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Tracker: move update_sensor_flags to GCS_Rover.cpp

This commit is contained in:
Peter Barker 2019-02-20 08:34:14 +11:00 committed by Peter Barker
parent a24de20f51
commit 33637dbe22
2 changed files with 73 additions and 73 deletions
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73
AntennaTracker/GCS_Tracker.cpp
View File

@ -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);
}
}

73
AntennaTracker/sensors.cpp
View File

@ -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
// 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);
}
}