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Plane: send optflow health in extended status

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This commit is contained in:
Randy Mackay 2014-12-08 11:48:32 +09:00
parent 641c770726
commit 2b9bf69c9e
1 changed files with 10 additions and 0 deletions
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10
ArduPlane/GCS_Mavlink.pde
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@ -144,6 +144,11 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
if (gps.status() > AP_GPS::NO_GPS) { if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS; control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
} }
#if OPTFLOW == ENABLED
if (optflow.enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
if (geofence_present()) { if (geofence_present()) {
control_sensors_present |= MAV_SYS_STATUS_GEOFENCE; control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
} }
@ -228,6 +233,11 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) { if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS; control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
} }
#if OPTFLOW == ENABLED
if (optflow.healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
if (!ins.get_gyro_health_all() || (!g.skip_gyro_cal && !ins.gyro_calibrated_ok_all())) { if (!ins.get_gyro_health_all() || (!g.skip_gyro_cal && !ins.gyro_calibrated_ok_all())) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO; control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
} }