mirror of https://github.com/ArduPilot/ardupilot
Sub: move update_sensor_flags to GCS_Sub.cpp
This commit is contained in:
Peter Barker
Peter Barker
parent
1ab80ddce0
commit
57e8528a96
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@ -2,9 +2,6 @@
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#include "GCS_Mavlink.h"
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// default sensors are present and healthy: gyro, accelerometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
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#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)
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void Sub::gcs_send_heartbeat()
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{
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gcs().send_message(MSG_HEARTBEAT);
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@ -84,133 +81,6 @@ MAV_STATE GCS_MAVLINK_Sub::system_status() const
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return MAV_STATE_STANDBY;
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}
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void GCS_Sub::update_sensor_status_flags()
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{
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// default sensors present
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control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
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// first what sensors/controllers we have
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if (sub.g.compass_enabled) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
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}
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if (sub.ap.depth_sensor_present) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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}
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const AP_GPS &gps = AP::gps();
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if (gps.status() > AP_GPS::NO_GPS) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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const OpticalFlow *optflow = AP::opticalflow();
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if (optflow && optflow->enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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// all present sensors enabled by default except altitude and position control and motors which we will set individually
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control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
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~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
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~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS & ~MAV_SYS_STATUS_SENSOR_BATTERY);
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switch (sub.control_mode) {
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case ALT_HOLD:
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case AUTO:
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case GUIDED:
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case CIRCLE:
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case SURFACE:
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case POSHOLD:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
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break;
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default:
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break;
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}
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// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
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if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
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}
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const AP_BattMonitor &battery = AP::battery();
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if (battery.num_instances() > 0) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
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}
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// default to all healthy except baro, compass, gps and receiver which we set individually
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control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
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MAV_SYS_STATUS_SENSOR_3D_MAG |
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MAV_SYS_STATUS_SENSOR_GPS |
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MAV_SYS_STATUS_SENSOR_RC_RECEIVER);
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if (sub.sensor_health.depth) { // check the internal barometer only
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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}
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AP_AHRS &ahrs = AP::ahrs();
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const Compass &compass = AP::compass();
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if (sub.g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
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}
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if (gps.is_healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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if (optflow && optflow->healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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const AP_InertialSensor &ins = AP::ins();
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if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
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}
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if (!ins.get_accel_health_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
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}
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if (ahrs.initialised() && !ahrs.healthy()) {
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// AHRS subsystem is unhealthy
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control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
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}
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if (!battery.healthy() || battery.has_failsafed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
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}
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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switch (terrain.status()) {
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case AP_Terrain::TerrainStatusDisabled:
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break;
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case AP_Terrain::TerrainStatusUnhealthy:
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// To-Do: restore unhealthy terrain status reporting once terrain is used in Sub
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//control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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//control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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//break;
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case AP_Terrain::TerrainStatusOK:
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control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_health |= MAV_SYS_STATUS_TERRAIN;
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break;
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}
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#endif
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#if RANGEFINDER_ENABLED == ENABLED
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const RangeFinder *rangefinder = RangeFinder::get_singleton();
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if (sub.rangefinder_state.enabled) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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if (rangefinder && rangefinder->has_data_orient(ROTATION_PITCH_270)) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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}
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#endif
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if (!sub.ap.initialised || ins.calibrating()) {
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// while initialising the gyros and accels are not enabled
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control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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}
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}
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void GCS_MAVLINK_Sub::send_nav_controller_output() const
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{
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const Vector3f &targets = sub.attitude_control.get_att_target_euler_cd();
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@ -0,0 +1,134 @@
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#include "GCS_Sub.h"
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#include "Sub.h"
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// default sensors are present and healthy: gyro, accelerometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
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#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)
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void GCS_Sub::update_sensor_status_flags()
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{
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// default sensors present
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control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
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// first what sensors/controllers we have
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if (sub.g.compass_enabled) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
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}
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if (sub.ap.depth_sensor_present) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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}
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const AP_GPS &gps = AP::gps();
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if (gps.status() > AP_GPS::NO_GPS) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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const OpticalFlow *optflow = AP::opticalflow();
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if (optflow && optflow->enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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// all present sensors enabled by default except altitude and position control and motors which we will set individually
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control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
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~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
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~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS & ~MAV_SYS_STATUS_SENSOR_BATTERY);
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switch (sub.control_mode) {
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case ALT_HOLD:
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case AUTO:
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case GUIDED:
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case CIRCLE:
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case SURFACE:
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case POSHOLD:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
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break;
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default:
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break;
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}
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// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
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if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
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}
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const AP_BattMonitor &battery = AP::battery();
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if (battery.num_instances() > 0) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
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}
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// default to all healthy except baro, compass, gps and receiver which we set individually
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control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
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MAV_SYS_STATUS_SENSOR_3D_MAG |
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MAV_SYS_STATUS_SENSOR_GPS |
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MAV_SYS_STATUS_SENSOR_RC_RECEIVER);
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if (sub.sensor_health.depth) { // check the internal barometer only
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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}
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AP_AHRS &ahrs = AP::ahrs();
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const Compass &compass = AP::compass();
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if (sub.g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
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}
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if (gps.is_healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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if (optflow && optflow->healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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const AP_InertialSensor &ins = AP::ins();
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if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
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}
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if (!ins.get_accel_health_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
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}
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if (ahrs.initialised() && !ahrs.healthy()) {
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// AHRS subsystem is unhealthy
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control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
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}
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if (!battery.healthy() || battery.has_failsafed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
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}
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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switch (terrain.status()) {
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case AP_Terrain::TerrainStatusDisabled:
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break;
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case AP_Terrain::TerrainStatusUnhealthy:
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// To-Do: restore unhealthy terrain status reporting once terrain is used in Sub
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//control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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//control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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//break;
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case AP_Terrain::TerrainStatusOK:
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control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_health |= MAV_SYS_STATUS_TERRAIN;
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break;
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}
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#endif
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#if RANGEFINDER_ENABLED == ENABLED
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const RangeFinder *rangefinder = RangeFinder::get_singleton();
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if (sub.rangefinder_state.enabled) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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if (rangefinder && rangefinder->has_data_orient(ROTATION_PITCH_270)) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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}
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#endif
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if (!sub.ap.initialised || ins.calibrating()) {
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// while initialising the gyros and accels are not enabled
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control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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}
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}
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