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Copter: report baro health to GCS

This commit is contained in:
Randy Mackay 2014-08-13 14:00:13 +09:00
parent caeb2c4d0d
commit 1e374ab42b
1 changed files with 8 additions and 2 deletions
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10
ArduCopter/GCS_Mavlink.pde
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@ -182,8 +182,14 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
break;
}
// default to all healthy except compass, gps and receiver which we set individually
control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS & ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER);
// default to all healthy except baro, compass, gps and receiver which we set individually
control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
MAV_SYS_STATUS_SENSOR_3D_MAG |
MAV_SYS_STATUS_SENSOR_GPS |
MAV_SYS_STATUS_SENSOR_RC_RECEIVER);
if (barometer.healthy) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
}
if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}