ardupilot/ArduCopter/GCS_Copter.cpp

229 lines
8.2 KiB
C++
Raw Normal View History

#include "GCS_Copter.h"
#include "Copter.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_Copter::update_sensor_status_flags(void)
{
// default sensors present
control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
// first what sensors/controllers we have
if (copter.g.compass_enabled) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
}
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 PRECISION_LANDING == ENABLED
if (copter.precland.enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
#endif
#if VISUAL_ODOMETRY_ENABLED == ENABLED
const AP_VisualOdom *visual_odom = AP::visualodom();
if (visual_odom && visual_odom->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
#endif
const Copter::ap_t &ap = copter.ap;
if (ap.rc_receiver_present) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
}
const AP_Logger &logger = AP::logger();
if (logger.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING;
}
#if PROXIMITY_ENABLED == ENABLED
if (copter.g2.proximity.sensor_present()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
}
#endif
#if AC_FENCE == ENABLED
if (copter.fence.sys_status_present()) {
control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
}
#endif
#if RANGEFINDER_ENABLED == ENABLED
const RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
#endif
// all sensors are present except these, which may be set as enabled below:
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
~MAV_SYS_STATUS_LOGGING &
~MAV_SYS_STATUS_SENSOR_BATTERY &
~MAV_SYS_STATUS_GEOFENCE &
~MAV_SYS_STATUS_SENSOR_LASER_POSITION &
~MAV_SYS_STATUS_SENSOR_PROXIMITY);
switch (copter.control_mode) {
case AUTO:
case AVOID_ADSB:
case GUIDED:
case LOITER:
case RTL:
case CIRCLE:
case LAND:
case POSHOLD:
case BRAKE:
case THROW:
case SMART_RTL:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
break;
case ALT_HOLD:
case GUIDED_NOGPS:
case SPORT:
case AUTOTUNE:
case FLOWHOLD:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
break;
default:
// stabilize, acro, drift, and flip have no automatic x,y or z control (i.e. all manual)
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 (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;
}
#if AC_FENCE == ENABLED
if (copter.fence.sys_status_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
}
#endif
#if PROXIMITY_ENABLED == ENABLED
if (copter.g2.proximity.sensor_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
}
#endif
// default to all healthy
control_sensors_health = control_sensors_present;
const AP_Baro &barometer = AP::baro();
if (!barometer.all_healthy()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
}
AP_AHRS &ahrs = AP::ahrs();
const Compass &compass = AP::compass();
if (!copter.g.compass_enabled || !compass.healthy() || !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 (!ap.rc_receiver_present || copter.failsafe.radio) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
}
#if OPTFLOW == ENABLED
if (!optflow || !optflow->healthy()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
#if PRECISION_LANDING == ENABLED
if (copter.precland.enabled() && !copter.precland.healthy()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
#endif
#if VISUAL_ODOMETRY_ENABLED == ENABLED
if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
#endif
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 PROXIMITY_ENABLED == ENABLED
if (copter.g2.proximity.sensor_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_PROXIMITY;
}
#endif
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
switch (copter.terrain.status()) {
case AP_Terrain::TerrainStatusDisabled:
break;
case AP_Terrain::TerrainStatusUnhealthy:
// To-Do: restore unhealthy terrain status reporting once terrain is used in copter
//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
if (copter.rangefinder_state.enabled) {
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
if (!ap.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);
}
if (!copter.battery.healthy() || copter.battery.has_failsafed()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
}
#if AC_FENCE == ENABLED
if (copter.fence.sys_status_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE;
}
#endif
#if FRSKY_TELEM_ENABLED == ENABLED
// give mask of error flags to Frsky_Telemetry
copter.frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
#endif
}