mirror of https://github.com/ArduPilot/ardupilot
Tracker: move update_sensor_flags to GCS_Rover.cpp
This commit is contained in:
Peter Barker
Peter Barker
parent
a24de20f51
commit
33637dbe22
|
|
@ -36,3 +36,76 @@ void GCS_Tracker::request_datastream_airpressure(const uint8_t sysid, const uint
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// update sensors and subsystems present, enabled and healthy flags for reporting to GCS
|
||||||
|
void GCS_Tracker::update_sensor_status_flags()
|
||||||
|
{
|
||||||
|
// default sensors present
|
||||||
|
control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
|
||||||
|
|
||||||
|
// first what sensors/controllers we have
|
||||||
|
if (tracker.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;
|
||||||
|
}
|
||||||
|
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 and motor output which we will set individually
|
||||||
|
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_LOGGING &
|
||||||
|
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
|
||||||
|
~MAV_SYS_STATUS_SENSOR_BATTERY);
|
||||||
|
|
||||||
|
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();
|
||||||
|
|
||||||
|
// 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);
|
||||||
|
const Compass &compass = AP::compass();
|
||||||
|
if (tracker.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;
|
||||||
|
}
|
||||||
|
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 (!battery.healthy() || battery.has_failsafed()) {
|
||||||
|
control_sensors_enabled &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
|
||||||
|
}
|
||||||
|
if (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);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
|
||||||
|
|
@ -89,76 +89,3 @@ void Tracker::handle_battery_failsafe(const char* type_str, const int8_t action)
|
||||||
// useful failsafes in the future would include actually recalling the vehicle
|
// useful failsafes in the future would include actually recalling the vehicle
|
||||||
// that is tracked before the tracker loses power to continue tracking it
|
// that is tracked before the tracker loses power to continue tracking it
|
||||||
}
|
}
|
||||||
|
|
||||||
// update sensors and subsystems present, enabled and healthy flags for reporting to GCS
|
|
||||||
void GCS_Tracker::update_sensor_status_flags()
|
|
||||||
{
|
|
||||||
// default sensors present
|
|
||||||
control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
|
|
||||||
|
|
||||||
// first what sensors/controllers we have
|
|
||||||
if (tracker.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;
|
|
||||||
}
|
|
||||||
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 and motor output which we will set individually
|
|
||||||
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_LOGGING &
|
|
||||||
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
|
|
||||||
~MAV_SYS_STATUS_SENSOR_BATTERY);
|
|
||||||
|
|
||||||
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();
|
|
||||||
|
|
||||||
// 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);
|
|
||||||
const Compass &compass = AP::compass();
|
|
||||||
if (tracker.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;
|
|
||||||
}
|
|
||||||
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 (!battery.healthy() || battery.has_failsafed()) {
|
|
||||||
control_sensors_enabled &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
|
|
||||||
}
|
|
||||||
if (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);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue