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ardupilot/ArduPlane/sensors.cpp
Michael du Breuil 29b16dbafd Plane: Refactor to request relative altitudes from AHRS 
Removes the need for plane to do the math for finding the relative height.

Also caches the value at the same time we update current_loc, which is a
non behaviour change as that was the only time you could see a change in
the relative height propegate through the system anyways
2017-02-13 09:23:14 +11:00

385 lines
12 KiB
C++
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#include "Plane.h"
#include <AP_RSSI/AP_RSSI.h>
void Plane::init_barometer(bool full_calibration)
{
gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
if (full_calibration) {
barometer.calibrate();
} else {
barometer.update_calibration();
}
gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
}
void Plane::init_rangefinder(void)
{
rangefinder.init();
}
/*
read the rangefinder and update height estimate
*/
void Plane::read_rangefinder(void)
{
// notify the rangefinder of our approximate altitude above ground to allow it to power on
// during low-altitude flight when configured to power down during higher-altitude flight
float height;
#if AP_TERRAIN_AVAILABLE
if (terrain.status() == AP_Terrain::TerrainStatusOK && terrain.height_above_terrain(height, true)) {
rangefinder.set_estimated_terrain_height(height);
} else
#endif
{
// use the best available alt estimate via baro above home
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
// ensure the rangefinder is powered-on when land alt is higher than home altitude.
// This is done using the target alt which we know is below us and we are sinking to it
height = height_above_target();
} else {
// otherwise just use the best available baro estimate above home.
height = relative_altitude;
}
rangefinder.set_estimated_terrain_height(height);
}
rangefinder.update();
if (should_log(MASK_LOG_SONAR))
Log_Write_Sonar();
rangefinder_height_update();
}
/*
calibrate compass
*/
void Plane::compass_cal_update() {
if (!hal.util->get_soft_armed()) {
compass.compass_cal_update();
}
}
/*
Accel calibration
*/
void Plane::accel_cal_update() {
if (hal.util->get_soft_armed()) {
return;
}
ins.acal_update();
float trim_roll, trim_pitch;
if(ins.get_new_trim(trim_roll, trim_pitch)) {
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}
}
/*
ask airspeed sensor for a new value
*/
void Plane::read_airspeed(void)
{
if (airspeed.enabled()) {
airspeed.read();
if (should_log(MASK_LOG_IMU)) {
Log_Write_Airspeed();
}
calc_airspeed_errors();
// supply a new temperature to the barometer from the digital
// airspeed sensor if we can
float temperature;
if (airspeed.get_temperature(temperature)) {
barometer.set_external_temperature(temperature);
}
}
// update smoothed airspeed estimate
float aspeed;
if (ahrs.airspeed_estimate(&aspeed)) {
smoothed_airspeed = smoothed_airspeed * 0.8f + aspeed * 0.2f;
}
}
void Plane::zero_airspeed(bool in_startup)
{
airspeed.calibrate(in_startup);
read_airspeed();
// update barometric calibration with new airspeed supplied temperature
barometer.update_calibration();
gcs_send_text(MAV_SEVERITY_INFO,"Airspeed calibration started");
}
// read_battery - reads battery voltage and current and invokes failsafe
// should be called at 10hz
void Plane::read_battery(void)
{
battery.read();
compass.set_current(battery.current_amps());
if (!usb_connected &&
hal.util->get_soft_armed() &&
battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
low_battery_event();
}
if (battery.get_type() != AP_BattMonitor::BattMonitor_TYPE_NONE) {
AP_Notify::flags.battery_voltage = battery.voltage();
}
if (should_log(MASK_LOG_CURRENT)) {
Log_Write_Current();
}
}
// read the receiver RSSI as an 8 bit number for MAVLink
// RC_CHANNELS_SCALED message
void Plane::read_receiver_rssi(void)
{
receiver_rssi = rssi.read_receiver_rssi_uint8();
}
/*
update RPM sensors
*/
void Plane::rpm_update(void)
{
rpm_sensor.update();
if (rpm_sensor.healthy(0) || rpm_sensor.healthy(1)) {
if (should_log(MASK_LOG_RC)) {
DataFlash.Log_Write_RPM(rpm_sensor);
}
}
}
/*
update AP_Button
*/
void Plane::button_update(void)
{
g2.button.update();
}
/*
update AP_ICEngine
*/
void Plane::ice_update(void)
{
g2.ice_control.update();
}
// update error mask of sensors and subsystems. The mask
// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
// then it indicates that the sensor or subsystem is present but
// not functioning correctly.
void Plane::update_sensor_status_flags(void)
{
// default sensors present
control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
// first what sensors/controllers we have
if (g.compass_enabled) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
}
if (airspeed.enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
}
if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
}
#if OPTFLOW == ENABLED
if (optflow.enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
if (geofence_present()) {
control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
}
if (aparm.throttle_min < 0) {
control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR;
}
if (plane.DataFlash.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING;
}
if (plane.battery.healthy()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_BATTERY;
}
// all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control, geofence, motor, and battery output which we will set individually
control_sensors_enabled = 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 & ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS & ~MAV_SYS_STATUS_GEOFENCE & ~MAV_SYS_STATUS_LOGGING & ~MAV_SYS_STATUS_SENSOR_BATTERY);
if (airspeed.enabled() && airspeed.use()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
}
if (geofence_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
}
if (plane.DataFlash.logging_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
}
if (g.fs_batt_voltage > 0 || g.fs_batt_mah > 0) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
}
switch (control_mode) {
case MANUAL:
break;
case ACRO:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
break;
case STABILIZE:
case FLY_BY_WIRE_A:
case AUTOTUNE:
case QSTABILIZE:
case QHOVER:
case QLAND:
case QLOITER:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
break;
case FLY_BY_WIRE_B:
case CRUISE:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
break;
case TRAINING:
if (!training_manual_roll || !training_manual_pitch) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
}
break;
case AUTO:
case RTL:
case LOITER:
case AVOID_ADSB:
case GUIDED:
case CIRCLE:
case QRTL:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; // altitude control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
break;
case INITIALISING:
break;
}
// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
}
// default: all present sensors healthy except baro, 3D_MAG, GPS, DIFFERNTIAL_PRESSURE. GEOFENCE always defaults to healthy.
control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
MAV_SYS_STATUS_SENSOR_3D_MAG |
MAV_SYS_STATUS_SENSOR_GPS |
MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE);
control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
if (ahrs.initialised() && !ahrs.healthy()) {
// AHRS subsystem is unhealthy
control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
}
if (ahrs.have_inertial_nav() && !ins.accel_calibrated_ok_all()) {
// trying to use EKF without properly calibrated accelerometers
control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
}
if (barometer.all_healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
}
if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
}
#if OPTFLOW == ENABLED
if (optflow.healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
}
if (!ins.get_accel_health_all()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
}
if (airspeed.healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
}
#if GEOFENCE_ENABLED
if (geofence_breached()) {
control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE;
}
#endif
if (plane.DataFlash.logging_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
}
if (millis() - failsafe.last_valid_rc_ms < 200) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
} else {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
}
#if AP_TERRAIN_AVAILABLE
switch (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
if (rangefinder.num_sensors() > 0) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
if (g.rangefinder_landing) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
if (rangefinder.has_data()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
}
if (aparm.throttle_min < 0 && 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;
}
if (AP_Notify::flags.initialising) {
// while initialising the gyros and accels are not enabled
control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
}
if (plane.failsafe.low_battery) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
}
#if FRSKY_TELEM_ENABLED == ENABLED
// give mask of error flags to Frsky_Telemetry
frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
#endif
}
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