mirror of https://github.com/ArduPilot/ardupilot
237 lines
9.3 KiB
C++
237 lines
9.3 KiB
C++
#include "GCS_Plane.h"
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#include "Plane.h"
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void GCS_Plane::send_airspeed_calibration(const Vector3f &vg)
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{
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for (uint8_t i=0; i<num_gcs(); i++) {
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if (_chan[i].initialised) {
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if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, AIRSPEED_AUTOCAL)) {
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plane.airspeed.log_mavlink_send((mavlink_channel_t)i, vg);
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}
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}
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}
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}
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// update error mask of sensors and subsystems. The mask
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// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
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// then it indicates that the sensor or subsystem is present but
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// not functioning correctly.
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void GCS_Plane::update_sensor_status_flags(void)
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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 (plane.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_Airspeed *airspeed = AP_Airspeed::get_singleton();
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if (airspeed && airspeed->enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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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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#if OPTFLOW == ENABLED
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const OpticalFlow *optflow = AP::opticalflow();
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if (optflow && optflow->enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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if (plane.geofence_present()) {
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control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
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}
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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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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, geofence, motor, and battery output which we will set individually
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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);
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if (airspeed && airspeed->enabled() && airspeed->use()) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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}
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if (plane.geofence_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
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}
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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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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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switch (plane.control_mode) {
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case MANUAL:
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break;
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case ACRO:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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break;
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case STABILIZE:
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case FLY_BY_WIRE_A:
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case AUTOTUNE:
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case QSTABILIZE:
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case QHOVER:
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case QLAND:
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case QLOITER:
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case QAUTOTUNE:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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break;
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case FLY_BY_WIRE_B:
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case CRUISE:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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break;
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case TRAINING:
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if (!plane.training_manual_roll || !plane.training_manual_pitch) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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}
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break;
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case AUTO:
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case RTL:
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case LOITER:
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case AVOID_ADSB:
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case GUIDED:
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case CIRCLE:
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case QRTL:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; // altitude control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
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break;
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case INITIALISING:
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break;
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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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// default: all present sensors healthy except baro, 3D_MAG, GPS, DIFFERNTIAL_PRESSURE. GEOFENCE always defaults to healthy.
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control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
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MAV_SYS_STATUS_SENSOR_3D_MAG |
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MAV_SYS_STATUS_SENSOR_GPS |
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MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE);
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control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
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AP_AHRS &ahrs = AP::ahrs();
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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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const AP_InertialSensor &ins = AP::ins();
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if (ahrs.have_inertial_nav() && !ins.accel_calibrated_ok_all()) {
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// trying to use EKF without properly calibrated accelerometers
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control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
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}
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const AP_Baro &barometer = AP::baro();
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if (barometer.all_healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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}
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const Compass &compass = AP::compass();
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if (plane.g.compass_enabled && compass.healthy() && 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.status() >= AP_GPS::GPS_OK_FIX_3D && gps.is_healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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if (optflow && optflow->healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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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 (airspeed && airspeed->all_healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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}
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#if GEOFENCE_ENABLED
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if (plane.geofence_breached()) {
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control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE;
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}
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#endif
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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 (millis() - plane.failsafe.last_valid_rc_ms < 200) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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} else {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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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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const RangeFinder *rangefinder = RangeFinder::get_singleton();
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if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
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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(ROTATION_PITCH_270)) {
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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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if (plane.have_reverse_thrust() && SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) < 0) {
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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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if (AP_Notify::flags.initialising) {
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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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if (!plane.battery.healthy() || plane.battery.has_failsafed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
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}
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#if FRSKY_TELEM_ENABLED == ENABLED
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// give mask of error flags to Frsky_Telemetry
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plane.frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
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#endif
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}
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