ardupilot/ArduSub/GCS_Sub.cpp

#include "GCS_Sub.h"

#include "Sub.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_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS | MAV_SYS_STATUS_SENSOR_BATTERY)

void GCS_Sub::update_sensor_status_flags()
{
    // default sensors present
    control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;

    // first what sensors/controllers we have
    if (sub.g.compass_enabled) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
    }
    if (sub.ap.depth_sensor_present) {
        control_sensors_present |= 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;
    }
#if OPTFLOW == ENABLED
    const OpticalFlow *optflow = AP::opticalflow();
    if (optflow && optflow->enabled()) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
    }
#endif

    // all present sensors enabled by default except altitude and position control and motors which we will set individually
    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_SENSOR_BATTERY);

    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_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
        break;
    default:
        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;
    }

    const AP_BattMonitor &battery = AP::battery();
    if (battery.num_instances() > 0) {
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
    }

    // default to all healthy except baro, compass, gps and receiver which we set individually
    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_RC_RECEIVER);

    if (sub.sensor_health.depth) { // check the internal barometer only
        control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
    }
    AP_AHRS &ahrs = AP::ahrs();
    const Compass &compass = AP::compass();
    if (sub.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 OPTFLOW == ENABLED
    if (optflow && optflow->healthy()) {
        control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
    }
#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 (!battery.healthy() || battery.has_failsafed()) {
        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
    }

#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

    if (!sub.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);
    }
}