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Copter: move various sensor status flag updates up

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This commit is contained in:
Peter Barker 2019-02-20 10:01:55 +11:00 committed by Randy Mackay
parent 2796beac8d
commit 9a2d5ac5a6
3 changed files with 42 additions and 89 deletions
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126
ArduCopter/GCS_Copter.cpp
View File

@ -17,48 +17,57 @@ bool GCS_Copter::supersimple_input_active() const
return copter.ap.simple_mode == 2; return copter.ap.simple_mode == 2;
} }
// update error mask of sensors and subsystems. The mask void GCS_Copter::update_vehicle_sensor_status_flags(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 GCS_Copter::update_sensor_status_flags(void)
{ {
// default sensors present control_sensors_present |=
control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT; MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
MAV_SYS_STATUS_SENSOR_YAW_POSITION;
control_sensors_enabled |=
MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
MAV_SYS_STATUS_SENSOR_YAW_POSITION;
control_sensors_health |=
MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
MAV_SYS_STATUS_SENSOR_YAW_POSITION;
// first what sensors/controllers we have
if (copter.g.compass_enabled) { if (copter.g.compass_enabled) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_3D_MAG;
} }
const AP_GPS &gps = AP::gps(); const AP_GPS &gps = AP::gps();
if (gps.status() > AP_GPS::NO_GPS) { if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS; control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_GPS;
} }
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
const OpticalFlow *optflow = AP::opticalflow(); const OpticalFlow *optflow = AP::opticalflow();
if (optflow && optflow->enabled()) { if (optflow && optflow->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW; control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
} }
#endif #endif
#if PRECISION_LANDING == ENABLED #if PRECISION_LANDING == ENABLED
if (copter.precland.enabled()) { if (copter.precland.enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION; control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
} }
#endif #endif
#if VISUAL_ODOMETRY_ENABLED == ENABLED #if VISUAL_ODOMETRY_ENABLED == ENABLED
const AP_VisualOdom *visual_odom = AP::visualodom(); const AP_VisualOdom *visual_odom = AP::visualodom();
if (visual_odom && visual_odom->enabled()) { if (visual_odom && visual_odom->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION; control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
} }
#endif #endif
const Copter::ap_t &ap = copter.ap; const Copter::ap_t &ap = copter.ap;
if (ap.rc_receiver_present) { if (ap.rc_receiver_present) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
} control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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 #if PROXIMITY_ENABLED == ENABLED
if (copter.g2.proximity.sensor_present()) { if (copter.g2.proximity.sensor_present()) {
@ -77,15 +86,8 @@ void GCS_Copter::update_sensor_status_flags(void)
} }
#endif #endif
// all sensors are present except these, which may be set as enabled below: control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL & control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
~MAV_SYS_STATUS_LOGGING &
~MAV_SYS_STATUS_SENSOR_BATTERY &
~MAV_SYS_STATUS_GEOFENCE &
~MAV_SYS_STATUS_SENSOR_LASER_POSITION &
~MAV_SYS_STATUS_SENSOR_PROXIMITY);
switch (copter.control_mode) { switch (copter.control_mode) {
case AUTO: case AUTO:
@ -114,19 +116,6 @@ void GCS_Copter::update_sensor_status_flags(void)
break; break;
} }
// 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;
}
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;
}
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
if (copter.fence.sys_status_enabled()) { if (copter.fence.sys_status_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE; control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
@ -138,60 +127,36 @@ void GCS_Copter::update_sensor_status_flags(void)
} }
#endif #endif
// 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;
}
AP_AHRS &ahrs = AP::ahrs(); AP_AHRS &ahrs = AP::ahrs();
const Compass &compass = AP::compass(); const Compass &compass = AP::compass();
if (!copter.g.compass_enabled || !compass.healthy() || !ahrs.use_compass()) { if (copter.g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_MAG; control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
} }
if (!gps.is_healthy()) { if (gps.is_healthy()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_GPS; control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
} }
if (!ap.rc_receiver_present || copter.failsafe.radio) { if (ap.rc_receiver_present && !copter.failsafe.radio) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER; control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
} }
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
if (!optflow || !optflow->healthy()) { if (optflow && optflow->healthy()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW; control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
} }
#endif #endif
#if PRECISION_LANDING == ENABLED #if PRECISION_LANDING == ENABLED
if (copter.precland.enabled() && !copter.precland.healthy()) { if (!copter.precland.enabled() || copter.precland.healthy()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION; control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
} }
#endif #endif
#if VISUAL_ODOMETRY_ENABLED == ENABLED #if VISUAL_ODOMETRY_ENABLED == ENABLED
if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) { if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION; control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
} }
#endif #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;
}
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 PROXIMITY_ENABLED == ENABLED #if PROXIMITY_ENABLED == ENABLED
if (copter.g2.proximity.sensor_failed()) { if (!copter.g2.proximity.sensor_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_PROXIMITY; control_sensors_health |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
} }
#endif #endif
@ -215,24 +180,15 @@ void GCS_Copter::update_sensor_status_flags(void)
#if RANGEFINDER_ENABLED == ENABLED #if RANGEFINDER_ENABLED == ENABLED
if (copter.rangefinder_state.enabled) { if (copter.rangefinder_state.enabled) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
if (!rangefinder || !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; control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
} }
} }
#endif #endif
if (!ap.initialised || 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);
}
if (!copter.battery.healthy() || copter.battery.has_failsafed()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
}
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
if (copter.fence.sys_status_failed()) { if (!copter.fence.sys_status_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE; control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
} }
#endif #endif
} }

2
ArduCopter/GCS_Copter.h
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@ -20,7 +20,7 @@ public:
return _chan[ofs]; return _chan[ofs];
}; };
void update_sensor_status_flags(void) override; void update_vehicle_sensor_status_flags(void) override;
uint32_t custom_mode() const override; uint32_t custom_mode() const override;
MAV_TYPE frame_type() const override; MAV_TYPE frame_type() const override;

3
ArduCopter/GCS_Mavlink.h
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@ -2,9 +2,6 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | 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)
class GCS_MAVLINK_Copter : public GCS_MAVLINK class GCS_MAVLINK_Copter : public GCS_MAVLINK
{ {