Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Rover: 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 ed4dcea57a
commit d9144ab47c
1 changed files with 12 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
Rover/GCS_Rover.cpp
View File

@ -27,15 +27,7 @@ bool GCS_Rover::supersimple_input_active() const
void GCS_Rover::update_vehicle_sensor_status_flags(void)
{
// first what sensors/controllers we have
#if HAL_PROXIMITY_ENABLED
const AP_Proximity *proximity = AP_Proximity::get_singleton();
if (proximity && proximity->get_status() > AP_Proximity::Status::NotConnected) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
#endif
// mode-specific:
control_sensors_present |=
MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
@ -55,6 +47,17 @@ void GCS_Rover::update_vehicle_sensor_status_flags(void)
control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
}
#if HAL_PROXIMITY_ENABLED
const AP_Proximity *proximity = AP_Proximity::get_singleton();
if (proximity && proximity->get_status() > AP_Proximity::Status::NotConnected) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
if (proximity && proximity->get_status() != AP_Proximity::Status::NoData) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
#endif
const RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder && rangefinder->num_sensors() > 0) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
@ -64,10 +67,4 @@ void GCS_Rover::update_vehicle_sensor_status_flags(void)
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
}
#if HAL_PROXIMITY_ENABLED
if (proximity && proximity->get_status() != AP_Proximity::Status::NoData) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
#endif
}