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https://github.com/ArduPilot/ardupilot.git
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4803bc145a
we only want to be present and enabled if there is actually a depth sensor on board. Otherwise we can be present and enabled but never healthy when we don't have a depth sensor
93 lines
3.2 KiB
C++
93 lines
3.2 KiB
C++
#include "GCS_Sub.h"
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#include "Sub.h"
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void GCS_Sub::update_vehicle_sensor_status_flags()
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{
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// mode-specific sensors:
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control_sensors_present |=
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MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
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MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
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MAV_SYS_STATUS_SENSOR_YAW_POSITION;
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control_sensors_enabled |=
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MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
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MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
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MAV_SYS_STATUS_SENSOR_YAW_POSITION;
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control_sensors_health |=
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MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
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MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
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MAV_SYS_STATUS_SENSOR_YAW_POSITION;
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control_sensors_present |=
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MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL |
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MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
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switch (sub.control_mode) {
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case Mode::Number::ALT_HOLD:
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case Mode::Number::AUTO:
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case Mode::Number::GUIDED:
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case Mode::Number::CIRCLE:
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case Mode::Number::SURFACE:
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case Mode::Number::POSHOLD:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
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break;
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default:
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break;
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}
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// override the parent class's values for ABSOLUTE_PRESSURE to
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// only honour water-pressure sensors
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control_sensors_present &= ~MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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control_sensors_enabled &= ~MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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if (sub.ap.depth_sensor_present) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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if (sub.sensor_health.depth) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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}
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}
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#if AP_TERRAIN_AVAILABLE
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switch (sub.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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// To-Do: restore unhealthy terrain status reporting once terrain is used in Sub
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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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#if AP_RANGEFINDER_ENABLED
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const RangeFinder *rangefinder = RangeFinder::get_singleton();
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if (sub.rangefinder_state.enabled) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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if (rangefinder && 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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#endif
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}
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#if AP_LTM_TELEM_ENABLED
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// avoid building/linking LTM:
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void AP_LTM_Telem::init() {};
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#endif
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#if AP_DEVO_TELEM_ENABLED
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// avoid building/linking Devo:
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void AP_DEVO_Telem::init() {};
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#endif
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