ardupilot/ArduSub/GCS_Sub.cpp

96 lines
3.2 KiB
C++

#include "GCS_Sub.h"
#include "Sub.h"
uint8_t GCS_Sub::sysid_this_mav() const
{
return sub.g.sysid_this_mav;
}
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 |
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;
control_sensors_present |=
MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL |
MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
switch (sub.control_mode) {
case Mode::Number::ALT_HOLD:
case Mode::Number::AUTO:
case Mode::Number::GUIDED:
case Mode::Number::CIRCLE:
case Mode::Number::SURFACE:
case Mode::Number::POSHOLD:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_health |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
break;
default:
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 AP_TERRAIN_AVAILABLE
switch (sub.terrain.status()) {
case AP_Terrain::TerrainStatusDisabled:
break;
case AP_Terrain::TerrainStatusUnhealthy:
// To-Do: restore unhealthy terrain status reporting once terrain is used in Sub
//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 AP_RANGEFINDER_ENABLED
const RangeFinder *rangefinder = RangeFinder::get_singleton();
if (sub.rangefinder_state.enabled) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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_LTM_TELEM_ENABLED
// avoid building/linking LTM:
void AP_LTM_Telem::init() {};
#endif
#if AP_DEVO_TELEM_ENABLED
// avoid building/linking Devo:
void AP_DEVO_Telem::init() {};
#endif