diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h index 16e7de5d23..2a2fcb86c6 100644 --- a/ArduPlane/GCS_Mavlink.h +++ b/ArduPlane/GCS_Mavlink.h @@ -2,9 +2,6 @@ #include -// 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_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS | MAV_SYS_STATUS_SENSOR_RC_RECEIVER | MAV_SYS_STATUS_SENSOR_BATTERY) - class GCS_MAVLINK_Plane : public GCS_MAVLINK { diff --git a/ArduPlane/GCS_Plane.cpp b/ArduPlane/GCS_Plane.cpp index c0fb71bab2..8416591763 100644 --- a/ArduPlane/GCS_Plane.cpp +++ b/ArduPlane/GCS_Plane.cpp @@ -1,18 +1,12 @@ #include "GCS_Plane.h" #include "Plane.h" -// update error mask of sensors and subsystems. The mask -// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set -// then it indicates that the sensor or subsystem is present but -// not functioning correctly. -void GCS_Plane::update_sensor_status_flags(void) +void GCS_Plane::update_vehicle_sensor_status_flags(void) { - // default sensors present - control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT; - // first what sensors/controllers we have if (plane.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_Airspeed *airspeed = AP_Airspeed::get_singleton(); @@ -22,11 +16,13 @@ void GCS_Plane::update_sensor_status_flags(void) 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; } #if OPTFLOW == ENABLED const OpticalFlow *optflow = AP::opticalflow(); if (optflow && optflow->enabled()) { control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW; + control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW; } #endif if (plane.geofence_present()) { @@ -36,13 +32,6 @@ void GCS_Plane::update_sensor_status_flags(void) if (plane.have_reverse_thrust()) { control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR; } - 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, geofence, motor, and battery output which we will set individually - control_sensors_enabled = 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_Z_ALTITUDE_CONTROL & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL & ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS & ~MAV_SYS_STATUS_GEOFENCE & ~MAV_SYS_STATUS_LOGGING & ~MAV_SYS_STATUS_SENSOR_BATTERY); if (airspeed && airspeed->enabled() && airspeed->use()) { control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE; @@ -52,22 +41,22 @@ void GCS_Plane::update_sensor_status_flags(void) control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE; } - if (logger.logging_enabled()) { - control_sensors_enabled |= MAV_SYS_STATUS_LOGGING; - } - - const AP_BattMonitor &battery = AP::battery(); - if (battery.num_instances() > 0) { - control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY; - } + 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_Z_ALTITUDE_CONTROL | + MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; + bool rate_controlled = false; + bool attitude_stabilized = false; switch (plane.control_mode) { case MANUAL: break; case ACRO: case QACRO: - control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control + rate_controlled = true; break; case STABILIZE: @@ -78,20 +67,16 @@ void GCS_Plane::update_sensor_status_flags(void) case QLAND: case QLOITER: case QAUTOTUNE: - control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control - control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation - break; - case FLY_BY_WIRE_B: case CRUISE: - control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control - control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation + rate_controlled = true; + attitude_stabilized = true; break; case TRAINING: if (!plane.training_manual_roll || !plane.training_manual_pitch) { - control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control - control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation + rate_controlled = true; + attitude_stabilized = true; } break; @@ -102,44 +87,31 @@ void GCS_Plane::update_sensor_status_flags(void) case GUIDED: case CIRCLE: case QRTL: - control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control - control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation - control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position - control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; // altitude control - control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control + rate_controlled = true; + attitude_stabilized = true; + control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; + control_sensors_health |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; + control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; + control_sensors_health |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; + control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; + control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; break; case INITIALISING: break; } - // 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; + if (rate_controlled) { + 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 + } + if (attitude_stabilized) { + control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; + control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; } - - // default: all present sensors healthy except baro, 3D_MAG, GPS, DIFFERNTIAL_PRESSURE. GEOFENCE always defaults to healthy. - control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | - MAV_SYS_STATUS_SENSOR_3D_MAG | - MAV_SYS_STATUS_SENSOR_GPS | - MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE); - control_sensors_health |= MAV_SYS_STATUS_GEOFENCE; AP_AHRS &ahrs = AP::ahrs(); - if (ahrs.initialised() && !ahrs.healthy()) { - // AHRS subsystem is unhealthy - control_sensors_health &= ~MAV_SYS_STATUS_AHRS; - } - const AP_InertialSensor &ins = AP::ins(); - if (ahrs.have_inertial_nav() && !ins.accel_calibrated_ok_all()) { - // trying to use EKF without properly calibrated accelerometers - control_sensors_health &= ~MAV_SYS_STATUS_AHRS; - } - const AP_Baro &barometer = AP::baro(); - if (barometer.all_healthy()) { - control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; - } const Compass &compass = AP::compass(); if (plane.g.compass_enabled && compass.healthy() && ahrs.use_compass()) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG; @@ -152,29 +124,19 @@ void GCS_Plane::update_sensor_status_flags(void) control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW; } #endif - 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 (airspeed && airspeed->all_healthy()) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE; } #if GEOFENCE_ENABLED - if (plane.geofence_breached()) { - control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE; + if (!plane.geofence_breached()) { + control_sensors_health |= MAV_SYS_STATUS_GEOFENCE; } #endif - if (logger.logging_failed()) { - control_sensors_health &= ~MAV_SYS_STATUS_LOGGING; - } - + control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; + control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; if (millis() - plane.failsafe.last_valid_rc_ms < 200) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; - } else { - control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER; } #if AP_TERRAIN_AVAILABLE @@ -208,14 +170,4 @@ void GCS_Plane::update_sensor_status_flags(void) control_sensors_enabled |= MAV_SYS_STATUS_REVERSE_MOTOR; control_sensors_health |= MAV_SYS_STATUS_REVERSE_MOTOR; } - - if (AP_Notify::flags.initialising) { - // 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); - } - - if (!plane.battery.healthy() || plane.battery.has_failsafed()) { - control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY; - } } diff --git a/ArduPlane/GCS_Plane.h b/ArduPlane/GCS_Plane.h index 1065470cda..0338c58c70 100644 --- a/ArduPlane/GCS_Plane.h +++ b/ArduPlane/GCS_Plane.h @@ -22,7 +22,7 @@ public: protected: - void update_sensor_status_flags(void) override; + void update_vehicle_sensor_status_flags(void) override; uint32_t custom_mode() const override; MAV_TYPE frame_type() const override;