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Sub: move update_sensor_status_flags into GCS subclasses

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This commit is contained in:
Peter Barker 2019-02-14 13:42:27 +11:00 committed by Peter Barker
parent 5ff80e06d1
commit cb95bf7814
3 changed files with 19 additions and 24 deletions
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38
ArduSub/GCS_Mavlink.cpp
View File

@ -84,25 +84,25 @@ MAV_STATE GCS_MAVLINK_Sub::system_status() const
return MAV_STATE_STANDBY;
}
void Sub::get_sensor_status_flags(uint32_t &control_sensors_present,
uint32_t &control_sensors_enabled,
uint32_t &control_sensors_health)
void GCS_Sub::update_sensor_status_flags()
{
// default sensors present
control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
// first what sensors/controllers we have
if (g.compass_enabled) {
if (sub.g.compass_enabled) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
}
if (ap.depth_sensor_present) {
if (sub.ap.depth_sensor_present) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
}
const AP_GPS &gps = AP::gps();
if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
}
#if OPTFLOW == ENABLED
if (optflow.enabled()) {
const OpticalFlow *optflow = AP::opticalflow();
if (optflow && optflow->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
@ -112,7 +112,7 @@ void Sub::get_sensor_status_flags(uint32_t &control_sensors_present,
~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS & ~MAV_SYS_STATUS_SENSOR_BATTERY);
switch (control_mode) {
switch (sub.control_mode) {
case ALT_HOLD:
case AUTO:
case GUIDED:
@ -131,6 +131,7 @@ void Sub::get_sensor_status_flags(uint32_t &control_sensors_present,
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;
}
@ -141,21 +142,24 @@ void Sub::get_sensor_status_flags(uint32_t &control_sensors_present,
MAV_SYS_STATUS_SENSOR_GPS |
MAV_SYS_STATUS_SENSOR_RC_RECEIVER);
if (sensor_health.depth) { // check the internal barometer only
if (sub.sensor_health.depth) { // check the internal barometer only
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
}
if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
AP_AHRS &ahrs = AP::ahrs();
const Compass &compass = AP::compass();
if (sub.g.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 OPTFLOW == ENABLED
if (optflow.healthy()) {
if (optflow && optflow->healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
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;
}
@ -190,29 +194,23 @@ void Sub::get_sensor_status_flags(uint32_t &control_sensors_present,
#endif
#if RANGEFINDER_ENABLED == ENABLED
if (rangefinder_state.enabled) {
const RangeFinder *rangefinder = RangeFinder::get_singleton();
if (sub.rangefinder_state.enabled) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
if (rangefinder.has_data_orient(ROTATION_PITCH_270)) {
if (rangefinder && rangefinder->has_data_orient(ROTATION_PITCH_270)) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
}
#endif
if (!ap.initialised || ins.calibrating()) {
if (!sub.ap.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);
}
}
void GCS_Sub::get_sensor_status_flags(uint32_t &control_sensors_present,
uint32_t &control_sensors_enabled,
uint32_t &control_sensors_health)
{
return sub.get_sensor_status_flags(control_sensors_present, control_sensors_enabled, control_sensors_health);
}
void GCS_MAVLINK_Sub::send_nav_controller_output() const
{
const Vector3f &targets = sub.attitude_control.get_att_target_euler_cd();

2
ArduSub/GCS_Sub.h
View File

@ -20,7 +20,7 @@ public:
return _chan[ofs];
};
void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health);
void update_sensor_status_flags() override;
private:

3
ArduSub/Sub.h
View File

@ -475,9 +475,6 @@ private:
void rotate_body_frame_to_NE(float &x, float &y);
void gcs_send_heartbeat(void);
void send_heartbeat(mavlink_channel_t chan);
void get_sensor_status_flags(uint32_t &control_sensors_present,
uint32_t &control_sensors_enabled,
uint32_t &control_sensors_health);
#if RPM_ENABLED == ENABLED
void send_rpm(mavlink_channel_t chan);
void rpm_update();