mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-26 01:33:56 -04:00
Copter: move update_sensor_flags to GCS_Copter.cpp
This commit is contained in:
Peter Barker
Peter Barker
parent
cb95bf7814
commit
c622645ff1
228
ArduCopter/GCS_Copter.cpp
Normal file
228
ArduCopter/GCS_Copter.cpp
Normal file
@ -0,0 +1,228 @@
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#include "GCS_Copter.h"
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#include "Copter.h"
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// update error mask of sensors and subsystems. The mask
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// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
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// then it indicates that the sensor or subsystem is present but
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// not functioning correctly.
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void GCS_Copter::update_sensor_status_flags(void)
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{
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// default sensors present
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control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
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// first what sensors/controllers we have
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if (copter.g.compass_enabled) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
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}
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const AP_GPS &gps = AP::gps();
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if (gps.status() > AP_GPS::NO_GPS) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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const OpticalFlow *optflow = AP::opticalflow();
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if (optflow && optflow->enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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#if PRECISION_LANDING == ENABLED
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if (copter.precland.enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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#endif
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#if VISUAL_ODOMETRY_ENABLED == ENABLED
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const AP_VisualOdom *visual_odom = AP::visualodom();
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if (visual_odom && visual_odom->enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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#endif
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const Copter::ap_t &ap = copter.ap;
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if (ap.rc_receiver_present) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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}
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const AP_Logger &logger = AP::logger();
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if (logger.logging_present()) { // primary logging only (usually File)
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control_sensors_present |= MAV_SYS_STATUS_LOGGING;
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}
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#if PROXIMITY_ENABLED == ENABLED
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if (copter.g2.proximity.sensor_present()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
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}
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#endif
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#if AC_FENCE == ENABLED
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if (copter.fence.sys_status_present()) {
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control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
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}
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#endif
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#if RANGEFINDER_ENABLED == ENABLED
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const RangeFinder *rangefinder = RangeFinder::get_singleton();
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if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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#endif
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// all sensors are present except these, which may be set as enabled below:
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control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
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~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
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~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
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~MAV_SYS_STATUS_LOGGING &
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~MAV_SYS_STATUS_SENSOR_BATTERY &
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~MAV_SYS_STATUS_GEOFENCE &
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~MAV_SYS_STATUS_SENSOR_LASER_POSITION &
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~MAV_SYS_STATUS_SENSOR_PROXIMITY);
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switch (copter.control_mode) {
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case AUTO:
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case AVOID_ADSB:
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case GUIDED:
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case LOITER:
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case RTL:
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case CIRCLE:
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case LAND:
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case POSHOLD:
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case BRAKE:
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case THROW:
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case SMART_RTL:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
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break;
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case ALT_HOLD:
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case GUIDED_NOGPS:
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case SPORT:
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case AUTOTUNE:
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case FLOWHOLD:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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break;
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default:
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// stabilize, acro, drift, and flip have no automatic x,y or z control (i.e. all manual)
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break;
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}
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// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
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if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
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}
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if (logger.logging_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
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}
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const AP_BattMonitor &battery = AP::battery();
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if (battery.num_instances() > 0) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
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}
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#if AC_FENCE == ENABLED
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if (copter.fence.sys_status_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
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}
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#endif
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#if PROXIMITY_ENABLED == ENABLED
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if (copter.g2.proximity.sensor_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
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}
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#endif
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// default to all healthy
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control_sensors_health = control_sensors_present;
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const AP_Baro &barometer = AP::baro();
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if (!barometer.all_healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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}
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AP_AHRS &ahrs = AP::ahrs();
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const Compass &compass = AP::compass();
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if (!copter.g.compass_enabled || !compass.healthy() || !ahrs.use_compass()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_MAG;
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}
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if (!gps.is_healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_GPS;
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}
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if (!ap.rc_receiver_present || copter.failsafe.radio) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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}
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#if OPTFLOW == ENABLED
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if (!optflow || !optflow->healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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#if PRECISION_LANDING == ENABLED
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if (copter.precland.enabled() && !copter.precland.healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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#endif
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#if VISUAL_ODOMETRY_ENABLED == ENABLED
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if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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#endif
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const AP_InertialSensor &ins = AP::ins();
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if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
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}
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if (!ins.get_accel_health_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
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}
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if (ahrs.initialised() && !ahrs.healthy()) {
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// AHRS subsystem is unhealthy
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control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
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}
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if (logger.logging_failed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
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}
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#if PROXIMITY_ENABLED == ENABLED
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if (copter.g2.proximity.sensor_failed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_PROXIMITY;
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}
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#endif
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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switch (copter.terrain.status()) {
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case AP_Terrain::TerrainStatusDisabled:
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break;
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case AP_Terrain::TerrainStatusUnhealthy:
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// To-Do: restore unhealthy terrain status reporting once terrain is used in copter
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//control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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//control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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//break;
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case AP_Terrain::TerrainStatusOK:
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control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_health |= MAV_SYS_STATUS_TERRAIN;
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break;
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}
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#endif
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#if RANGEFINDER_ENABLED == ENABLED
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if (copter.rangefinder_state.enabled) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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if (!rangefinder || !rangefinder->has_data_orient(ROTATION_PITCH_270)) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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}
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#endif
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if (!ap.initialised || ins.calibrating()) {
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// while initialising the gyros and accels are not enabled
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control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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}
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if (!copter.battery.healthy() || copter.battery.has_failsafed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
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}
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#if AC_FENCE == ENABLED
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if (copter.fence.sys_status_failed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE;
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}
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#endif
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#if FRSKY_TELEM_ENABLED == ENABLED
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// give mask of error flags to Frsky_Telemetry
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copter.frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
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#endif
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}
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@ -182,231 +182,6 @@ void Copter::init_proximity(void)
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#endif
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}
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// update error mask of sensors and subsystems. The mask
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// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
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// then it indicates that the sensor or subsystem is present but
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// not functioning correctly.
