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Copter: report altitude and position control of new modes in sys-status message

This commit is contained in:
Randy Mackay 2016-08-22 15:37:34 +09:00
parent 4afa49eebe
commit 1665f4d416
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/GCS_Mavlink.cpp
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@ -156,7 +156,6 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
~MAV_SYS_STATUS_LOGGING);
switch (control_mode) {
case ALT_HOLD:
case AUTO:
case AVOID_ADSB:
case GUIDED:
@ -166,13 +165,18 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
case LAND:
case POSHOLD:
case BRAKE:
case THROW:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
break;
case ALT_HOLD:
case GUIDED_NOGPS:
case SPORT:
case AUTOTUNE:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
break;
default:
// stabilize, acro, drift, and flip have no automatic x,y or z control (i.e. all manual)
break;
}