mirror of https://github.com/ArduPilot/ardupilot
112 lines
4.4 KiB
C++
112 lines
4.4 KiB
C++
#include "GCS_Tracker.h"
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#include "Tracker.h"
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void GCS_Tracker::request_datastream_position(const uint8_t sysid, const uint8_t compid)
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{
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for (uint8_t i=0; i < num_gcs(); i++) {
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if (gcs().chan(i).initialised) {
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// request position
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if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
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mavlink_msg_request_data_stream_send(
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(mavlink_channel_t)i,
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sysid,
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compid,
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MAV_DATA_STREAM_POSITION,
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tracker.g.mavlink_update_rate,
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1); // start streaming
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}
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}
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}
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}
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void GCS_Tracker::request_datastream_airpressure(const uint8_t sysid, const uint8_t compid)
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{
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for (uint8_t i=0; i < num_gcs(); i++) {
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if (gcs().chan(i).initialised) {
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// request air pressure
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if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
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mavlink_msg_request_data_stream_send(
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(mavlink_channel_t)i,
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sysid,
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compid,
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MAV_DATA_STREAM_RAW_SENSORS,
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tracker.g.mavlink_update_rate,
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1); // start streaming
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}
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}
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}
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}
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// update sensors and subsystems present, enabled and healthy flags for reporting to GCS
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void GCS_Tracker::update_sensor_status_flags()
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{
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// default sensors present
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control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
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// first what sensors/controllers we have
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if (tracker.g.compass_enabled) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
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}
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const AP_GPS &gps = AP::gps();
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if (gps.status() > AP_GPS::NO_GPS) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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const AP_Logger &logger = AP::logger();
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if (logger.logging_present()) { // primary logging only (usually File)
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control_sensors_present |= MAV_SYS_STATUS_LOGGING;
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}
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// all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control and motor output which we will set individually
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control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_LOGGING &
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~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
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~MAV_SYS_STATUS_SENSOR_BATTERY);
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if (logger.logging_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
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}
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// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
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if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
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}
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const AP_BattMonitor &battery = AP::battery();
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if (battery.num_instances() > 0) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
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}
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AP_AHRS &ahrs = AP::ahrs();
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// default to all healthy except compass and gps which we set individually
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control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS);
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const Compass &compass = AP::compass();
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if (tracker.g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
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}
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if (gps.is_healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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const AP_InertialSensor &ins = AP::ins();
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if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
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}
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if (!ins.get_accel_health_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
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}
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if (ahrs.initialised() && !ahrs.healthy()) {
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// AHRS subsystem is unhealthy
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control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
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}
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if (logger.logging_failed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
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}
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if (!battery.healthy() || battery.has_failsafed()) {
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control_sensors_enabled &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
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}
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if (ins.calibrating()) {
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// while initialising the gyros and accels are not enabled
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control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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}
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}
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