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Copter: `sensor_status_flags` switch to use pos control `is_active` methods for XY and Z flags

This commit is contained in:
Iampete1 2024-09-15 16:15:47 +01:00 committed by Randy Mackay
parent beb4226740
commit 864fd9f15c
1 changed files with 15 additions and 32 deletions
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47
ArduCopter/GCS_Copter.cpp
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@ -42,39 +42,22 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
MAV_SYS_STATUS_SENSOR_YAW_POSITION;
// update flightmode-specific flags:
control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
// Update position controller flags
if (copter.pos_control != nullptr) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
switch (copter.flightmode->mode_number()) {
case Mode::Number::AUTO:
case Mode::Number::AUTO_RTL:
case Mode::Number::AVOID_ADSB:
case Mode::Number::GUIDED:
case Mode::Number::LOITER:
case Mode::Number::RTL:
case Mode::Number::CIRCLE:
case Mode::Number::LAND:
case Mode::Number::POSHOLD:
case Mode::Number::BRAKE:
case Mode::Number::THROW:
case Mode::Number::SMART_RTL:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_health |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
break;
case Mode::Number::ALT_HOLD:
case Mode::Number::GUIDED_NOGPS:
case Mode::Number::SPORT:
case Mode::Number::AUTOTUNE:
case Mode::Number::FLOWHOLD:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_health |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
break;
default:
// stabilize, acro, drift, and flip have no automatic x,y or z control (i.e. all manual)
break;
// XY position controller
if (copter.pos_control->is_active_xy()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
}
// Z altitude controller
if (copter.pos_control->is_active_z()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_health |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
}
}
// optional sensors, some of which are essentially always