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ArduSub: move setting of MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW sensors flags up

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Peter Barker 2022-10-19 14:35:27 +11:00 committed by Peter Barker
parent b741b9e76e
commit 1d326db931
1 changed files with 0 additions and 11 deletions
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11
ArduSub/GCS_Sub.cpp
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@ -56,17 +56,6 @@ void GCS_Sub::update_vehicle_sensor_status_flags()
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
} }
#if AP_OPTICALFLOW_ENABLED
const AP_OpticalFlow *optflow = AP::opticalflow();
if (optflow && optflow->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
if (optflow && optflow->healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
#if AP_TERRAIN_AVAILABLE #if AP_TERRAIN_AVAILABLE
switch (sub.terrain.status()) { switch (sub.terrain.status()) {
case AP_Terrain::TerrainStatusDisabled: case AP_Terrain::TerrainStatusDisabled: