ardupilot/ArduPlane/GCS_Plane.cpp

#include "GCS_Plane.h"
#include "Plane.h"

uint8_t GCS_Plane::sysid_this_mav() const
{
    return plane.g.sysid_this_mav;
}

void GCS_Plane::update_vehicle_sensor_status_flags(void)
{
    // airspeed
    const AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
    if (airspeed && airspeed->enabled()) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
    }
    if (airspeed && airspeed->enabled() && airspeed->use()) {
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
    }
    if (airspeed && airspeed->all_healthy()) {
        control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
    }

    // reverse thrust
    if (plane.have_reverse_thrust()) {
        control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR;
    }
    if (plane.have_reverse_thrust() && SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) < 0) {
        control_sensors_enabled |= MAV_SYS_STATUS_REVERSE_MOTOR;
        control_sensors_health |= MAV_SYS_STATUS_REVERSE_MOTOR;
    }

    // flightmode-specific
    control_sensors_present |=
        MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
        MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
        MAV_SYS_STATUS_SENSOR_YAW_POSITION |
        MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL |
        MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;

    bool rate_controlled = false;
    bool attitude_stabilized = false;
    switch (plane.control_mode->mode_number()) {
    case Mode::Number::MANUAL:
        break;

    case Mode::Number::ACRO:
#if HAL_QUADPLANE_ENABLED
    case Mode::Number::QACRO:
#endif
        rate_controlled = true;
        break;

    case Mode::Number::STABILIZE:
    case Mode::Number::FLY_BY_WIRE_A:
    case Mode::Number::AUTOTUNE:
#if HAL_QUADPLANE_ENABLED
    case Mode::Number::QSTABILIZE:
    case Mode::Number::QHOVER:
    case Mode::Number::QLAND:
    case Mode::Number::QLOITER:
#if QAUTOTUNE_ENABLED
    case Mode::Number::QAUTOTUNE:
#endif
#endif  // HAL_QUADPLANE_ENABLED
    case Mode::Number::FLY_BY_WIRE_B:
    case Mode::Number::CRUISE:
        rate_controlled = true;
        attitude_stabilized = true;
        break;

    case Mode::Number::TRAINING:
        if (!plane.training_manual_roll || !plane.training_manual_pitch) {
            rate_controlled = true;
            attitude_stabilized = true;
        }
        break;

    case Mode::Number::AUTO:
    case Mode::Number::RTL:
    case Mode::Number::LOITER:
    case Mode::Number::AVOID_ADSB:
    case Mode::Number::GUIDED:
    case Mode::Number::CIRCLE:
    case Mode::Number::TAKEOFF:
#if HAL_QUADPLANE_ENABLED
    case Mode::Number::QRTL:
    case Mode::Number::LOITER_ALT_QLAND:
#endif
    case Mode::Number::THERMAL:
        rate_controlled = true;
        attitude_stabilized = true;
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION;
        control_sensors_health |= MAV_SYS_STATUS_SENSOR_YAW_POSITION;
        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::INITIALISING:
        break;
    }

    if (rate_controlled) {
        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
    }
    if (attitude_stabilized) {
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION;
        control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION;
    }

#if OPTFLOW == ENABLED
    const OpticalFlow *optflow = AP::opticalflow();
    if (optflow && optflow->enabled()) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
    }
    if (optflow && optflow->healthy()) {
        control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
    }
#endif

    control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
    control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
    uint32_t last_valid = plane.failsafe.last_valid_rc_ms;
    if (millis() - last_valid < 200) {
        control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
    }

#if AP_TERRAIN_AVAILABLE
    switch (plane.terrain.status()) {
    case AP_Terrain::TerrainStatusDisabled:
        break;
    case AP_Terrain::TerrainStatusUnhealthy:
        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

    const RangeFinder *rangefinder = RangeFinder::get_singleton();
    if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
        if (plane.g.rangefinder_landing) {
            control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
        }
        if (rangefinder->has_data_orient(ROTATION_PITCH_270)) {
            control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;            
        }
    }
}