ardupilot/ArduCopter/GCS_Copter.cpp

125 lines
4.2 KiB
C++

#include "GCS_Copter.h"
#include "Copter.h"
uint8_t GCS_Copter::sysid_this_mav() const
{
return copter.g.sysid_this_mav;
}
const char* GCS_Copter::frame_string() const
{
if (copter.motors == nullptr) {
return "MultiCopter";
}
return copter.motors->get_frame_string();
}
bool GCS_Copter::simple_input_active() const
{
return copter.simple_mode == Copter::SimpleMode::SIMPLE;
}
bool GCS_Copter::supersimple_input_active() const
{
return copter.simple_mode == Copter::SimpleMode::SUPERSIMPLE;
}
void GCS_Copter::update_vehicle_sensor_status_flags(void)
{
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;
// Update position controller flags
if (copter.pos_control != nullptr) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
// XY position controller
if (copter.pos_control->is_active_xy()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
}
// Z altitude controller
if (copter.pos_control->is_active_z()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_health |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
}
}
// optional sensors, some of which are essentially always
// available in the firmware:
#if HAL_PROXIMITY_ENABLED
if (copter.g2.proximity.sensor_present()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
}
if (copter.g2.proximity.sensor_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
}
if (!copter.g2.proximity.sensor_failed()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
}
#endif
#if AP_RANGEFINDER_ENABLED
const RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
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 AC_PRECLAND_ENABLED
if (copter.precland.enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
if (copter.precland.enabled() && copter.precland.healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
#endif
#if AP_TERRAIN_AVAILABLE
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
control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROPULSION;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROPULSION;
// only mark propulsion healthy if all of the motors are producing
// nominal thrust
if (!copter.motors->get_thrust_boost()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_PROPULSION;
}
}