ardupilot/ArduCopter/GCS_Copter.cpp

152 lines
5.2 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;
const Copter::ap_t &ap = copter.ap;
if (ap.rc_receiver_present) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
}
if (ap.rc_receiver_present && !copter.failsafe.radio) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
}
// update flightmode-specific flags:
control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
switch (copter.flightmode->mode_number()) {
case Mode::Number::AUTO:
case Mode::Number::AUTO_RTL:
case Mode::Number::AVOID_ADSB:
case Mode::Number::GUIDED:
case Mode::Number::LOITER:
case Mode::Number::RTL:
case Mode::Number::CIRCLE:
case Mode::Number::LAND:
case Mode::Number::POSHOLD:
case Mode::Number::BRAKE:
case Mode::Number::THROW:
case Mode::Number::SMART_RTL:
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;
case Mode::Number::ALT_HOLD:
case Mode::Number::GUIDED_NOGPS:
case Mode::Number::SPORT:
case Mode::Number::AUTOTUNE:
case Mode::Number::FLOWHOLD:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_health |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
break;
default:
// stabilize, acro, drift, and flip have no automatic x,y or z control (i.e. all manual)
break;
}
// 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 RANGEFINDER_ENABLED == 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 PRECISION_LANDING == 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;
}
}