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telemetry: assume sensor calibration ok in HITL #471

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merged 1 commit into from
Jul 25, 2018
Merged

telemetry: assume sensor calibration ok in HITL #471

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30 changes: 26 additions & 4 deletions plugins/telemetry/telemetry_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -146,6 +146,12 @@ void TelemetryImpl::enable()
// If not available, just hardcode it to true.
set_health_level_calibration(true);
#endif

_parent->get_param_int_async(std::string("SYS_HITL"),
std::bind(&TelemetryImpl::receive_param_hitl,
this,
std::placeholders::_1,
std::placeholders::_2));
}

void TelemetryImpl::disable()
Expand Down Expand Up @@ -604,6 +610,22 @@ void TelemetryImpl::receive_param_cal_level(bool success, float value)
}
#endif

void TelemetryImpl::receive_param_hitl(bool success, int value)
{
if (!success) {
LogErr() << "Error: Param to determine hitl failed.";
return;
}

_hitl_enabled = (value == 1);
set_health_accelerometer_calibration(_hitl_enabled);
set_health_gyrometer_calibration(_hitl_enabled);
set_health_magnetometer_calibration(_hitl_enabled);
#ifdef LEVEL_CALIBRATION
set_health_level_calibration(ok);
#endif
}

void TelemetryImpl::receive_rc_channels_timeout()
{
const bool rc_ok = false;
Expand Down Expand Up @@ -800,25 +822,25 @@ void TelemetryImpl::set_health_home_position(bool ok)
void TelemetryImpl::set_health_gyrometer_calibration(bool ok)
{
std::lock_guard<std::mutex> lock(_health_mutex);
_health.gyrometer_calibration_ok = ok;
_health.gyrometer_calibration_ok = (ok || _hitl_enabled);
}

void TelemetryImpl::set_health_accelerometer_calibration(bool ok)
{
std::lock_guard<std::mutex> lock(_health_mutex);
_health.accelerometer_calibration_ok = ok;
_health.accelerometer_calibration_ok = (ok || _hitl_enabled);
}

void TelemetryImpl::set_health_magnetometer_calibration(bool ok)
{
std::lock_guard<std::mutex> lock(_health_mutex);
_health.magnetometer_calibration_ok = ok;
_health.magnetometer_calibration_ok = (ok || _hitl_enabled);
}

void TelemetryImpl::set_health_level_calibration(bool ok)
{
std::lock_guard<std::mutex> lock(_health_mutex);
_health.level_calibration_ok = ok;
_health.level_calibration_ok = (ok || _hitl_enabled);
}

void TelemetryImpl::set_rc_status(bool available, float signal_strength_percent)
Expand Down
3 changes: 3 additions & 0 deletions plugins/telemetry/telemetry_impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -121,6 +121,7 @@ class TelemetryImpl : public PluginImplBase {
#ifdef LEVEL_CALIBRATION
void receive_param_cal_level(bool success, float value);
#endif
void receive_param_hitl(bool success, int value);

void receive_rc_channels_timeout();

Expand Down Expand Up @@ -172,6 +173,8 @@ class TelemetryImpl : public PluginImplBase {
mutable std::mutex _rc_status_mutex;
Telemetry::RCStatus _rc_status;

std::atomic<bool> _hitl_enabled{false};

Telemetry::position_velocity_ned_callback_t _position_velocity_ned_subscription;
Telemetry::position_callback_t _position_subscription;
Telemetry::position_callback_t _home_position_subscription;
Expand Down