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Copter: move update_sensor_status_flags into GCS subclasses

This commit is contained in:
Peter Barker 2019-02-14 13:34:03 +11:00 committed by Peter Barker
parent 6ef1c64652
commit 5ff80e06d1
5 changed files with 33 additions and 38 deletions
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2
ArduCopter/ArduCopter.cpp
View File

@ -449,7 +449,7 @@ void Copter::one_hz_loop()
// 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
update_sensor_status_flags();
gcs().update_sensor_status_flags();
// init compass location for declination
init_compass_location();

6
ArduCopter/Copter.h
View File

@ -418,11 +418,6 @@ private:
AP_OSD osd;
#endif
// Variables for extended status MAVLink messages
uint32_t control_sensors_present;
uint32_t control_sensors_enabled;
uint32_t control_sensors_health;
// Altitude
// The cm/s we are moving up or down based on filtered data - Positive = UP
int16_t climb_rate;
@ -826,7 +821,6 @@ private:
void accel_cal_update(void);
void init_proximity();
void update_proximity();
void update_sensor_status_flags(void);
void init_visual_odom();
void winch_init();
void winch_update();

2
ArduCopter/GCS_Copter.h
View File

@ -20,7 +20,7 @@ public:
return _chan[ofs];
};
void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health);
void update_sensor_status_flags(void) override;
private:

11
ArduCopter/GCS_Mavlink.cpp
View File

@ -118,17 +118,6 @@ void GCS_MAVLINK_Copter::send_position_target_global_int()
0.0f); // yaw_rate
}
void GCS_Copter::get_sensor_status_flags(uint32_t &present,
uint32_t &enabled,
uint32_t &health)
{
copter.update_sensor_status_flags();
present = copter.control_sensors_present;
enabled = copter.control_sensors_enabled;
health = copter.control_sensors_health;
}
void GCS_MAVLINK_Copter::send_nav_controller_output() const
{
const Vector3f &targets = copter.attitude_control->get_att_target_euler_cd();

50
ArduCopter/sensors.cpp
View File

@ -186,37 +186,43 @@ void Copter::init_proximity(void)
// 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 Copter::update_sensor_status_flags(void)
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 (g.compass_enabled) {
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
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 (precland.enabled()) {
if (copter.precland.enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
#endif
#if VISUAL_ODOMETRY_ENABLED == ENABLED
if (g2.visual_odom.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;
}
if (copter.logger.logging_present()) { // primary logging only (usually File)
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
@ -230,7 +236,8 @@ void Copter::update_sensor_status_flags(void)
}
#endif
#if RANGEFINDER_ENABLED == ENABLED
if (rangefinder.has_orientation(ROTATION_PITCH_270)) {
const RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
#endif
@ -245,7 +252,7 @@ void Copter::update_sensor_status_flags(void)
~MAV_SYS_STATUS_SENSOR_LASER_POSITION &
~MAV_SYS_STATUS_SENSOR_PROXIMITY);
switch (control_mode) {
switch (copter.control_mode) {
case AUTO:
case AVOID_ADSB:
case GUIDED:
@ -277,10 +284,11 @@ void Copter::update_sensor_status_flags(void)
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
}
if (copter.logger.logging_enabled()) {
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;
}
@ -299,33 +307,37 @@ void Copter::update_sensor_status_flags(void)
// 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;
}
if (!g.compass_enabled || !compass.healthy() || !ahrs.use_compass()) {
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 || failsafe.radio) {
if (!ap.rc_receiver_present || copter.failsafe.radio) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
}
#if OPTFLOW == ENABLED
if (!optflow.healthy()) {
if (!optflow || !optflow->healthy()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
#if PRECISION_LANDING == ENABLED
if (precland.enabled() && !precland.healthy()) {
if (copter.precland.enabled() && !copter.precland.healthy()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
#endif
#if VISUAL_ODOMETRY_ENABLED == ENABLED
if (g2.visual_odom.enabled() && !g2.visual_odom.healthy()) {
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;
}
@ -338,7 +350,7 @@ void Copter::update_sensor_status_flags(void)
control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
}
if (copter.logger.logging_failed()) {
if (logger.logging_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
}
@ -349,7 +361,7 @@ void Copter::update_sensor_status_flags(void)
#endif
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
switch (terrain.status()) {
switch (copter.terrain.status()) {
case AP_Terrain::TerrainStatusDisabled:
break;
case AP_Terrain::TerrainStatusUnhealthy:
@ -366,9 +378,9 @@ void Copter::update_sensor_status_flags(void)
#endif
#if RANGEFINDER_ENABLED == ENABLED
if (rangefinder_state.enabled) {
if (copter.rangefinder_state.enabled) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
if (!rangefinder.has_data_orient(ROTATION_PITCH_270)) {
if (!rangefinder || !rangefinder->has_data_orient(ROTATION_PITCH_270)) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
}
@ -391,7 +403,7 @@ void Copter::update_sensor_status_flags(void)
#if FRSKY_TELEM_ENABLED == ENABLED
// give mask of error flags to Frsky_Telemetry
frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
copter.frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
#endif
}