From 3547e74991da3998b83b5d8db278b1798d298be2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Nov 2019 17:59:42 +1100
Subject: [PATCH] Plane: move setting of GPS SYS_STATUS bits up to base class

---
 ArduPlane/GCS_Plane.cpp | 8 --------
 ArduPlane/GCS_Plane.h   | 5 +++++
 2 files changed, 5 insertions(+), 8 deletions(-)

diff --git a/ArduPlane/GCS_Plane.cpp b/ArduPlane/GCS_Plane.cpp
index 9fb6a665e9..b513b1d087 100644
--- a/ArduPlane/GCS_Plane.cpp
+++ b/ArduPlane/GCS_Plane.cpp
@@ -8,11 +8,6 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void)
     if (airspeed && airspeed->enabled()) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
     }
-    const AP_GPS &gps = AP::gps();
-    if (gps.status() > AP_GPS::NO_GPS) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_GPS;
-    }
 #if OPTFLOW == ENABLED
     const OpticalFlow *optflow = AP::opticalflow();
     if (optflow && optflow->enabled()) {
@@ -106,9 +101,6 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void)
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION;
     }
 
-    if (gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.is_healthy()) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
-    }
 #if OPTFLOW == ENABLED
     if (optflow && optflow->healthy()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
diff --git a/ArduPlane/GCS_Plane.h b/ArduPlane/GCS_Plane.h
index 3e47988d94..64e87c9f0d 100644
--- a/ArduPlane/GCS_Plane.h
+++ b/ArduPlane/GCS_Plane.h
@@ -35,4 +35,9 @@ protected:
                                                AP_HAL::UARTDriver &uart) override {
         return new GCS_MAVLINK_Plane(params, uart);
     }
+
+    AP_GPS::GPS_Status min_status_for_gps_healthy() const override {
+        // NO_FIX simply excludes NO_GPS
+        return AP_GPS::GPS_OK_FIX_3D;
+    }
 };