From 017ebc440b3939f0e87454a85857755b603b43cf Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 28 Sep 2015 08:55:24 +1000 Subject: [PATCH] Plane: added SENSOR_RC_RECEIVER reporting in SYS_STATUS --- ArduPlane/GCS_Mavlink.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp index f609d9a5bb..ecd054c0ae 100644 --- a/ArduPlane/GCS_Mavlink.cpp +++ b/ArduPlane/GCS_Mavlink.cpp @@ -3,7 +3,7 @@ #include "Plane.h" // default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control -#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS) +#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS | MAV_SYS_STATUS_SENSOR_RC_RECEIVER) void Plane::send_heartbeat(mavlink_channel_t chan) { @@ -252,6 +252,12 @@ void Plane::send_extended_status1(mavlink_channel_t chan) } #endif + if (millis() - failsafe.last_valid_rc_ms < 200) { + control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; + } else { + control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER; + } + int16_t battery_current = -1; int8_t battery_remaining = -1;