mirror of https://github.com/ArduPilot/ardupilot
125 lines
4.2 KiB
C++
125 lines
4.2 KiB
C++
#include "GCS_Copter.h"
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#include "Copter.h"
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uint8_t GCS_Copter::sysid_this_mav() const
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{
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return copter.g.sysid_this_mav;
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}
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const char* GCS_Copter::frame_string() const
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{
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if (copter.motors == nullptr) {
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return "MultiCopter";
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}
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return copter.motors->get_frame_string();
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}
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bool GCS_Copter::simple_input_active() const
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{
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return copter.simple_mode == Copter::SimpleMode::SIMPLE;
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}
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bool GCS_Copter::supersimple_input_active() const
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{
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return copter.simple_mode == Copter::SimpleMode::SUPERSIMPLE;
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}
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void GCS_Copter::update_vehicle_sensor_status_flags(void)
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{
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control_sensors_present |=
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MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
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MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
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MAV_SYS_STATUS_SENSOR_YAW_POSITION;
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control_sensors_enabled |=
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MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
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MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
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MAV_SYS_STATUS_SENSOR_YAW_POSITION;
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control_sensors_health |=
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MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
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MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
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MAV_SYS_STATUS_SENSOR_YAW_POSITION;
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// Update position controller flags
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if (copter.pos_control != nullptr) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
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// XY position controller
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if (copter.pos_control->is_active_xy()) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
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}
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// Z altitude controller
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if (copter.pos_control->is_active_z()) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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}
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}
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// optional sensors, some of which are essentially always
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// available in the firmware:
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#if HAL_PROXIMITY_ENABLED
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if (copter.g2.proximity.sensor_present()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
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}
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if (copter.g2.proximity.sensor_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
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}
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if (!copter.g2.proximity.sensor_failed()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
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}
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#endif
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#if AP_RANGEFINDER_ENABLED
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const RangeFinder *rangefinder = RangeFinder::get_singleton();
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if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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if (copter.rangefinder_state.enabled) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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if (rangefinder && rangefinder->has_data_orient(ROTATION_PITCH_270)) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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}
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#endif
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#if AC_PRECLAND_ENABLED
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if (copter.precland.enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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if (copter.precland.enabled() && copter.precland.healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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#endif
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#if AP_TERRAIN_AVAILABLE
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switch (copter.terrain.status()) {
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case AP_Terrain::TerrainStatusDisabled:
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break;
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case AP_Terrain::TerrainStatusUnhealthy:
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// To-Do: restore unhealthy terrain status reporting once terrain is used in copter
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//control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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//control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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//break;
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case AP_Terrain::TerrainStatusOK:
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control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_health |= MAV_SYS_STATUS_TERRAIN;
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break;
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}
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#endif
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROPULSION;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROPULSION;
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// only mark propulsion healthy if all of the motors are producing
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// nominal thrust
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if (!copter.motors->get_thrust_boost()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_PROPULSION;
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}
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}
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