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Copter: add dataflash as a bit for the mavlink SYS_STATUS message

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Peter Barker 2016-07-07 21:48:02 +10:00 committed by Lucas De Marchi
parent 8d253dec8e
commit 4371223738
1 changed files with 14 additions and 1 deletions
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15
ArduCopter/GCS_Mavlink.cpp
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@ -156,11 +156,15 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
if (ap.rc_receiver_present) { if (ap.rc_receiver_present) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
} }
if (copter.DataFlash.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING;
}
// all present sensors enabled by default except altitude and position control and motors which we will set individually // all present sensors enabled by default except altitude and position control and motors which we will set individually
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL & control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS); ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
~MAV_SYS_STATUS_LOGGING);
switch (control_mode) { switch (control_mode) {
case ALT_HOLD: case ALT_HOLD:
@ -187,6 +191,11 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
} }
if (copter.DataFlash.logging_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
}
// default to all healthy except baro, compass, gps and receiver which we set individually // 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 | control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
MAV_SYS_STATUS_SENSOR_3D_MAG | MAV_SYS_STATUS_SENSOR_3D_MAG |
@ -226,6 +235,10 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
control_sensors_health &= ~MAV_SYS_STATUS_AHRS; control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
} }
if (copter.DataFlash.logging_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
}
int16_t battery_current = -1; int16_t battery_current = -1;
int8_t battery_remaining = -1; int8_t battery_remaining = -1;