compass and gps which we set individually
-    control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS);
     const Compass &compass = AP::compass();
     if (tracker.g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
@@ -86,28 +76,6 @@ void GCS_Tracker::update_sensor_status_flags()
     if (gps.is_healthy()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
     }
-    const AP_InertialSensor &ins = AP::ins();
-    if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
-        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
-    }
-    if (!ins.get_accel_health_all()) {
-        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
-    }
-    if (ahrs.initialised() && !ahrs.healthy()) {
-        // AHRS subsystem is unhealthy
-        control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
-    }
-    if (logger.logging_failed()) {
-        control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
-    }
-    if (!battery.healthy() || battery.has_failsafed()) {
-        control_sensors_enabled &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
-    }
-    if (ins.calibrating()) {
-        // while initialising the gyros and accels are not enabled
-        control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
-        control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
-    }
 }
 
 // avoid building/linking Devo:

AntennaTracker/GCS_Tracker.h

@@ -17,7 +17,7 @@ public:
     GCS_MAVLINK_Tracker &chan(const uint8_t ofs) override { return _chan[ofs]; };
     const GCS_MAVLINK_Tracker &chan(const uint8_t ofs) const override { return _chan[ofs]; };
 
-    void update_sensor_status_flags() override;
+    void update_vehicle_sensor_status_flags() override;
 
     uint32_t custom_mode() const override;
     MAV_TYPE frame_type() const override;