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Rover: move various sensor status flag updates up

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Peter Barker 2019-02-20 10:16:12 +11:00 committed by Randy Mackay
parent 9a2d5ac5a6
commit f63a5d5c1b
3 changed files with 21 additions and 71 deletions
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3
APMrover2/GCS_Mavlink.h
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@ -2,9 +2,6 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
// default sensors are present and healthy: gyro, accelerometer, 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_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS | MAV_SYS_STATUS_SENSOR_BATTERY)
class GCS_MAVLINK_Rover : public GCS_MAVLINK class GCS_MAVLINK_Rover : public GCS_MAVLINK
{ {
public: public:

87
APMrover2/GCS_Rover.cpp
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@ -20,94 +20,60 @@ bool GCS_Rover::supersimple_input_active() const
return (rover.g2.simple_type == ModeSimple::Simple_CardinalDirections); return (rover.g2.simple_type == ModeSimple::Simple_CardinalDirections);
} }
// update error mask of sensors and subsystems. The mask void GCS_Rover::update_vehicle_sensor_status_flags(void)
// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
// then it indicates that the sensor or subsystem is present but
// not functioning correctly.
void GCS_Rover::update_sensor_status_flags(void)
{ {
// default sensors present
control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
// first what sensors/controllers we have // first what sensors/controllers we have
if (rover.g.compass_enabled) { if (rover.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(); const AP_GPS &gps = AP::gps();
if (gps.status() > AP_GPS::NO_GPS) { if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS; control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_GPS;
} }
const AP_VisualOdom *visual_odom = AP::visualodom(); const AP_VisualOdom *visual_odom = AP::visualodom();
if (visual_odom && visual_odom->enabled()) { if (visual_odom && visual_odom->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION; control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
} control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
const AP_Logger &logger = AP::logger();
if (logger.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING;
} }
const AP_Proximity *proximity = AP_Proximity::get_singleton(); const AP_Proximity *proximity = AP_Proximity::get_singleton();
if (proximity && proximity->get_status() > AP_Proximity::Proximity_NotConnected) { if (proximity && proximity->get_status() > AP_Proximity::Proximity_NotConnected) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
} }
// 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_present |=
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL & MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION & MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
~MAV_SYS_STATUS_SENSOR_YAW_POSITION & MAV_SYS_STATUS_SENSOR_YAW_POSITION |
~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL & MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
~MAV_SYS_STATUS_LOGGING &
~MAV_SYS_STATUS_SENSOR_BATTERY);
if (rover.control_mode->attitude_stabilized()) { if (rover.control_mode->attitude_stabilized()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // 3D angular rate control control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // 3D angular rate control
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // 3D angular rate control
} }
if (rover.control_mode->is_autopilot_mode()) { if (rover.control_mode->is_autopilot_mode()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
control_sensors_health |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
} control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
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;
} }
AP_AHRS &ahrs = AP::ahrs(); AP_AHRS &ahrs = AP::ahrs();
const Compass &compass = AP::compass(); const Compass &compass = AP::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 (rover.g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) { if (rover.g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG; control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
} }
if (gps.is_healthy()) { if (gps.is_healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS; control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
} }
if (visual_odom && visual_odom->enabled() && !visual_odom->healthy()) { if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION; control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
} }
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;
}
const RangeFinder *rangefinder = RangeFinder::get_singleton(); const RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder && rangefinder->num_sensors() > 0) { if (rangefinder && rangefinder->num_sensors() > 0) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
@ -117,20 +83,7 @@ void GCS_Rover::update_sensor_status_flags(void)
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
} }
} }
if (proximity && proximity->get_status() == AP_Proximity::Proximity_NoData) { if (proximity && proximity->get_status() != AP_Proximity::Proximity_NoData) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION; control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
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 (!rover.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);
} }
} }

2
APMrover2/GCS_Rover.h
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@ -22,7 +22,7 @@ public:
bool vehicle_initialised() const override; bool vehicle_initialised() const override;
void update_sensor_status_flags(void) override; void update_vehicle_sensor_status_flags(void) override;
bool simple_input_active() const override; bool simple_input_active() const override;
bool supersimple_input_active() const override; bool supersimple_input_active() const override;