ardupilot/ArduCopter/GCS_Copter.cpp

195 lines
6.2 KiB
C++

#include "GCS_Copter.h"
#include "Copter.h"
const char* GCS_Copter::frame_string() const
{
return copter.get_frame_string();
}
bool GCS_Copter::simple_input_active() const
{
return copter.ap.simple_mode == 1;
}
bool GCS_Copter::supersimple_input_active() const
{
return copter.ap.simple_mode == 2;
}
void GCS_Copter::update_vehicle_sensor_status_flags(void)
{
control_sensors_present |=
MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
MAV_SYS_STATUS_SENSOR_YAW_POSITION;
control_sensors_enabled |=
MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
MAV_SYS_STATUS_SENSOR_YAW_POSITION;
control_sensors_health |=
MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
MAV_SYS_STATUS_SENSOR_YAW_POSITION;
if (AP::compass().enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}
const AP_GPS &gps = AP::gps();
if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_GPS;
}
#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;
}
#endif
#if PRECISION_LANDING == ENABLED
if (copter.precland.enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
#endif
#if VISUAL_ODOMETRY_ENABLED == ENABLED
const AP_VisualOdom *visual_odom = AP::visualodom();
if (visual_odom && visual_odom->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
#endif
const Copter::ap_t &ap = copter.ap;
if (ap.rc_receiver_present) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
}
#if PROXIMITY_ENABLED == ENABLED
if (copter.g2.proximity.sensor_present()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
}
#endif
#if AC_FENCE == ENABLED
if (copter.fence.sys_status_present()) {
control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
}
#endif
#if RANGEFINDER_ENABLED == ENABLED
const RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
#endif
control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
switch (copter.control_mode) {
case AUTO:
case AVOID_ADSB:
case GUIDED:
case LOITER:
case RTL:
case CIRCLE:
case LAND:
case POSHOLD:
case BRAKE:
case THROW:
case SMART_RTL:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
break;
case ALT_HOLD:
case GUIDED_NOGPS:
case SPORT:
case AUTOTUNE:
case FLOWHOLD:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
break;
default:
// stabilize, acro, drift, and flip have no automatic x,y or z control (i.e. all manual)
break;
}
#if AC_FENCE == ENABLED
if (copter.fence.sys_status_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
}
#endif
#if PROXIMITY_ENABLED == ENABLED
if (copter.g2.proximity.sensor_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
}
#endif
AP_AHRS &ahrs = AP::ahrs();
const Compass &compass = AP::compass();
if (compass.enabled() && compass.healthy() && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}
if (gps.is_healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
}
if (ap.rc_receiver_present && !copter.failsafe.radio) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
}
#if OPTFLOW == ENABLED
if (optflow && optflow->healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
#if PRECISION_LANDING == ENABLED
if (!copter.precland.enabled() || copter.precland.healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
#endif
#if VISUAL_ODOMETRY_ENABLED == ENABLED
if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
#endif
#if PROXIMITY_ENABLED == ENABLED
if (!copter.g2.proximity.sensor_failed()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
}
#endif
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
switch (copter.terrain.status()) {
case AP_Terrain::TerrainStatusDisabled:
break;
case AP_Terrain::TerrainStatusUnhealthy:
// To-Do: restore unhealthy terrain status reporting once terrain is used in copter
//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_ENABLED == ENABLED
if (copter.rangefinder_state.enabled) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
if (rangefinder && rangefinder->has_data_orient(ROTATION_PITCH_270)) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
}
#endif
#if AC_FENCE == ENABLED
if (!copter.fence.sys_status_failed()) {
control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
}
#endif
}