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ArduSub: tidy setting of sensor status flags

This commit is contained in:
Peter Barker 2021-04-13 13:55:54 +10:00 committed by Andrew Tridgell
parent 6a32afcd72
commit cb7ac6fb54
1 changed files with 13 additions and 13 deletions
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26
ArduSub/GCS_Sub.cpp
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@ -9,6 +9,7 @@ uint8_t GCS_Sub::sysid_this_mav() const
void GCS_Sub::update_vehicle_sensor_status_flags()
{
// mode-specific sensors:
control_sensors_present |=
MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
@ -24,19 +25,6 @@ void GCS_Sub::update_vehicle_sensor_status_flags()
MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
MAV_SYS_STATUS_SENSOR_YAW_POSITION;
// first what sensors/controllers we have
if (sub.ap.depth_sensor_present) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
}
#if OPTFLOW == ENABLED
const OpticalFlow *optflow = AP::opticalflow();
if (optflow && optflow->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
control_sensors_present |=
MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL |
MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
@ -57,11 +45,23 @@ void GCS_Sub::update_vehicle_sensor_status_flags()
break;
}
// override the parent class's values for ABSOLUTE_PRESSURE to
// only check internal barometer:
if (sub.ap.depth_sensor_present) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
}
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; // check the internal barometer only
if (sub.sensor_health.depth) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
}
#if OPTFLOW == ENABLED
const OpticalFlow *optflow = AP::opticalflow();
if (optflow && optflow->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
if (optflow && optflow->healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}