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GCS_MAVLink: move setting of MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW sensors flags up

This commit is contained in:
Peter Barker 2022-10-19 14:35:27 +11:00 committed by Peter Barker
parent 3ef1b1031a
commit 342a5a71a9
1 changed files with 11 additions and 0 deletions
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11
libraries/GCS_MAVLink/GCS.cpp
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@ -290,6 +290,17 @@ void GCS::update_sensor_status_flags()
}
#endif
#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 HAL_VISUALODOM_ENABLED
const AP_VisualOdom *visual_odom = AP::visualodom();
if (visual_odom && visual_odom->enabled()) {