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Copter: mavlink extended status gps bit not-healthy when glitching 

add optflow health to extended status
mavlink heartbeat status to critical on any failsafe
extended status msg to use SYS_STATUS_SENSOR enum
This commit is contained in:
Randy Mackay 2013-09-27 19:39:10 +09:00
parent 688dd5374e
commit a33060b66d
1 changed files with 37 additions and 37 deletions
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74
ArduCopter/GCS_Mavlink.pde
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@ -1,5 +1,8 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// 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_DIFFERENTIAL_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)
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
@ -46,8 +49,9 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
uint8_t system_status = ap.land_complete ? MAV_STATE_STANDBY : MAV_STATE_ACTIVE;
uint32_t custom_mode = control_mode;
if (failsafe.radio == true) {
// set system as critical if any failsafe have triggered
if (failsafe.radio || failsafe.low_battery || failsafe.gps || failsafe.gcs) {
system_status = MAV_STATE_CRITICAL;
}
@ -133,60 +137,56 @@ static NOINLINE void send_limits_status(mavlink_channel_t chan)
static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops)
{
uint32_t control_sensors_present = 0;
uint32_t control_sensors_present;
uint32_t control_sensors_enabled;
uint32_t control_sensors_health;
// default sensors present
control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
// first what sensors/controllers we have
control_sensors_present |= (1<<0); // 3D gyro present
control_sensors_present |= (1<<1); // 3D accelerometer present
if (g.compass_enabled) {
control_sensors_present |= (1<<2); // compass present
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
}
control_sensors_present |= (1<<3); // absolute pressure sensor present
if (g_gps != NULL && g_gps->status() > GPS::NO_GPS) {
control_sensors_present |= (1<<5); // GPS present
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
}
control_sensors_present |= (1<<10); // 3D angular rate control
control_sensors_present |= (1<<11); // attitude stabilisation
control_sensors_present |= (1<<12); // yaw position
control_sensors_present |= (1<<13); // altitude control
control_sensors_present |= (1<<14); // X/Y position control
control_sensors_present |= (1<<15); // motor control
#if OPTFLOW == ENABLED
if (g.optflow_enabled) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
// now what sensors/controllers are enabled
// first the sensors
control_sensors_enabled = control_sensors_present & 0x1FF;
// now the controllers
control_sensors_enabled = control_sensors_present & 0x1FF;
control_sensors_enabled |= (1<<10); // 3D angular rate control
control_sensors_enabled |= (1<<11); // attitude stabilisation
control_sensors_enabled |= (1<<13); // altitude control
control_sensors_enabled |= (1<<15); // motor control
// all present sensors enabled by default except compass, gps, alt and position control which we will set individually
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL);
switch (control_mode) {
case ALT_HOLD:
case AUTO:
case RTL:
case LOITER:
case GUIDED:
case LOITER:
case RTL:
case CIRCLE:
case LAND:
case OF_LOITER:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
break;
case POSITION:
control_sensors_enabled |= (1<<12); // yaw position
control_sensors_enabled |= (1<<14); // X/Y position control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
break;
case SPORT:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
break;
}
// at the moment all sensors/controllers are assumed healthy
control_sensors_health = control_sensors_present;
if (!compass.healthy) {
control_sensors_health &= ~(1<<2); // compass
// 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);
if (compass.healthy && compass.use_for_yaw()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}
if (!compass.use_for_yaw()) {
control_sensors_enabled &= ~(1<<2); // compass
if (g_gps != NULL && g_gps->status() > GPS::NO_GPS && !gps_glitch.glitching()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
}
int16_t battery_current = -1;