mirror of https://github.com/ArduPilot/ardupilot
130 lines
4.3 KiB
C++
130 lines
4.3 KiB
C++
#include "GCS_Plane.h"
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#include "Plane.h"
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uint8_t GCS_Plane::sysid_this_mav() const
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{
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return plane.g.sysid_this_mav;
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}
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void GCS_Plane::update_vehicle_sensor_status_flags(void)
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{
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// reverse thrust
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if (plane.have_reverse_thrust()) {
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control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR;
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}
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if (plane.have_reverse_thrust() && is_negative(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle))) {
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control_sensors_enabled |= MAV_SYS_STATUS_REVERSE_MOTOR;
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control_sensors_health |= MAV_SYS_STATUS_REVERSE_MOTOR;
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}
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// flightmode-specific
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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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MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL |
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MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
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bool rate_controlled = false;
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bool attitude_stabilized = false;
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switch (plane.control_mode->mode_number()) {
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case Mode::Number::MANUAL:
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break;
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case Mode::Number::ACRO:
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#if HAL_QUADPLANE_ENABLED
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case Mode::Number::QACRO:
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#endif
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rate_controlled = true;
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break;
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case Mode::Number::STABILIZE:
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case Mode::Number::FLY_BY_WIRE_A:
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case Mode::Number::AUTOTUNE:
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#if HAL_QUADPLANE_ENABLED
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case Mode::Number::QSTABILIZE:
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case Mode::Number::QHOVER:
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case Mode::Number::QLAND:
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case Mode::Number::QLOITER:
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#if QAUTOTUNE_ENABLED
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case Mode::Number::QAUTOTUNE:
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#endif
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#endif // HAL_QUADPLANE_ENABLED
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case Mode::Number::FLY_BY_WIRE_B:
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case Mode::Number::CRUISE:
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rate_controlled = true;
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attitude_stabilized = true;
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break;
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case Mode::Number::TRAINING:
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if (!plane.training_manual_roll || !plane.training_manual_pitch) {
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rate_controlled = true;
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attitude_stabilized = true;
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}
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break;
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case Mode::Number::AUTO:
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case Mode::Number::RTL:
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case Mode::Number::LOITER:
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case Mode::Number::AVOID_ADSB:
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case Mode::Number::GUIDED:
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case Mode::Number::CIRCLE:
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case Mode::Number::TAKEOFF:
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#if HAL_QUADPLANE_ENABLED
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case Mode::Number::QRTL:
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case Mode::Number::LOITER_ALT_QLAND:
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#endif
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case Mode::Number::THERMAL:
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rate_controlled = true;
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attitude_stabilized = true;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION;
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_YAW_POSITION;
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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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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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break;
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case Mode::Number::INITIALISING:
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break;
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}
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if (rate_controlled) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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}
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if (attitude_stabilized) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION;
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION;
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}
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#if AP_TERRAIN_AVAILABLE
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switch (plane.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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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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#if AP_RANGEFINDER_ENABLED
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const RangeFinder *rangefinder = RangeFinder::get_singleton();
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if (rangefinder && rangefinder->has_orientation(plane.rangefinder_orientation())) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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if (plane.g.rangefinder_landing) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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if (rangefinder->has_data_orient(plane.rangefinder_orientation())) {
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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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}
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