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Rover: move update_sensor_status_flags into GCS subclasses

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This commit is contained in:
Peter Barker 2019-02-14 12:59:27 +11:00 committed by Peter Barker
parent 8de4ee7348
commit 323d6850d5
5 changed files with 29 additions and 34 deletions
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2
APMrover2/APMrover2.cpp
View File

@ -299,7 +299,7 @@ void Rover::one_second_loop(void)
// 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
update_sensor_status_flags();
gcs().update_sensor_status_flags();
// need to set "likely flying" when armed to allow for compass
// learning to run

11
APMrover2/GCS_Mavlink.cpp
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@ -75,17 +75,6 @@ MAV_STATE GCS_MAVLINK_Rover::system_status() const
return MAV_STATE_ACTIVE;
}
void GCS_Rover::get_sensor_status_flags(uint32_t &present,
uint32_t &enabled,
uint32_t &health)
{
rover.update_sensor_status_flags();
present = rover.control_sensors_present;
enabled = rover.control_sensors_enabled;
health = rover.control_sensors_health;
}
void GCS_MAVLINK_Rover::send_nav_controller_output() const
{
if (!rover.control_mode->is_autopilot_mode()) {

2
APMrover2/GCS_Rover.h
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@ -17,7 +17,7 @@ public:
// return GCS link at offset ofs
const GCS_MAVLINK_Rover &chan(const uint8_t ofs) const override { return _chan[ofs]; };
void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health);
void update_sensor_status_flags(void) override;
private:

5
APMrover2/Rover.h
View File

@ -302,10 +302,6 @@ private:
AP_DEVO_Telem devo_telemetry;
#endif
uint32_t control_sensors_present;
uint32_t control_sensors_enabled;
uint32_t control_sensors_health;
// 3D Location vectors
// Location structure defined in AP_Common
// The home location used for RTL. The location is set when we first get stable GPS lock
@ -493,7 +489,6 @@ private:
void read_rangefinders(void);
void init_proximity();
void read_airspeed();
void update_sensor_status_flags(void);
// Steering.cpp
bool use_pivot_steering_at_next_WP(float yaw_error_cd);

43
APMrover2/sensors.cpp
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@ -1,6 +1,7 @@
#include "Rover.h"
#include <AP_RangeFinder/RangeFinder_Backend.h>
#include <AP_VisualOdom/AP_VisualOdom.h>
// initialise compass
void Rover::init_compass()
@ -240,25 +241,29 @@ void Rover::rpm_update(void)
// 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 Rover::update_sensor_status_flags(void)
void GCS_Rover::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) {
if (rover.g.compass_enabled) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
}
const AP_GPS &gps = AP::gps();
if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
}
if (g2.visual_odom.enabled()) {
const AP_VisualOdom *visual_odom = AP::visualodom();
if (visual_odom && visual_odom->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
if (rover.logger.logging_present()) { // primary logging only (usually File)
const AP_Logger &logger = AP::logger();
if (logger.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING;
}
if (rover.g2.proximity.get_status() > AP_Proximity::Proximity_NotConnected) {
const AP_Proximity *proximity = AP_Proximity::get_singleton();
if (proximity && proximity->get_status() > AP_Proximity::Proximity_NotConnected) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
@ -270,16 +275,16 @@ void Rover::update_sensor_status_flags(void)
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
~MAV_SYS_STATUS_LOGGING &
~MAV_SYS_STATUS_SENSOR_BATTERY);
if (control_mode->attitude_stabilized()) {
if (rover.control_mode->attitude_stabilized()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // 3D angular rate control
}
if (control_mode->is_autopilot_mode()) {
if (rover.control_mode->is_autopilot_mode()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
}
if (rover.logger.logging_enabled()) {
if (logger.logging_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
}
@ -288,21 +293,26 @@ void Rover::update_sensor_status_flags(void)
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
}
const AP_BattMonitor &battery = AP::battery();
if (battery.num_instances() > 0) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
}
AP_AHRS &ahrs = AP::ahrs();
const Compass &compass = AP::compass();
// default to all healthy except compass and gps which we set individually
control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS);
if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
if (rover.g.compass_enabled && compass.healthy(0) && 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 (g2.visual_odom.enabled() && !g2.visual_odom.healthy()) {
if (visual_odom && visual_odom->enabled() && !visual_odom->healthy()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
const AP_InertialSensor &ins = AP::ins();
if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
}
@ -315,18 +325,19 @@ void Rover::update_sensor_status_flags(void)
control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
}
if (rangefinder.num_sensors() > 0) {
const RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder && rangefinder->num_sensors() > 0) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
AP_RangeFinder_Backend *s = rangefinder.get_backend(0);
AP_RangeFinder_Backend *s = rangefinder->get_backend(0);
if (s != nullptr && s->has_data()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
}
if (rover.g2.proximity.get_status() == AP_Proximity::Proximity_NoData) {
if (proximity && proximity->get_status() == AP_Proximity::Proximity_NoData) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
if (rover.logger.logging_failed()) {
if (logger.logging_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
}
@ -334,13 +345,13 @@ void Rover::update_sensor_status_flags(void)
control_sensors_enabled &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
}
if (!initialised || ins.calibrating()) {
if (!rover.initialised || ins.calibrating()) {
// 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 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);
rover.frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
#endif
}