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void GCS_Copter::update_sensor_status_flags(void)
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{
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// default sensors present
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control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
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// first what sensors/controllers we have
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if (copter.g.compass_enabled) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
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}
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const AP_GPS &gps = AP::gps();
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if (gps.status() > AP_GPS::NO_GPS) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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const OpticalFlow *optflow = AP::opticalflow();
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if (optflow && optflow->enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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#if PRECISION_LANDING == ENABLED
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if (copter.precland.enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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#endif
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#if VISUAL_ODOMETRY_ENABLED == ENABLED
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const AP_VisualOdom *visual_odom = AP::visualodom();
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if (visual_odom && visual_odom->enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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#endif
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const Copter::ap_t &ap = copter.ap;
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if (ap.rc_receiver_present) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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}
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const AP_Logger &logger = AP::logger();
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if (logger.logging_present()) { // primary logging only (usually File)
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control_sensors_present |= MAV_SYS_STATUS_LOGGING;
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}
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#if PROXIMITY_ENABLED == ENABLED
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if (copter.g2.proximity.sensor_present()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
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}
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#endif
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#if AC_FENCE == ENABLED
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if (copter.fence.sys_status_present()) {
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control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
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}
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#endif
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#if RANGEFINDER_ENABLED == ENABLED
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const RangeFinder *rangefinder = RangeFinder::get_singleton();
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if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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#endif
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// all sensors are present except these, which may be set as enabled below:
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control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
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~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
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~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
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~MAV_SYS_STATUS_LOGGING &
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~MAV_SYS_STATUS_SENSOR_BATTERY &
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~MAV_SYS_STATUS_GEOFENCE &
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~MAV_SYS_STATUS_SENSOR_LASER_POSITION &
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~MAV_SYS_STATUS_SENSOR_PROXIMITY);
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switch (copter.control_mode) {
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case AUTO:
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case AVOID_ADSB:
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case GUIDED:
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case LOITER:
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case RTL:
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case CIRCLE:
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case LAND:
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case POSHOLD:
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case BRAKE:
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case THROW:
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case SMART_RTL:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
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break;
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case ALT_HOLD:
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case GUIDED_NOGPS:
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case SPORT:
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case AUTOTUNE:
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case FLOWHOLD:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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break;
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default:
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// stabilize, acro, drift, and flip have no automatic x,y or z control (i.e. all manual)
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break;
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}
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// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
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if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
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}
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if (logger.logging_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
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}
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const AP_BattMonitor &battery = AP::battery();
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if (battery.num_instances() > 0) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
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}
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#if AC_FENCE == ENABLED
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if (copter.fence.sys_status_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
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}
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#endif
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#if PROXIMITY_ENABLED == ENABLED
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if (copter.g2.proximity.sensor_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
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}
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#endif
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// default to all healthy
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control_sensors_health = control_sensors_present;
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const AP_Baro &barometer = AP::baro();
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if (!barometer.all_healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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}
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AP_AHRS &ahrs = AP::ahrs();
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const Compass &compass = AP::compass();
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if (!copter.g.compass_enabled || !compass.healthy() || !ahrs.use_compass()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_MAG;
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}
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if (!gps.is_healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_GPS;
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}
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if (!ap.rc_receiver_present || copter.failsafe.radio) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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}
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#if OPTFLOW == ENABLED
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if (!optflow || !optflow->healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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#if PRECISION_LANDING == ENABLED
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if (copter.precland.enabled() && !copter.precland.healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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#endif
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#if VISUAL_ODOMETRY_ENABLED == ENABLED
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if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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#endif
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const AP_InertialSensor &ins = AP::ins();
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if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
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}
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if (!ins.get_accel_health_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
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}
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if (ahrs.initialised() && !ahrs.healthy()) {
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// AHRS subsystem is unhealthy
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control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
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}
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if (logger.logging_failed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
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}
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#if PROXIMITY_ENABLED == ENABLED
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if (copter.g2.proximity.sensor_failed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_PROXIMITY;
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}
|
||||
#endif
|
||||
|
||||
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
|
||||
switch (copter.terrain.status()) {
|
||||
case AP_Terrain::TerrainStatusDisabled:
|
||||
break;
|
||||
case AP_Terrain::TerrainStatusUnhealthy:
|
||||
// To-Do: restore unhealthy terrain status reporting once terrain is used in copter
|
||||
//control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
|
||||
//control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
|
||||
//break;
|
||||
case AP_Terrain::TerrainStatusOK:
|
||||
control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
|
||||
control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
|
||||
control_sensors_health |= MAV_SYS_STATUS_TERRAIN;
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if RANGEFINDER_ENABLED == ENABLED
|
||||
if (copter.rangefinder_state.enabled) {
|
||||
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
|
||||
if (!rangefinder || !rangefinder->has_data_orient(ROTATION_PITCH_270)) {
|
||||
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
|
||||
}
|
||||
}
|
||||
#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 (copter.fence.sys_status_failed()) {
|
||||
control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if FRSKY_TELEM_ENABLED == ENABLED
|
||||
// give mask of error flags to Frsky_Telemetry
|
||||
copter.frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
|
||||
#endif
|
||||
}
|
||||
|
||||
// init visual odometry sensor
|
||||
void Copter::init_visual_odom()
|
||||
{
|
||||
|
||||
Loading…
Reference in New Issue
Block a user