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Plane: added SENSOR_RC_RECEIVER reporting in SYS_STATUS

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Andrew Tridgell 2015-09-28 08:55:24 +10:00
parent e0810c2e54
commit 017ebc440b
1 changed files with 7 additions and 1 deletions
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8
ArduPlane/GCS_Mavlink.cpp
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@ -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;