Rover: move various sensor status flag updates up

APMrover2/GCS_Mavlink.h

@@ -2,9 +2,6 @@
 
 #include <GCS_MAVLink/GCS.h>
 
-// default sensors are present and healthy: gyro, accelerometer, 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_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS | MAV_SYS_STATUS_SENSOR_BATTERY)
-
 class GCS_MAVLINK_Rover : public GCS_MAVLINK
 {
 public:

APMrover2/GCS_Rover.cpp

@@ -20,94 +20,60 @@ bool GCS_Rover::supersimple_input_active() const
     return (rover.g2.simple_type == ModeSimple::Simple_CardinalDirections);
 }
 
-// update error mask of sensors and subsystems. The mask
+void GCS_Rover::update_vehicle_sensor_status_flags(void)
-// 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_Rover::update_sensor_status_flags(void)
 {
-    // default sensors present
-    control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
-
     // first what sensors/controllers we have
     if (rover.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_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_Logger &logger = AP::logger();
-    if (logger.logging_present()) {  // primary logging only (usually File)
-        control_sensors_present |= MAV_SYS_STATUS_LOGGING;
     }
     const AP_Proximity *proximity = AP_Proximity::get_singleton();
     if (proximity && proximity->get_status() > AP_Proximity::Proximity_NotConnected) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
     }
 
-    // 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_present |=
-    control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL &
+        MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
-                                                         ~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION &
+        MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
-                                                         ~MAV_SYS_STATUS_SENSOR_YAW_POSITION &
+        MAV_SYS_STATUS_SENSOR_YAW_POSITION |
-                                                         ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
+        MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
-                                                         ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
+
-                                                         ~MAV_SYS_STATUS_LOGGING &
-                                                         ~MAV_SYS_STATUS_SENSOR_BATTERY);
     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 (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();
     const Compass &compass = AP::compass();
 
-    // 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);
     if (rover.g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
     }
     if (gps.is_healthy()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
     }
-    if (visual_odom && visual_odom->enabled() && !visual_odom->healthy()) {
+    if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) {
-        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
     }
-    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;
-    }
-
     const RangeFinder *rangefinder = RangeFinder::get_singleton();
     if (rangefinder && rangefinder->num_sensors() > 0) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
@@ -117,20 +83,7 @@ void GCS_Rover::update_sensor_status_flags(void)
             control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
         }
     }
-    if (proximity && proximity->get_status() == AP_Proximity::Proximity_NoData) {
+    if (proximity && proximity->get_status() != AP_Proximity::Proximity_NoData) {
-        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
-    }
-    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 (!rover.initialised || 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);
     }
 }

APMrover2/GCS_Rover.h

@@ -22,7 +22,7 @@ public:
 
     bool vehicle_initialised() const override;
 
-    void update_sensor_status_flags(void) override;
+    void update_vehicle_sensor_status_flags(void) override;
 
     bool simple_input_active() const override;
     bool supersimple_input_active() const override;