ardupilot/ArduPlane/GCS_Plane.cpp

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2016-08-25 04:48:27 -03:00
#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)
{
// 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
}
const AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
if (airspeed && airspeed->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
}
const AP_GPS &gps = AP::gps();
if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= 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;
}
#endif
if (plane.geofence_present()) {
control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
}
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;
}
if (plane.geofence_enabled()) {
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;
}
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
break;
case STABILIZE:
case FLY_BY_WIRE_A:
case AUTOTUNE:
case QSTABILIZE:
case QHOVER:
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
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
}
break;
case AUTO:
case RTL:
case LOITER:
case AVOID_ADSB:
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
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;
}
// 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;
}
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D && 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 (!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;
}
#endif
if (logger.logging_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
}
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
switch (plane.terrain.status()) {
case AP_Terrain::TerrainStatusDisabled:
break;
case AP_Terrain::TerrainStatusUnhealthy:
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
const RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
if (plane.g.rangefinder_landing) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
if (rangefinder->has_data_orient(ROTATION_PITCH_270)) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
}
if (plane.have_reverse_thrust() && SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) < 0) {
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;
}
}