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Tracker: move various sensor status flag updates up

This commit is contained in:
Peter Barker 2019-02-20 11:18:12 +11:00 committed by Randy Mackay
parent f63a5d5c1b
commit b976442e64
3 changed files with 19 additions and 54 deletions
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3
AntennaTracker/GCS_Mavlink.h
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@ -2,9 +2,6 @@
#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_MOTOR_OUTPUTS)
class GCS_MAVLINK_Tracker : public GCS_MAVLINK
{

68
AntennaTracker/GCS_Tracker.cpp
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@ -38,47 +38,37 @@ void GCS_Tracker::request_datastream_airpressure(const uint8_t sysid, const uint
}
// update sensors and subsystems present, enabled and healthy flags for reporting to GCS
void GCS_Tracker::update_sensor_status_flags()
void GCS_Tracker::update_vehicle_sensor_status_flags()
{
// default sensors present
control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
control_sensors_present |=
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 (tracker.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();
if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
}
const AP_Logger &logger = AP::logger();
if (logger.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING;
}
// all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control and motor output which we will set individually
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_LOGGING &
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
~MAV_SYS_STATUS_SENSOR_BATTERY);
if (logger.logging_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
}
// 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;
}
const AP_BattMonitor &battery = AP::battery();
if (battery.num_instances() > 0) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_GPS;
}
AP_AHRS &ahrs = AP::ahrs();
// 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);
const Compass &compass = AP::compass();
if (tracker.g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
@ -86,28 +76,6 @@ void GCS_Tracker::update_sensor_status_flags()
if (gps.is_healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
}
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 (!battery.healthy() || battery.has_failsafed()) {
control_sensors_enabled &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
}
if (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);
}
}
// avoid building/linking Devo:

2
AntennaTracker/GCS_Tracker.h
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@ -17,7 +17,7 @@ public:
GCS_MAVLINK_Tracker &chan(const uint8_t ofs) override { return _chan[ofs]; };
const GCS_MAVLINK_Tracker &chan(const uint8_t ofs) const override { return _chan[ofs]; };
void update_sensor_status_flags() override;
void update_vehicle_sensor_status_flags() override;
uint32_t custom_mode() const override;
MAV_TYPE frame_type() const override;