ardupilot/ArduSub/GCS_Sub.cpp

#include "GCS_Sub.h"

#include "Sub.h"

void GCS_Sub::update_vehicle_sensor_status_flags()
{
    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 (sub.ap.depth_sensor_present) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
    }
    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

    control_sensors_present |=
        MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL |
        MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;

    switch (sub.control_mode) {
    case ALT_HOLD:
    case AUTO:
    case GUIDED:
    case CIRCLE:
    case SURFACE:
    case POSHOLD:
        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;
    default:
        break;
    }

    control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; // check the internal barometer only
    if (sub.sensor_health.depth) {
        control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
    }
    if (gps.is_healthy()) {
        control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
    }
#if OPTFLOW == ENABLED
    if (optflow && optflow->healthy()) {
        control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
    }
#endif

#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
    switch (terrain.status()) {
    case AP_Terrain::TerrainStatusDisabled:
        break;
    case AP_Terrain::TerrainStatusUnhealthy:
        // To-Do: restore unhealthy terrain status reporting once terrain is used in Sub
        //control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
        //control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
        //break;
    case AP_Terrain::TerrainStatusOK:
        control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
        control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
        control_sensors_health  |= MAV_SYS_STATUS_TERRAIN;
        break;
    }
#endif

#if RANGEFINDER_ENABLED == ENABLED
    const RangeFinder *rangefinder = RangeFinder::get_singleton();
    if (sub.rangefinder_state.enabled) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
        if (rangefinder && rangefinder->has_data_orient(ROTATION_PITCH_270)) {
            control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
        }
    }
#endif
}

// avoid building/linking Devo:
void AP_DEVO_Telem::init() {};